JPS60161038A - Assembling device employing robot - Google Patents

Abstract

PURPOSE:To enable assembling work on various working faces by providing a robot having two freedom for positioning in a plane parallel with the working face and one freedom for positioning linearly in vertical direction against the working face and a rotary system for holding the work rotatably. CONSTITUTION:A work 10 of hexahedron such as gear box having a plurality of stud bolts 11 screwed loosely on four faces is mounted on a pallet 24 to be carried through a conveyor 12 and stopped by a stopping jig upon arrival of pallet 24 onto a lifter 27. Then the pallet 24 is lifted by the lifter 27 and taken onto guides 40, 41 through reciprocal motion of hook 45 caused through a cylinder 43 thereafter a lifter 36 is functioned to lift the pallet 24 and hold the work 10 between a disc 34. Under this state, the functions of robot 18 and index 31 are controlled while interlocking to perform tightening work of stud bolts 11 on each working face.

Description

DETAILED DESCRIPTION OF THE INVENTION (Technical Field) The present invention relates to a robot assembly device that allows a single robot to perform assembly work on various work surfaces of a workpiece.

(Prior art) As a characteristic of robot operation, for example, when moving a workpiece from one point A to another point B as shown in Fig. 1, the robot's hand first moves directly above the workpiece, and then the robot hand moves to the top of the workpiece.・Generally, the operation follows a path in which the hand descends to chuck the workpiece, the hand rises, the workpiece is moved directly above point B, and then the hand descends to release the workpiece. This is because robots that move in a straight line are easier to control and can move at higher speeds. Therefore, in assembly and other tasks performed by a robot, the robot has three axes: two degrees of freedom for positioning in a plane parallel to the work plane, and one degree of freedom for positioning linearly in a direction perpendicular to the work plane. (in some cases, 4 axes including 1 degree of freedom movement around an axis perpendicular to the work plane) are controlled by robots. Made by! The equipment used was as shown in Figure 2. This is done by placing the robot 2 near the conveyor 1, transporting it on the conveyor 1, and positioning the robot 20 within the work area.
This is a type of work in which work such as assembly is performed on the works 3 and 4 that have been stopped. In this model, for the reasons mentioned above, the robot 2 is positioned on a plane parallel to the work plane.
Then, the operation is performed in a direction perpendicular to the plane. However, with this model, there is no problem if all the working planes are parallel, but if the working planes are not parallel, it is not possible to work on the back side of the workpiece. Ta. Therefore, as shown in FIG. 3, a plurality of robots 6A, 6B, 6C corresponding to each work surface 5a + 5b, 5c! By using i, all of the above drawbacks have been overcome. However, it has drawbacks such as increased costs due to an increase in the number of robots and an increase in the area occupied by the robots.

Furthermore, if one machine is to have a flat mouth and be able to handle work surfaces that are not parallel to each other, it is essential to increase the degree of freedom, which inevitably increases costs, degrades accuracy, and reduces operating speed. Also, in this case, depending on the workpiece being relatively large or the shape of the workpiece, there may be places where work cannot be performed, and if the linearity of υ robot movement is lost due to the increased degree of freedom, complex path control will be required. (Objective) The object of the present invention is to provide an inexpensive assembly device that can perform assembly operations on various work surfaces at high speed with one robot.

(Embodiment) Next, a first embodiment of the present invention shown in FIGS. 4 to 7 will be described in detail. Reference numeral 10 is a rectangular parallelepiped workpiece (outer box of a gear device), and 11 is lightly screwed onto its four faces. 12 is a conveyor that conveys the workpiece 10. 13) A pair of guide rails 15 of the robot mounting base 14 fixed on the pace arranged on one side of the conveyor 12.

