JPS60114479A - Carrying system by 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 Industrial Application) The present invention relates to a robot transport system used as a means for transporting workpieces in automobile body assembly and the like.

(Prior Art) Conventionally, as a conveyance system using this type of robot, as disclosed in, for example, Japanese Unexamined Patent Publication No. 58-47578-1, two conveyance robots capable of parallel movement are moved in the direction of movement. It is known that the robots are arranged side by side, and a temporary stand is provided at an intermediate position between the robots, and the workpieces are transferred between the robots while the workpieces are delivered to each other on the temporary stand.

However, with the above conventional method, it is necessary to install a temporary storage stand between the robots, which may make it difficult to arrange equipment in a workplace with limited space. If the workpiece is loose, it may be transported in that state, which may cause problems in subsequent work.

(Objective of the Invention) The object of the present invention is to utilize the positional accuracy of the robots to transfer workpieces directly between robots without using a temporary storage table, thereby eliminating the need for a temporary storage table and freeing up space. The purpose is to eliminate the constraints and to ensure that the workpiece can be transported without shifting.

(Structure of the Invention) -2- In order to achieve the above object, the structure of the present invention is to bring two robots each equipped with horizontally rotatable arms close to each other with the end sides of their arm rotation trajectories approaching each other. If we arrange Sase-C:
(b) Each robot arm is provided with a workpiece holder equipped with a ramp mechanism that allows the workpiece to be freely removed, so that the workpieces can be transferred directly between the robots.

(Effects of the Invention) Therefore, according to the robot-based transportation system of the present invention, the robots equipped with work holders can directly transfer and transfer the work, so the temporary storage table that was conventionally required can be eliminated. Even in a workplace with limited space, the degree of freedom in equipment arrangement can be increased accordingly, and equipment costs can also be reduced. Moreover, -
The robot described in F is necessarily placed accurately in a predetermined position,
In addition, since the operation itself is accurate, together with the direct delivery of the workpiece, it is possible to reliably transport the workpiece without any deviation, and after transporting the workpiece, the work for the workpiece can be carried out according to the settings. It also has the advantage of being able to perform

(Example) Hereinafter, embodiments of the present invention will be explained based on the drawings.

FIG. 1 shows a welding and assembly equipment for the side surface of an automobile body according to an embodiment of the present invention, in which 1 is a storage section for storing various parts and parts, and 2 is an outer panel in the state of temporary attachment from the storage section 1. The first loading stage transports W1 to a predetermined welding position S+, and 3 to 5 are respectively at the welding positions S! This is a rotary welding robot that welds the outer panel W1 which is arranged around the welding robot 1 and which has been transferred to the welding position S1 by the first carry-in shooter 2. 1
The welding robot 3 on the stand is configured to weld the parts W2 on the parts welding joint 6 between welding on the outer panel W1 at the welding position S1. Further, after the welding to the outer panel W+ at the welding position S1 is completed, the other one welding robot 5 welds the outer panel W+.
1 through the workpiece 4- holder 7 and move it from the welding position S1 to the assembly table 8.
-1: is configured to be transferred to. It should be noted that, unlike the other two welding robots 1 to 3.degree. 5, the welding robot 4 only performs welding work on the outer panel W1 at the welding position S+. With the above configuration, the first
The outer panel W1, which has been transferred to the welding position S1 by the carry-in shooter 2, is transferred to the welding robots 3 to 5 at the welding position S+ for welding with water, and then transferred to the assembly table 8 by the welding robot 1 and 5. I'm looking forward to being transported.

Further, reference numeral 9 indicates a second stage for transporting the A-tainer panel W3 from the storage section 1 to a predetermined standby position S2.
A carry-in shooter 10 is a transfer port box disposed near the standby position S2 of the 21st general access shooter 9, and the transfer robot 10 is transferred to the standby position S2 by the second carry-in shooter 9. The quarter inner panel W3 that has arrived is transferred from the standby position S2 to a rotating welding robot 15, which will be described later. Also, 1-
5-3 and 1/I are stationary welding machines disposed corresponding to the transfer robot 10, and the welding machines 13.14
In this example, the welding part on one side of the quarter inner panel W3 being transferred by the transfer robot 10 is welded during the transfer.

Furthermore, reference numeral 15 denotes a rotary welding robot disposed around the assembly table 8 on the standby position S2 side of the second carry-in sheather 9, and the welding robot 15 welds and assembles the workpieces on the assembly table 8. (As will be described later, welding and assembling the outer panel W+, quarter inner panel W3, and front pillar inner W4), and in between welding and assembling the workpieces on the assembly table 8, the transfer robot 10
It is configured to receive the quarter inner panel w3 being transferred from the transfer robot 10 using the work holder 16 and transfer it onto the assembly table 8. 17
is a stationary welding machine disposed corresponding to the rotary welding robot 15, and the welding machine 17 is attached to the quarter inner panel W3 that is moved by the rotary welding robot 15. On the other hand, during the transfer, the water attachments on one side and the opposite side are welded by welding 12113.14 during the transfer by X white boxes 1 to 10. It is something to do. According to the above configuration, the second loading stage] - Evening 9
J: The inner panel W3 is transferred from its standby position MS 2 to the assembly table 8 by the transfer robot 10 and the rotary welding robots 1 to 15, and During the transfer, welding
．． 1 = 'l, 4 so that wet welding is performed by 17
There is one.

