JPH10180566A - Automatic assembling method and device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten the assembling time of an automatic assembling device and enhance the productivity. SOLUTION: An automatic assembling device is quipped at least with base members 60, 61, 62, a first locating member 39a to locate the position of a first component 18, the first supporting devices 54, 57, 51 to support the first component 18, a second locating member 44a to locate a second component 19, and the second supporting devices 44, 46, 41 to support the second component 19, whereby the first component 18 is supported by a supporting member 54 of the first supporting devices in such a condition as located by a first locating member 39a, and the second component 19 is supported by the supporting member 44 of the second supporting devices in the condition that the first component 18 is assembled on the second component 19 and the second component 19 is located by the second locating member 44a. Thus the assembling is conducted.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic assembling apparatus for automatically assembling parts, and more particularly to a method for assembling parts by overlapping them in stages.

[0002]

2. Description of the Related Art Conventionally, as an automatic assembling apparatus, an automatic assembling apparatus using a robot or the like is known. This apparatus employs, for example, a turret hand that uses a plurality of grippers (hereinafter, referred to as chucks) attached to the end of a robot arm and rotates the chucks to grip components in stages.
No. 210583. When assembling using such a turret hand, in general, go to the turret hand for a supply part,
Parts are gripped by multiple chucks, and parts held by multiple chucks are placed on the mounting table one by one in a layered fashion from bottom to top by rotating them while releasing the constraints of the chucks one by one. A method of sequentially accumulating (pick and place method) is disclosed on page 269 of a mechanical system design handbook based on JIS (Japanese Standards Association, issued on December 18, 1986), and this method is used. .

That is, this assembling method is shown in FIG.
As shown in the state transition diagrams shown in FIGS.

First, the chuck device moves from an initial position (position A) where the mounting table is located to a position (position B) where components are supplied from a supply jig. When you arrive at position B,
The user descends to grasp the component, and grasps the first component on the supply jig placed at the position B by hand (state a). Thereafter, the chuck device holding the first component moves up and moves to the initial position A (state b). Then, the chuck device descends and the first
The part is fitted into the second part placed on the mounting table (state c). After that, when the first component is fitted into the second component, the chuck device opens and releases the chuck, whereby the first component is assembled to the second component. When this operation is completed, the chuck device is similarly moved to the position B, and the operations (a) to (d) are repeatedly performed in mass production.

[0005]

However, considering the above operation, as shown in FIG. 8, the robot first picks up the first part located at the point B from the initial position (point A). Operation to move to point B to go (state)
I do. At point B, it descends (states) to grasp the part,
In this state, the user grips the first part. Thereafter, the user lifts the first component while holding it, and moves from point B to point A in this state. When the robot reaches the point A and reaches the position for assembling, it descends to perform assembling in the state, and assembles the first part to the second part in the state. Thereafter, the chuck device of the robot rises and repeats the above conditions.

[0006] In this case, when assembling one component, eight operations are performed.
In the state described above, the same operation is performed for each round trip.

For example, when there are four parts to be assembled as shown in FIG. 10, the above-described repetitive operation is performed four times. For example, in the state shown in FIG. In this state, nothing is grasped, and in fact, the assembling time becomes longer due to a useless process in which assembling is not performed, and it takes time to assemble. Therefore, when mass production is performed, productivity is not good.

Accordingly, the present invention has been made in view of the above-mentioned problems, and it is a technical object of the present invention to eliminate unnecessary steps in performing automatic assembly and improve productivity.

[0009]

A first technical means taken to solve the above-mentioned problems is a base member, a first positioning member provided on the base member for determining a position of a first component, and A first support device that supports the first component positioned by the first positioning member, a second positioning member that is fixed to the base member and determines a position of a second component to be assembled, and is positioned by the second positioning member. A second support device for supporting the second component, wherein the first component is supported by the first support device while being positioned by the first positioning member, and the first component is assembled to the second component. The second component is supported by the second support device while being positioned by the second positioning member, and is assembled. With the above configuration, the first component is supported by the first support device in a state where the first component is positioned by the first positioning member, and then the first component is assembled to the second component and the second component is positioned by the second positioning member. Thus, since the assembly can be performed while being supported by the second support device, a device that can support and assemble the parts together is provided.

[0010] More preferably, if the support device is constituted by a cylinder piston provided on a base member, a piston rod serving as an output shaft of the cylinder piston, and a support member rotatable with respect to the piston rod, The cylinder rod is moved by the operation of, and the parts are reliably supported.

