JPS61142033A - Automatic assembly robot - Google Patents

Abstract

PURPOSE:To permit the high-speed assembly work by installing a rectangular- coordinate type robot which takes-out a part from a pallet transported by the first transport line and carries-out assembly work on the pallet of the second transport line. CONSTITUTION:The first and the second transport lines 1a and 1b are installed in parallel and transport the transport pallets 4a and 4b. A rectangular- coordinate type robot 5 drives a hand 56 as article holding part in the direction crossing the both transport lines 1a and 1b and the direction vertical to the both transport lines 1a and 1b. Therefore, parts are supplied by installing the first transport line 1a for transporting articles in parallel to the second transport line 1b for assembly work. Further, the parts on the first transport line 1a is taken-out onto the contiguous second transport line 1b by the rectangular- coordinate type robot 5, and assembly work is carried-out on the pallet 4b for assembly work.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an automatic assembly robot that assembles all parts on nine work lines, and in particular, an automatic assembly robot that assembles parts on nine work lines. This article relates to an automatic assembly robot that performs assembly work using pallets.

The development of factory automation in recent years has been remarkable, with automation using robots being promoted in particular. Production automation using such robots has been introduced to production lines, and various assembly operations have been automated.

[Conventional technology]

The assembly robot introduced into such a production line is a work line LN having a conveyor belt 4, as shown in Figure 9.
assembly work assembly mounting board BS)
PR'& transport robot with handheld HD) RB grasps all the parts on the parts table AB and uses the robot for assembly work)
It was assembled by being incorporated into the assembly board BS on the PR.

In such a conventional assembly robot, the assembly parts are transported to the part stand AB in advance by an automatic guided vehicle, and when the assembly work barrette (PR) arrives at the position of the robot (RB) by the second work line LN, Robot) RB grasps the part A on the parts stand AB and holds the part for assembly work hP.
The assembly work is carried out by attaching it to the assembly board BS of R.

[Problem that the invention seeks to solve]

However, in Shomai's assembly robot, one part stand A
The sound of an automatic transport vehicle is used to supply the part place to B, and after transporting part A from the warehouse etc. with the automatic transport vehicle, it is necessary to set it on part 1 table AB.

In addition to the problem of longer supply time and making the robot wait for the robot to operate, the 1-part stand AB cannot be installed near the 9th work line LN due to transport from the automated guided vehicle. Another problem has arisen in that the operating distance of the robot RB is long, which hinders high-speed operation.

[Means for solving problems]

SUMMARY OF THE INVENTION The present invention provides an automatic assembly robot that can perform high-speed assembly operations with less waiting time for replenishment of nine parts. For this reason, one aspect of the present invention is that the first and fang 2 transport lines, which are arranged in parallel with each other and each transports the entire pallet, are provided so as to straddle the first and second transport lines, and the article gripping part is It has a Cartesian coordinate robot that is driven at least in a direction across both of the transport lines and in a direction perpendicular to the lines.

The article gripping unit takes out all the parts from the parts pallet loaded with the parts transported by the first transport line, and performs assembly work on the assembly work pallet transported by the second transport line. It is a feature.

[Effect]

The present invention facilitates and speeds up the supply of standard products on the second conveyor line for assembly work, and installs a Cartesian coordinate type robot so that it can move between both sides of the conveyor.
Therefore, all the parts on the 171 transport line are taken out to the Fang 2 transport line, and the assembly work is performed on the △ pallet for assembly work, shortening the robot's operating distance and enabling high-speed operation. It is something.

〔Example〕

The present invention will be explained in detail below using examples.

, 1-1 is a configuration diagram of an actual example of the present invention, and is in Figure 0.

lα and lb are each conveyor lines and conveyor belts, which will be described later on pallets! : Things transported in the X direction, 4α
, 4A is a transport pallet) 9 parts and boards are all loaded and transported by transport line 1α, lbf transport belt, 5 is an orthogonal coordinate type robot, 91 cars crossing transport line 1α, lb. A one-car conveyor is provided,
The work is carried out on the transport pallets 4α and 4b of Ib.