In addition, in the vicinity of the assembly table 8, there are two other rotary welding robots J3 on the assembly table 80 that work together with the rotary welding robot 1 and 15 to weld and assemble workpieces. 1
8.19))<This welding robot 1-1
8.19 One of the welding robots 1 to 18 of J5 is placed on the mounting table 20 between welding and assembling the workpieces on the assembly table 8.
Second ili! The front pillar inner W4 placed therein and clamped by the work holder/IQ is transferred from the mounting table 20 to the assembly table 8''. Also, the other welding robots 1 to 19
After the assembly and welding of the workpieces on the assembly table 8 is completed, the assembled IC workpiece assembly W5 is held via the workpiece holder 21 and transferred from the assembly table 8 to the take-out position S3 of the carry-out chute 22. It is configured as follows. Therefore, on the assembly table 8, the outer panel W+, the quarter inner panel W3, and the front pillar inner W4, which have been transferred to the assembly table 8, are welded by the welding robot 15.
, 18. A work assembly W5 having a predetermined shape that will be welded together to form the side surface of the vehicle body is assembled,
Thereafter, this workpiece set W5 is transferred and placed on the carry-out chute 22 at the take-out position S3 by the welding robot 19, and is transported to the next process by the carry-out chute 22.

The transport robot 10 and the rotary welding robot 1- that receives the quarter pillar inner W4 from the transport robot 10.
The specific structures of 15 are shown in FIG. 2, respectively.

That is, the transfer robot 10 includes a rotary base 23 that is rotatable, a branch 24 that is swingably erected on the rotary base 23, and a branch 24 that extends horizontally from the top of the support 24. The arm 25 is provided with an arm 25, which is horizontally rotatable in accordance with the rotation of the rotation base 23, and is also rotatable around the axis A and swingable in the vertical direction. It is set +-J. Further, at the tip of the arm 25, a plurality of clamp mechanisms 26. A work holder 27 is provided, and the A-tainer panel W3 is held by the work holder 27.

Furthermore, the rotating welding robot 15 includes a rotating base 28, a branch 29, and an arm 30 having the same configuration as the transfer robot 10, and a connecting member 31 is connected to the tip of the arm 30. A welding gun 32 is attached to the connecting member 31, and a joint portion 33 for mounting the workpiece holder 16 is provided on the connecting member 31.

On the other hand, the workpiece holder 1G used when the rotary welding robot 15 transfers the workpiece is shaped according to the shape of the quarter inner panel W3, as shown in detail in FIGS. 3 and 4. The assembled frame 34 includes a joint portion 33 of the welding robot 1-15.
A chuck mechanism 35 that can be connected to a chuck mechanism 35 is attached, and a plurality (three in the figure) of clamp mechanisms 38 . . . . are each provided in a detachable manner at a predetermined portion of the quarter inner panel W3, and when the work is transferred by the welding robot 15, each clamp mechanism 35 is attached to the welding robot 15 (joint portion 33). It is configured to hold the quarter inner panel W3. The workpiece holder 16 is placed at a predetermined position within the movement area of the welding robot 15, that is, within the rotation locus of the arm 30, when the welding robot 15 is working.

Then, the transfer robot 10 and the rotary welding robot 1
The arms 25 and 5 are arranged so that the ends of their rotation loci are close to each other, and at the approaching position @S4, the welding robot 15 is moved from the workpiece holder 27 of the transfer robot 10. Work holder 1
The quarter inner panel W3 is directly delivered to the terminal 6.

Next, the quarter inner panel W3 is transferred to the second loading shuttle 9 according to the robot conveyance system of the present invention.
The operations of the transfer robot 10 and the rotary welding robot 15 that are transferred from the standby position S2 to the assembly table 8 will be described in detail.

When the quarter inner panel W3 in the temporary attaching state is transferred to the standby position S2 by the second carry-in shooter 9, the transfer robot 10 is waiting at the standby position S2 in advance and the tip of the arm 25 is The work holder 27 operates to hold the quarter inner panel W3.

Thereafter, while holding this quarter inner panel W3, it moves to a position S4 approaching the rotation locus of the arm 30 of the rotary welding robot 15 (rotation of the rotary base 23) 1
I will. During this movement, the transfer robot 10 once stops at a position facing the welding machine 13, 14, and the welding machine 13 .14, the wood on one side is welded.