The second technical means taken to solve the above-mentioned problem is that the first component is positioned by the first positioning member provided on the base member and is supported by the operation of the first support device. Assembling the first part on the two parts and attaching the second part
The component is supported by the operation of the second support device in a state where the component is positioned by the second positioning member, and the assembly is performed.

According to the above method, by providing the first to third position assembling members and the supporting device, the components can be supported and assembled together. In this case, the automatic assembling apparatus is always in a state of supporting the assembled parts at the time of assembling, eliminating unnecessary steps in which assembling is not performed,
The assembly time can be reduced. When mass production is performed, productivity is improved.

[0013]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.
This will be described with reference to the drawing of FIG.

FIG. 1 shows an assembling method using the automatic assembling apparatus according to the present invention, and FIG. 2 is a conceptual diagram showing the assembling state of the components shown in FIG. 1 step by step. Here, a description will be given of a case where there are four parts to be assembled, but the number of parts to be assembled is not limited to this.

Therefore, first, the outline of the present invention is shown in FIG.
This will be briefly described with reference to FIG. 1st part 11-4th part 1
The following description will be made on the assumption that a device for holding or supporting the assembled component is provided at the tip of the arm 21 of the robot 10 shown in FIG. State corresponds to the state shown in FIG. The arm 21 of the robot 10 moves from the initial position to a position where the first component is supplied first, and grips the first component 11 with the first chuck device.
Thereafter, the arm 21 is moved to a position where the second component 12 is supplied while the first component 11 is being gripped, and the protrusion 12 b provided on the second component 12 is moved to the hole 1 of the first component 11.
The lowering is performed so as to be inserted into 1a, and the second chuck device is operated to grip the second component 12. In this state, the second component 12 is attached to the first component 11 and the first component 11
And the second component are sandwiched between the first and second chuck devices. Thereafter, the arm 21 moves to a position where the third component 13 is supplied, and the lower protrusion 12a of the second component 12 is inserted into the hole 13a provided in the large diameter portion 13b of the third component 13. Then, the third component 13 is gripped by operating the third chuck device. At this time, the first to third parts are gripped, and then the arm 21 moves to a location where the fourth part 14 is supplied. When moving to the position where the fourth component 14 is supplied, the third component is inserted into the hole 14a provided in the fourth component 14.
The fourth chuck device is operated so that the small diameter portion 13c of the component 13 is inserted, and the arm 2 is held in a state where the fourth component 14 is gripped.
1 is placed on an assembly table on which the assembled components are mounted, and the first to fourth chuck devices are released to raise the arm 21. By releasing the chuck device, the assembly of the first to fourth parts is completed at the place where the assembly table is placed. In this case, an arm 21 having a plurality of chuck devices is provided.
Movement is a movement to get parts, but once you go to get parts and grab the parts, you can grab the parts and perform assembly at the same time. Since unnecessary wasteful steps are omitted, the assembling time can be reduced, and in the case of mass production, the productivity is improved.

Next, a specific example in one embodiment of the present invention will be described.

The automatic assembling device 20 is provided at the tip of the arm 21 of the robot 10 as shown in FIG. 8, and by operating a supporting device comprising a cylinder piston and a supporting member functionally, as shown in FIG. 4 for vehicles as shown in
Seat parts (pole 17, cam 16, lower arm 1)
8, lever 19).

The structure of the automatic assembling apparatus 20 will now be described.
The configuration is as shown in FIG. Here, FIG. 4 shows the arrangement of the support devices 54, 34, 84 and the positioning plate 37, but does not directly correspond to FIGS.

The actual configuration will be described with reference to FIG.
The first base member 60 and the third base member 62 serving as bases are disposed to face each other, and a column 39c is fixed between the first base member 60 and the third base member 62 by bolts 71 to maintain a constant interval. I'm dripping. The column 39c penetrates column fixing holes provided in both the first base member 60 and the third base member 62 and is fixed by screws from above on bolts 71, and a positioning pin 39a is provided below the column 39c on the column 39c. It is fixed with screws. As shown in FIG. 4, the first base member 60 is provided with a positioning plate 37, and positioning pins 39a and 39b for determining an assembling position of the lower arm 18 at the time of assembling are fixed to the first base member by bolts 71 and 72. It is fixed to 60.