It has a gate shape and can be driven and positioned in the Y and Z directions. 50. 51 is its base, which constitutes the left and right bases of the gate robot. 52 is an arm block. 53 is a carrier block; 54 is supported by the arm block 52 and moves in the vertical Z direction with respect to the arm block 52;
is a Y-axis motor, which is provided on the base 51, and rotates the feed screw 54h to move the arm block 5 along the guide rails 54α and 54C provided between the bases 50 and 51.
2 is driven in the Y direction, 55 is a Z-axis motor,
The arm block 52 is provided with a carrier block 53.
56 is a hand (object gripping part) which opens and closes according to commands to grip the object.
A force sensor 57 is provided to connect the hand 56 and the hand rotating portion 53α of the carrier block 53, and detects an external force applied to the hand 56. Each axis component px of the external force applied to the hand 56 is configured by a strain gauge,
It outputs Fy*Fz.

Therefore, the orthogonal coordinate robot 5
The hand 56 is positioned in the Y and Z directions by the Y-axis motor 54 and the Z-axis motor 55, and the one-carrying pallet 4α, 4
configured to perform work at a desired position of A),
A hand rotation unit 5 that further rotates the hand 56 in the Y-axis direction.
3α.

Hand rotation unit 53h that rotates the hand 56 around the Z axis
, and the hand rotation unit 53C moves the hand 56 to the α axis,
It can be rotated in the β-axis and r-axis directions.

Next, the operation of the configuration of the embodiment shown in FIG. 1 will be explained using the operation explanatory diagram of FIG. 2.

Transport line 1α is used as a parts transport line, and transport pants) 4
Components A1 to A5 to be assembled are loaded on the transport pants 7Z, the transport line 1h is used as an assembly work line, and the board BS to which the parts are attached and assembled is mounted on the transport pants 4b. Parts A1 to A5 related to the one-car transport lines 1α and 1b. 4c and 4h are flown. The orthogonal coordinate robot 5 sequentially takes out parts A I - A 5 from the conveyor bar (4α) of the conveyor line 1α, and transfers them to the conveyor line lh.
Attach and assemble the upper transfer baren) 4A to the board BS.

In this case, when the transport speed of one-car transport line 1α, Ib is faster than that of all the same lines, transport line 1α, lh
Assembly work can be done without stopping the machine. On the contrary, conveyance line 1
α, 1hTtThe parts mounting position and installation may be performed by temporarily stopping at the position, and in this case, the transport lines lα, l
A stopper yt for stopping the pallets 4α, 4h may be provided in place of stopping the pallets 4α, 4h, thereby stopping the pallets 4α, 4h”.

In the embodiments shown in FIGS. 1 and 2, the orthogonal coordinate robot 5 needs to operate in synchronization with the transport lines 1α and Ih;
It is also possible to perform assembly work by operating asynchronously with h.

Figure 3 is a configuration diagram of another embodiment of the present invention.

In the figure, the same parts as 47 shown in the figure are indicated by the symbol 1, 2α and 2b are movable blocks (pallet take-out positioning mechanism), and conveyance holes 1α and 1b are shown.
It is installed so as to be divided directly under the i-orthogonal coordinate robot 5, and the pallets 4α, 4 are transported from the conveyor lines lα, lh to the pallets 4α, 4.
This is for taking out h and positioning it in the X direction.

In this embodiment, the movable blocks 2α, 2h are transported by a transport pallet 4α, which is transported by transport lines lα, 1b.
4h and release it from the transport lines lα and 1b,
Cartesian coordinate robot 5 performs positioning operation in the X direction.
By performing the positioning operation in the X direction, the work (retrieval, attachment) by the hand 56 can be performed in a stopped state, and after the completion of the 9 work, the transport pallets 4α, 4b are released and returned to the transport lines lα, Ib. This makes it possible to perform robot work at high speed, regardless of the speed of the conveyor line.

Next, such a take-out 9 positioning mechanism will be explained.

