JP6491515B2 - 自動組立装置及び自動組立方法 - Google Patents

自動組立装置及び自動組立方法 Download PDF

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Publication number
JP6491515B2
JP6491515B2 JP2015070770A JP2015070770A JP6491515B2 JP 6491515 B2 JP6491515 B2 JP 6491515B2 JP 2015070770 A JP2015070770 A JP 2015070770A JP 2015070770 A JP2015070770 A JP 2015070770A JP 6491515 B2 JP6491515 B2 JP 6491515B2
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Japan
Prior art keywords
assembly
workbench
unit
work table
hand
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Application number
JP2015070770A
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English (en)
Japanese (ja)
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JP2016190281A (ja
JP2016190281A5 (enExample
Inventor
祐樹 橋本
祐樹 橋本
健佑 上原
健佑 上原
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Canon Inc
Original Assignee
Canon Inc
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Publication date
Application filed by Canon Inc filed Critical Canon Inc
Priority to JP2015070770A priority Critical patent/JP6491515B2/ja
Priority to US15/079,816 priority patent/US10131055B2/en
Priority to CN201610180531.2A priority patent/CN106002966B/zh
Publication of JP2016190281A publication Critical patent/JP2016190281A/ja
Publication of JP2016190281A5 publication Critical patent/JP2016190281A5/ja
Priority to US16/155,635 priority patent/US10414050B2/en
Application granted granted Critical
Publication of JP6491515B2 publication Critical patent/JP6491515B2/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10—Aligning parts to be fitted together
    • B23P19/102—Aligning parts to be fitted together using remote centre compliance devices
    • B23P19/105—Aligning parts to be fitted together using remote centre compliance devices using sensing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/008—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the assembling machines or tools moving synchronously with the units while these are being assembled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086—Proximity sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123—Linear actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31078—Several machines and several buffers, storages, conveyors, robots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31079—Two workstations and two manipulators working together or independent
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31081—Detect position robot, agv relative to machine to start communication
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y10T29/49895—Associating parts by use of aligning means [e.g., use of a drift pin or a "fixture"]
    • Y10T29/49902—Associating parts by use of aligning means [e.g., use of a drift pin or a "fixture"] by manipulating aligning means

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)
JP2015070770A 2015-03-31 2015-03-31 自動組立装置及び自動組立方法 Active JP6491515B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2015070770A JP6491515B2 (ja) 2015-03-31 2015-03-31 自動組立装置及び自動組立方法
US15/079,816 US10131055B2 (en) 2015-03-31 2016-03-24 Automated assembly apparatus and automated assembly method
CN201610180531.2A CN106002966B (zh) 2015-03-31 2016-03-28 自动组装设备和自动组装方法
US16/155,635 US10414050B2 (en) 2015-03-31 2018-10-09 Automated assembly method using automated assembly apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015070770A JP6491515B2 (ja) 2015-03-31 2015-03-31 自動組立装置及び自動組立方法

Publications (3)

Publication Number Publication Date
JP2016190281A JP2016190281A (ja) 2016-11-10
JP2016190281A5 JP2016190281A5 (enExample) 2018-04-05
JP6491515B2 true JP6491515B2 (ja) 2019-03-27

Family

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Family Applications (1)

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JP2015070770A Active JP6491515B2 (ja) 2015-03-31 2015-03-31 自動組立装置及び自動組立方法

Country Status (3)

Country Link
US (2) US10131055B2 (enExample)
JP (1) JP6491515B2 (enExample)
CN (1) CN106002966B (enExample)

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JP6684116B2 (ja) * 2015-03-31 2020-04-22 キヤノン株式会社 自動組立装置及び組立物品の製造方法
CN106584056A (zh) * 2016-12-22 2017-04-26 长沙锐博特科技有限公司 用于汽车微型电机生产转运的机器人
CN108620865B (zh) * 2017-03-22 2024-03-08 浙江正泰电器股份有限公司 接触器生产线
US10518375B2 (en) 2017-06-16 2019-12-31 Canon Kabushiki Kaisha Production system, production apparatus and method for controlling production system
US10589423B2 (en) * 2018-06-18 2020-03-17 Shambhu Nath Roy Robot vision super visor for hybrid homing, positioning and workspace UFO detection enabling industrial robot use for consumer applications
CN108857394B (zh) * 2018-07-28 2020-05-08 泉州市九金机械设备有限公司 一种钢琴手指练习器自动组装方法
CN110587607A (zh) * 2019-09-19 2019-12-20 工业云制造(四川)创新中心有限公司 一种加工件自动化码料定位方法、存储介质及终端
JP2021149610A (ja) 2020-03-19 2021-09-27 キヤノン株式会社 情報処理装置、情報処理方法、および物品の製造方法
CN111735384B (zh) * 2020-04-28 2021-11-30 南京工程学院 基于动态干涉分析的发动机安装测量与安装方法及装置
CN114800460B (zh) * 2021-01-18 2023-12-22 泰科电子(上海)有限公司 机器人操纵器和使用机器人操纵器制造产品的方法
CN113246114A (zh) * 2021-06-03 2021-08-13 山东劳动职业技术学院（山东劳动技师学院） 一种机电一体化机械抓手的实训设备
CN113560876B (zh) * 2021-06-21 2022-08-30 浙江东方职业技术学院 一种用于阀门生产加工的机电一体化加工设备
CN113715006B (zh) * 2021-08-19 2023-01-31 苏州华兴源创科技股份有限公司 机械手臂的驱动方法
CN114789327B (zh) * 2022-03-11 2023-08-11 安徽机电职业技术学院 固定运输机械臂实现机器人本体组装的机器人装配系统
CN114833841B (zh) * 2022-04-12 2024-09-06 北京机电工程研究所 适用于大型产品的钻铆装置
CN115415792B (zh) * 2022-11-02 2023-01-24 中科摩通(常州)智能制造股份有限公司 一种新能源汽车充电桩用背壳检测系统及其检测方法
CN116787137B (zh) * 2023-05-19 2025-11-21 浙江美力科技股份有限公司 一种碟簧组件装配方法

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Also Published As

Publication number Publication date
US10131055B2 (en) 2018-11-20
CN106002966B (zh) 2019-10-25
US10414050B2 (en) 2019-09-17
CN106002966A (zh) 2016-10-12
US20160288329A1 (en) 2016-10-06
JP2016190281A (ja) 2016-11-10
US20190039245A1 (en) 2019-02-07

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