JPH05185334A - Automatic assembling method - Google Patents

Abstract

PURPOSE:To shorten the process time for intermittent operation by furnishing a first component supplying device with a first component which can be installed without acknowledging ocularly, thereby omitting the process, as previous to the assembly for moving a camera to the position mating with first component supplying device, and shortening the time corresponding to this movement. CONSTITUTION:When robots 122, 142 are in the assembly process picking-up components from component supplying device 118a1, 138a1, visual means 124, 144 of the robots acknowledge ocularly those components on the components supplying devices 118a2, 138a2 situated one stem downstream of the above- mentioned components supplyint devices 118a1, 138a1 as preparatory work for next picking-up motion. In this track, the first components supplying devices 118a1, 138a1 situated uppermost in the stream are loaded with the first component which can be installed without ocular acknowledgement using the visual means 124, 144.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic assembling method for assembling a predetermined assembly (article) from a plurality of parts while one robot is running.

[0002]

2. Description of the Related Art An automatic assembling apparatus for sequentially assembling a predetermined assembly by picking up parts from a plurality of parts supply devices arranged along the track while running one robot along a predetermined track. It has been known. In such an automatic assembling apparatus, a camera for visual recognition is usually provided in the robot in order to recognize the posture of the component on the component supply device, and based on the visual recognition information of this camera, Pickup and assembly are done.

Conventionally, in such an automatic assembling apparatus, a camera for visual recognition has been arranged at a position corresponding to a component supplying device located one downstream of the component supplying device corresponding to the position of the robot. That is, for example, when the robot is picking up the equipment to be assembled first, the camera is designed to visually recognize the posture of the parts to be assembled second.

[0004]

However, in the above-described automatic assembly apparatus of the prior art, as described above, one component supply device downstream of the component supply device that stores the components to be picked up by the robot. Since the parts are viewed by the camera, when the robot is in the initial position for picking up the parts to be assembled first, the camera is set to the position corresponding to the parts supply device accommodating the parts to be assembled second. Will be there. Therefore, when trying to visually recognize the posture of the first component, the robot is temporarily moved from the initial position in order to bring the camera to a position corresponding to the component supply device storing the first component. Also had to be moved upstream of the orbit. Therefore, as a pre-stage of assembly, a step of moving the robot to the upstream side of the track, a step of visually recognizing the posture of the parts, and a step of returning the robot to the downstream side of the track and positioning it corresponding to the first part Was necessary, and there was a problem that the takt time for assembly was unnecessarily lengthened. Therefore, the present invention has been made in view of the above-mentioned problems, and an object thereof is to improve the takt time even when visually recognizing the next component after the component picked up by the robot by visual means. It is to provide an automatic assembling method that can be shortened.

[0005]

In order to solve the above-mentioned problems and to achieve the object, an automatic assembly method of the present invention is such that a robot is located on a predetermined orbit on a downstream side from a start position on the upstream side of the orbit. An assembly step of sequentially picking up components from a plurality of component supply devices arranged along the track while moving toward an end position located on the side to assemble a predetermined assembly; And a return step of returning from the end position to the start position after completion of assembly of the robot, the robot having the robot while the robot is picking up a component from one component supply device in the assembling process. The visual means visually recognizes a component on the component supply device located one downstream of the one component supply device, and prepares for the next pickup operation. In the dynamic method of assembly, the first component supply device located on the most upstream side of the track is characterized in that the first component capable assembly is disposed without visually recognized by said visual means.

Further, in the automatic assembling method according to the present invention, when the robot picks up the first component and performs an assembling operation of the first component,
The visual means recognizes the posture of the second component on the second component supply device located one downstream of the first component supply device, and based on the recognition information of the posture, the first component The second part is assembled in a predetermined positional relationship with the first part.

[0007]

As described above, the automatic assembling method according to the present invention is configured. Therefore, by arranging the first component that can be assembled without visual recognition in the first component supply device, As a pre-process, the process of moving the camera to a position corresponding to the first component supply device is no longer necessary,
The time for this movement can be omitted, and the tact time can be shortened.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings. First, with reference to FIG. 1, a typical configuration of an automatic assembly apparatus to which an embodiment is applied will be described. The automatic assembling apparatus 10 includes a shuttle base 12 that linearly extends a predetermined length along one direction. On the shuttle base 12, one main rail 14 that defines a track extending along the above-mentioned one direction is placed. A plurality of component supply mechanisms 18 are arranged on one side (the other side in the drawing) of the shuttle base 12. Of these plural component supply mechanisms 18,
Some are pallet-type component supply mechanisms 18a in which components are arranged on a pallet, and others are tape-type component supply devices for supplying components by a package that is covered with tape and is connected in a plurality of bands. 18b (details are disclosed in Japanese Patent Application Laid-Open No. 2-292140 filed by the applicant of the present application).

