JPH08174355A - Part assembling device - Google Patents

Abstract

PURPOSE: To perform production with a limited space and high efficiency even when a part has the high number of assembly processes. CONSTITUTION: A part assembling device comprises a two-arm robot 20; multishaft type robots 25A and 25B; and a transfer truck 15F. By vertically and horizontally moving a conveyance truck, on which a work is placed, during the work of the robot, the conveyance truck is burdened with one shaft of the robot, the work range of the securely arranged robot is spread in a pseudomanner, and a production line is reduced and working efficiency is improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parts assembling apparatus capable of efficiently producing automobile parts, such as an instrument panel, which requires a large number of processing and assembling steps.

[0002]

BACKGROUND OF THE INVENTION As is well known, automobiles are made up of a large number of parts. Among these automobile parts, the instrument panel is a part that requires a large number of assembly and processing steps.

In order to manufacture such an instrument panel using a conventional production line, it is necessary to construct a production line as shown in FIG. 6 as an example.

This line structure is designed appropriately by an engineer according to the required work contents, but conventionally one robot basically performs one type of work. Therefore, an extremely large number of work stages are required to assemble a component such as an instrument panel that requires a large number of work steps.

[0005]

However, when the production line is constructed on the basis of such a conventional design, one work stage basically performs one type of work. Therefore, it is necessary to prepare a work stage according to the work man-hours of the parts to be manufactured, and a part production line such as an instrument pamel requires a large number of robots and production machines as shown in FIG. And, the space required for the production line is also very large.

Therefore, there is a problem in that a large amount of money is required to construct the production line, and many types of production machines are required, so that a lot of indirect costs such as maintenance are also required.

The present invention has been made in order to solve such a conventional problem, and even a component having a large number of assembling steps is produced in one stage composed of a robot and an automatic guided vehicle. It is an object of the present invention to provide a parts assembling apparatus capable of saving space in a production line and improving production efficiency.

[0008]

SUMMARY OF THE INVENTION To achieve the above object, the present invention relates to a transfer carriage for transferring a work, a robot for performing a predetermined work on the work placed on the transfer carriage, and It is characterized by having a carrier vehicle and control means for cooperatively controlling the operation of the robot.

The carrier vehicle is characterized by having a mechanism for not only traveling on a predetermined track but also for sliding the work up and down or left and right.

The robot is composed of a two-armed robot and a multi-axis robot equipped with a force sensor capable of exchanging work tools according to the work content and capable of performing work on a soft work. It is characterized by

The control means causes the carrier to move the work forward, backward, leftward, rightward, leftward, rightward, leftward, rightward, leftward, rightward so that the carrier assists the robot when the robot is working on the work. It is characterized in that it outputs an instruction to move it up and down.

[0012]

The component assembling apparatus of the present invention thus constructed is
Each claim works as follows.

The work carried by the carriage is carried to a predetermined position, and a robot performs a predetermined work. The control means causes the robot to operate according to a predetermined program, and causes the carrier vehicle to operate in cooperation with the operation of the robot.

That is, the operation of the carriage is controlled so as to bear one arm of the robot, and the work on the work is performed while both the robot and the carriage are moving.

Since this transport carriage not only runs on a predetermined track but also has a mechanism for sliding the work up and down or left and right, it is possible to efficiently perform the work while cooperating with the operation of the robot. become able to.

In this robot, a work tool can be replaced according to the work content, and a two-arm robot and a multi-axis robot equipped with a force sensor capable of performing work on a soft work can also be used. Since it is configured, it is possible to handle large parts and heavy parts, and it is possible to perform flexible work regardless of the hardness of the work.

Further, the control means moves the work carriage forward and backward as necessary so that the work carriage assists the work of the robot while the robot is working on the work. Since the command to move left and right and up and down is output, the robot and the carrier can jointly perform one work, and efficient work is possible.