The slider 17 K linearly slides at right angles to the conveyor 12 along the axis 16. The robot 18 has an arm that rotates about two parallel axes and is mounted so that its axis of rotation is parallel to the sliding direction of the slider 17. be. 19 is an air cylinder that drives the slider 17. A nut runner 21 is fixed to the tip of the working arm 20 of the robot 180, and a stud bolt is attached to the tip of its rotating shaft 22.
One socket 23 for chucking is installed parallel to the rotation axis of the robot 18. 24 is a positioning jig 25 fixed to the upper surface with an llet placed on the conveyor 12.
Workpiece 10 is positioned. A lift 27 that is driven upward by an air cylinder 26 is disposed at a position facing the pace 13 in the conveyor 12, and a plurality of rollers 28 are disposed on its upper surface so as to rotate toward the pace 13. . Reference numeral 29 is an underframe fixed to the upper right side of the pace 13, and has a work space between it and the pace 13 in which the work lO can be placed, and an index 3 driven by a motor 30 is mounted on the top surface.
1 is disposed, its output shaft 32 projects vertically downward, and the lower end of the output shaft 32 is fixed to a disc 34 having a locate pin 33 projecting from its lower surface. A lifter 36 is disposed inside the pace 13 facing the disk 34 and is driven upward by an air cylinder blade, and a locate pin 3 is mounted on the upper surface of the lifter 36 .
7 is provided protrudingly. For forward bending of the locate pin 37, a guide 40°41 having a plurality of rollers 39 is arranged parallel to the rollers 28 so that the rollers 39 rotate in the same direction as the rollers 28, in accordance with the forward bending width of the no. There is. 42 is υ by the air cylinder 43 arranged on the upper left side of pace 13.
The grate is linearly driven in parallel with the guides 40 and 41, and a hook 45 is attached to a tally actuator 44, which is fixed to the plate 42. Reference numeral 46 denotes a protrusion protruding from the pallet 24, with which the hook 45 engages.

Next, the action (will be explained).
The goulette 24 with 0 attached is transported and the lifter 27
(When it reaches the top) the groove 24 is stopped by a stop jig (not shown). Next, the lifter 27 is moved up the nosolet 24 by the air cylinder 26, separated from the conveyor 12, and stopped when the lifter 27 reaches the same height as the guides 40 and 41. Next, the air cylinder 43 is activated, and the plate 42 approaches the pallet 24 and is in a predetermined position.
Then, the rotary actuator 44 is activated so that the hook 45 engages with the protrusion 46 on the nozzle 24, and then the air cylinder 43 is activated to draw the pallet 24 toward the pace 13. Then, the groove 24 is pulled into the space between the base 13 and the index mount 29 and is stopped by a not-shown stone provided on the kink base 13. At this time, the pallet 24 is moved by the rollers 28 of the lifter 27 and the rollers 38 of the guides 40 and 41.
, 39 smoothly.

The hook 45 then separates from the protrusion 46 and the plate 42
retreats. Next, the air cylinder 35 is activated, and the lifter 36 rises to lift the barrel 24 from below.

At this time, the locate pin 37 engages with a hole (not shown) formed in the let 24 to achieve accurate positioning. Next, the lifter 36 rises further and the upper part of the workpiece 10 moves to the disk 34.
, and the locate pin 33 engages with the workpiece 10.

Next, the workpiece 10 is moved to the output shaft 3 by the index 31.
The work surface 10 a of the workpiece 10 is rotated around the center of the work surface 10 a
is set perpendicular to the rotation axis of the robot 180.

Next, the robot F18 is activated and the socket 23 of the work arm 20 is connected to the work surface 10a of the work lO.
It stops when it comes to one axis of 1. Next, the air cylinder 19 is activated, and the robot 18 slides linearly to release the socket 2.
3 approaches the stud bolt 11, the rotating shaft 22 rotates, chucking the stud bolt 11, and performs a fastening operation. After the fastening is completed, the robot 18 moves back and repeats the above-mentioned operation to complete the fastening work of all the stud bolts 11 on the work surface 10a. Next, the index operates and work 1
The next work surface of the workpiece 10 is set at a position perpendicular to the rotation axis of the robot 18 by rotating the workpiece 10 by 0 degrees. Then, the above-mentioned fastening work is performed. When the fastening work on the four sides is completed in this way, the lifter 36 is lowered by the air cylinder 35 to remove the work 10 from the disc 34 and remove the let 24 from the workpiece 10.
are placed on the guides 40 and 41. Next, the plate 42 is advanced by the air cylinder 43, hooked to the hook 45 and the protrusion 46 of the let 24, and pushed back onto the lid 27 inside the conveyor 12, and then the lifter 27 is lowered.
・Return the Moreshito 24 onto the conveyor 12 and complete the first step. .