On the shuttle base 12, the shuttle 2 can travel (self-propelled) along the main rails 14.
0 is placed, and on the shuttle 20, a robot 22, an assembly jig pallet 24, and a camera 26 as an image pickup mechanism are placed. And shuttle base 1
This shuttle 2 is installed separately from 2 on the base not shown.
A control mechanism 28 is provided which causes 0 to travel on the main rail 14 so that the robot 22 sequentially accesses a plurality of component supply mechanisms to assemble a predetermined assembly on the assembly jig pallet 24.

Incidentally, the above-mentioned camera 26 is used in the shuttle 2
It is fixed with respect to 0 and moves integrally according to the traveling of the shuttle 20, and the arrangement state of the components in the component supply pallet P in the pallet type component supply mechanism 18a (specifically, the position shift state in the plane) And the rotation state about the vertical axis), and this imaging information (image information) is the first information in the control mechanism 28 described above.
To the recognition unit 30a, and the first recognition unit 30a recognizes the arrangement state of the components.

Here, the control mechanism 28 determines the holding position and posture of the component via the hand 32 of the robot 22 based on the arrangement information of the component recognized by the first recognition unit 30a. It is also configured to have a posture. The control mechanism 28 is connected to the shuttle 20 and the robot 22 via a flexible connection cord 34 for the drive control of the robot 22 and the traveling control of the shuttle 20 by the control mechanism 28.

The control mechanism 28 is designed so that the camera 26 picks up an image of the next component in the pallet P when the robot 22 picks up the component.
During this pickup operation, the state of the component in the pallet P of the next component supply mechanism 18 is recognized via the first recognition unit 30a. Then, the position of the component required in the next pickup operation of the component by the robot 22 is detected and stored, and at the time of the next pickup operation, the hand 32 of the robot 22 is driven so as to pick up the detected component. It is configured to control.

Next, the robot 22 mounted on the shuttle 20 will be described. The robot 22 has a robot main body 52 fixed on the shuttle 20 in a standing state.
A first swivel arm 54 mounted on the upper part of the robot body 52 so as to be rotatable about a vertical axis;
The second swivel arm 36 is attached to the tip of the swivel arm 54 about the vertical axis, and the Z-axis arm 56 is attached to the tip of the second swivel arm 36 so as to be vertically movable. The hand 32 is attached to the lower end of the Z-axis arm 56 via a hand attaching / detaching mechanism 58.

Although not shown in detail, the robot 22 has a first drive motor for rotationally driving the first swivel arm 54 and a rotational drive for the second swivel arm 36. A second drive motor, a third drive motor for moving the Z-axis arm 56 up and down, and a Z-axis arm 56.
And a fourth drive motor for rotationally driving. The Z-axis arm is moved from the center of the robot body 52 when the first turning arm 54 and the second turning arm 36 are set to be linear by appropriately controlling the driving of these first to fourth drive motors. Within the range of a circular shape whose radius is the distance L to the center of 56, the hand 32
Will be able to move.

In other words, since the robot 22 is moved in accordance with the traveling of the shuttle 20, the robot main body 5
It is possible to move the hand 32 to an arbitrary position within a range extending from the center of 2 to the width of the distance L on both sides, that is, to freely access the components within this range. A hand stocker 60 is arranged on the shuttle 20 at a position independent of the robot main body 52.
A plurality of different types of hands (not shown) are detachably attached to the hand stocker 60, and an arbitrary hand 32 can be attached to the Z-axis arm 56 via the hand attaching / detaching mechanism 58.
It can be attached to the lower end of the. In this hand stocker 60, a notch 60 having a substantially U shape is formed.
a and a lock pin (not shown), while each hand 3
2 has a stepped portion (not shown) that fits into the notch 60a, and by engaging this stepped portion with the notch 60a, a replacement hand (not shown) can be stocked here. There is.

