JPS58165980A - Work placing type assembling robot system - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides an assembly robot system in which a manipulator automatically assembles a plurality of parts to a workpiece with the workpiece set in a fixed position.

Hereinafter, one embodiment of the present invention will be described based on the attached illustrative drawings. In FIGS. 1 to 3, 1a and lb are manipulators disposed on both the left and right sides of the assembly workbench 2, They are each installed on a movable table 4 that is moved by a screw shaft 16 driven by a motor 15 in the direction of arrow 6 parallel to the assembly workbench 2 . 5a and 5b are tool support means arranged on one side of each manipulator la and lb; 6 is a conveyor for transporting parts arranged on the other side of both manipulators 1a and 1b; A pallet 6 supporting various parts 7 in a fixed position and a fixed posture can be transported in the direction of arrow 9, and the pallet 6 can be stopped at predetermined values 11A and 11B corresponding to each manipulator la and lb. Reference numeral 10 denotes an engine transport vehicle equipped with engine support attachments 12 that support the lower portions of both ends of the engine 11, and carries the engine 11 from the main line 125 via the branch line 14 to a predetermined WIC beside the assembly workbench 2. In addition, the engine 11 after assembly is connected to the branch line 14.
from there via the main line 13 to a predetermined location. 17 is an engine carrier 10 that stops at a predetermined position C.
It is an engine transfer means for transferring the engine 11 between the upper part and the assembly workbench 2, and is moved in the direction of the arrow 19 by a pair of left and right screw shafts 21 supported by the guide rail 18 and driven by a motor. Dolly 20 and
An elevating platform 24 supported by the movable cart 20 via an elevating guide rod 22 and moved up and down by a cylinder unit 225, and an engine hanging tool 2s provided on the elevating platform 24 that can be opened and closed. It is configured.

The assembly workbench 2 is mounted on a turntable 26 that can be rotated in any forward or reverse direction by a motor.
A pair of front and rear engine clamps 27 are connected to a common horizontal shaft (12
It is supported through a pair of front and rear brackets 29 so that it can be rotated at any angle by a motor or the like around 8.

As shown in FIGS. 1, 4, and 5, the tool support means 5a, 5b each include a pallet 52 in which a plurality of recesses S1 are arranged in parallel to fit and hold a plurality of various tools 30 in a fixed position. ,
The recess 61 is provided with a tool positioning part 55 in which the prismatic main body 34 of the tool 300 is fitted so that it cannot move or rotate. 50 is supported at a fixed position on a pallet 62 in a fixed posture. Each of these tools 2! In the IO, a motor 37 is provided at the other end of the main body 54 to drive a tool rod 66 provided at one end of the main body 54, and a motor 37 is provided at the other end of the main body 54 (supported by the tool supporting means 5a, sb). When the male coupling member i5B
is installed protrudingly. This male coupling member 58 has a prismatic shape as shown in FIGS. 6 and 7, has an engaged recess 66a on its side surface, and has an engaged recess 66a on its upper end surface.
A plurality of terminals 40 are provided for feeding power to and transmitting and receiving control signals.

The manipulators la and l'b are equipped with an automatic tool attachment/detachment coupling [19] at the tip of its arm. As shown in FIGS. 6 and 7, this tool automatic attachment/detachment coupling part S9 includes a coupling female hole 41 into which the coupling male member 68 of the tool 30 is fitted in a relatively non-rotatable manner, and a coupling female hole 41 into which the coupling male member 68 of the tool 30 is fitted into the weaning member 41. Connecting male member 6
A lock bin 42 from which the security deposit can be detached from the engaged recess 38a of 6; a cylinder unit 1 for moving the lock bin 42 in and out;
The terminal 44 is provided with power supply and signal exchange terminals 44 that come into pressure contact with the respective terminals 40 when the terminal 40 is fitted into the terminal 1 and locked by the latch pin 42.

