JPS60238240A - Assembling system using robot - Google Patents

Assembling system using robot

Info

Publication number
JPS60238240A
JPS60238240A JP9093384A JP9093384A JPS60238240A JP S60238240 A JPS60238240 A JP S60238240A JP 9093384 A JP9093384 A JP 9093384A JP 9093384 A JP9093384 A JP 9093384A JP S60238240 A JPS60238240 A JP S60238240A
Authority
JP
Japan
Prior art keywords
robot
work holder
work
assembly
soldering
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP9093384A
Other languages
Japanese (ja)
Inventor
Yasuyuki Komatsubara
小松原　保幸
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP9093384A priority Critical patent/JPS60238240A/en
Publication of JPS60238240A publication Critical patent/JPS60238240A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units stationary whilst being composed

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE:To make plural operations attainable with one robot alone, by positioning a work in driving the work holder attached to a table having no driving device, while driving an assembling operation jig being locked to a base with an operating command of the robot. CONSTITUTION:A robot 1 chucks each base plate 11 and takes it out of a base plate housing box 3 with a jow part 8c of a robot hand 8, then sets it on a work holder 7. Next, each part 12 positioned on a parts feeding part 2 by the robot 1 is chucked by a jaw part 8d, mounting the part at the specified position on the base plate 11 and, after mounting is over, a lever 9 for work holder drive positioning use is chucked by a jaw part 8e, drawing the lever 9 out of a block 10 for positioning use, and the work holder 7 is set free. Next, the work holder 7 is positioned to the specified position where screwing and soldering should be done by the robot 1, and with an operating command out of the robot 1, an automatic screwing machine 4 and a soldering machine 5 are driven, thus screwing-down and soldering operations are carried out.

Description

【発明の詳細な説明】 〔発明の利用分野〕 を公開け−ロゼッに＆＃Ｉ用１−ナー朗（品の起立装置
に係り、１台の口・ポットにより多種類の治工具を必要
とする組立作業を行なわせるに好適なロボット利用組立
システムに関する。[Detailed Description of the Invention] [Field of Application of the Invention] Disclose the following: 1-Narro for Rosette &#I (Related to a product erecting device, many types of jigs and tools are required for one mouth/pot. The present invention relates to an assembly system using a robot suitable for performing assembly work.

〔発明の背景〕[Background of the invention]

従来のロボット利用組立システムは、ワークホルダーを
一ケ所に固定、又は位置決めした状態で組立を行う為、
ネジ締め、半田付等の作業を行う場合、ロボットのアー
ムに自動ネジ締めユニットや、自動半田付ユニットを取
付けて、ロボットにより所定の位置に移動させ、ネジ締
め、半田付等を行なわせる必要がある。ところが、１台
のロボットに前記の様な俵数個の作業ユニットを取付け
ることは不可能である為、それぞれのユニットを取り付
けた複数台のロボットを使用しなければならないという
欠点があった。Conventional robot-based assembly systems perform assembly with the work holder fixed or positioned in one place.
When performing work such as screw tightening or soldering, it is necessary to attach an automatic screw tightening unit or automatic soldering unit to the robot arm, and have the robot move it to a predetermined position and perform screw tightening, soldering, etc. be. However, since it is impossible to attach work units for several bales as described above to one robot, there is a drawback that a plurality of robots each having each unit attached must be used.

〔発明の目的〕[Purpose of the invention]

本発明の目的は、かかる従来システムの問題点を解決し
、１台のロボットにより複数の組立作業治具を使用する
組立作業を特徴とする特許ット利用組立システムを提供
することにある。SUMMARY OF THE INVENTION An object of the present invention is to solve the problems of such conventional systems and to provide an assembly system using a patented robot, which is characterized by assembly work using a plurality of assembly work jigs by one robot.

〔発明の概要〕[Summary of the invention]

本発明は、例えば自動ネジ締め機、自動半田付機等の組
立作業治具をロボットに取付けずにベースに固定とし、
次に、ワークホルダーを駆動装置を持たないＸＹテーブ
ル等に取り付け、ロボットにより前記ワークホルダーを
駆動しくロボットはその他に部品組込等の作業も行う）
、所定の位置にワークを位置決めし、ロボットからの動
作命令信号により前記ネジ締め、半田付機を駆動して、
組立作業を行わせることが可能となる。The present invention fixes an assembly work jig such as an automatic screw tightening machine or an automatic soldering machine to a base without attaching it to the robot.
Next, the work holder is attached to an XY table, etc. that does not have a drive device, and the work holder is driven by the robot.The robot also performs other work such as assembling parts.)
, position the workpiece at a predetermined position, drive the screw tightening and soldering machine according to the operation command signal from the robot,
It becomes possible to perform assembly work.

