JPS58165981A - Assembling work by 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 relates to an assembly work method for assembling a plurality of parts to each other by operating the manipulators cooperatively with each other in a robot system equipped with a plurality of assembly manipulators. .

Hereinafter, an example of an assembly robot system for carrying out the method of the present invention will be explained based on the attached illustrative drawings. A movable base 4 which is a manipulator and is moved by a screw shaft 16 driven by a motor 15 in the directions of arrows 6 parallel to the assembly workbench 2.
5a and sb installed above are tool support means disposed on one side of each manipulator 1a*lb, and 6 is a tool support means disposed on the other side of both manipulators la and lb. The conveyor is a conveyor for transporting parts, which transports a pallet 6 supporting various parts 7 in a fixed position and in a fixed posture in the direction of arrow 9, and stops the pallet 6 at predetermined positions A and H corresponding to each manipulator 1a+1b. I can do it.

Reference numeral 10 denotes an engine transport vehicle equipped with an engine support attachment 12 that supports the lower portions of both ends of the engine layer 0, and carries the engine 11 from the main line 16 via a branch line 14 to a predetermined position C beside the assembly workbench 2. After the engine 11 has been carried in and assembled, acid is discharged from the branch line 14 via the main line 16 to a predetermined location. Reference numeral 17 denotes an engine transfer means for transferring the engine 11 between the engine carrier 10 stopped at a predetermined position C and the assembly workbench 2, and is supported by the guide rail 16 and driven by a motor. A movable cart 20 that is moved in the direction of arrow 19 by a pair of left and right screw shafts 21, and an elevating platform 24 that is supported by the movable cart 20 so as to be able to rise and fall via an elevating guide rod 22 and that is moved up and down by a cylinder unit 26. It is comprised of an engine hanging tool 25 provided on this elevating table 24 and which can be opened and closed.

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 axis 28.
It is supported through a pair of front and rear brackets 29 so that it can be rotated four times at any angle by a motor or the like.

As shown in FIGS. 1, 4, and 5, the tool support means 5a, 5b each include a pallet 62 in which a plurality of recesses 61 are arranged in parallel to fit and hold a plurality of various tools 60 in a fixed position. ,
The recess 61 is provided with a tool positioning part 65 into which the prismatic main body 64 of the tool 60 is fitted so that it cannot move or rotate. Tool 60 is a baren)! It is supported in a fixed position at a fixed position above $2. Each tool 60 is provided with a motor 67 at the other end of the main body 64 for driving a tool hood 66 provided at one end of the main body 2$4. , 5b), a coupling male member 66 is provided to protrude from the surface that faces upward when supported by , 5b. As shown in FIGS. 6 and 7, this male coupling member 68 has a prismatic shape, has an engaged recess 68a on its side surface, and has an upper end surface for power supply and control to the motor 57. A plurality of terminals 40 for transmitting and receiving signals are provided.

The manipulators la and lb are provided with an automatic tool attachment/detachment coupling portion 69 at the tip of their arm. As shown in FIGS. 6 and 7, this tool automatic attachment/detachment coupling part 69 is connected to the tool I.
! A coupling weaning member 41 into which the coupling male member 36 of the IO is fitted in a relatively non-rotatable manner, a locking pin 42 which can be freely fitted into and detached from the engaged recess Baa of the coupling male member 36 fitted into the weaning member 41; A cylinder unit 46 for moving the lock bin 42 in and out, and a terminal 44 for power supply and signal transmission/reception that comes into pressure contact with each terminal 40 when the coupling male member 2S8 is fitted into the weaner 41 and locked by the lock bin 42. It is equipped with

Next, to explain how to use it, engine 1 to be assembled.
1 to a predetermined position C on the side of the assembly workbench 2 by the carrier 10.
Then, the engine 11 on the transport vehicle 10 is moved up and down by the lifting platform 24 of the transfer means 11, the opening/closing movement of the hanging tool 25, and the movement of the moving vehicle 20. The engine 11 is transferred between the engine clamps 27, and the engine 11 is moved between the engine clamps 27, and the engine 11 is
It is supported between these clamps 27.

On the other hand, the pallet 6 on which the necessary parts 7 are set is conveyed by the conveyor 6 to predetermined positions A and B beside each manipulator tan1b. In this state, both the manipinilators la and lb are operated by the tool 60 set in the automatic tool attachment/detachment connection part S9 at the tip of the arm.
The manipulator 1a takes out the parts 7 on the pallet 6 at the predetermined grain 11A, and the manipulator 1b takes out the parts 7 on the pallet 6 at the predetermined position B, respectively, and assembles them to the engine 110 at a predetermined place on the assembly workbench 2. The vehicle automatically operates based on an exercise program that has been learned and memorized in advance.