Next, to explain how to use it, engine 1 to be assembled.
1 to a predetermined position 11 on the side of the assembly workbench 2 by the transport vehicle 1o.
C, and then the engine 11 on the transport vehicle 10 is moved up and down by the lifting platform 24 of the transfer means 17, the opening/closing movement of the hanging tool 25, and the movement of the moving trolley 20. The engine 11 is transferred to a pair of engine clamps 27, and by actuation of the engine clamps 21, the engine 11 is supported by the clamps 271m.

On the other hand, the pallet 8 on which the necessary parts 7 have been set is being conveyed by the conveyor 6 to predetermined positions A and B beside each manivier 1a+1b. In such a state, both the manibinilators ia and lb are operated by the tool 30 set in the tool automatic attachment/detachment connection part 2s9 at the tip of the arm! The bipulator 1a takes out the parts 7 on the pallet 8 at a predetermined position A, and the manipulator 1b takes out the parts 7 on the pallet 8 at a predetermined position B. Once assembled, it will automatically operate based on a pre-learned and memorized exercise program.

parts 7 by these manipulators 1a and lb.
1. During the automatic assembly operation, each vinyl inulator handles various parts 7 of different sizes and shapes, and performs different types of work. For example, as shown in FIGS. 8 and 9, the work of clamping a large part 7a and transferring it to a predetermined position on the engine 110, the work of clamping a small part 1b such as a bolt and setting it in a predetermined position, or the work of setting Work such as screwing in the bolts that have been removed is performed. Therefore, a tool according to the type of work to be performed, that is, a tool 50a equipped with a large clamp claw 36a or a tool 1 equipped with a small clamp claw Sob.
50b, or tool 5 with bolt runner S6C.
It is necessary to use 0C etc. properly. These various) tools 30
(2SOa”30c etc.)it, preliminary tool support means 5a
, 5b is set in the pallet 32. and,
To assemble the parts, the manipulators la and lb fit the held tools 30 into the empty recesses 31 of the pallet filters 2 in the tool support means sa and 6b, based on a tool exchange command incorporated in the work program in advance. After the lock pin 42 is extracted and moved by the cylinder unit 46 in such a state, the coupling male member 66 of the tool 60 is extracted from the female hole 41 of the automatic tool attachment/detachment coupling part 39. move it directly above.

The tool 30 held in this way is held by the tool support means 5a.
, 5b back to their predetermined positions, the manipulators la, l
b operates to couple the tool 60 to be attached next to the tool automatic attachment/detachment coupling part 59. That is, in order to fit the coupling male member 38 of the tool SO into the female hole 41 of the automatic tool attachment/detachment coupling part 69, the automatic tool attachment/detachment coupling part i59 descends toward the target tool 30, and then the cylinder unit 43
is operated to fit the lock pin 42 into the engaged recess S8a. As a result, the terminal 44 of the automatic tool attachment/detachment coupling part 9 and the terminal 40 on the tool 5D side come into pressure contact, and the drive motor 57 of the tool 30 can operate the throat 56 to the tool according to the program. becomes.

As described above, each manipulator la, lb automatically assembles various parts 7 (7a, 7b, etc.) to the engine 11 using various tools 50 (50a to 2SOC, etc.). In order to compensate for the lack of freedom in 1b or to increase the work speed, the assembly workbench 2
Rotation of upper turntable 26 and engine clamp 27
By the rotation of the engine 11, the posture of the engine 11 can be automatically changed to a position suitable for the work at that time. Furthermore, it is also possible to change the positions of the manipulators la and ib in the direction of the arrow 6 by moving the movable base 4.

In addition to independently assembling parts, the two manibinators 1a and 1b cooperate with each other to perform the following complex operations. That is, as shown in FIG. 8, the large part 7a clamped by the tool 50a set in the tool automatic attachment/detachment joint 39 is placed in the manipulator 1a of -4 at a predetermined position W of the engine 11 (both bolt holes are connected to the manipulator 1a). The other manipulator b has the bolt 7b clamped by the tool 60b set in the tool automatic attachment/detachment joint 39. The manipulator 1a performs a work of fitting the part 7a into the bolt hole held by the manipulator 1a, and the manipulator 1b is provided with a tool 30c equipped with a bolt runner S6c and a tool Bob.
and the work of replacing it with the tool 30c.
The bolt tightening work of screwing in b is performed. With such a complex operation, for example, it is possible to perform the work of attaching a component without any trouble in a place where the component 7a would fall if the component 7a was not held by the manipulator 1a.

