JP5413348B2 - Part assembling apparatus and method for manufacturing machine part - Google Patents

Description

  The present invention relates to a component assembly apparatus and a method for manufacturing a mechanical component.

  Patent Document 1 describes a component setting handling unit that is mounted on a robot and takes out components and sets them in a set position. This parts setting handling unit takes out parts by vacuum suction, releases the vacuum suction and sets the parts at the set position, and picks up the parts by permanent magnets and picks up the parts and puts them on the set position. And a permanent magnet handling mechanism for separating the permanent magnet from the component by retracting the permanent magnet from the top of the component in a direction crossing the attracting direction.

Japanese Utility Model Publication No. 8-497

Here, in general, in a work site where parts are assembled, an air source is used for assembling work. However, in recent years, this air source tends to be excluded due to a large energy loss.
An object of the present invention is to provide a component assembling apparatus that can assemble components without using an air source and a method of manufacturing a mechanical component.

A component assembling apparatus according to a first aspect of the present invention that meets the above-described object has a first hand that includes a first hand provided with a pressing member that presses the first component or the second component assembled to the first component from above . 1 robot and
A second robot having a second hand provided with a support pin inserted into a hole formed in the second component;
The second robot inserts the support pin into the hole formed in the second part, conveys the second part, and places the second part on the first part. After
The first robot is fixed by the pressing member so as not to move the second component,
The second robot removes the support pin from the hole .

A component assembling apparatus according to a second aspect of the present invention that meets the above-described object includes a pressing member that presses a first component made of a magnetic material or a second component assembled to the first component from above, and the first component A first robot having a first hand provided with a suction portion for sucking one component using magnetic force;
A second robot having a second hand provided with a support pin inserted into a hole formed in the second component;
The first robot assembles the first part to the third part using the suction part,
The second robot inserts the support pin into the hole formed in the second part, conveys the second part, and sandwiches the second part between the first part. On the third part,
The first robot is fixed by the pressing member so as not to move the second component,
The second robot removes the support pin from the hole.

A manufacturing method of a machine part according to a third aspect of the present invention that meets the above-described object includes a pressing member that presses a first part formed of a magnetic material or a second part assembled to the first part from above, and A first robot having a first hand provided with a suction portion for sucking the first component using magnetic force;
A second robot having a second hand provided with a support pin to be inserted into a hole formed in the second component, and a method of manufacturing a mechanical component by a component assembling apparatus comprising:
Said first robot, a first step of adsorbing the first component using the suction unit,
Said first robot, and a second step of assembling the third component to release the first component adsorbed in the first step,
The second robot, wherein the support pin is inserted into the hole formed in the second part carries the second part, sandwiching the second component while the first component And a third step of placing on the third part;
A fourth step of securing to the first robot does not move in front Stories second component Te to the pressing member,
A fifth step in which the second robot removes the support pin inserted into the hole.

  In the component assembling apparatus and the machine component manufacturing method according to the present invention, the first and second robots can assemble the components using the first and second hands, respectively, without using the air source. It is.

It is a block diagram of the components assembly | attachment apparatus which concerns on one embodiment of this invention. FIG. It is a perspective view of the component B assembled | attached to the component A. FIG. FIG. 5 is a perspective view of a part C assembled to a part A and a part B. It is a three-view figure of the 2nd hand provided in the 2nd robot of the same component assembly apparatus. It is an enlarged view of a bolt holding part. (A), (B) is the side view and bottom view of the 1st hand respectively provided in the 1st robot of the same component assembly apparatus. It is explanatory drawing which shows the operation | movement which the 2nd robot of the same component assembly apparatus inserts a positioning pin. (A)-(D) are explanatory drawings which show the operation | movement in which the 2nd robot of the said component assembly apparatus inserts a volt | bolt.

  Next, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention. For convenience of explanation, a tool coordinate system that moves with the first and second hands as shown in FIGS. 5 and 7 is defined. The axes of the tool coordinate system do not necessarily have to be orthogonal. In each drawing, portions not related to the description may be omitted.

