JPH0631550A - Automatic manufacture of fine part and device therefor - Google Patents

Abstract

PURPOSE:To provide an automatic manufacturing method and device for the supersmall-sized parts which is equipped with the flexibility for the multikind and small quantity production and can sufficiently dispose of the environmental equipment such as a clean room and a vacuum chamber. CONSTITUTION:A thin-shaped clean robot 10 for the versatile-used clean formation and an automatic mounting/demounting type supersmall-sized tool 20 are installed in an automatic working device 1, which is equipped with a highly rigid body 30 which is high-rigidly formed for facilitating transportation, high rigid ceiling 40, optical communication system for wireless form, and a supersmall-sized unit 80. A manufacturing system which is constituted by arranging a plurality of automatic working devices 1 in demountable manner in parallel along a transport passage is further equipped with an accommodating base for this device which facilitates the construction of an on-table integration system, supersmall-sized assembly system element group, and a controller for integration control.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic manufacturing system comprising a group of automatic assembling equipment for general parts, automatic processing equipment such as automatic joining equipment, and automatic inspection equipment. Assembling and joining various micro thin parts,
The present invention relates to an automatic manufacturing apparatus and method for small parts, which is suitable for inspection and the like.

[0002]

2. Description of the Related Art In recent years, particularly in OA / AV products, there is a trend toward lighter, thinner, shorter and smaller products and higher densities, and the target assembly parts are also being made thinner and more functional.
Under these trends, it is expected that the needs for assembling micro thin parts will increase more and more in the future. When assembling a micro thin part, it is difficult to handle because the shape itself is a minute or thin structure, and due to high functionality, high assembly accuracy of the micrometer order is required, etc. Was very difficult. For this reason, automation of the assembly process of micro thin parts has been indispensable.

However, due to intensifying product competition due to diversification of consumer needs, shortening of product life is also in progress, and there is a high demand for a production system for various kinds of small / medium quantity production, and not only automation but also more flexibility. It has been desired to construct an automatic manufacturing system for highly versatile automatic assembly, joining, inspection, etc., aiming at general-purpose use. Against this background, whether or not the target component is a micro thin component in the past,
For the purpose of automation and generalization, many assembling systems have been developed, which are mainly composed of highly versatile assembling robots that enable precise movements. As a result, in addition to the automation of manual work that requires skill, it is possible to secure high versatility by providing a large operation area of the assembly robot and high applicability to the work environment. For example, Japan Society for Precision Engineering VoL.57-2P240
~ P243 The assembly system described in "Development of general-purpose automatic assembly system", or the assembly system described in "Technical Society of Japan""Automatic Assembly Technology" Lecture text (1987) 30 "Systemization of robots and application examples in wristwatches", etc. It is a typical one.

[0004]

In the conventional automatic assembling apparatus, no consideration has been given to a micro thin component having a volume of several mm ³ or less or a thickness of 1 mm or less.

An object of the present invention is to solve the above problems.
An object of the present invention is to provide an automatic manufacturing method and apparatus for minute parts, which is flexible so as to be able to cope with various kinds of small-quantity production and can sufficiently cope with minute parts (minute thin parts).

Further, an object of the present invention is to provide an automatic manufacturing apparatus for small parts, which can miniaturize and replace each working means to improve space efficiency and also have flexibility and cleanliness. To provide.

[0007]

In order to achieve the above-mentioned object, the present invention carries in an object to be assembled conveyed by a conveying means into a clean room and supplies it in the clean room. The relative displacement between the ultra-compact part and the object to be assembled is measured by the measuring means, the sliding part is provided in the clean room, the sliding part is sealed, and the sucking / exhausting part is provided on the sliding part. Based on the relative displacement measured by the connected assembling means, the microminiature parts are aligned and assembled and fastened to the object to be assembled, and the ultrasmall parts are attached to the object to be assembled. It is an automatic manufacturing method for minute parts, which is carried out from the clean room in a fastened state.

Further, according to the present invention, a transport means for transporting an object is provided, and a plurality of working means including a driving means for performing a predetermined work on the object transported by the transport means are provided in the plurality of routes. It is an automatic manufacturing apparatus for small parts characterized in that it is removably arranged in parallel.

Further, according to the present invention, there is provided a transporting means for transporting the object, and the control means and the control means drive the object to be transported by the transporting means to perform a predetermined operation. An automatic manufacturing apparatus for small parts, characterized in that a plurality of working means having a built-in driving means are removably arranged in parallel along the transport path.

In particular, in the present invention, a conveying means for conveying the object to be assembled, a multi-axis positioning mechanism (working means), a working tool for the working means to replace at hand with the work contents, and a microminiature component. And a measuring means for measuring the relative positional deviation between the object to be assembled conveyed by the conveying means and the microminiature parts to be supplied, and each working means for controlling these. Built-in control means,
It is composed of an information transmitting means for transmitting information between the control means and the measuring means, a power transmitting means for operating each of these working means, and a mount for detachably supporting all of these working means. It is in the automatic manufacturing equipment (group). Further, the present invention is provided with an overall control means for integrally controlling each of these work means, and a system information transmission means for transmitting information between the control means and the overall control means.

Further, according to the present invention, in order to enhance the detachability from the automatic manufacturing system, the information handled by the information transmitting means or the system information transmitting means is multiplexed and the power transmitting means or the system power transmitting means handles it. It is a shared power source.