FIG. 2 is a plan view showing an automatic assembling system 108 to which the automatic assembling method according to the embodiment is applied. First and second automatic assembling apparatuses 11 which are two automatic assembling apparatuses.
0 and 130 are connected in series. The first automatic assembly apparatus 110 includes a shuttle 120 arranged on a shuttle base 112 and a first shuttle arranged on the shuttle 120.
Robot 122 and camera 124, and a component supply mechanism 118a1 arranged adjacent to the shuttle base 112.
And 118a2 and 118a3.

Then, the shuttle 120 moves from the start position A located on the left side of the shuttle base 112 in the figure toward the end position C located on the right side of the shuttle base 112, and
The robot 122 is a component supply mechanism 118a1, 118a2, 118a arranged along the shuttle base 112.
Parts are picked up sequentially from 3, and a predetermined assembly is assembled on the assembly jig pallet 24. The parts supply mechanism 1
18a1, 118a2 and 118a3 are all pallet type component supply mechanisms.

The second automatic assembly device 130 is adjacent to the shuttle base 132, the shuttle 140 arranged on the shuttle base 132, the second robot 142 and the camera 144 arranged on the shuttle 140. The component supply mechanism 138a1 and 138a2 arrange | positioned and the component storage mechanism 139 are provided. Parts supply mechanism 138a1,1
38a2 accommodates components to be further assembled to the assembly assembled by the first automatic assembly apparatus 110, and the shuttle 140 along the shuttle base 132,
As it moves from the start position D located on the left side in the figure toward the end position F located on the right side, the second robot 142 causes these parts to move to the first automatic assembly device 110.
The assembled product is assembled into the assembly and the final assembly is stored in the component storage mechanism 139. Then, the shuttle 140 returns from the end position F to the start position D with the empty assembly jig pallet 24 from which the final assembly has been removed placed.

Here, these two automatic assembling devices 11
Between 0 and 130, the respective automatic assembling devices 110 and 13
A pallet exchange station 150 for exchanging the assembly jig pallet 24 between 0 is arranged. The pallet exchange station 150 includes shuttle bases 112, 13 of the first and second automatic assembling devices 110, 130.
Two conveyor devices 152, 15 arranged on both sides of
It is composed of 4.

The conveyor device 152 includes a main body 152a,
To carry out the actual assembly jig pallet 24 '("actual" means that the assembly is placed) on the shuttle 112 of the first automatic assembly apparatus 110 in the direction of arrow A1. Belt conveyor 152b and this belt conveyor 15
Belt conveyor 152c for conveying the actual assembly jig pallet 24 'conveyed by 2b in the direction of arrow B1.
Then, the actual assembly jig pallet 24 'transported by the belt conveyor 152c is transported in the direction of arrow C1,
The second automatic assembling apparatus 130 includes a belt conveyor 152d for loading onto the shuttle 140.

Further, the conveyor device 154, just like the conveyor device 152, is a belt for carrying out the main body 154a and the empty assembly jig pallet 24 on the shuttle 140 of the second automatic assembly device 130 in the direction of arrow A2. A conveyor 154b, a belt conveyor 154c for carrying the empty assembly jig pallet 24 carried by the belt conveyor 154b in the direction of arrow B2, and an empty assembly jig pallet 24 carried by the belt conveyor 154c. Is conveyed in the direction of arrow C2 and is carried in on the shuttle 120 of the first automatic assembly apparatus 110.

With this structure, the actual assembly jig pallet 24 'on which the assembly is placed is carried out from the shuttle 120 of the first automatic assembly apparatus 110 which has reached the end position C after the assembly is completed. And the second automatic assembling device 13
The empty assembly jig pallet 24 carried out from the shuttle 140 of 0 is carried into the shuttle 120. Similarly,
The second automatic assembly device 130 that has returned to the start position D
The empty assembly jig pallet 24 is unloaded from the shuttle 140 of the first automatic assembly apparatus 110 and the actual assembly jig pallet 24 ′ is unloaded from the shuttle 120 of the first automatic assembly apparatus 110.
Are loaded onto the shuttle 140. In this way, the assembly jig pallet 24 is attached to the first and second automatic assembling apparatuses 1.
By exchanging between 10 and 130, the first and second
The automatic assembling apparatus 110 and 130 can continuously assemble the assembly.