Figure 4 is an overall configuration diagram of the extraction/positioning mechanism and conveyance line in the configuration shown in Figure 3, and Figure 5 is a diagram showing the main part of the conveyance line in the configuration shown in Figure 4.

Figure 6 is a detailed configuration diagram of the transport pallet and movable block in the configuration shown in Figure 4.

o
-10 In the figure, 1 is a conveyor line, p is composed of a belt conveyor, and IQ is a conveyor belt guide, which is a guide along which a conveyor belt, which will be described later, moves.

11α, IIh, 12α, 12h are rails.

This is for the transport pallet to be described later to travel.j5,
13.14 is a support block, conveyor belt guide l
O in the center, rail 11α, IIA.

12α and 12h are supported on both sides. Reference numeral 15 is a conveyor belt, and as shown in Figure 5 (b), it is constructed of a toothed belt with irregularities, and moves along the conveyor belt guide IO. 2 is the aforementioned movable block, which is configured to be movable along the moving direction of the conveyor belt 15 between the support blocks 13 and 14, and 20 is the block body, as shown in Figure 0. Pin guides 20α to 20d are provided at the west gate and are composed of release type linear bearings that guide the pin in the vertical direction, which will be described later. Moving guide to guide 20g, 2O
Those provided with f j21 a.

Reference numeral 21b indicates a running rail, which is provided on both sides of the block body 20, and is for running a conveyance pallet, which will be described later.
22.23 is a connected block.

Supports the pin and uncoupling bar described later.

24α to 24d have a pin and a tenoku on the top,
The pins 24α, 24b are connected to both sides of the connecting block 22, and are fitted into the pin guides 20α, 20h to be movable in the vertical direction.
25, which are fitted into the body and are movable in the vertical direction;
is a coupling release knob, which is provided on the connecting block 22 and engages with a coupling fitting of a conveying pallet, which will be described later, to rotate it twice.

26.27 is a pin drive motor, block body 20
A male thread 264 provided on the shaft of the motor 26 is coupled to a female thread 22α of the connecting block 22,
The rotation of the motor 26 connects the connecting block 22 and the pin 24α provided thereon.

246, for moving the coupling release bar 25 up and down, the motor 27 has a male thread 27α provided on the shaft coupled with a female thread 23α of the connection block 23, and the connection block 23 and the pin 24C124dl provided thereon: up and down. The one who moves, 28, is Natsuto Ashi.

Upper limit rollers (29cL to 29d) are provided on the block body 20 and engage with ball screws (to be described later), and upper limit rollers (29cL to 29d) are provided on the side of the block body 20 and engage with guides for the conveyance pallet (described later) to raise the conveyance pallet. 81 is the first sensor that defines the limit, and the block body 20
provided on the side of the

S2 is a detection bar that detects the arrival of the transport pallet to the movable block 2, and is a right end sensor that is provided at the bottom of the block body 20 and will be described later.

The left end sensor is used to detect the position of the movable block 20.

30 is a positioning motor Q, which acts as a drive source for moving the movable block 2; 31 is a coupling, which is fully connected to the shaft of the motor 30 and a ball screw to be described later; 32 is a ball screw, which is movable. Bearings 33 and 34 are connected to the nut 28 of the block 2 and move the movable block 2 by its rotation, respectively.
What supports the ball screw 32 in between, 35α and 35h are the right end sensor and left end sensor, respectively, and the movable block 2
A detection bar 82 is used to detect whether the movable block 2 is at the right end position or left end position by fully detecting the detection bar 82, 36 is a bottom plate, support blocks 13 and 14, and a track to be described later.
Those equipped with sensors 35α, 35h, 37α, 3
7h is a track with support blocks 13 on both sides of the L bottom plate 36.
14 along the conveyance direction, and engages with the movement guide 201.2Of of the movable block 2 to guide the movement of the movable block 2 in the conveyance direction. 4 is a transport pallet (Fig. 6 (a)) that carries board etc. on which work is to be carried out, and 40 is its base;
On which the board etc. are mounted, 41α to 41d are running wheels, which are provided at the four corners of the base 40, and rails 11α,
llb, 12α.

