JPS61109635A - Assembler - Google Patents

Abstract

PURPOSE:To cope instantaneously with changeover of assembling parts by driving an assembling robot, a television camera and a tray carrying device through CPU control while providing a light source for switching the chuck. CONSTITUTION:A television camera 6 is arranged at the chucking position of robot while a tray 9 mounting plural assembling parts 10 is formed into semi-transparent and a light source 11 is provided on a tray carrying device 8 for mounting/moving plural trays 9. Since the light is projected from the light source 11 to the tray 9 positioned at the picking section Q while corresponding with the assembling stage 100, the attitude of assembling parts 10 is read out through the television camera 6. Upon detection of switched pallet 16 through a sensor 14 located near to the belt conveyor 3, different chuck is mounted on the assembling robot 4 while the tray carrying device 8 is driven until a dummy tray 17 is detected to move all trays 9 from feeding section P to collecting section R during that interval.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to an assembly device for precision instruments such as watches.

[Conventional technology]

When assembling parts into a base part using a robot or big-and-press, the position of the parts is regulated and assembled by using a parts feeder or a special tray for the parts.

[Problem that the invention seeks to solve]

However, when assembling a wide variety of small quantities of built-in parts using robots or big-and-press machines, there are six problems with the parts supply method when switching from one model to another. When feeding assembled parts using a feeder, the balls must be changed manually and a large number of balls must be prepared. However, as the number of assembled parts in the ball decreases, the supply rate decreases.

■When supplying assembled parts using a special tray, in order to precisely control the position of the assembled parts, it is necessary to make a high-precision tray by molding or cutting with a NO machine. This increases in proportion to the type of parts included, which is a factor in increasing costs.

Therefore, in order to solve these conventional drawbacks, this invention
The purpose of this invention is to improve the material feeding device and method, and to speedily and easily assemble high-precision assembly of a wide variety of small quantities of assembled parts.

[Ninth way to solve the problem]

A TV camera is installed at the chucking position of the robot, nine translucent trays are placed on which multiple assembled parts are placed, and a light source is installed on the tray transport device that places and moves the multiple trays. .

In addition, a chuck holder for storing a plurality of different chucks is provided, a sensor is provided near the belt conveyor to detect the switching pallet, and a sensor is provided to detect the dummy tray on the tray conveyor. A switching pallet and a dummy tray each having a detection mark are arranged in correspondence with the switching.

[Effect]

Positioned in the picking section corresponding to the assembly stage rL
几) Since the light source is illuminated from below, the posture of the assembled parts can be accurately read by the television camera.

When a switching pallet is detected by a sensor near the belt conveyor, a different chuck is attached to the assembly robot, the tray transport device is driven until a dummy tray is detected, and the tray conveyor is moved between the trays.

All of the rays are moved from the supply section to the collection section, allowing quick response to chucks for different models and different built-in parts.

〔Example〕

Embodiments of the present invention will be described in detail below based on the drawings.

1 to 5 show an embodiment of the present invention, in which reference numeral 1 indicates a base part such as a main plate of a watch, 2 indicates a pallet on which the base part t is attached, 8 indicates a belt conveyor for conveying the pallet 2t, and 4 indicates a For example, it is an orthogonal coordinate type assembly robot, and the pallets 2 provided corresponding to the assembly stages 100 on the belt conveyor 8 are positioned on each assembly stage 100 using a conventional free-flow method. 5 is a chuck provided at the tip of the assembly robot 4, for example, a chuck having a vacuum hole; 6 is a television camera provided integrally near the chuck 5; and 7 is close to the belt conveyor 8 and corresponds to the assembly robot 4. 8 is a tray conveying device provided corresponding to each assembly stage 10o, and 9 is a translucent member formed of a plurality of sets. This is a tray on which a plurality of components 10 are mounted, and a plurality of components are movably mounted on the conveyance device 8. That is, the trays 9 of the supply section P@ are conveyed one by one in the direction of the arrow G via a cylinder (not shown) and positioned on the picking section q, and when the picking is completed and there are no assembled parts 10, the trays 9 are transferred again to the direction shown in the figure. The material is conveyed in the direction of the arrow by a cylinder that does not move, and is collected by the collection section R. 11 is buried in the upper part of the tray conveying device 8.
A light source 13 housed in the ratio housing t2 is provided so as to cover the light source 11 and is disposed at the position of the picking part q.
The light from the light source 11 is uniformly scattered and transmitted through the tray 9. 14 is a dummy tray 17t- shown in FIG.
The detecting sensor 15 is a chuck holder provided corresponding to each assembly robot 4, and the switching pallet 16 and dummy tray 17 which accommodate chucks 5a to 5d of different shapes corresponding to different models are As shown in FIGS. 4 and 5, there are holes 15c and 1 at one end for detection.
It has 7cL.