  As shown in FIG. 1, a component assembling apparatus 10 according to an embodiment of the present invention includes first and second robots 11a and 11b. Below the first and second robots 11a and 11b, a conveyor 15 for conveying the part A (an example of a third part) from the previous process is installed. Around the conveyor 15, a component feeder 16 for supplying a component B (an example of a first component, see FIG. 3) and a component supply for supplying a component C (an example of a second component, see FIG. 4) The machine 17 and a bolt feeder (not shown) for supplying bolts are installed. Here, this bolt is a hexagon bolt, for example. The transport surface of the conveyor 15, the position where the component feeder 16 supplies the component B, and the position where the component feeder 17 supplies the component C are within the movable range of the first and second robots 11a and 11b. In addition, a controller 19 that is connected to the first and second robots 11a and 11b by a cable (not shown) and controls the operation of the first and second robots 11a and 11b is installed.

  The component assembling apparatus 10 can assemble the component B with respect to the component A conveyed from the upstream of the conveyor 15 by operating the first and second robots 11 a and 11 b. Further, the component assembling apparatus 10 can assemble the component C with respect to the component A with the component B interposed therebetween. Furthermore, the component assembling apparatus 10 can insert a plurality of bolts for fastening the component B and the component C together with the component A into the component A, the component B, and the component C. That is, the component assembling apparatus 10 is used in a part of a manufacturing process of a mechanical component composed of the component A, the component B, and the component C.

  Here, as shown in FIG. 2, the component A protrudes from the center portion of the disk-shaped base member 20 and the component B which is attached to the upper part of the component A and is fitted in a columnar shape. Part 21. The disk-shaped base member 20 has at least four screw holes (mounting holes) HA1, HA2, HA3, HA4 (all of the same size) that open upward. It is formed on the circumference. Note that the component A is not limited to a component having a shape as shown in FIG.

  The part B is a part formed of a magnetic material and attached to the upper part of the part A. As shown in FIG. 3, a hole 37 into which the fitting portion 21 of the component A is inserted is formed at the center of the component B. Around the hole 37, four attachment holes HB1, HB2, HB3, and HB4 (all of the same size) are formed at positions corresponding to the screw holes HA1 to HA4 of the part A, respectively. Note that the part B is not limited to the part having the shape as shown in FIG. 3, and may be a part in which attachment holes are formed at positions corresponding to the screw holes HA1 to HA4 of the part A with a magnetic material. It is optional.

  As shown in FIG. 4, the component C includes a base member 40 and a rectangular member 41 protruding upward from the base member 40. On the lower surface of the base member 40, a fitting hole 39 into which the fitting portion 21 of the component A protruding from the upper surface of the component B is fitted is formed. Around the fitting hole 39, there are four mounting holes HC1, HC2, HC3, HC4 (all of the same size) corresponding to the screw holes HA1 to HA4 of the part A and the mounting holes HB1 to HB4 of the part B, respectively. Is formed. In the member 41, two holes HC5 and HC6 penetrating the member 41 in the horizontal direction are formed side by side. The part C is not limited to the part having the shape as shown in FIG. 4, and mounting holes are formed at positions corresponding to the screw holes HA1 to HA4 of the part A and the mounting holes HB1 to HB4 of the part B. Any shape can be used as long as it is a part.

  As shown in FIG. 1, each of the first and second robots 11a and 11b is, for example, a 7-axis articulated robot. Each robot 11a, 11b is installed suspended from the ceiling.

The first robot 11a has a first hand 51a at the tip of the first arm 12a.
As shown in FIGS. 7A and 7B, the first hand 51 a has three electromagnets (an example of an attracting portion) 71 and two positioning pins (an example of a pressing member) 74. .

  The electromagnet 71 can attract and release the component B by switching between excitation and non-excitation.

Each of the two positioning pins 74 extends in the positive direction of the _ZT1 axis . Each positioning pin 74 is provided so that the tip can be inserted into the mounting holes HB1 and HB3 of the component B, respectively.

The second robot 11b has a second hand 51b at the tip of the second arm 12b. As shown in FIG. 5, the second hand 51 b has a pair of support pins 55, 56, a positioning pin 57, and a bolt holding portion 58.
The pair of support pins 55 and 56 are fixed to the base member 61 via the bracket 59 and protrude in the positive direction of the _YT2 axis. The pitch and shape of the pair of support pins 55 and 56 are set so that the support pins 55 and 56 can be inserted into the two holes HC5 and HC6 formed in the member 41 of the component C.

