JPS60238235A - Robot for assembling use - Google Patents

Abstract

PURPOSE:To make each part assembleable to the basis part mounted on an auxiliary table at a parts feeding position and shorten its travel distance as well as to aim at the promotion of high efficiency, by installing an auxiliary driving source which drives the auxiliary table attached to a basic driving part in the same direction as the basis driving part. CONSTITUTION:First of all, a single part, serving as a standard, is taken out of the specified parts feeder 21 and mounted on an auxiliary table 18, then a basic driving part 12 and a driving part 13 are driven, making a hand part 14 move up to the specified parts position, and this part is taken out. Next, at the time of assembling this part to that basic part, the basic driving part 12 is not made to move from this position but made to come into a state of being stopped instead, and the hand part 14 is controlled for its position in both Y, Z directions by the driving part 13, while Y directional position control takes place with the auxiliary table 18 driven. And, when parts assembling is over, likewise the hand part 14 is moved to the other parts position by the basic driving part 12 and the driving part 13, and afterward assembling takes place in regular sequence with the same process so that it is no longer reciprocated between the basic part position, thus a travel distance is well shortened.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to an assembly robot, and particularly to an assembly robot used for work such as assembling other parts to a basic part.

(Conventional technology) A specific example of a conventional assembly robot is shown in FIG.

This assembly robot 1 includes an X drive section 2 that is driven in a horizontal direction (hereinafter referred to as the X direction), and a Y drive section 3 that is driven in a horizontal direction that is perpendicular to the X direction (hereinafter referred to as the Y direction).
and an X drive unit 4 that is driven in the vertical direction (hereinafter referred to as the Z direction), and the X drive unit 2 has a Y drive unit 3,
An X drive section 4 is attached to each of the Y drive sections 3.

The hand portion 5 is controlled by each of these driving portions 2.3.4.
is driven. 6 are parts feeders, and predetermined parts are supplied from these parts feeders 6. In the above device, assembling other parts, such as bolts and seals, to the basic parts is as follows:
This is done by first grasping a basic component and placing it at a predetermined position A, then grasping other components and attaching them to the basic component.

(Problem to be Solved by the Invention) ``By the way, in the above device, a predetermined part is picked up from the position A where the basic part is placed, to the position of the parts feeder 6, and then transported to the above position A. It is necessary to perform a reciprocating motion for each part.

Therefore, when there are a large number of parts, the moving distance of the robot for transportation becomes significantly long, resulting in a disadvantage that the installation cycle time becomes long and sufficient work efficiency cannot be obtained.

In addition, in order to perform assembly work, high positioning accuracy is required for each drive part, but if you increase the movement stroke while maintaining such high accuracy, the equipment itself is extremely expensive. The drawback is that it becomes a thing.

This invention was made in order to solve the above-mentioned drawbacks, and its purpose is to shorten the travel distance of the robot required to transport each part, thereby making it possible to perform highly efficient assembly work. To provide an assembly robot that can be manufactured at low cost even if the movement stroke of the robot becomes long.

(Means for Solving the Problems) In order to solve the above problems, in the assembly robot of the present invention, a driving part that moves in another direction is attached to a basic driving part that moves in a predetermined direction. In addition, in an assembly robot that is provided with a hand section driven by each of these drive sections and uses this hand section to assemble other parts onto the basic component, an auxiliary table is attached to the basic drive section, and this auxiliary table is attached to the basic drive section. An auxiliary drive source is provided to drive the table in the same direction as the basic drive unit.

(Function) As a result of the above, the basic part is first placed on the auxiliary table, and then the basic drive unit is moved to pick up the part to a predetermined parts feeder position, and the part is gripped. By driving the auxiliary table at this position, it is possible to assemble parts, and then move to another part position and assemble the parts in the same manner as above. Therefore, compared to the conventional method where the robot moves back and forth between the position where the basic part is placed and the part position, the distance the robot moves can be shortened, reducing cycle time and improving work efficiency. can. In addition, although high precision is required for the positioning of the hand part during assembly, very high precision is not required for gripping the parts. The basic drive unit that moves can be driven using a rack-binion method, and even if the device has a large movement stroke, it is possible to manufacture the device at a low cost.

(Embodiments) Next, specific embodiments of the assembly robot of the present invention will be described in detail with reference to the drawings.