Further, according to the present invention, when the structure of the information transmitting means or the system information transmitting means is divided into an information transmitting means, an information medium and an information receiving means, respectively, the information medium is made wireless, or the information transmitting means or the system information. The transmission means itself is an optical information transmission means.

Further, according to the present invention, each of the working means is configured to have a position correction / posture correction / mechanical error correction function.

Further, in the present invention, in order to reduce the weight of each of the working means, an optical information transmitting means from the integrated control means is provided,
This is shared with the optical information transmitting means of the light rays necessary for each work such as assembly, joining or inspection.

Further, according to the present invention, each of the working means is formed in a structure mounted on a gantry for easy transportation, and the gantry has a shell structure for reducing weight while maintaining rigidity. .

Further, according to the present invention, each of the working means comprises an XY positioning mechanism having a thinner structure in order to make the positioning mechanism lightweight and compact.

Further, the present invention is characterized in that each of the working means is installed on a vibration-proof table.

[0018]

The manufacturing system using various robots such as assembling, joining, etc. processing and inspection is used for assembling advanced mechatronic parts such as VTR mechanism, audio cassette player, laser beam head, magnetic disk, printed circuit board mounting, clock and camera. It has become popular in various fields such as processing and assembly of precision machines such as.

However, in such a manufacturing system, the working area required in actual work is often much smaller than the operation area of the robot to be used, and the versatility of the entire system capable of coping with product fluctuations. Therefore, there was a sacrifice in using an unnecessarily large operating area.

In addition, in order to enable a work to be performed by positioning a large operation area in a short time in the robot design concept, it is necessary to be located at the end of the robot because it requires high speed and requires high workability. Considering mounting a heavy-duty general-purpose jig that incorporates the above functions, a large payload is taken into consideration, and a high-rigidity design concept that is unnecessarily high has been adopted, and power consumption is extremely lossy and uneconomical. It was a thing.

[0021] Further, in recent years, the production form is shifting from a variety of small / medium quantity production to a variety / small quantity production. Even if a manufacturing system including a robot is installed in a factory in consideration of versatility,
It is demanded to build a new system one after another without waiting for the change of the system without keeping up with the rapid change of the model. For this reason, the number of systems that need to continue production in small quantities has increased, and some systems have been left idle for some time.

On the other hand, the parts to be worked are being increasingly miniaturized and thinned to have a volume of about several mm ³ and a thickness of 1 mm or less. That is, it is necessary to handle minute parts as work targets. Particularly, in assembling work, processing work such as fastening, and adjusting work of heads (for example, magnetic heads of magnetic disk devices) of OA / AV products, the function to be housed in a small volume is higher and the density is higher. Therefore, there is a tendency to dislike dust even in the manufacturing and assembling steps, and these various operations must be performed in a special environment such as a clean room or a vacuum chamber. Also, various operations such as assembling of minute parts mixed in thin film / thick film processes such as semiconductor chips are the same. As described above, in the present invention, it is necessary to perform various operations in a clean atmosphere because of handling minute thin parts.
For that purpose, a clean room facility is required. However, clean room facilities require maintenance costs in addition to construction costs that are synergistic with the space area required for assembly and the degree of cleanliness, and this amount is currently occupying a large weight in manufacturing costs. Furthermore, the amount of power consumed by clean rooms is enormous, and at the present time when global environmental protection issues such as global warming are rising, the power of thermal power generation, which is one of the factors that cause a large amount of carbon dioxide, is generated. The government is strongly requesting cooperation from companies to reduce consumption, making it difficult to add clean rooms. Therefore, effective utilization of a limited space with a huge space cost, such as a clean room, has become one of the important issues in the assembly of micro thin parts. The same applies to facilities with special environments such as vacuum chambers. First, it is difficult to make a large volume, even if it is made, the construction cost will be enormous, it will be difficult to maintain, depending on the volume. There was also a problem that production efficiency declined because the tact time tended to be long due to the large amount of time spent in the special environment.

In order to solve such a problem, the present invention is capable of highly accurate positioning so as to deal with minute parts,
In addition, it is characterized by achieving cleanliness, and achieving flexibility by enabling the entire manufacturing system to be freely selected so that early operation can be realized.

Particularly, in the present invention, the transmission of information is unified by the optical transmission means. Further, in the present invention, the gantry of each working means has a shell structure to reduce the weight while maintaining rigidity so that the pedestal does not deform during transportation and during attachment / detachment.

Further, in the present invention, the XY positioning mechanism having a thinner structure is used as the positioning mechanism constituting each working means, so that not only each working means but also the entire automatic manufacturing system is made lightweight and compact. It is a thing.

As described above, according to the present invention, as an automatic manufacturing system for small parts (small thin parts), it has versatility and flexibility, high space efficiency and economical efficiency, and is small and lightweight. This makes it easier to carry and store, and reduces the time and labor required to change the system.

[0027]

[Embodiments] Embodiments of an automatic manufacturing apparatus for minute parts (minute thin parts) of the present invention will be described below. That is, each ultra-compact automatic working device (each working means) 1 corresponding to a minute part (small thin part) is positioned by the pallet automatic carrying unit (carrying means) 180 and the part 3 to be assembled is positioned and carried on the pallet 60. A large number of them are arranged in parallel along the transport path to configure an automatic manufacturing system 100 for small parts.
The automatic manufacturing system 100 for the minute parts will be described with reference to FIGS.