The positioning pin 57 is fixed to the base member 61 via the bracket 62 and protrudes in the positive direction of the _ZT2 axis. The diameter of the positioning pin 57 is a size that can be inserted into the mounting holes HC1 to HC4 of the part C, the mounting holes HB1 to HB4 of the part B, and the screw holes HA1 to HA4 of the part A.

The bolt holding portion 58 is fixed to the base member 61 via the bracket 62. The bolt holding portion 58 has a cylindrical shape, and a hole 65 opened in the positive direction of the _ZT2 axis is formed on the lower surface. The bolt holding portion 58 can hold the head of the bolt in the hole 65. As shown in FIG. 6, the diameter R of the bottom (upper surface) of the hole 65 is larger than the outermost diameter Rb of the head of the bolt. The dimension H in the depth direction of the hole 65 is shorter than the height Hb of the bolt head. The inner peripheral surface on the opening side of the hole 65 is tapered, and has a diameter wider than the bottom (upper surface) of the hole 65. Preferably, the dimension H0 in the depth direction of the hole excluding the portion provided with the taper is not more than half of the dimension H in the depth direction of the hole, and more preferably not more than 1/3. A magnet 66 is built in the bottom of the hole 65. Further, the portion other than the magnet 66 of the bolt holding portion 58 is formed of a nonmagnetic material. Therefore, the bolt holding portion 58 can adsorb the head of the bolt with a magnetic force so that the axial direction of the bolt is the _ZT2 axial direction. Since the diameter R of the bottom (upper surface) of the hole 65 is larger than the outermost diameter Rb of the bolt head, even if the bolt is a hexagonal bolt, the bolt is a bolt regardless of the direction of the corner of the head. It is held by the holding unit 58.

Next, a manufacturing method (steps S1 to S13) of a machine part having parts A, B, and C by the part assembling apparatus 10 will be described in order. Steps S1 to S13 described below are executed by the controller 19 controlling the first and second robots 11a and 11b.
(Step S1)
The part A is placed on the conveyor 15 and conveyed from the previous process.

(Step S2)
The second robot 11b changes the direction of the second hand 51b so that the tip of the positioning pin 57 faces downward, moves to a predetermined position near the part A, and waits.

(Step S3)
In parallel with the operation shown in step S2 of the second robot 11b, the first robot 11a picks up the component B supplied by the component supplier 16.
The first robot 11a lowers the positioning pins 74 of the first hand 51a from above the mounting holes HB1 and HB3 of the component B.
Next, the first robot 11a inserts each positioning pin 74 into the mounting holes HB1 and HB3.
After the positioning pins 74 are inserted into the mounting holes HB1 and HB3, the first robot 11a excites the electromagnet 71. As a result, the first hand 51 a attracts the upper surface of the component B by the magnetic force of the electromagnet 71. In this way, the first hand 51a can stably hold the component B at three points (three electromagnets 71).

(Step S4)
The first robot 11a moves the part B above the part A. When the first robot 11a releases the excitation of the electromagnet 71 so that the center axis S and the center of the hole 37 are aligned on the part A, the part B is released and the part B is placed on the part A (see FIG. 3). Since the component A is preliminarily positioned and the component B is supplied at a position and posture determined in advance by the component feeder 16, the positions of the screw holes HA1 to HA4 of the component A and the screw holes HA1 to HA4. The positions of the mounting holes HB1 to HB4 of the component B corresponding to can be approximately matched.

(Step S5)
In parallel with the operation shown in step S4 of the first robot 11a, the second robot 11b picks up the component C supplied by the component supply machine 17. The second robot 11b abuts the support pins 55 and 56 against the side surface of the member 41 of the component C, and positions the component C at a predetermined position.
The second robot 11b inserts a pair of support pins 55 and 56 into the two holes HC5 and HC6 of the part C. The second robot 11b hooks the pair of support pins 55 and 56 in the two holes HC5 and HC6 of the part C, suspends and holds the part C, and transports the part C to above the part B mounted on the part A. The second robot 11b conveys the component C by raising the tips of the support pins 55 and 56 obliquely upward so that the component C does not fall off the support pins 55 and 56.
The second robot 11b lowers the part C and places the part C on the part A (part B). Since the part A is pre-positioned as described above and the part C is supplied in a predetermined position and posture by the part feeder 17, the positions of the screw holes HA1 to HA4 of the part A and the screws The positions of the mounting holes HC1 to HC4 of the part C corresponding to the holes HA1 to HA4 can be approximately matched. That is, the mounting holes HB1 to HB4 of the component B and the mounting holes HC1 to HC4 of the component C corresponding to the screw holes HA1 to HA4 of the component A are approximately in agreement with each other.