The third base member 62 is provided with a hole through which the piston 42 and the joint 46 of the third cylinder piston 41 pass, and the third cylinder piston 41 is fixed to the third base member 62 via brackets 47 on both sides. The positioning plate 44a is fixed by bolts (not shown). Further, an upper and lower cylinder 6 for moving the second base member 61 up and down with respect to the first base member 60 as shown in FIG.
3 is fixed by a bolt (not shown), and the piston rod 64 of the vertical cylinder 63 is connected to the third base member 6.
2 can be moved up and down. A second base member 61 is fixed to the tip of the piston rod 64, and the second base member 61 is guided by a guide 39c provided in the middle of the column 39c so as to smoothly slide up and down. I have. Although only one guide 39d is shown in FIG. 5, the guide 39d is provided at one position behind the guide 39d in FIG. A stopper 60a is provided to limit the outward downward movement, and the second base member 61 moves up and down within a predetermined range between the first and third base members.

The stopper 60a can be provided on the side of the second base member 60.

The first cylinder piston 31 is fixed to the second base member 61, as shown in FIG.
The support member 34 supported by the pin 33 is linked by a pin 33 by a joint 38 disposed on the piston rod 32 side. The support member 34 is fixed to a pin 36 by a bracket (not shown).
The side is supported by the second base member 61. First piston 5
When 1 operates and the piston rod 32 moves down,
The support member 34 slides along a long hole provided in the joint, and a pin 33 for supporting the support member 34 slides, and rotates about the pin 36 clockwise as shown in FIG.
To support the cam 16.

One end of the second cylinder piston 51 is fixed to the second base member 61. A support member 54 for supporting the lower arm 18 with a claw portion 55 is attached to a piston rod 52 serving as an output shaft. Are linked via a joint 57 disposed at the center. This support member 54
Is supported by a second base member 61 by a bracket (not shown), and when the second piston 51 is operated, the support member 54 rotates clockwise as shown in FIG. Supports the lower arm 18.

The third cylinder piston 41 is fixed to the third base member 62 side as shown in FIG. 6, and the piston rod 42 has an L-shaped support member 44 for supporting the hinge portion 19a of the lever 19. Is rotatably supported by a long hole of the joint 46, and this long hole is
Is slid, the pin 43 can rotate along the long hole around the pin 43, and when the piston rod 42 descends, the support member is rotated counterclockwise as shown in FIG. Will be.

That is, the support member 44 slides inside the cylinder piston 41, and the piston rod 42 moves up and down by the operation of the piston, whereby the pin 43 for supporting the support member 44 in the long hole of the joint 46 slides. Thus, the support member 44 rotates counterclockwise about the pin 43 when the piston rod descends, and supports the hinge portion 19a of the lever 19 from the lateral direction.

Further, as shown in FIG.
The support member 84 for supporting the pole 17 is also provided behind the support member 3 with the same mechanism as that of the support member 34 (see FIG. 4). From the above, as shown in FIG. Regarding the three cylinder pistons 31, 51, and 41, a support device that supports an assembly component by the cylinder piston, the piston rod, the joint, and the support member is configured.

The above-described supporting members 54, 34, 8
Control of cylinders for operating 4,44 and robot 2
The control of the arm 21 of 0 is programmed so as to perform a predetermined operation, and is controlled by a control device (not shown).

Next, the operation of the automatic assembly device 20 will be described.

The arm 21 of the robot 10 moves from the initial position to a position where the pole 17 is supplied first. After this movement, the piston 17 (not shown) is operated in a state where the position of the pawl 17 is determined by the positioning plate 37, and the pawl 17 is supported by the support member 84. Next, with the pole 17 supported, the arm 21
Is moved to a position where the cam 16 is in contact with the guide surface along the cam shape of the positioning plate 37, and the first cylinder piston 31 is operated to push down the piston rod 32. As a result, the support member 34 supporting the cam 16 rotates about the pin 36, so that the claw portion 35 contacts the end face of the cam 16, and the cam 16 is supported. In this case, the pole 17 and the cam 16
Is sandwiched and supported by the positioning plate 37 and the support members 84 and 34. Thereafter, the arm 21 moves to a position where the lower arm 18 is supplied, is positioned by the positioning pins 39a and 39b, and the pawl 17 is disposed on the linear concave surface 18c of the lower arm 18 and the cam 16 is disposed on the circumferential concave surface. The supporting member 54 is rotated clockwise as shown in FIG. 6 around the pin 56 by lowering the piston rod 52 by operating the cylinder piston 51 and pushing the piston rod 52 downward. The lower arm 18 is supported by the claws 55. At this time, the pawl 17, the cam 16, and the lower arm 18 are supported together. Thereafter, the arm 21 moves to a position where the lever 19 is supplied. When the lever 19 is moved to the position where the lever 19 is supplied, the hinge portion 19a of the lever 19 is moved to the lower arm 1.
The third cylinder piston 41 is actuated in a state where the hinge portion 19a is positioned on the positioning plate 44a through the hole 18a of the cam 16 and the hole 16a of the cam 16, and the piston rod 42 is pushed downward to center the pin 43. Thus, the support member 44 rotates counterclockwise as shown in FIG. With the lever 19 supported by such an operation, the arm 21 is moved onto an assembly table on which the assembled parts are placed, and the assembled parts are placed on the assembly table.
After releasing all the support members that support the pawl 17, the cam 16, the lower arm 18, and the lever 19, the arm 21 is lifted, and the pawl 17, the cam are placed at the place where the mounting base is placed by releasing the support member. 16. Lower arm 1
8. The assembly of the lever 19 is completed.