On the other hand, when the transfer robot 10 transfers the quarter inner panel W3 to the position S4 approaching the rotation locus of the arm 30 of the rotary welding robot 15, the rotary welding robot 15 A model in which the joint part 33 at the tip of the arm 30 is connected to the chuck mechanism 35 of the workpiece holder 16 at the workpiece holder 16 placed at a predetermined position within the movement area of No. 15, and the workpiece holder 16 is attached. It has moved (rotation of the rotation base 28) to a position S4 approaching the rotation locus of the arm 25 of the transfer robot 10. It should be noted that the work piece W5 assembled on the assembly table 8 is connected to the welding robot 15 by the arm 2 of the transfer robot 10.
5 While moving toward the approach position S4 with the rotation locus, it is transferred from the assembly table 8 to the take-out position S3 of the take-out chute 22 by another rotary welding robot 19.

-12- Then, the conveyance [approximation position S4 between the rotation trajectory of the arm 25 of one pot 10 and the rotation trajectory of the arm 30 of the welding robot 15]
In , the transfer robot 10 and the welding robot 15 directly and overturn the quarter inner panel W3 held by the workpiece holder 27 of the transfer robot 10 from the workpiece holder 27 side to the workpiece holder 16 side of the welding robot 15. It operates in such a way that it is delivered in a state (see Figure 2).

Thereafter, the transfer robot 10 that has delivered the quarter inner panel W3 returns to the standby position S2 of the second carry-in shooter 9.
and waits at the standby position S2 until the next quarter inner panel W3 is transferred by the second carry-in sheet coater 9. On the other hand, the welding robot 15 on the side that received the quarter inner panel W3 moves to the assembly table 8 while holding the quarter inner panel W3 with the work holder 16, and places the quarter inner panel W3 on the assembly table 8. It operates to place the . During this movement, the welding robot 15 performs the welding 1
117, and the wood was welded to the quarter inner panel W3 held by the welding robot 17 by welding 11113.14 while the transport robot 10 was moving as described above. The wood on the side opposite to the side is welded using the above welding machine 1.
It is done by 7.

Next, the welding robot 15 separates the workpiece holder 21 at a predetermined position within its movement area, that is, the position where the quarter inner panel W3 is placed, and mounts the workpiece holder 21 on the assembly table 8. When the welding gun 32 at the tip of the arm 3o works together with the other two rotary welding robots 18 and 19 placed around the assembly table 8, the welding gun 32 at the tip of the arm 3o operates to weld and assemble the workpieces. . With the above steps, one cycle of operation of the transfer robot 1o and the rotary welding robot 15 is completed.

Therefore, in the robot transport system of the present invention, the transport robot 1° and the welding robot 15 directly receive and transport the quarter inner panel w3 using the workpiece holders 27° and 16, respectively. Therefore, the temporary storage stand required in the past can be completely abolished. As a result, it is possible to increase the degree of freedom in equipment arrangement even in a workplace with limited space, and it is also possible to reduce equipment costs and improve work efficiency.

Moreover, in this case, the double-mouthed bot 10.15 is inevitably placed in a state where it is accurately and reliably fixed in a predetermined position, and the operation of the robot itself is accurate with almost no errors. Therefore, together with the direct delivery of the quarter inner panel W3, the quarter inner panel W3 can be reliably transported without shifting, which makes it very easy to weld and assemble the workpieces on the assembly table 8. It is effective for

Further, the welding robot 15 is originally intended to weld and assemble the workpieces on the assembly table 8, and the workpiece holder 1
By attaching and detaching item 6, you can also transfer the A-tainer panel W3 as shown in item 6 above without interfering with the original work. It is possible to further increase the degree of freedom of = 15 -.

It should be noted that the present invention is not limited to the above embodiments, but includes various other modifications.

For example, in the embodiment described above, the present invention was applied to a welding assembly equipment for the side surface of an automobile body, but the present invention can be applied to any place where a workpiece needs to be conveyed as a conveying means by a robot.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is a schematic plan view showing the entire welding and assembly equipment for the side surface of an automobile body;
Fig. 2 is a perspective view of the transfer robot and rotary welding robot seen from the direction of Fig. 1, Fig. 3 is a plan view showing the quarter inner panel held by the work holder, and Fig. 4 is the same as Fig. 3. It is a side view seen along the IV-IV line of. 15... Rotating welding robot, 10... Transfer robot, 16.27... Work holder, 25.30...
Arm, 26.38...Clamp mechanism, W3...Quarter inner panel. -16-

Claims (1)

[Claims] (1) Two robots, each equipped with a horizontally rotatable arm, are arranged with the ends of their arm rotation trajectories close to each other, and each robot arm is equipped with a ramp mechanism that allows workpieces to be attached and detached. 1. A transport system using robots, characterized in that a work holder is provided, and the work is directly delivered and transported between the robots.