First, an automatic manufacturing system 1 for small parts
An embodiment of each of the microminiature automatic working devices (each working means) 1 corresponding to the minute parts constituting "00" will be described with reference to FIG.

Each microminiature automatic working device 1 for small parts
Roughly classified, the parts to be assembled 3 which are positioned and conveyed on the pallet 60 by the automatic pallet conveying unit (conveying means) 180 and inserted from the pallet supply port 31
The thin clean robot 10 for performing assembly work, fastening work, adjustment work, inspection work, and the like, and the thin clean robot 10 for performing predetermined work based on a command from the controller 200 for overall control. Multiple types of ultra-compact work tools placed in the tool magazine so that you can select and hold a predetermined tool (hot hand)
(Or hand) 20, the thin clean robot 10
And a high-rigidity body 30 and a high-rigidity ceiling 40, which are connected to a supply means (not shown) for supplying clean air to form a cleansing chamber, and are attached to the parts 3 to be assembled. A general-purpose magazine 50 for supplying the minute parts 2 into the cleaning chamber through a magazine insertion port 51,
Optical communication system 70 and thin clean robot 10
And a micro control unit 80 for driving and controlling

As a result, each of the microminiature automatic work devices 1 for small parts is a microminiature automatic work device for small microparts, which makes the device itself compact and lightweight so that it can be carried by one person. In order to make it easy to carry, a handle as a gripping means is added, and in order to easily attach / detach from the automatic manufacturing system 100 to facilitate replacement or transportation, the microminiature automatic work device 1 has an attaching / detaching mechanism. By incorporating it, in addition to generalization and cleanliness, it is possible to achieve high space efficiency and economic efficiency, and to make the entire system flexible.

As shown in FIG. 2, the thin clean robot 10 is a cantilever support type which is thin, generalized and clean in order to achieve the function as an ultra-small automatic work device for small thin parts. XY-axis orthogonal drive mechanism with a single layer structure
3 and a Z / θ axis drive mechanism. Although the thin clean robot 10 is configured to be driven by four XYZθ axes, the number of drive axes can be increased according to the work content.
That is, as shown in FIG.
Is a ball screw nut 11c fixed to a block 12a slidably supported on the block 11a in the X-axis direction.
Ball screw shaft 11 that meshes with the ball
Ball spline nut 15 rotatably supported by a
The ball spline shaft 12 that meshes with b is arranged in parallel, and the ball screw shaft 11 is rotated by rotationally driving the motor 11b, and one block 12a is slidably supported on the block 11a in the X-axis direction. Linear drive (X
Shaft) and the motor 11b is rotationally driven to rotate the ball spline shaft 12 and block 12
Ball spline nut 1 rotatably supported on a
5b is rotated to achieve one-axis linear drive (Y-axis) for the block 18a which is connected to the ball spline nut 15b and is slidably supported on the block 12a in the Y-axis direction. 1) linear movement (Z axis) is achieved for the block 14a by the linear movement of (1), and the small servomotor 14b is used to move the 1 axis around the Z axis.
Axial rotation drive (θ axis) [not shown] is achieved, and a total of 4
It is configured to drive the axis. A steel belt 16 is suspended on a rotary pulley 15a rotatably provided on the block 11a to form a structure in which the steel belt 16 is moved and sealed as the block 12a moves in the X-axis direction. A steel belt 16 is suspended on a rotary pulley 15b rotatably provided on the block 12a to form a structure in which the steel belt 16 is moved and sealed as the block 18b moves in the Y-axis direction. The displacement amount in each axial direction of this thin clean robot 10 (the displacement amount in the X, Y, and Z axis directions of the block) is measured by the laser measuring system 76, and the microminiature control unit 80 is measured by the laser measuring system 76. The drive motors 12b, 11b, 14b and the like are feedback-driven through the controller 200 for overall control based on the displacement amounts in the respective axial directions, so as to realize highly accurate positioning of the hand.

A complete box-shaped sealing structure in which the respective shaft driving parts are connected to each other is provided, and a sealing seal 17 is arranged on each shaft driving part to prevent dust generated inside during driving from leaking to the outside. There is. Then, by adopting a method of vacuuming dust accumulated inside the drive mechanism through the vacuum suction pipe 18 and operating the built-in electromagnet 18a, the self-weight of the guide is reduced by utilizing the magnetic attraction force of the electromagnet 18a. By adopting a method of reducing dust generation by reducing frictional force, positioning and assembling work of the micro thin component 2 with respect to the component 3 to be assembled while achieving cleanliness and versatility, or to the component 3 to be assembled Joining work such as welding or adhesion of the micro thin parts 2, processing work such as locally bending the parts 3 to be assembled or the micro thin parts 2, or adjustment of the parts 3 to be assembled or the micro thin part 2 Micro thin parts 2 for work or assembly parts 3
It is configured to be able to perform inspection work and the like whether or not the positioning and assembling are completed.

