JPS59115184A - Industrial robot - 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 Field of the Invention The present invention relates to an industrial robot for supplying and assembling parts in an assembly line for electrical products and the like.

Configuration of conventional example and its problems As shown in the specific configuration of the conventional assembly line robot device in FIG. It was installed together with a parts stand 107 or something similar to a parts feeder.

101 and 102 are robot devices, 103 and 104 are
A manipulator that holds various parts to be assembled, 1
07 and 108 are parts boxes for storing parts A, B, etc.

The operation will be explained below.

First, the objects to be assembled sent by the conveyor device 105 are stopped and positioned at the position of the P station. Next, the robot device 101 uses the previously taught operations to grasp and take out the parts from the parts box 107 using the manipulator 103, transfer them to a predetermined position on the object to be assembled 106, and assemble them. After assembly is complete, robot device 1
The gripping claw 103 of 07 returns to the original position and holds the object 1 to be assembled.
06 is sent to the next working stage 5f 0 position,
Similarly, the assembly work for part B is performed by the robot device 102.
It is carried out by

However, in the above configuration, the number of parts that the robot device 101 can work on is extremely small due to the range in which the robot device 101 can move, the installation space of the component table 107, and the compatibility of the manipulator that grips the assembled components. When introduced into an assembly line with a long process cycle, the operating rate is low and a large number of robot devices are required, which poses a problem in terms of investment efficiency.

OBJECTS OF THE INVENTION In view of the above-mentioned drawbacks, the present invention provides an industrial robot that can perform multi-step assembly work with a single robot device and has high investment efficiency.

Structure of the Invention The present invention relates to a moving device having a moving body that can self-propel parallel to an assembly line and stop at any position, and a mechanism connected to the moving body to perform handling work, working work, etc. a robot device having a manipulator, a manipulator exchange means for performing various handling operations and working operations at the tip end of the arm of the robot device, a table member connected and fixed to the robot device or the movable body, and the movable device. It consists of a manipulator installation stand installed at one end or both ends, and a parts supply stand, and the robot device itself can move the assembly parts installed on the table member for the multi-step and different assembly work of the pine assembly line. It is possible to assemble different parts by moving from station to station one after another while automatically replacing the corresponding manipulator.

1. If small assembly parts are also installed on the table member in addition to the manipulator, the assembly of the small assembly parts can be carried out in parallel at each station. An industrial robot that is extremely advantageous in terms of investment efficiency can be realized.

DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 2 is a plan view of this embodiment, and FIG. 3 is a side view thereof.

In FIGS. 2 and 3, 1 is a robot device, and 2 is a pace manipulator that is attached to the tip of an arm of the robot device 1 and can be docked with various manipulators. 3 is a manipulator corresponding to the assembly part A; 4 is a group of manipulators installed on the rotary table 10 and corresponds to the assembly parts at other stations; 5 is installed on the manipulator installation stand 8 installed at one end of the moving device 22 6 and 7 are parts boxes storing small assembly parts E and D, 9 is a parts supply stand installed at one end of the moving device 22 and is used to install the parts box for small assembly parts, and 10 is a robot device. 1 is a rotary table having a rotating shaft approximately in the middle; 11 is a motor with a reducer that drives this rotating shaft; 12 is a worm gear; 13 is a worm wheel; 14 is a motor with a reducer that drives a moving body 21; 16 is the same pinion gear, 16 is a rack gear placed on the moving device 22, 17 is the same guide rail, 18 is a conveyor device that conveys the object to be assembled 19, and 2o is an assembly part A.

An angle stand on which to place the parts box containing B and C.

21 is a mobile body that runs on the mobile device 22;

It can stop at Q and R stations.

The operation of the industrial robot configured as described above will be explained below.

First, at the P station, the base manipulator 2 attached to the tip of the robot arm engages with the manipulator 3 corresponding to the assembly part A, and the assembly part A is assembled into the object 19 to be assembled. After the assembly is completed, the base manipulator 2 returns the manipulator 3 onto the original rotary table 10 and knocks it with the manipulator 4 corresponding to the assembly part B to be next worked.

During this time, the moving body 21 moves to the next Q station. At Q station, B parts are assembled in the same way.