The parts 42Z to 42d that do not run 12h are engagement hole holes, which are provided at the four corners of the base 40, and which are connected to the movable block 2.
43 is a coupling fitting that engages with the pins 24α to 24d, and a fulcrum O is attached to the tip of the base 40 as shown in FIG.
(Transportation bell)
15 teeth, and the coupling release bar 25 of the movable block 2
44α and 44h are guides that are provided at the bottom of both sides of the base 40 and engage with the upper limit rollers 29α to 29d on the movable block 2 to determine the entire lifting limit of the conveying pallet. be.

Next, the operation of the embodiment configurations of Figures 4 to 6 will be explained using diagrams illustrating the operation of Figure 7.

First, the transport operation of the transport pallet will be explained. spear 7
As shown in Figure (G) and Figure 5 (G), the conveyor belt 15 is constantly moving to the left in the figure along the conveyor belt guide 10, and the conveyor pallet 4 is moved by its own weight to the coupling fittings 43 of the conveyor belt. 15, the conveyor pallet 4 is driven by the conveyor belt 15, and the rails 11α, ! Conveyance is performed by feeding on 2jZ.

On the other hand, the movable block 2 is located at the right end on the side of the support block 13 (that is, the rails 1α, 12α) as shown in Figure 7 (5), and waits for the arrival of the transport pallet 4.

The conveyor pallet 4 is further driven by the conveyor belt 15 and reaches the movable block 2, and the rail 2 of the movable block 2
1α, 21h'Th run. When it is fully detected that the guide 44α of the transport pallet 4 crosses the first sensor S1 of the movable block 2 and reaches the movable block 2, the bin drive motor 26°27 rotates, and its male screw 26α,
27α is rotated to raise the connecting blocks 22 and 23 connected by the female screws 22α and 23α. This allows the bins 2 provided on both sides of the connecting blocks 22, 23 to
4α, 24b, 24c, 24d and coupling release bar 25t
-Raise. Therefore, as shown in FIG. 7(B), the coupling fittings 43 of the conveyor pallet 4, which is moved by the conveyor belt 15 on the movable block 2, rotate upward, are released from the drive of the conveyor belt 15, and come to a stop. , Bin 2
4α to 24d are engagement holes 4212 to 42 of the transport pallet 4
d, and the transport pallet 4 is completely fixed. At this time, even if a time difference occurs between the tips of the bottles 24α to 24d, which are formed in a tapered shape, and a positioning error occurs.

I can absorb this. Also, the engagement hole 42α of the transport pallet 4
By using all tapered shapes having the same ratio to 42d, the conveying pallet 4 can be held stably in the horizontal direction between the pins 24α to 24d.

A low current is constantly applied to the motors 26 and 27, and a force is exerted to lift the transport pallet 4, but the guides 44α and 44b of the transport pallet 4 are in contact with the upper limit rows 229α to 29d of the movable block 2. , by restricting its rise, it is possible to hold the transport pallet 4 stably in the vertical direction.

After the transport pallet 4 is held on the movable block 2 in this manner, the positioning motor 30 rotates as shown in FIG. position.

Therefore,! As explained in the figure on page 3, the transport pallet 4 (4
α, 4h) is positioned at a desired position in the X direction (conveyance direction), the hand 56 positioned in the Y direction grips the parts of the conveyance pallet 4 (4α, 46), and the assembly is performed by attaching it at the position. The work can be performed asynchronously with the transport on the transport lines 1α and 1b. For example, each component mounting position of the transport pallet 4αThX direction in FIG. 2 is positioned with respect to the hand 56, and each mounting position of the transport pallet in the
Assembly work can be performed while the pallet is stopped.

When the work is completed in this way, the 5 positioning motor 30
As a result of the rotation, the movable block 2 is moved to the left end, which is the side of the support block 14 (namely, the rails 11h, 12h). Next, the bin drive motors 26 and 27 are rotated in the reverse direction,
The connecting blocks 22 and 23 are lowered to lower the coupling release bar 25 and the bottles 24α to 24d. As a result, the conveying pallet 4 can connect the engaging holes 42α to 42d with the bins 2.
4α to 24d are disengaged, the holding by the movable block 2 is released, and the coupling fitting 43 rotates downward under its own weight and is coupled to the teeth of the conveyor belt 15.