During the automatic assembly of the parts 7 by the manipulators la and ib, each manipulator handles various parts 7 of different sizes and shapes, and performs different types of work. As shown, the work includes clamping a large part 7a and transferring it to a predetermined position on the engine 11, clamping a small part 7b such as a bolt and setting it in a predetermined position, or screwing in the set bolt. etc. will be carried out. Therefore, a tool suitable for the type of work to be performed, that is, a tool B equipped with a large clamping claw 2S6a.
It is necessary to use a tool such as an oa, a tool x2sob equipped with a small clamp claw 36b, or a tool 50c equipped with a bolt runner 156c. These various tools 30 (2SOa
-30c, etc.) are set in advance in the pallet 32 of the tool support means 5a, 5b. Then, the manipulators la and lb move the tool 3 held by the manipulators la and lb to assemble the parts based on the tool exchange command that has been incorporated in the work program in advance.
0 is fitted into the empty recess 31 of the pallet 32 in the tool support means 5a, sb, and in this state, the cylinder unit 4? ! After the lock pin 42 is extracted and moved by I, the coupling part 59 is moved directly above in order to extract the coupling male member 56 of the tool 30 from the weaning part 41 of the tool automatic attachment/detachment coupling part 69.

The tool 50 held in this way is held by the tool support means 5a.
+ After returning to the predetermined position of 5b, manipulator la
, lb is operated to connect the tool 60 to be attached next to the tool automatic attachment/detachment coupling part is9. That is, in order to fit the coupling male member i58 of the tool 50 into the weaning part 41 of the tool automatic attachment/detachment coupling part 39, After the automatic tool attachment/detachment coupling part 59 descends toward the target tool 50, the cylinder unit 46 operates to fit the lock bin 42 into the engaged recess 38a.As a result, the terminal of the automatic tool attachment/detachment coupling part 2s9 is activated. 44 and the terminal 40 of the tool 50 are brought into pressure contact, and the drive motor 67 of the tool 60 is in a state where the tool head 36 can be operated according to the program.

As described above, each manipulator 1a, 1b uses various tools 50 (Boa-2SOc, etc.) to create various parts. (7a, 7b, etc.) are automatically assembled to the engine 11, but in order to compensate for the lack of freedom of the manipulators 1a, 1b or to increase the work speed, the assembly workbench 2
Upper turntable 260 rotations and engine clamp 27
The zero rotation allows the engine 11 to be automatically changed to a posture suitable for the work at that time. Furthermore, it is also possible to change the positions of the manipulators la and lb in the direction of the arrow 3 by moving the movable base 4.

Next, an assembly work method of the present invention using the above-mentioned assembly robot system will be explained.

Both the manipulators a and lb perform the following complex operations of the present invention in cooperation with each other, in addition to independently assembling parts. That is, as shown in FIG. 8, one manipulator a holds the large part 7a clamped by the tool Boa set in the tool automatic attachment/detachment connection part i59 at a predetermined position of the engine 11 (the bolt holes of both sides match). the other manipier L/-11bg,
: performs the work of fitting the pole 7b clamped by the tool 60b set in the tool automatic attachment/detachment joint 39 into the bolt hole of the part 7a held by the manipulator a, and then This manipulator 1b includes a tool S.

b, bolt runner i! The work of replacing the tool 50c with $6c and the tool 30c described above) 7b
As mentioned above, perform the bolt tightening work by screwing in the
If one manipulator a does not hold the part 7a in position, for example, when installing the part 7a on the side surface of the engine 11, the posture of the engine 11 can be adjusted in advance.
Not only does it have to be changed so that the part is mounted horizontally upward, but also parts 1a and the parts on the engine 11 side must be mounted in different places so that the transferred part 7a does not shift its position. In addition, it is necessary to provide fitting portions that fit into each other, or to set bolts upright on the engine side so that the bolts fit into bolt holes provided in the part 7a. Ta.

However, as shown in the above embodiment, at least two assembly manipulators are arranged in parallel, and one manipulator supplies the first part to a predetermined position and fixes the part at the predetermined position (continuously). In this state, the other manipulator holds the ai!
According to the method of the present invention, which is characterized by supplying and assembling a second component to a predetermined position of the first 11 components, it is possible to prevent the component from falling if the component is not held by a manipulator, for example. The work of attaching the first part to a suitable location using the bolt as the second part can be carried out without any problem. Therefore, there is no need to always change the posture of the workpiece to which the part is attached so that the part is attached horizontally upward, and there is no need to change the posture of the workpiece to which the part is attached.
There is no need to provide fitting parts that fit into each other, and automatic assembly using a manipulator can be performed under the same conditions as when assembling manually.

[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 the connection between the tool and the manipulator. FIG. 7 is a cross-sectional view of the same, and FIGS. 8 and 9 are side views showing working conditions. la, lb...manipulator, 2...assembly workbench, 5a, 5b...tool support means, 6...parts conveyor, 7 (7a, 7b)...parts, 8... Pallet, 10... Engine carrier, 11... Engine, 17... Engine transfer means, 20... Moving trolley, 24... 1 Lifting platform, 25... Engine hanging tool, 26 ... Turntable, 27... Engine transfer means, so (
! 10a-'40C)...Tool, 61...Tool fitting recess, 36 (56a''B6c)...Tool head, 67
... Tool head drive motor, 66... Male member for coupling, 59... Tool automatic attachment/detachment coupling part, 40.44...
・Power supply, signal exchange terminal, 41... bonding weaning, 42
...Lock 2

Claims (1)

[Claims] At least two assembly manipulators are arranged side by side, one manipulator feeds a first part into a predetermined position and continuously holds the part in the predetermined position, and the second part An assembly work method using a robot system, characterized in that a second part is supplied and assembled to a predetermined position of the first part by a manipulator.