The positioning of the thin clean robot 10 needs to be highly accurate so that it can deal with the minute thin parts 2 and the like. Therefore, as shown in FIG. 3, the thin clean robot 10 has a laser measuring system 7 with high measurement accuracy.
6 is adopted, and an optical component 71 and an optical path 72 are provided in a triaxial (X, Y, Z) driving unit (driving blocks 12a, 18a, etc.).
The laser measuring system 76 measures the movement amount of each X, Y, and Z axis with high accuracy and feeds it back to the microminiature control unit 80 via the controller 200 for overall control, and the microminiature control unit 80. Is a system for performing feedback drive control via the controller 200 for overall control so as to improve the drive resolution of the motors of the respective axes which are drive sources. That is, the transmission and reception of the positioning measurement signal is performed in the optical communication system using the optical path.

As shown in FIG. 1, the thin clean robot 10 has a tool end automatic exchange means 19 at one end 1 as shown in FIG.
9a, the one end 19a and the other end 1
Ultra-compact work tool (or hand) 20 with 9b
The automatic tool changing means 19 is configured by combining with. That is, the thin clean robot 10 mounts the microminiature work tool (or hand) 20 without power by engaging the one-side end portion 19a which is the automatic tool changing means 19 with the other-side end portion 19b. As a result, the thin clean robot 10 handles and positions the micro thin parts 2 and the like by the mounted ultra-small assembly tool (or hand) 20, and the pallet automatic transfer unit (transfer means) 180 pallets the pallet. It is possible to assemble the parts to be assembled 3 which are positioned and conveyed on the 60, inserted from the pallet supply port 31 and positioned.

Ultra-compact work tool (or hand) 20
Are always stocked in the tool receiver 21 in plural sets.
The thin clean robot 10 connects or disconnects by inserting / removing the ultra-compact tool (or hand) 20 according to the work from the tool receiver 21.

Then, the type of the parts 3 to be assembled (type of product) which is positioned and conveyed on the pallet 60 by the automatic pallet conveying unit (conveying means) 180 and the pallet supply port of each microminiature automatic working device 1 The state or type of the assembling component 3 inserted from 31 is predetermined, and the controller 200 for overall control inputs and stores this data. Therefore, the controller 200 for overall control stores what work each of the microminiature automatic work devices 1 should do. Therefore, the controller 200 for overall control issues a command to the microminiature control unit 80 of each microminiature automatic work device 1, so that the thin clean robot 10 causes the microminiature tool (or hand) corresponding to the commanded work. 20 is selected from the tool receivers 21 and mounted, and the work contents instructed to the assembly target component 3 are performed. However, in each of the microminiature automatic work devices 1, the pallet 60 is transferred from the pallet automatic transfer unit (transfer means) 180.
Corresponds to all types of parts to be assembled (types of products) that are positioned above and conveyed and flowed, as well as the state of parts to be assembled 3 inserted from the pallet supply port 31 of each microminiature automatic work device 1 It is not versatile as possible, and is configured so that only specific work can be performed as described above. Therefore, the pallet automatic transfer unit (transfer means) 1
According to the type (product type) of the assembly-targeted component 3 that is positioned on the pallet 60 from 80, the micromachines 1 are arranged in parallel along the transportation path. Or ultra-small automatic work device 1 for performing specific work
Is required to be installed at a specific position. As described above, in high-mix low-volume production, it is necessary to make it flexible, and the ultra-compact automatic work devices 1 are configured to be detachable from the gantry and arranged in parallel along the transfer route. The arrangement order of is changed, or the ultra-small automatic work device 1 for performing a specific work is installed at a specific position so that the knitting can be changed.

By the way, the micro-miniature tool (or hand) 20 provided in each micro-miniature automatic work device 1 has only the minimum drive source necessary for the work in order to achieve miniaturization and weight reduction. The structure does not have a drive source for connection or disconnection. Therefore, when mounting or opening, the pressing operation of the thin clean robot 10 is used to connect or open the ends of the automatic tool changing means 19a and 19b. In addition, piping is performed assuming that one set of air-driving type and three sets of power-driving type are used as the minimum driving source for work.

Further, as shown in FIG. 1, the thin clean robot 10 provided in each ultra-small automatic work device 1 is attached to the high-rigidity body 30 and is driven on the high-rigidity body 30. As a result, the micro thin assembly 2 handled from the general-purpose magazine 50 by the ultra-small tool (or hand) 20 is positioned on the assembly target component 3 positioned on the pallet 60, and then assembled. It is to do work. In each ultra-small automatic work device 1, the pallet 6 on which the parts 3 to be assembled are positioned and mounted.
0 is supplied by the pallet automatic transfer unit 180 from the pallet supply port 31 provided on the side surface of the high-rigidity body 30.

Ultra-small automatic work device 1 for performing predetermined assembly
In the case of the high-rigidity body 30, the magazine insertion slot 5
1 is provided so that the general-purpose magazine 50 can be loaded from the outside to supply the assembly parts. The magazine insertion port 51 is provided with a magazine storage mechanism 52 having an automatic magazine exchange function, and loads (or unloads) the general-purpose magazine 50 in which the micro thin assembly 2 to be assembled is stored at a predetermined position.

Each high-rigidity body 30 forms a frame of each ultra-small automatic work device 1, and has a function of supporting all the components of each ultra-small automatic work device 1. High-rigidity ceiling 4 having beams 41 (not shown) on each high-rigidity body 30
0 is assembled, and each high-rigidity body 30 and each high-rigidity ceiling 40 ensure the rigidity of each microminiature automatic work device 1.