[0018]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic configuration diagram of a component assembling apparatus according to the present invention.

As shown in the drawing, the component assembling apparatus is provided with a traveling track 10 provided around the work stage 5.
Automatic guided vehicles (hereinafter referred to as AGVs) 15A to 15F that carry parts that are works on A, 10B, and 10C, a two-arm robot 20 provided on a work stage, and multi-axis robots 25A and 25B. It consists of

The AGVs 15A to 15D are provided only for carrying the parts, and the AGV 15A
The Es and 15Fs not only convey the components, but also operate the robots 20, 25A and 25B to assist the work by moving the placed components up and down or sliding them left and right as needed. . The operations of the AGVs 15A to 15F and the robots 20, 25A, 25B are comprehensively controlled by the integrated controller 30. The two-arm robot 20 is individually controlled by the CR control panel 35, and the multi-axis robots 25A and 25B are individually controlled by the AR control panel 40.

The two-armed robot 20 has a running trajectory 10
It is a collaborative robot that cooperates with the AGVs 15E and 15F traveling on C and has a function of automatically replacing the work tool according to the content of the work. Also,
Since the visual sensor and the force sensor are provided, it is possible to easily assemble a soft part that is elastically deformed when a certain amount of force is applied. AG
V15E and 15F are cooperative AGVs that operate in cooperation with the cooperative two-arm robot 20.

FIG. 2 shows a two-arm robot 20 and a multi-axis robot 25A, 25 arranged on the work stage 5.
FIG. 7 is an explanatory diagram of the arrangement status of B and the operation of the cooperative AGV 15F.

The two-arm robot 20 has two arms 20A and 2A.
0B is operated in synchronization, and has a function of gripping and carrying a long part such as that mounted on the AGV 15F with both arms, and attaching it. In addition, a multi-axis robot 25A, It is possible to handle heavy parts that the 25B cannot handle.

The multi-axis robots 25A and 25B are general robots that have been used conventionally.

The both-arm robot 20 and the multi-axis robots 25A and 25B have a tool changing function so that a tool according to the work content can be used.

FIG. 3 is a block diagram of a control system of the component assembling apparatus of the present invention.

Double-armed robot and multi-axis robot 2
The robot controller 50 is connected to 0, 25A, and 25B, and the AGV controller 60 is connected to the AGVs 15A to 15F. Robot controller 50
Is composed of a CR control board 35 and an AR control board 40. AGV controller 60 for AGV 15A to 15F
The AGV controller 60 forms a part of the integrated controller 30.

The component assembling apparatus according to the present invention having such a structure operates as follows based on the flow chart shown in FIG. This operation will be described with reference to FIG.

The S1 AGV controller 60 uses the respective AGVs 15A to 15V to convey predetermined parts to the work stage 5 in accordance with a production instruction from a host computer (not shown).
Give F the instruction to load the work.

The AGVs 15A to 15F follow the traveling tracks 10A to 1 in accordance with instructions from the AGV controller 60.
It travels 0C and conveys predetermined parts.

The S2 CR control panel 35 and the AR control panel 40 read a program according to the type of parts to be worked on in accordance with the production instruction from the host computer.

The S3, S4, S5 CR control board 35 and the AR control board 40 operate the robots 20, 25A, 25B according to the read program. For example, as shown in FIG. 5, the multi-axis robots 25A and 25B perform work for attaching a side grill and other Komono parts to the body of the instrument panel mounted on the cooperative AGV 15F, and the cooperative robot 20 Installs long parts such as side differential ducts.

At the same time, the AGV controller 60 receives the progress of the work from the robot controller 50, moves the AGV 15F forward and backward, slides the work left and right, and moves the work up and down. By cooperating with 20, 25A, 25B, the working range of the fixed robot is apparently widened and efficient work is performed.

The above steps S2 to S5 are repeated until the work is completed.

When the predetermined work is completed in the S6 work stage, the AGV
The work is unloaded from the work stage 5 by moving 15F.