The above configuration is controlled by cpσ (not shown).
ing.

Next, the operation will be explained.

First, when the pallet 2 is conveyed in the direction of the arrow on the belt conveyor 8 and positioned on a predetermined assembly stage 100, the chuck 5 of the assembly robot 4 picks up the assembled parts 10t'' from the tray 9 of the picking section Q. Then, this assembled part 10 is pressed onto the pace part 1. At this time, the attitude of the assembled part 10 on the tray 9 is constantly determined through the light source 11 and the television camera 6, so that the assembled part 10 is pressed onto the paced part 1. 10 can be picked up accurately if only the front and back sides are selected and placed.

The pace parts 1 that have been pressed (assembled) are sequentially transported to the next assembly stage 100.

When there are no assembled parts 10 on the tray 9 of the picking section Q, that is, when the number of assembly robots 4 reaches the number of assembled parts 10 on the tray, the tray conveyor/feeder 8 is driven to empty the tray. The tray 9 is transported to the position where the collection section is missing. At the same time, the primary tray 9 is transported from the supply section P onto the picking section q.
Ru.

Next, a case will be described in which 10 types of pace parts are switched.

First, the sequence of the nine chucks 5, the assembled parts 10, and each assembly robot 4 is input and set in opv (not shown) in advance, corresponding to the model to be changed. The switching pallet 16 is connected to a cell 7 in which a switching pallet 16 and a dummy tray 17 are disposed as pallets and trays in the switching section.
When the hole 16α is detected, this detection signal becomes a flag for model switching, and the assembly robot 4 and tray transport device 8
receives a switching command from OFU. That is, the chuck 5 is stored in a chuck holder 15K, a chuck having a shape corresponding to the next model is selected from among 5G to 5d, and is mounted on the assembly robot 4. At the same time, the tray transport device 8
The tray 9 is conveyed and driven until the sensor 14 detects the dummy tray 17t, and the nine assembled parts 10 corresponding to the next model are positioned in the picking section Q.

In this embodiment, holes and reflective sensors are used as the detection marks and separators on the switching pallet and dummy tray; however, the same effect can be obtained by using other well-known detection means. Needless to say.

Further, as the assembly robot, other robots such as a cylindrical five-shaped robot, a multi-joint type, etc. can also be used.

〔effect〕

In this way, according to the present invention, the assembly robot, tray, television camera, and tray conveyance device are all driven by opσ control, a light source is provided under the tray, and chuck switching is also automatic. , it is possible to respond instantaneously to frequent switching of installed parts, and it is also possible to accurately detect the position and orientation of installed parts that are stored separately. Furthermore, since it is no longer necessary to restrict the position of assembled parts on the tray, external setup such as tray filling work is greatly eased.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is a plan view of an assembly device, FIG. 2 is a side view of an assembly robot and an assembly stage, FIG. 8 is a front view of a tray conveyance device, and FIG. 4 is a switching pallet. FIG. 5 is a perspective view of the dummy tray. 20. 400 pallet assembly robots, 8 television cameras. Tray transport device 90. Tray 116. Light source 150. Chuck holder 160. Switching pallet 171. Applicant for dummy tray and above Seiko Electronic Industries Co., Ltd. Agent Patent Attorney Mogami Tsutomu No. 1 (2) Figure 2 Figure 3 Figure 4 Figure 5

Claims (2)

[Claims] (1) A pallet on which base parts are placed, a belt conveyor that conveys this pallet, a plurality of assembly robots provided corresponding to the assembly stages on this belt conveyor, and an integral part near the chuck part of this robot. a television camera installed in the assembly stage; a tray provided corresponding to the assembly stage on which a plurality of assembled parts are placed; a tray conveyance device on which a plurality of the trays are movably placed; and an assembly robot. An assembly device comprising a chuck holder provided nearby and housing a plurality of different chucks, characterized in that the tray is formed of a translucent member and a light source is provided above the tray conveyance device. . (2) When a switching pallet having a detection mark is detected, the sensor is provided close to the belt conveyor and includes a sensor for detecting a switching pallet, and a sensor for detecting a dummy tray on the tray conveying device. Then, suitably attaching a different chuck from the chuck holder to the tip of the assembly robot, drive the tray transport device until a dummy tray having a detection mark is detected, and transport the tray from the supply section to the collection section. An assembly device according to claim 1, characterized in that the assembly device is configured to:.