FIG. 8 is a schematic front view of a second embodiment of the present invention, in which a workpiece 50
Actuator 51 attached to two axes that are straight
52, it can be rotated. In this way, work can be performed on all sides of the workpiece 50.

In addition, instead of fastening to stud bolts, it can also be used for assembly work such as inserting various parts.A hand is attached to the tip of the work arm in place of the nut runner, and this hand is rotated with an axis parallel to the rotation axis of the robot. By moving the robot, the number of axes of the robot increases by one, but it can also handle irregularly shaped workpieces.

Furthermore, by providing an ATO device similar to that used in well-known machining centers that use different sockets, hands, etc. in one robot, it is possible to handle various tasks.

(Effects) According to the present invention, the robot has two degrees of freedom for positioning in a plane parallel to the work plane and one degree of freedom for linear positioning in a direction perpendicular to the work plane, and each work is performed by a robot and a workpiece. Since it is comprised of a rotating device that rotates and holds the surface in a position facing the robot, one robot can perform assembly work on various work surfaces at high speed and can be provided at low cost.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram showing the basics of robot operation, Fig. 2 is a perspective view of a first comparative example of an assembly device using a conventional robot, and Fig. 3 is an explanatory diagram showing the basics of robot operation.
The figure is a perspective view of the second comparative example, FIG. 4 is a perspective view of an example of a workpiece implementing the present invention, FIG. 5 is a cutaway perspective view of essential parts of the first embodiment of the present invention, and FIG. FIG. 7 is a cutaway front view of the same essential parts, and FIG. 8 is a front view of a second embodiment of the present invention. Fist 13...Base 14...Roboso) Mounting stand 15.1
6...Guide rail 17..Slider 18..Robo Soto 19..Air 7 Linder 20.Work arm
21... Nut runner 22, rotating shaft 23... socket 31... index 32, output shaft 34... circular plate 35... anus cylinder 36... lifter 1st drawing A B 2nd drawing 3rd Figure 8 Procedural amendment (voluntarily submitted) March 15, 1980 Kazuo Wakasugi, Commissioner of the Patent Office 1, Indication of the case, Patent Application No. 14772 of 1983, 2, Name of the invention: Robotic assembly device 3, Relationship with the case of the person making the amendment Patent applicant address 7-2 Nihonbashi Koami-cho, Chuo-ku, Tokyo Name (55
1) Pentel Co., Ltd. 4, Agent 5, Date of amendment order Voluntary submission 6, Subject of amendment Specification 11 7, Contents of amendment As stated in the attached document 7, Contents of amendment (1) Specification page 8 Delete the text from line 19 to line 3 of page 9, ``Figure 8 can...'' and insert the following sentence. ``Figure 8 is a schematic diagram of the second embodiment of the present invention.'' In the front view, workpiece 5
0 to the rotating shaft 22 attached to the tip of the work arm 20.
It can be rotated by actuators 51 and 52 attached to two axes that are perpendicular to each other and perpendicular to each other. In this way, work can be performed on all sides of the workpiece 50. ” L2. ) tun [Yes] ~ 31e v″7J/-(U
b-su (winter elementary school's 7th grade. Fig. 8 Kuku)

Claims (1)

[Claims] A robot and a workpiece having two degrees of freedom for positioning in a plane parallel to the work plane and one degree of freedom for linear positioning in a direction perpendicular to the work plane are rotated to positions facing the robot. An assembly device that uses a robot and a rotation device that holds the motion.