In FIG. 1, 11 is a base, and this base 1
1, there is a basic drive unit 1 that moves in the horizontal direction (X direction).
2 is installed. At the bottom of this basic drive unit 12,
Although not shown, a motor and a pinion driven by the motor are provided, and a rank that meshes with the pinion is provided on the base 11 side.
2 is self-propelled by a motor. The basic drive unit 12 is equipped with a drive unit 13 that moves in the horizontal direction (Y direction) perpendicular to the X direction and in the vertical direction (Z direction). A hand portion 14 is attached. In addition, 15 is Y
The direction drive motor 16 is a Z direction drive motor, and the drive section 13 is driven in either direction by a known Nand screw type. Further, an arm 17 extending toward the hand section 14 is attached to the basic drive section 12, and an auxiliary table 18 is attached to this arm 17. The auxiliary table 18 is connected to the arm 17
The auxiliary drive motor 2 is slidably mounted on a support part 19 extending in the X direction of the
0, it is driven in the X direction by one type of Nand screw. That is, the Nando is fixed to the lower surface of the auxiliary table 18, while the supporting part 1
9 rotatably supports a screw which is rotationally driven by the motor 20, and the NAND is engaged with the screw.

The procedure for assembling each part using the robot will be explained based on FIG. 2.

First, a basic component is taken out from a predetermined parts feeder 21 and placed on the auxiliary table 18. Next, by driving the basic drive section 12 and the drive section 13, the hand section 14 is moved to the position of a predetermined part, and this part is taken out. Next, this part is assembled to the above-mentioned basic part. At this time, the basic drive part 12 is kept in a stopped state without being moved from this position, and the hand part 14 is moved by the drive part 13 in the Y direction and the Z direction. In addition to position control in the X direction, the position control in the X direction is performed by driving the auxiliary table 18.

When the assembly of the above-mentioned parts is completed, the hand part 14 is moved to another part position by the basic drive section 12 and the drive section 13 in the same manner as above, and the assembling is performed sequentially in the same manner as above. When a series of assembly operations are completed, the finished product is transported to a predetermined position and the next operation begins.

As described above, according to the assembly robot, when the hand portion 14 moves to a predetermined part position and grips this part, the assembly work is performed by driving the auxiliary table 18 at this position. It becomes possible to do so. Therefore, there is no need for the robot to reciprocate between the position where the basic parts are placed and each part position as in the past, and the distance the robot moves for transportation can be shortened (and the work cycle time can be reduced). can be shortened and its efficiency improved.

In addition, since the drive motor 20 for assembly work, which requires high positioning accuracy, and the drive motor for taking out parts are separate, it can be used when the number of parts increases and the movement stroke of the robot needs to be lengthened. Even if there is, the device can be manufactured at low cost.

Although one embodiment of the assembly robot of the present invention has been described above, the assembly robot of any invention is not limited to the above embodiment, and can be implemented with various modifications. For example, in the above description, an example is shown in which an orthogonal three-axis type robot is used, but the same implementation as described above is also possible, for example, in a horizontally articulated or horizontally seated type robot. Furthermore, although the above example shows an embodiment in which the basic drive unit is moved in the X direction, it may be moved in another direction, for example, in the Z direction.

(Effects of the Invention) The assembly robot of the present invention is configured as described above, and therefore, when performing assembly work, the robot's travel distance required for transporting each part can be reduced. Since it is possible to shorten the work cycle time, it is possible to improve work efficiency. In addition, the drive source for picking out parts and the drive source for assembly work are provided separately, so even if the movement stroke of the robot becomes longer, the drive source for assembly work that requires high precision can be made longer. Since this is not necessary, the entire device can be provided at low cost.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an embodiment of the assembly robot of the present invention, FIG. 2 is an explanatory diagram showing the procedure for performing assembly work using the robot, and FIG. It is an explanatory view showing a procedure for performing an assembly work. 12... Basic drive section, 13... Drive section, 14...
Hand part, 18... Auxiliary table, 20... Auxiliary drive motor. Patent applicant: Daikin Industries, Ltd. Figure 1 Figure 2 Figure 3

Claims (1)

[Claims] (2) A basic drive unit (12) that moves in a predetermined direction is equipped with a drive unit (13) that moves in another direction, and a hand unit (14) that is driven by each of these drive units (12) and (13). ), and in an assembly robot that assembles other parts to the basic part using this hand part (14),
The basic drive unit (12) is equipped with an auxiliary table (18), and an auxiliary drive source (20) is provided for driving the auxiliary table (18) in the same direction as the basic drive unit. assembly robot.