(Step S6)
The first robot 11a presses one of the two positioning pins 74 from above to the upper surface of the part C, and fixes the part C so that it does not move. Alternatively, the first robot 11a may press one of the two positioning pins 74 against the upper surface of the component B to indirectly fix the component C.
The second robot 11b extracts the pair of support pins 55 and 56 from the part C fixed by the first robot 11a.

(Step S7)
The first robot 11a retracts the first hand 51a from the part C.
The second robot 11b inserts the positioning pin 57 into the mounting hole HC2 of the part C. As shown in FIG. 8, the positioning pin 57 is inserted into the mounting hole HC2 of the part C, the mounting hole HB2 of the part B positioned below the part C, and the screw hole HA2 of the part A positioned below it. As a result, the mounting holes HB1 to HB4 of the component B and the mounting holes HC1 to HC4 of the component C corresponding to the screw holes HA1 to HA4 of the component A are positioned with an accuracy that allows bolts to be inserted. Thereafter, the second robot 11b removes the positioning pin 57 from the attachment hole HC2.

(Step S8)
The first robot 11a presses an appropriate place on the upper surface of the component C using the positioning pins 74 of the first hand 51a.

(Step S9)
The second robot 11b holds the bolt supplied by the bolt feeder in the bolt holding portion 58.

(Step S10)
The second robot 11b inserts the held bolt into the mounting hole HC1 of the part C (the mounting hole HB1 of the part B).
Specifically, as shown in FIG. 9A, the second robot 11b lowers the bolt holding portion 58 with the tip of the bolt directed toward the attachment hole HC1. As shown in FIG. 9B, the second robot 11b rotates the bolt holding portion 58 so as to tilt the head of the bolt after inserting the tip end portion of the bolt. When the bolt is tilted, as shown in FIG. 9C, the shaft portion of the bolt comes into contact with the inner peripheral surfaces of the mounting holes HB1 and HC1. As shown by the arrow in FIG. 9C, the second robot 11b rotates and moves the bolt holding portion 58 in the direction in which the bolt is further tilted, as shown in FIG. 9D. Then, the bolt is removed from the bolt holding portion 58. Then, the bolt is inserted into the attachment holes HB1 and HC1.

If it demonstrates from another viewpoint, the 2nd robot 11b will make the axial part contact the inner peripheral surface of attachment hole HB1 and HC1 by inserting and inclining the front-end | tip part of a volt | bolt. The second robot 11b moves the bolt holding part 58 in a direction away from the mounting holes HB1 and HC1 so that the frictional force generated by the contact of the shaft part is larger than the attracting force of the magnet 66, thereby holding the bolt. Separate the bolt from the portion 58.
As described above, the second robot 11b can insert the bolt into the mounting hole with a small movement without using a dedicated drive source for holding or inserting the bolt.

Note that the part B is not always necessary if only the operation of inserting the bolt held by the second robot 11b using the bolt holding unit 58 (step S10). That is, it is also possible to insert the bolt with the shaft portion of the bolt contacting only the inner peripheral surface of the mounting hole HC1 of the component C. That is, according to step S10, the bolt can be inserted into the screw hole formed in the part A and the attachment hole formed in the part C corresponding to the screw hole.
The bolts inserted into the mounting holes HB1 and HC1 are finally tightened in a subsequent process performed downstream of the conveyor 15.
The second robot 11 b separates the bolt from the bolt holding unit 58 and then retracts from the conveyor 15.

(Step S11)
The second robot 11b holds the bolt supplied again by the bolt feeder in the bolt holding portion 58. The second robot 11b inserts the second bolt into the mounting hole HC2 of the part C and the mounting hole HB2 of the part B.
Since the detailed bolt insertion operation of the second robot 11b is the same as that in step S10, detailed description thereof is omitted.