For this reason, the conveyor pallet 4 is again driven by the conveyor belt 15, and the conveyor pallet 4 is driven by the conveyor belt 15 again, and the conveyor pallet 4 is moved to the rail 11b.

It runs on 12A and is sent to the missing route. Thereafter, the movable block 2 is returned to the state shown in Figure 7 (a) by the positioning motor 30 and waits for the arrival of the ninth pallet. In this way, the entire conveyor pallet 4 is connected to the conveyor belt 15 and the coupling fittings 43.
Conveyed by combining with.

The pallet is conveyed without contacting the conveyor belt (conveyor belt) 15, and the coupling fittings are completely released from the conveyor belt, so that the conveyor pallet can be released from the conveyor belt using minute energy and with a simple mechanism. That's what I do. or,
After the transport pallet is released, it is held and released by vertical movement of the bin, which is inserted into the retaining hole of the pallet to ensure complete retention. Furthermore, since the releasing of the coupling fittings and the holding of the pallet are both carried out at the same time, and the mechanism thereof is also unified into one, there is no loss of time and it can be realized with a simple configuration since the releasing and holding are performed at the same time.

In this way, YZ-axis module processing for Y-axis and Z-axis movement is performed as a Cartesian coordinate system robot.

A separate X-axis module is provided, and this is connected to the transport line lα, 1.
h'i) It is arranged so that it is divided, and it becomes possible to install it on a flexible line by modularizing it. Therefore, the transport lines Ia and lb are asynchronous, and x, y, z
It is possible to perform three-axis controlled robot work, and when mounting with the hand 56, it is possible to move nine parts positions and supply parts during the work, and it is possible to take out the parts immediately after mounting.

Figure 8 is a block diagram of the control unit for the configuration of the embodiment shown in Figure 3. In Figure 1, parts that are the same as those shown in Figure 3 are indicated by the same symbols, and 6 is the robot control device. Controls the foot 1 assembly robot.

60α is an operation panel, which is used by the operator to instruct the playback mode, etc.;
h is a display that displays the operating status of the robot, and 61 is a memory.

A microprocessor 62 (hereinafter referred to as processor) is used to store all teaching data and the like.

During playback, teaching data is read from the memory 61, a command trajectory for the hand 56 is created and sent to a position control section to be described later, an opening/closing command for the hand 56 is sent to a hand opening/closing section to be described later, and this is executed under program control. In order to control the position or speed according to the command trajectory from the processor 62, 63 is a position control unit that controls the movement amount of each axis of the command trajectory △X (△X2), △Y, △Z't - correspondence Bass/I/bass sequence Vx (VY2), Vy,
It converts it into Vz and outputs it, and together with the processor 62 constitutes a main control section. 64 is a hand position detection unit, which detects the current three-dimensional position of the hand (Xl(X
2), the output Px+ of the encoder provided in the drive source (motor) of each axis to detect Y, Z).

Receive Pxz, Py, Pz and calculate the position of each axis (Xi (X2)
.

y, z), and 65 is a force control unit.

66 for creating follow-up movement amounts PFx, PFy, and PFz for each axis from the detection outputs Fx, Fy, and Fz of the force sensor 57;
is an arm drive circuit, and command movement amounts △XI (△Xs), △Y, △Z from the second position control section 63 and follow-up movement amounts PFx, PFy from the force control section 65.

The drive source (motor) of each axis is determined by the sum of PFz.
・It is servo driven. Reference numeral 67 denotes a hand opening/closing unit which is operated by a hand opening/closing command from the shear processor 62.

69 is a bus that drives the hand 56 to open and close, and a shear processor 62 and a memory 61 . Operation panel 60α, display 60h1 position control unit 63° position detection unit 64. It connects to the hand opening/closing section 67.