Each high-rigidity ceiling 40 is provided with a handle 42 through a beam 41, and each microminiature automatic work device 1 can be carried by lifting and moving the main body while holding the handle 42. For this reason, the high-rigidity ceiling 40 has a honeycomb structure having rigidity enough to withstand transportation and breathability considering downflow. Then, each ultra-small automatic work device 1 forms a chamber by the high-rigidity body 30 and the high-rigidity ceiling 40, and connects exhaust means or supply means for supplying clean air so that the room can be cleaned. You may. If clean air is supplied to the chamber by the supply means, dust and the like existing on the outside of each of the microminiature automatic work devices 1 will not enter the chamber, and in the clean state, the minute parts will be And a predetermined work can be performed. Also, it is obvious that a temperature control device may be connected to keep the room temperature constant, if necessary.

Each high-rigidity body 30 is provided with a body-transporting roller 33 so that it can be easily transported, and the rolling of the body-transporting roller 33 is used to transport each microminiature automatic working device 1. To be able to do. A suspension 34 (not shown) is incorporated in the body transporting roller 33 to absorb and reduce vibrations generated during transportation and prevent damage to the microminiature automatic work devices 1 themselves.

Further, body positioning means 35 are provided at three locations on the bottom surface or the back surface in order to facilitate the positioning of the ultra-small automatic work device 1 after transportation. Accordingly, even when the ultra-small automatic work device 1 is constructed as the system 100, the installation on the ultra-small automatic work device storage base 110 becomes easy.

As the body positioning means 35 (not shown), the positioning pins provided on the storage base 110 side and having a hemispherical end are pressed against the three tapered holes provided on the high rigidity body 30 side. A method of positioning and fixing can be adopted. A piezoelectric element is incorporated in the positioning pin, and has a structure capable of expanding and contracting with high resolution. As a result, high positioning performance can be ensured, and the height and inclination levels of each microminiature automatic work device 1 can be automatically adjusted by expanding and contracting the piezoelectric element with high resolution. The body positioning means 35 is provided with a damper so that the body positioning means 35 is not damaged when it is pressed.

Each storage base 110 has a built-in loading mechanism 111 (not shown) of the microminiature automatic work device so that each microminiature automatic work device 1 can be easily accommodated, and the operation of the loading mechanism 111. Thus, each microminiature automatic work device 1 can be moved to a predetermined position and installed.

Each of the microminiature automatic work devices 1 according to the present invention is
The optical communication system 70 shown in FIGS. 1 and 3 is provided, and optical parts 71 such as mirrors, half mirrors, and interferometers are arranged everywhere, and a huge amount of information such as device information, tool information, and work information. Is processed in the space. As a result, the information processing system is made wireless, and the wiring work inside the device is reduced to facilitate the adjustment of the device. Further, since the optical communication path is a method of propagating in space, each microminiature automatic work device 1 is easily attached and detached.
Further, the optical communication system 70 continues to the tip of the micro tool (or hand) 20, and the optical communication system 7
In addition to the laser light for positioning each axis inside the thin clean robot 10 described above, the optical path 72 used for 0 is used to introduce laser light for processing / welding and ultraviolet light for UV bonding. Therefore, the optical path 72 is shared. As a result, it is possible to eliminate waste of the optical path and contribute to reduction in size and weight. That is, in the ultra-small automatic work device 1 for joining such as working or welding, the joining work such as working or welding can be performed by introducing the working / welding laser light using the optical path 72.

FIG. 3 is a diagram showing an optical communication system 70 used for the microminiature automatic work apparatus 1 and system 100 for minute parts according to the present invention. That is, mirrors, half mirrors, etc. are provided everywhere in each microminiature automatic work device 1 (N = 1 ... n).
An optical component 71 such as an interferometer is arranged to process a huge amount of information such as positioning measurement information, device information, tool information, and work information in a space. Above all, the optical path 72 is an optical path for positioning measurement in the thin clean robot 10 which is incident from the laser length measuring system 76 described above. Since the optical path 72 continues to the tip of the microminiature tool (or hand) 20 as described above, it can also be used as an optical path for machining, welding, joining, and the like.
In addition, a huge amount of information such as device information, tool information, and work information passes through the optical path 73 in a state where the laser light output from the laser oscillator 74 is modulated by the modulator 75 and converted into a digital signal. It is sent into each ultra-small automatic work device 1. A plurality of (N = 1 ... n) microminiature automatic work devices 1 and each system element group are prepared and system hardware 10 is provided.
In the case of constructing 1, the optical path is deflected by the deflector 77 and the lens 78 and distributed to a plurality of optical paths so that the data is distributed to all the hardware 101 of the system. In this case, the overall control controller 200 exchanges control signals with each other to cooperate with the microminiature automatic work device group. The controller 200 for centralized control transmits / receives control information to / from the microminiature control unit 80 of each microminiature automatic work apparatus 1 and the thin clean robot 10 by optical information transmission means to integrally control a large number of microminiature automatic work apparatuses 1. is doing. The information data sent from the microminiature control devices 80 and the sensors 81 in the plurality (N = 1 ... N) of the microminiature automatic work devices 1 are sent to the overall control controller 200 through the optical path 74. Here, the optical path 73 and the optical path 7
4 is partly shared with the optical path 72, thus eliminating waste of the optical path.