(Step S12)
The second robot 11b holds the bolt supplied again by the bolt feeder in the bolt holding portion 58. The second robot 11b inserts the third bolt into the mounting hole HC3 of the part C and the mounting hole HB3 of the part B.
Since the detailed bolt insertion operation of the second robot 11b is the same as that in step S10, detailed description thereof is omitted.

(Step S13)
The second robot 11b holds the bolt supplied again by the bolt feeder in the bolt holding portion 58. The second robot 11b inserts the fourth bolt into the mounting hole HC4 of the part C and the mounting hole HB4 of the part B.
Since the detailed bolt insertion operation of the second robot 11b is the same as that in step S10, detailed description thereof is omitted.

  Thus, through steps S <b> 1 to S <b> 13, the component assembling apparatus 10 can assemble the component C with respect to the component A with the component B interposed therebetween. Note that these series of steps may be performed in parallel, if possible, instead of sequentially.

  In addition, this invention is not limited to the above-mentioned embodiment, The change in the range which does not change the summary of this invention is possible. For example, a case where the invention is configured by combining some or all of the above-described embodiments and modifications is also included in the technical scope of the present invention.

The second hand 51b may have one support pin.
The first hand 51a has at least three electromagnets 71.
It is clear that the present invention can be applied even if the component A is not transported by the conveyor 15 and is placed on a simple work table.
The number of screw holes for part A, attachment holes for part B, and attachment holes for part C are not limited to four. That is, the number of screw holes for part A, attachment holes for part B, and attachment holes for part C may be arbitrary. Further, the sizes of the plurality of fixing holes (attachment holes and screw holes) formed in each component do not have to be the same size.
The first and second robots 11a and 11b are not limited to a seven-axis articulated robot, and may be any articulated robot having seven or more axes.

10: parts assembly apparatus, 11a: first robot, 11b: second robot, 12a: first arm, 12b: second arm, 15: conveyor, 16: parts feeder, 17: parts feeder, 19: controller, 20: base member, 21: fitting portion, 37: hole, 39: fitting hole, 40: base member, 41: member, 51a: first hand, 51b: second hand, 55, 56: support pin, 57: positioning pin, 58: bolt holding part, 59: bracket, 61: base member, 62: bracket, 65: hole, 66: magnet, 71: electromagnet, 74: positioning pin, HA1, HA2, HA3, HA4: Screw hole, HB1, HB2, HB3, HB4: Mounting hole, HC1, HC2, HC3, HC4: Mounting hole, HC5, HC6: Hole

Claims (3)

A first robot having a first hand provided with a pressing member for pressing the first component or the second component assembled to the first component from above ;
A second robot having a second hand provided with a support pin inserted into a hole formed in the second component;
The second robot, wherein the support pin is inserted into the hole formed in the second part carries the second part, placed the second component on the first component After
The first robot is fixed by the pressing member so as not to move the second component,
A component assembling apparatus in which the second robot removes the support pin from the hole. A pressing member for pressing from above the first component made of a magnetic material or the second component assembled to the first component, and an adsorption portion for attracting the first component using magnetic force are provided. A first robot having a first hand ;
A second robot having a second hand provided with a support pin inserted into a hole formed in the second component;
It said first robot, assembling the first component to the third component with the front Symbol adsorption unit,
The second robot, wherein the support pin is inserted into the hole formed in the second part carries the second part, sandwiching the second component while the first component On the third part,
The first robot is fixed by the pressing member so as not to move the second component ,
A component assembling apparatus in which the second robot removes the support pin from the hole. A pressing member for pressing from above the first component made of a magnetic material or the second component assembled to the first component, and an adsorption portion for attracting the first component using magnetic force are provided. A first robot having a first hand;
A second robot having a second hand provided with a support pin to be inserted into a hole formed in the second component, and a method of manufacturing a mechanical component by a component assembling apparatus comprising:
Said first robot, a first step of adsorbing the first component using the suction unit,
Said first robot, and a second step of assembling the third component to release the first component adsorbed in the first step,
The second robot, wherein the support pin is inserted into the hole formed in the second part carries the second part, sandwiching the second component while the first component And a third step of placing on the third part;
A fourth step of securing to the first robot does not move in front Stories second component Te to the pressing member,
A fifth step in which the second robot removes the support pin inserted into the hole.

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