Further, since the small assembly parts E and P are held on the rotary table 1Q connected to the moving body 21, the robot device 1 can assemble the small assembly parts E and D at any station.

In this way, the robot device 1 can sequentially perform assembly operations according to the taught contents.

Moreover, when the small assembly parts on the rotary table run out, the robot device 1 moves to one end of the moving device 22 on the parts supply table 9 side, docks with the manipulator for gripping the parts box,
The empty parts box can be replaced with the full part box for small assembly parts already prepared on the parts supply table 9, and the work can be continued.

Moreover, at the same time when the type of the object to be assembled 19 changes, the assembly part P
Even if the shape of the or Q is different and the conventional manipulator cannot grip it, if the manipulator group corresponding to the new assembly part is installed on the manipulator installation table 8 of the moving device 22, the robot device can automatically It is also possible to continue the work by replacing the manipulator group on the rotary table 10 with the manipulator group for the new assembly room parts.

The application has been filed by the company, and its schematic configuration is shown in Fig. 4.

FIG. 6 is a cross-sectional view of section S-8 in FIG. 4.

In FIGS. 4 and 6, 2 is a base manipulator attached to the tip of the robot arm 30, 33 is a gripping claw thereof, 3 is a manipulator to be docked, 39
are its gripping claws.

In the above configuration, when compressed air is sent to the air supply port to a part of the cylinder of the pace manipulator, 2
The gripping claws 33 mutually move toward the center via the piston shaft 32 and chuck the outer diameter portion of the joint fitting 35 of the pace manipulator 3, and the protruding pin 36
Docking is completed by fitting into the hole of the gripping claw 33. The air supplied to the manipulator 3 passes through the center of the base manipulator 2, passes through the path vibrator 27 due to the docking, is fed into a part of the cylinder of the manipulator 3, and is fed through the piston shaft 38.
The gripping claws 39 are opened and closed.

As described above, according to this embodiment, the robot device is equipped with a rotary table on which a group of manipulators and small assembly parts boxes are installed, and is self-propelled in parallel with the production line, thereby performing multi-step assembly work on the assembly line. This can be done with a single robot device, resulting in extremely high efficiency in terms of investment.

In this embodiment, the parts box for small assembly parts was simply installed on the parts supply table 9, but a small parts supply conveyor device and parts feeders were placed, and the robot equipment itself could be used during non-working time. , the parts box on the circular table may be replenished by handling work.

Effects of the Invention As described above, the present invention provides a multi-step operating range by allowing the robot device to move on its own in parallel to the assembly line. Furthermore, by providing automatic manipulator exchange means at the tip of the robot arm, it is possible to assemble a wide variety of different parts and to handle parts boxes and the like. Further, by providing a table member on the robot device or the movable body, the robot device can be efficiently operated as a supply unit for small assembly parts or as a manipulator installation stand. In addition, by providing an installation stand at the end of the moving device, it becomes possible to replenish small assembly parts and automatically replace with a new manipulator, making it possible to demonstrate multipurpose functions in terms of the system. There is something called a dog.

[Brief explanation of the drawing]

Fig. 1 is a three-dimensional view of the pre-line assembly using a conventional robot device, Fig. 2 is a plan view of an industrial robot according to an embodiment of the present invention, Fig. 3 is a side view thereof, and Fig. 4 is a diagram showing the automation of the manipulator. FIG. 6, a front view showing the exchange means (docking), is a sectional view taken along the line SS in FIG. 4. 1... Robot device, 2... Base manipulator, 3... Dotted manipulator, 6... Table member (circular table)
, 8... Manipulator installation stand, 9...
・Parts supply stand, 21...Moving object, 22...
...Movement device.

Claims (1)

[Claims] (1) A mobile device having a self-propelled movable body, a robot device connected to this movable body and having a mechanism capable of performing handling work, working work, etc., and a robot device having a mechanism at the tip of the arm of this robot device. An industrial robot comprising: a manipulator exchange means for handling and working a variety of different parts; and a table member connected and fixed to the robot device or movable body. (Industrial robot according to claim 1, in which the table member is rotatable. 1st
Industrial robots described in section.