Further, the air piping system 3 in the microminiature automatic working device 1 provided on the bottom surface or the back surface of each high-rigidity body 30.
3. The air and power supply terminals 35a (not shown) at the ends of the power supply system 34 (not shown) are automatically stored when the high-rigidity body 30 is installed on the storage base 110. It can be joined to the supply terminal 35b on the base 110 side.

Each microminiature control unit 80 is installed at the rear part of the microminiature automatic work device 1 and the rear part of the storage base 110 as shown in FIG. 1, and controls the microminiature automatic work device 1 in general. Signals are exchanged by optical communication. In addition to performing independent control, while exchanging control signals with the overall control controller 200 so that it can be utilized as the system 100, the mutual cooperation with the microminiature automatic work device group is achieved, and the microminiature automatic work is performed. Programs are exchanged for the work of the device 1 itself.

The automatic manufacturing system 100 for minute parts of the present invention will be described with reference to FIG. That is, the automatic manufacturing system 100 for minute parts prepares a plurality of microminiature automatic work devices 1 as shown in FIG. 4, and performs some assembly work, fastening work (joining work), adjustment work, inspection work, and the like. It is a system that has been lined up so that it can be carried along the transportation route. By making the ultra-small automatic work device 1 itself for small parts ultra-miniaturized and lightened, it becomes easier to transport and the lines can be easily switched, and an automatic manufacturing system can be built on the desk.
By constructing the automatic manufacturing system on the same tabletop anti-vibration table in this way, the level adjustment work between each work device also became easy. Further, the automatic manufacturing system 100 has the structure in which the ultra-small automatic work device storage base 110 has a high rigidity and can be stacked at a predetermined position. It was possible to build a high-rise building. That is, by installing the ultra-small automatic work device storage base 110b group on the ultra-small automatic work device storage base 110a group, it is possible to construct the automatic manufacturing system 100b for micro-parts on the automatic manufacturing system 100a for micro-parts. did.

FIG. 5 shows a system construction diagram in which the automatic manufacturing system 100 for minute parts is stacked to form a high-layer structure. As a result, the efficiency of the work space in the automatic manufacturing system 100 for small parts can be made higher, and ultra-compact for performing high-precision assembly work, high-precision fastening work (joining work), high-precision adjustment work, etc. It has become possible to reduce the number of anti-vibration bases that are indispensable for automatic work equipment.

The work loading unit 170 loads the work (non-assembled parts) 2 together with the pallet 60 into the pallet automatic transfer unit 180. At this time, a plurality of works (non-assembled parts) 2 are stored on the pallet 60 in a state of being positioned in plural.

The pallet automatic transfer unit 180 transfers the work (non-assembled parts) 2 together with the pallet 60 over the entire area of the automatic manufacturing system 100. During this period, assembling, fastening, and adjustment work is performed while passing through the ultra-small automatic work device group, so when the entire automatic manufacturing system 100 is transported, the work of the micro thin parts is completed and a micro finished product is completed. . The work discharge unit 190 discharges a minute finished product together with the pallet 60 from the pallet automatic transfer unit 180 after the work of the minute thin parts is completed.

As described above, the manufacturing system elements are modularized, and the overall control controller 200 centrally controls the manufacturing system 100 corresponding to the minute parts, which is composed of all of these manufacturing system elements (various work elements).

FIG. 6 is an external view of an example of an automatic manufacturing system in consideration of automatic switching of the ultra-small automatic work device 1 for small parts. By adding the system construction robot 300 that constructs the manufacturing system while gripping the ultra-small automatic work device 1 itself, the automatic manufacturing system can be made more flexible. Furthermore, the automatic manufacturing system itself is simplified by using the mechanism for inserting the general-purpose magazine 50 also as the system construction robot 300. Further, as shown in FIG. 6, a microminiature automatic work device storage means 400 for accommodating the microminiature automatic work device itself is provided. As a result, a plurality of micro-miniature automatic work devices 1 group or manufacturing system elements (various work elements) are always stocked in the micro-miniature automatic work device storage means 400.
When the automatic manufacturing system needs to be changed, the automatic manufacturing system is automatically switched by automatically attaching and detaching it from the microminiature automatic work device storage means 400 by the system construction robot 300.

The automatic manufacturing system 10 according to the present invention.
Reference numeral 0 denotes an optical communication system 70 which is a system information transmitting means.
It is also equipped with a function for self-diagnosis as a method of constantly monitoring by the system control unit via the, and even when a failure is recognized during the self-diagnosis, the ultra-small automatic work device storing means 400 can operate normally A self-repair function for exchanging the work device 1 group or work system elements (various work elements) is also added.

In particular, an assembly work for assembling the minute parts 2 to the parts to be assembled 3 is carried out in a predetermined micro-small automatic work device, and then the parts 3 to be assembled are assembled into the next micro-small automatic work. Since it is premised on minute parts when sending to the device, it is expected that it will not be possible to perform the subsequent work if it moves, so assembling work so that the assembled state is maintained even if transported It is necessary to mechanically establish a certain degree of tightening or coupling such as fitting and bonding.