Next, with reference to FIG. 3, an assembly 200 as an example of an assembly assembled by the first automatic assembly apparatus will be described. The assembly 200 is a part of a mechanical chassis unit used for a VTR or the like, and as shown in FIG. 3A, the chassis 202, the motor 204, and the motor 20.
4 of the pinion gear 20 attached to the rotating shaft 204a.
6 and the cam gear 20 meshing with the pinion gear 206
8 and a notch gear 210 that meshes with the cam gear 208. A cam groove 208a is formed on the cam gear 208 as shown in the drawing, and a sliding pin provided on a component (not shown) slides along the cam groove 208a. Further, a cutout portion 210a, which is a portion in which no tooth profile is formed, is formed in a part of the circumference of the cutout gear 210, and a lever (not shown) abuts on the cutout portion 210a so that the lever slides. Has been

Here, the cam grooves 2 of these cam gears 208
08a and the notch 210a of the notch gear 210 are not formed over the entire circumferences of the cam gear 208 and the notch gear 210, respectively. Therefore, when the cam gear 208 and the notch gear 210 are meshed with each other, The rotational phases of 208 and the notch gear 210 need to have a predetermined relationship. Therefore, the cam gear 208 and the notch gear 210 are
Positioning marks 208b and 210b are formed respectively, and these positioning marks 208b and 210b are formed.
And the center of the cam gear 208 and the center of the notch gear 210 are arranged in a line.

When assembling this assembly 200, first, as shown in FIG.
A rotation shaft 202a of a chassis unit 203 in which a motor 204 to which 6 is attached and a chassis 202 are integrated.
Mount the cam gear 208 to the chassis unit 2
Assembling is performed in the procedure of mounting the notch gear 210 on the rotary shaft 202b of No. 03. Therefore, in order to correspond to this assembly order, the component supply mechanism 118a shown in FIG.
1, 118a2 and 118a3 include chassis unit 2
03, a cam gear 208, and a notch gear 210 are housed respectively.

The procedure for assembling the assembly 200 with the first automatic assembly apparatus 110 will be described below. First,
At the start position shown by A in FIG. 2, the first robot 122 moves the chassis unit 203 to the component supply device 1.
18a1 pick up and assembly jig pallet 24
It is placed in the positional relationship shown in FIG. At this time, the chassis unit 203 includes the component supply device 118.
Since they are arranged so as to face in one direction on a1, the chassis unit 203 which is the first part
Can be mounted on the assembly jig pallet 24 in the same posture at all times by the first robot 122 without visually recognizing it by the camera 124. The assembly jig pallet 24 is provided with positioning pins 24a for positioning the chassis unit 203, and the positioning pins 24a are fitted into the positioning holes 203c and 203d formed in the chassis unit 203. As a result, the chassis unit 203 is accurately positioned with respect to the assembly jig pallet 24.

The shuttle 120 is at the start position A.
Camera 124, the camera 124 has a component supply mechanism 1 in which a cam gear 208 which is a component to be assembled next is arranged
18a2 is visually recognized. This parts supply mechanism 118
On the pallet P on the a2, as shown in FIG.
Since the 08 is stored in different phases, the camera 1
The robot 24 picks up the chassis unit 203 and attaches it to the assembly jig pallet 24 while the robot 122 picks up an image of the cam gear 208 and sends a signal thereof to the control mechanism 28, and the control mechanism 28 receives the signal. The posture data is stored.

Next, the shuttle 120 operates in the parts supply mechanism 1
Move to position B corresponding to 18a2. Then, the first robot 122 picks up the cam gear 208 from the component supply mechanism 118a2, and based on the posture information of the cam gear 208 stored in the control mechanism 28, as shown in FIG. 203, the center of the cam gear 208 and the positioning mark 20 with respect to the reference line.
Attach so that the straight line connecting to 8b forms an angle θ. During this mounting operation, the camera 124 visually recognizes the posture of the notch gear 210 on the next component supply device 118a3,
The attitude data is sent to the control mechanism 28. Control mechanism 28
Stores its posture data.

Next, the shuttle 120 operates in the parts supply mechanism 1
It moves to the position C (end position) corresponding to 18a3.
Then, the first robot 122 uses the component supply mechanism 118.
The notch gear 210 is picked up from a3, and the control mechanism 2
Based on the attitude information of the notch gear 210 stored in No. 8, as shown in FIG.
In contrast, the center of the notch gear 210 and the positioning mark 210
It is attached so that the straight line connecting b with the center of the cam gear 208 and the straight line connecting the positioning mark 208b.