[0030]

According to the present invention, a base member, a first positioning member provided on the base member for determining a position of a first component, and the first positioning member positioned by the first positioning member are provided.
A first support device for supporting a component, a second positioning member fixed to the base member for determining a position of a second component to be assembled, and the second positioning member positioned by the second positioning member.
At least a second support device for supporting the component;
A part is supported by a first support device in a state where it is positioned by a first positioning member, and the second component is supported by a second support device in a state where the first part is assembled to a second part and the second part is positioned by a second positioning member. As a result, the first component is supported by the first support device in a state where the first component is positioned by the first positioning member, and then the first component is mounted on the second component and the second component is mounted on the second component. An assembly can be performed while being supported by the second support device while being positioned by the two positioning members, and a device that can support and assemble parts together is provided.

In this case, if the support device is constituted by a cylinder piston provided on the base member, a piston rod serving as an output shaft of the cylinder piston, and a support member rotatable with respect to the piston rod, The cylinder rod is moved by the operation, and the parts are reliably supported.

Further, the first component is positioned by the first positioning member provided on the base member and is supported by the operation of the first support device, and the second component is assembled with the second component. When the second part is positioned by the second positioning member and supported by the operation of the second supporting device for assembling, the first to third position assembling members and the supporting device are provided to support the part. And can be assembled together.

In this case, the automatic assembling apparatus is always in a state of supporting the parts to be assembled during the assembling, so that unnecessary steps in which the assembling is not performed are eliminated, and the assembling time can be reduced. When mass production is performed, productivity is improved.

[Brief description of the drawings]

FIG. 1 is an assembly method using an automatic assembly apparatus according to an embodiment of the present invention.

FIG. 2 is a conceptual diagram showing an assembly state when the assembly is performed by the method shown in FIG.

FIG. 3 is an assembly diagram of components to be assembled by the automatic assembly apparatus according to the embodiment of the present invention.

FIG. 4 is a layout view of a support member of the automatic assembling apparatus for assembling FIG. 3;

FIG. 5 is a diagram viewed from a shown in FIG. 4;

FIG. 6 is a view as viewed in the direction b shown in FIG. 4;

FIG. 7 is a diagram illustrating an example of a support device according to an embodiment of the present invention.

FIG. 8 is a schematic view showing a procedure of automatic assembly by a conventional robot.

FIG. 9 is a specific example of the assembly of FIG. 8;

FIG. 10 shows another conventional assembling method.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Chuck device 3 Supply jig 4 Assembly table 10 Robot 11, 12, 13, 14 Parts (assembly parts) 16, 17, 18, 19 Parts (assembly parts) 20 Automatic assembly apparatus 21 Arms 31, 41, 51 Cylinder piston (supporting device) 32, 42, 52 Piston rod (supporting device) 37, 44a Positioning plate (positioning member) 39a, 39b Positioning pin (positioning member) 60, 61, 62 Base member

Claims (3)

[Claims] 1. A base member, a first positioning member provided on the base member for determining a position of a first component, a first support device for supporting the first component positioned by the first positioning member, A second positioning member fixed to the base member and determining a position of a second component to be assembled; and a second support device for supporting the second component positioned by the second positioning member. It is supported by a first support device in a state where it is positioned by a first positioning member, and is supported by a second support device in a state where the first component is assembled to a second component and the second component is positioned by a second positioning member. An automatic assembling apparatus, which performs assembling. 2. The support device includes a cylinder piston provided on the base member, a piston rod serving as an output shaft of the cylinder piston, and a support member rotatable with respect to the piston rod. The automatic assembling apparatus according to claim 1, wherein: 3. The first component is positioned on a first positioning member provided on a base member, and is supported by the operation of a first support device, and the second component is assembled with the first component. An assembling method for an automatic assembling apparatus, wherein the assembling is performed while supporting the second part by operating a second support device in a state where the second part is positioned by a second positioning member.