〔発明の実施例〕[Embodiments of the invention]

以下、本発明の一実施例を第１図により説明する。 An embodiment of the present invention will be described below with reference to FIG.

１は組立作業を行うロボットであり生に部品の組込等を
行う、２はロボットにより組込まれる部品１２０部品供
給部であり、部品の搬送・位置決めを行う、３は、部品
が組込まれる基板１１の収納箱、４．５はそれぞれ１台
のロボットに取付は不可能な自動ネジ締め機、半田付機
等の複数の組立作業治具、６は、地動源の付いていない
自由に外から駆動可能なＸＹテーブル、７は前記ＸＹテ
ーブルに固定された前記基板１１を取付けるワークホル
ダー、８は、部品組込及び基板搬送、及び、ワークホル
ダー駆動・位置決め用レバー９を把持する為のロボット
ハンド、１０は、ワークホルダー駆動位置決め用レバー
を差し込みワークホルダーを位置決めする為の位置決め
用ブロックである。1 is a robot that performs assembly work and assembles parts into raw materials; 2 is a component supply unit for parts 120 to be assembled by the robot; it transports and positions the parts; 3 is a board 11 into which the parts are assembled; storage box, 4.5 is multiple assembly work jigs such as automatic screw tightening machines and soldering machines that cannot be attached to one robot, and 6 is a freely externally driven machine with no ground motion source attached. 7 is a work holder for attaching the board 11 fixed to the XY table; 8 is a robot hand for gripping a lever 9 for assembling parts, transporting the board, and driving and positioning the work holder; Reference numeral 10 denotes a positioning block into which a work holder drive positioning lever is inserted to position the work holder.

次にシステム全体の動作について説明する。Next, the operation of the entire system will be explained.

まず、ＸＹテーブル６上に設けられたワークホルダー７
は、位置決めブロック１０上にワークホルダ駆動・位置
決め用レバー９により位置決め固定されている。First, the work holder 7 provided on the XY table 6
is positioned and fixed on the positioning block 10 by a lever 9 for driving and positioning the work holder.

ロボット１には、第２図に示すロボットハンド８が付い
ている。ロボットハンド８は、８ａ及び８ｂの２個のシ
リンダ部があり、それぞれ基板１１チヤツク用のツメ８
ｃ及び部品１２チヤツク用のツメ８ｄワークホルダ駆動
位置決め用レバー９チヤツク用のツメ８ｅが設けられて
いムロボット１は、ロボットハンド８のツメ部８Ｃによ
り、基板収納箱３より基板１１をチャックして取り出し
、ワークホルダー７上にセットする。The robot 1 is equipped with a robot hand 8 shown in FIG. The robot hand 8 has two cylinder parts 8a and 8b, each having a claw 8 for the chuck of the board 11.
The robot 1 chucks the substrate 11 from the substrate storage box 3 with the claw portion 8C of the robot hand 8. Take it out and set it on the work holder 7.

次にロボット１により部品供給部２上に位置決めされた
部品１２をロボットノ・ンド８のツメ部８ｄでチャック
し、基板１１上の所定の位置に部品の搭載を行う。Next, the component 12 positioned on the component supply section 2 by the robot 1 is chucked by the claw portion 8d of the robot knife 8, and the component is mounted at a predetermined position on the substrate 11.

部品搭載後、ロボット１はロボットハンド８のツメ部８
ｅにより、ワークホルダ駆動位置決め用レバー９をチャ
ックし、位置決め用ブロック１０から前記レバー９を引
きだし、ワークホルダー７をフリーとする。次にネジ締
め、及び半田付を行うべき所定の位置にワークホルダー
７をロボット１ｖＣより位置決めし、ロボット１からの
ネジ締め、半田付動作命令信号により、自動ネジ締め機
４及び、半田付機５が駆動され、ネジ締め、半田付作業
が行なわれる。After loading the parts, the robot 1 moves to the claw part 8 of the robot hand 8.
By e, the work holder drive positioning lever 9 is chucked, and the lever 9 is pulled out from the positioning block 10, and the work holder 7 is made free. Next, the robot 1vC positions the work holder 7 at a predetermined position where screw tightening and soldering should be performed, and the automatic screw tightening machine 4 and the soldering machine 5 is driven to perform screw tightening and soldering work.