As described above, according to the above-mentioned embodiment, a thin clean robot having high versatility is built in as an automatic working device for small parts, and a working area and working function particularly effective for small parts are secured. In this state, by making the entire working device ultra-compact, lightweight and highly rigid so that it can be transported by one person, it has the necessary versatility and the space cost of the clean room and vacuum chamber required for minute parts. Even in a high environment, it is possible to construct a highly economical system with little waste.

Further, since each automatic working device has a size and weight that can be carried by one person and is easily attached and detached with one touch, it is easy to construct when systematized as a line, and the device is idle when changing products. Even in this case, the device itself can be easily stored.

In addition, since it is easy to change the layout of the manufacturing system when changing the product when dealing with minute parts,
It is possible to reduce the time and labor required for system switching and contribute to early operation. Furthermore, by combining with a system construction robot that constructs a manufacturing system while gripping the automatic work device itself, it becomes possible to make the manufacturing system for minute parts more flexible.

Further, the automatic working device corresponding to each minute part is
Because of the structure that allows stacking, it is possible to build a higher layer above the ultra-small automatic work device group in a space that was not available before, and the work space in the manufacturing system can be made more efficient. it can. In addition, it is necessary to provide a lifter means for lifting or lowering the assembled component 3 mounted on the pallet 60 between the layers.

Further, since it is possible to reduce the vibration isolating table which is indispensable for the working apparatus requiring high precision work, and the entire automatic manufacturing system can be constructed on the same vibration isolating table, it is possible to reduce the vibration between the automatic working apparatuses. It is possible to prevent an adverse effect due to the vibration at the same time and easily perform the level adjustment work between the working devices.

Further, since the automatic working device is miniaturized, it is possible to easily seal the automatic working device alone or in a plurality of places, and to seal a part or the whole of the automatic manufacturing system to obtain a higher clean environment or It is possible to create a special environment such as a vacuum environment, and it is possible to construct a complicated manufacturing system within a small space at low cost.

In addition, since optical communication is used as much as possible for the signal transmission system in the automatic working device to achieve wireless multiplexing, adjustment work of the miniaturized working device can be reduced and the optical introduction used in optical communication can be reduced. By overlapping the route with the light introduction route such as measurement, processing, and joining (laser-welding, UV joining) using light (or laser-light), it is possible to reduce the cost in the optical path and simplify the device. .

[0065]

As described above, according to the present invention, as an automatic manufacturing apparatus for minute parts (micro thin parts, etc.), each automatic working apparatus having a built-in working robot can be made ultra-compact, lightweight and highly rigid, and detachable. Since it is configured, even in an environment with high space cost such as a clean room or vacuum chamber required for micro parts, it is possible to construct a highly economical system with little waste and to make it flexible for multi-product small volume production corresponding to micro parts. It has the effect of being able to measure.

Further, according to the present invention, by combining with a system construction robot, it is possible to construct a manufacturing system corresponding to minute parts, and it is possible to achieve flexibility in correspondence with low-volume production of a wide variety of products. Has the effect.

Further, according to the present invention, there is an effect that it is possible to stack the automatic working apparatus corresponding to the minute parts and further improve the working space efficiency.

Further, according to the present invention, it is possible to reduce the number of vibration-proof bases which are indispensable to the working device requiring high-precision work, and
Since the entire automatic manufacturing system can be built on the same vibration isolating table, it is possible to prevent the adverse effects of vibrations between mutual automatic working devices and to easily perform level adjustment work between each automatic working device. There is an effect that can be done.

Further, according to the present invention, since the automatic working device is miniaturized, it is possible to easily seal the automatic working device alone or in a plurality of places, and to seal a part or the whole of the automatic manufacturing system. Therefore, it is possible to create a higher clean environment or a special environment such as a vacuum environment, and it is possible to construct a complicated manufacturing system in a small space at low cost.

Further, according to the present invention, since the optical transmission is used as much as possible in the signal transmission system in the automatic working device to achieve the wireless multiplexing, the adjustment work of the microminiaturized automatic working device can be reduced, and The light introduction path used in optical communication is measured, processed, and joined using light (or laser-light) (laser-light).
By overlapping the light introduction path such as welding and UV bonding), there is an effect that the cost can be reduced in the optical path and the apparatus can be simplified.

[Brief description of drawings]

FIG. 1 is a schematic configuration external view showing an embodiment of each microminiature automatic work device according to the present invention.

FIG. 2 is a schematic configuration external view showing an embodiment of a thin cleaner robot installed in each ultra-small automatic work device according to the present invention.

FIG. 3 is an explanatory diagram showing an embodiment of an optical communication system used in each microminiature automatic work device according to the present invention.

FIG. 4 is a configuration diagram showing an overall configuration of an automatic manufacturing system for minute parts of the present invention.

FIG. 5 is a construction diagram of an automatic manufacturing system for minute parts, in which ultra-small automatic work devices according to the present invention are stacked to form a high-layer structure.

FIG. 6 is an external view showing a schematic configuration of an automatic manufacturing system for minute parts capable of automatically switching each microminiature automatic work device according to the present invention.