In conventional assembly robot systems using assembly manipulators, multiple manipulators each assemble a single part are arranged at appropriate intervals along the workpiece transport path, and the workpieces are placed next to each manipulator. The structure was such that the assembly of parts was performed by each manipulator while sequentially stopping at a fixed position. In such conventional systems, the time it takes for the workpiece to move between the manipulators becomes a waiting time for each manipulator, and since the workpiece must be accurately stopped at a fixed position, the time required for the workpiece to move between the manipulators is As a result of suppressing the workpiece movement speed to a relatively low speed, the holding time becomes longer and the operation rate of the manipulator becomes lower.

However, in the assembly robot system of the present invention, as shown in the above embodiment, an assembly workbench that supports workpieces is installed in a fixed position, and a pallet that supports a plurality of parts in each fixed position is placed on the assembly workbench. A conveyance means for supplying to a fixed position on the side is provided, and an assembly manipulator is provided for sequentially assembling the plurality of parts on the pallet supplied to the fixed position to the workpiece on the assembly workbench. Therefore, the manipulator can be operated continuously to sequentially assemble a plurality of parts onto one workpiece, and the operating rate of the manipulator can be greatly increased. Furthermore, the floor space occupied by the equipment required to assemble one workpiece is also greatly reduced.

Furthermore, in conventional systems, the robots that make up the system
If even one of the manipulators broke down, there was a risk that the entire system would stop operating, but in the system of the present invention, stopping the l-bot (manipulator) only stops the small system that has it. , it does not have a large impact on the overall operating rate.

Note that when implementing the present invention, an automatic tool exchange system in the manipulator is not an essential requirement.
If the number of required tools is small, it is possible to attach multiple tools to the tip of the manipulator arm that can be used selectively, or to increase the number of manipulators that belong to one assembly workbench. Good.

[Brief explanation of drawings]

Figure 1 is an overall plan view, Figure 2 is a partially cutaway front view,
Fig. 3 is a partially cutaway side view, Fig. 4 is a longitudinal sectional side view showing the tool support means and the tip of the arm of the manipulator, Fig. 5 is a longitudinal sectional front view of the same, and Fig. 6 is a cross-sectional view of the tool and the manipulator. A longitudinal cross-sectional view showing the joint part (FIG. 7 is a cross-sectional view thereof, and FIGS. 8 and 9 are side views showing working conditions. la, lb... manipulator, 2... assembly workbench, 5a, 5b...Tool support means, 6...Computer for transporting parts, 7 (7a, 7b)...Parts, 6...
Pallet, 10... Engine carrier, 11... Engine, 17... Engine transfer means, 20... Moving trolley, 24... Lifting platform, 25... 4 engine hanging tool, 26 ... Turntable, 27 ... Engine clamp, 50 (30a #2SOC) ... Tool, 51
...Tool fitting recess, 36 ($6a~2S6c)...
Tool head, 67... Tool head drive motor, 3
8...Male member for coupling, 39...Tool automatic attachment/detachment coupling part, 40.44...Power supply, signal exchange terminal, 41...
Weaning for binding, 42...Lock pin 2

Claims (1)

[Claims] An assembly workbench that supports a workpiece is installed at a fixed position, and a conveying means is provided for supplying a pallet that supports a plurality of parts at a fixed position to a fixed position on the side of the assembly workbench, and the pallet is supplied to this fixed position. A work stationary assembly pot system comprising an assembly manipulator for sequentially assembling a plurality of parts on the pallet onto the workpieces on the assembly workbench.