最後にロボット１は、ワークホルダー７を位碕迄島ゴロ
ツ７１ｎのμｆ罠Ｌしレバー９を押し下げることにより
、ワークホルダー７の固定を行い、ロボットハンド８の
ツメ８Ｃにより、基板１１をワークホルダー７から取り
はずし、基板収納箱３に収納する。Finally, the robot 1 fixes the work holder 7 by moving the work holder 7 into the μF trap L of the Isakishima Gorotsu 71n and pushing down the lever 9, and then uses the claw 8C of the robot hand 8 to move the substrate 11 onto the work holder 7. Remove it from the board and store it in the board storage box 3.

本実施例によれば、複数個の組立作業治具力へ必要な組
立作業を１台のロボットで行なうことが、可能となる。According to this embodiment, it is possible to perform the necessary assembly work for a plurality of assembly work jigs with one robot.

〔発明の効果〕〔Effect of the invention〕

本発明によれば、従来、複数台のロボットで行っていた
、複数個の組立作業治具が必要な組立作業を１台のロボ
ットで行なうことができるので、１台のロボットで、よ
り複雑な組立作業が可能となる。According to the present invention, one robot can perform assembly work that required multiple assembly work jigs, which was conventionally performed by multiple robots. Assembly work becomes possible.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は、本発明の一実施例を示すシステム構成図、第
２図はロボットハンドの外観図である。 １・・・ロボット、　２・・・部品供給部、３・・・基
板収納箱、　４・・・リベットかしめ仏５・・・ネジ締
め機、　６・・・ＸＹテーブル、７・・・ワークホルダ
ー、８・・・ロボットノ１ント９．１２・・・部品、　
ｓａ、ｓｂ・・・チャックシ１）ンタ゛−０第　１　口FIG. 1 is a system configuration diagram showing an embodiment of the present invention, and FIG. 2 is an external view of a robot hand. 1... Robot, 2... Parts supply section, 3... Board storage box, 4... Rivet clinching Buddha 5... Screw tightening machine, 6... XY table, 7... Work holder , 8... Robot part 9.12... Parts,
sa, sb... Chuck 1) Counter 0 1st port

Claims (1)

【特許請求の範囲】[Claims] １、　部品組立を主目的としたロボットと、前記ロボッ
トにより組立てられる部品の部品供給部、前記組立に必
要な自動ネジ締め機、自動半田付機等のベースに固定さ
れた組立治具、駆動源のないＸＹテーブル等により自由
に外から動かせ、又は固定でき、又、前記部品の内のベ
ース部分を位置決めするワークホルダを持つロボット利
用の部品組立装置において、前記ワークホルダーを前記
ロボットにより把持し、駆動・位置決めすることにより
、前記ロボットによる部品組立のみでなく、前記ネジ締
め、半田付等の複数の治具による組立作業を１台の前記
ロボットにより行うことを可能としたことを特徴とする
ロボット利用組立システム。1. A robot whose main purpose is to assemble parts, a parts supply unit for the parts assembled by the robot, an assembly jig fixed to the base of an automatic screw tightener, an automatic soldering machine, etc. necessary for the assembly, and a drive source. In a parts assembly device using a robot, which has a work holder that can be freely moved or fixed from the outside using an XY table or the like without a holder and that positions a base part of the part, the work holder is gripped by the robot, A robot characterized in that, by driving and positioning, it is possible to perform not only parts assembly by the robot but also assembly work using a plurality of jigs such as screw tightening and soldering by one robot. Use assembly system.
JP9093384A 1984-05-09 1984-05-09 Assembling system using robot Pending JPS60238240A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP9093384A JPS60238240A (en) 1984-05-09 1984-05-09 Assembling system using robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP9093384A JPS60238240A (en) 1984-05-09 1984-05-09 Assembling system using robot

Publications (1)

Publication Number Publication Date
JPS60238240A true JPS60238240A (en) 1985-11-27

Family

ID=14012245

Family Applications (1)

Application Number Title Priority Date Filing Date
JP9093384A Pending JPS60238240A (en) 1984-05-09 1984-05-09 Assembling system using robot

Country Status (1)

Country Link
JP (1) JPS60238240A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010023120A (en) * 2008-07-15 2010-02-04 Ihi Corp Robot hand, and method for grasping object using the same
CN111015149A (en) * 2019-11-14 2020-04-17 嘉善天晟精密铸件有限公司 Mechanical seal assembly equipment

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010023120A (en) * 2008-07-15 2010-02-04 Ihi Corp Robot hand, and method for grasping object using the same
CN111015149A (en) * 2019-11-14 2020-04-17 嘉善天晟精密铸件有限公司 Mechanical seal assembly equipment

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