[Explanation of symbols]

1 ... Ultra-small automatic work device (1a ... 1n) 2 ... Micro thin assembly parts 3 ... Assembled parts 10 ... Thin clean robot 20 ... Ultra small tools
(Or hand) 30 ... High-rigidity body 40 ... High-rigidity ceiling 50 ... General-purpose magazine 60 Pallet 70 ... Optical communication system 80 ... Ultra-compact control unit 100 ... Automatic manufacturing system 110 ... Ultra-compact automatic work equipment storage base 170 ... Work input unit 180 ... Pallet automatic transfer unit 190 ... Work discharge unit 200 ... Centralized control controller 300 ... Microminiature automatic work device switching robot (system construction robot) 400 ... Microminiature automatic work device storage means

Claims (24)

[Claims] 1. A relative positional deviation between an ultra-small component supplied in the cleaned room and the object to be assembled by carrying in the assembled object conveyed by the conveying means into the cleaned room. On the basis of the relative positional deviation measured by the assembling means that is provided in the cleaned room and has the sliding portion in a sealed state and suction and exhaust means is connected to the sliding portion. Micro-sized parts are aligned and assembled and fastened to the object to be assembled, and the ultra-small parts are carried out from the cleaned chamber while being fastened to the object to be assembled. Automatic manufacturing method for small parts. 2. A plurality of cleaned chambers are arranged side by side, and the objects conveyed by the conveying means are sequentially carried into the respective cleaned chambers, with respect to the successively carried objects. An automatic manufacturing method for minute parts, characterized in that predetermined work is carried out in each clean room based on a command from a centralized control device. 3. A transport means for transporting an object is provided, and a plurality of working means having a built-in driving means for performing a predetermined work on the object transported by the transport means are attached and detached along the path. An automatic manufacturing device for small parts, which can be installed in parallel. 4. A transport means for transporting an object is provided, and a control means and a drive means controlled and driven by the control means are provided to perform a predetermined operation on the object transported by the transport means. An automatic manufacturing apparatus for small parts, characterized in that a plurality of the above-mentioned working means are removably arranged side by side along the transport path. 5. The work content to be performed by each working means is transmitted from the integrated control means to the control means built in each working means by optical information. 4. An automatic manufacturing device for minute parts described in 4. 6. The automatic manufacturing apparatus for small parts according to claim 3 or 4, wherein each of the working means has a structure mounted on a pedestal. 7. The automatic manufacturing apparatus for minute parts according to claim 3 or 4, wherein each of the working means has a structure mounted on a frame having a shell structure. 8. The automatic manufacturing apparatus for minute parts according to claim 7, wherein a hole is provided in the upper part of the frame having the shell structure so as to have air permeability. 9. The automatic manufacturing apparatus for minute parts according to claim 7, wherein said frame having a shell structure has a honeycomb structure so as to have high rigidity. 10. An exhaust means is connected to each of the working means,
4. The automatic manufacturing apparatus for small parts according to claim 3, wherein each working chamber is cleaned. 11. The automatic manufacturing apparatus for minute parts according to claim 3 or 4, wherein each of said working means is constituted by a multi-axis positioning mechanism to which suction and exhaust means are connected. 12. An automatic manufacturing apparatus for minute parts according to claim 3, further comprising a switching robot for replacing the respective working means. 13. The automatic manufacturing apparatus for minute parts according to claim 3, wherein each of said working means is installed on a vibration-proof table. 14. Control means and the control means for carrying a predetermined work to an object carried by the carrying means provided for each floor, wherein a carrying means for carrying the object is provided for each of a plurality of floors. A plurality of working means having a driving means which is controlled and driven by a stacking means are stacked and detachably arranged in parallel along the conveying path, and an object conveyed by the conveying means provided for each floor is lifted, or An automatic manufacturing device for minute parts, which is equipped with lifter means for lifting. 15. A transport means for transporting an assembly object is provided, further comprising: a measurement means for measuring a relative positional deviation between the assembly object transported by the transport means and a microminiature component supplied. Assembling work for assembling the microminiature part to the object to be assembled by controlling the relative misalignment between the object to be assembled and the microminiature part based on the relative position deviation measured by the measuring means. An automatic manufacturing apparatus for minute parts, wherein a plurality of assembling work means including a control means and a driving means controlled and driven by the control means are detachably arranged in parallel along the path. 16. The micro-unit according to claim 15, wherein the work contents to be carried out by the respective working means are transmitted from the integrated control means to the control means built in each working means by optical information. Automatic manufacturing equipment for parts. 17. The automatic manufacturing apparatus for minute parts according to claim 15, wherein each of the assembling work means has a structure mounted on a pedestal. 18. The automatic manufacturing apparatus for minute parts according to claim 17, wherein said gantry has a shell structure. 19. A hole is provided in the upper part of the shell structure frame so as to have air permeability.
Automatic manufacturing equipment for the described minute parts. 20. The frame of the shell structure has a honeycomb structure so as to have high rigidity.
8. An automatic manufacturing device for minute parts described in 8. 21. The automatic manufacturing apparatus for minute parts according to claim 15, wherein an exhaust means is connected to each assembling work means to clean each work chamber. 22. The automatic manufacturing apparatus for minute parts according to claim 15, wherein each of the assembling work means is constituted by a multi-axis positioning mechanism to which suction and exhaust means are connected. 23. A switching robot for replacing the assembling work means is installed.
Automatic manufacturing equipment for the described minute parts. 24. The automatic manufacturing apparatus for minute parts according to claim 15, wherein each of the assembling work means is installed on a vibration isolation table.