As described above, in the parts producing apparatus according to the present invention, different kinds of robots capable of performing various works are arranged on one work stage, and the operation of the robots and the cooperative control are performed on this work stage. Since the parts are carried in by the AGV, the apparent work area can be expanded, and the required space can be reduced.

[0037]

As described above, according to the present invention, the following effects can be obtained for each claim.

According to the first aspect of the present invention, since the control means controls the carrier vehicle and the robot in a coordinated manner, the carrier vehicle can be made to function as the axis of the robot, thus saving space in the production line. Will be able to.

According to the second aspect of the invention, the transport carriage not only runs on a predetermined track, but also has a mechanism for sliding the work up and down or left and right, so that the position of the work is three-dimensional. The robot can be moved in any direction, and the work efficiency of the robot can be improved.

According to the third aspect of the invention, the robot is capable of exchanging the work tool according to the work content and further equipped with a force sensor capable of performing work on a soft work. Since the robot is composed of the arm robot and the multi-axis robot, it becomes possible to assemble relatively soft parts that cause elastic deformation.

According to the fourth aspect of the present invention, the control means controls the transport carriage so that the transport carriage assists the robot when the robot is working on the work. In addition, since it outputs a command to move the workpiece back and forth, left and right, and up and down as necessary, it is possible to control the robot and the transfer trolley in a coordinated manner, which improves work efficiency and saves space on the production line. become able to.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a component assembly apparatus according to the present invention.

FIG. 2 is a diagram showing an example of a robot that constitutes a component assembly measure according to the present invention.

FIG. 3 is a block diagram of a control system of the component assembling apparatus according to the present invention.

FIG. 4 is a flowchart showing the operation of the control system shown in FIG.

FIG. 5 is a diagram for explaining the operation of the component assembling apparatus of the present invention.

FIG. 6 is a diagram showing an example of a conventional production line configuration.

[Explanation of symbols]

 10A to 10C ... Orbit, 15A to 15F ... Transport trolley, 20 ... Double-armed robot, 25A, 25B ... Multi-axis robot, 30 ... Integrated controller, 35 ... CR control panel, 40 ... AR control panel, 50 ... Robot controller , 60 ... AGV controller.

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[Procedure amendment]

[Submission date] March 16, 1995

[Procedure Amendment 1]

[Document name to be corrected] Drawing

[Correction target item name] All drawings

[Correction method] Change

[Correction content]

[Fig. 2]

[Figure 3]

FIG.

[Figure 4]

[Figure 5]

[Figure 6]

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Minoru Nomaru 2 Takaracho, Kanagawa-ku, Yokohama, Kanagawa Nissan Motor Co., Ltd.

Claims (4)

[Claims] 1. A transport carriage (15A to 15) for transporting a work.
F) and a robot (20, 25A,) that performs a predetermined work on the work placed on the transport carriage (15A to 15F).
25B), the carrier vehicles (15E, 15F) and the robot (25B).
A, 25B) control means (30, 5) for cooperatively controlling the operation.
0, 60). 2. The transport carriage (15A to 15F) not only runs on a predetermined track (10A to 10C), but also has a mechanism for sliding a work up and down or left and right. Item 1. The work assembly device according to item 1. 3. The robot (20, 25A, 25B)
Is a two-armed robot (20) and a multi-axis robot (25A, 25B) equipped with a force sensor capable of exchanging work tools according to the work content and capable of working even on soft works. The work assembly apparatus according to claim 1, wherein the work assembly apparatus is configured by: 4. The control means (30, 50, 60) is configured such that, when the robots (25A, 25B) are working on a work, the transfer carriages (15E, 15F) are operated by the robots (25A, 25A, 25A, 25F). 25B), a command for moving the work to the front, rear, left, right, up, and down is output to the carrier carts (15E, 15F) as needed to assist the work of (25B). .