In this way, the chassis unit 203
On the other hand, the cam gear 208 and the notch gear 210 are mounted in a state of being positioned in a predetermined phase. Then, in this way, the assembly (motor unit) 20
When 0 is assembled, shuttle 12 at end position C
The actual assembly jig pallet 24 ′ on which the assembly 200 is placed is unloaded from 0, and the actual assembly jig pallet 2
4'is the second by the pallet exchange station 150.
Is delivered to the automatic assembly device 130.

When the second automatic assembling apparatus 130 receives the actual assembly jig pallet 24 'on which the assembly 200 is placed, the assembly 200 is made in the same procedure as the first automatic assembling apparatus 110. Assemble more parts. That is, the shuttle 140 sequentially picks up components from the component supply devices 138a1 and 138a2 and assembles them into the assembly 200 while moving from the start position D to the end position F. When the shuttle 140 moves to the end position F and finishes assembling a predetermined assembly, and the second robot 142 stores this assembly in the parts storage mechanism 139, the shuttle 140 returns from the end position F to the start position D. , The empty assembly jig pallet 24 is again delivered to the first automatic assembly apparatus 110.

By repeating the above operation, a predetermined assembly can be continuously assembled by the first and second automatic assembling apparatuses 110 and 130. As described above, in the embodiment, the first component to be assembled is a component that can be assembled without visual recognition.
As a pre-process of assembly, the operation of moving the shuttle to view the first part with the camera is omitted, so that the tact time of assembly can be shortened. The present invention can be applied to the modified or modified embodiment described above without departing from the spirit of the invention.

[0033]

As described above, according to the automatic assembling method of the present invention, by disposing the first component which can be assembled without visually recognizing it in the first component supply device, the assembling can be performed before the assembling. As a step, the step of moving the camera to a position corresponding to the first component supply device is not necessary, the time for this movement can be omitted, and the tact time can be shortened.

[Brief description of drawings]

FIG. 1 is a diagram showing a typical configuration of an automatic assembly apparatus to which an embodiment is applied.

FIG. 2 is a plan view showing an automatic assembly system 108 to which the automatic assembly method according to the embodiment is applied.

FIG. 3 is a diagram showing an example of an assembly assembled by a first automatic assembly apparatus.

FIG. 4 is a diagram showing a stored state of cam gears on a pallet.

[Explanation of symbols]

 8 Automatic Assembly System 10 Automatic Assembly Device 12 Shuttle Base 14 Main Rail 18a1, 18a2 Parts Supply Mechanism 18b1, 18b2 Parts Supply Mechanism 19 Parts Storage Mechanism 20 Shuttle 22 Robot 24 Assembly Jig Pallet 26 Camera 28 Control Mechanism 30a First Recognition Part 32 Hand 34 Connection cord 36 Second swivel arm 52 Robot body 54 First swivel arm 56 Z-axis arm 58 Hand attachment / detachment mechanism 60 Hand stocker 110 First automatic assembly device 112 Shuttle base 118a1, 118a2, 118a3 Component supply mechanism 120 Shuttle 122 First Robot 124 Camera 130 Second Automatic Assembly Device 132 Shuttle Base 138a1, 138a2 Parts Supply Mechanism 140 Shuttle 142 Second Robot 144 Camera 1 0 pallet exchange station 152 conveyor device 200 sets article 202 chassis 203 chassis unit 204 motor 206 pinion gear 208 cam gear 210 notched gear

Claims (2)

[Claims] 1. A plurality of component supply devices arranged along a track while a robot moves on a predetermined track from a start position located upstream of the track toward an end position located downstream thereof. The method further includes an assembling step of sequentially picking up parts and assembling a predetermined assembly, and a returning step of returning from the end position to the start position after the robot finishes assembling the predetermined assembly. In the above, while the robot is picking up a component from the one component supply device, the visual means of the robot identifies the component on the component supply device located one downstream side of the one component supply device. In an automatic assembling method that is visually recognized and prepared for the next pickup operation, the first component supply device located on the most upstream side of the track is Automatic assembling method characterized in that the first component capable assembly is disposed without visually recognized by the sense unit. 2. When the robot picks up the first component and is performing an assembling operation of the first component, the visual means is one more than the first component supply device. The posture of the second component on the second component supply device located on the downstream side is recognized, and the second component has a predetermined positional relationship with the first component based on the recognition information of the posture. The automatic assembling method according to claim 1, wherein the automatic assembling method is carried out.