30α and 30h are X-axis motors (positioning motors), X-axis motor 30α is for positioning the movable block 2α in the X-axis direction, and X-axis motor 3 (l is for positioning the movable block 2h in the X-axis direction). This is for positioning.As mentioned above, the transport pallets 4α, 4A are movable blocks 2α as shown in FIG.

2b, and when the processor 62 receives the notification of the completion of the loading via a route (not shown), it performs 1 positioning control.

That is, the processor 62 reads the teaching amount data stored in the memory 11, and transfers the X-axis command position △Xll△X2, Y-axis command position △Y, and Z-axis command position △2 of the movable carriers 2α and 2h to the bus 69. 2 to the position control unit 63 via
Pulsed movement commands VXI, VY2 are sent to the position control unit 63 and the arm drive unit 66.

VY and Vz are output, and the arm drive unit 66 servo-controls the motors 30α, 30A, and 54.55 of each axis based on the difference from the current position of the hand position detection unit 64, and moves the hand 5 to the desired position. furthermore, the processor 6
2 gives a hand opening/closing command to the hand opening/closing unit 67 via the bus 69, and drives the hand 56 to open and close to grasp and release parts, thereby performing the assembly operation 9. When an external force is applied to the hand 56 from the outside due to a positioning error or the like during this operation, the force sensor 57 outputs outputs Fx, Fy, and Fz of each axis component in the direction in which the deer applied the force. The force control section 65 has a V/F (voltage/frequency) converter, and outputs an amplifier or a down pulse at a frequency corresponding to the magnitude of the detected output of each input axis component, depending on its polarity.

These pulse trains PFx, PFy, and PFz are input to the servo circuit of the arm drive unit 66 as movement commands in the same way as normal movement commands Vx, Vy, and Vz, and the pulse trains PFx, PFy, and PFz are inputted to the servo circuit of the arm drive unit 66 as movement commands in the same manner as the normal movement commands Vx, Vy, and Vz, and
h, 54.55 is servo controlled. Therefore, the force applied to the hand 56 by the motors 30α, 30h, 54°55 of each axis becomes zero.

The hand 56 and movable blocks 2α, 2h are moved.

That is, this force control is performed independently of the position control of the 1-position control section 63, and the drive motor is controlled to drive the drive motor for the node 56 so that the force applied to the node 56 becomes zero. This gives the hand 56 a kind of restoring force. In this embodiment, the force component Fx based on the output from the force sensor 57 is
, Fy, and Fz are not directly led as current commands to each axis drive source, but are converted into follow-up commands in the same format as the commands of a normal position control system. The signal is input to a drive circuit 66 to servo drive each axis drive source. Therefore, in force control.

Force component Fx based on the output from force sensor 57.

Fy and FZ not only have the meaning of simple state feedback but also the meaning of generating a follow-up command for the servo system of 2-position feedback, making it possible to share the servo system and performing restoring force control with 2-position control in mind. It can operate in parallel with the position control of the position control system and absorb positioning errors.

In the above embodiments, the assembly work for attaching parts to the board was explained as an example, but other assembly work may be performed, and the conveyance line is not limited to a belt type, but may be a roller or other type. Any known conveying means can be used.

Although the present invention has been described above with reference to embodiments, the present invention can be modified in various ways according to the gist of the present invention.

These are not excluded from the present invention.

〔Effect of the invention〕

As explained above, according to the present invention, there are first and second conveyance lines which are arranged in parallel with each other and which convey pallets, respectively, and which are provided so as to straddle the first and second conveyance lines. and a Cartesian coordinate type robot that drives the article gripping section at least in a direction across both of the transport lines and in a direction perpendicular to the lines.

The article gripping section takes out the parts from the parts pallet on which the parts are carried by the transport line of the fang 1, and performs the assembly work on the assembly work pallet carried by the second transport line. Therefore, in addition to the effect that it does not take time to replenish the two parts, it also has the effect of shortening the operating distance and enabling high-speed work, which greatly contributes to speeding up the two-part assembly work.

[Brief explanation of drawings]

Fig. 1 is a configuration diagram of one embodiment of the present invention, Fig. 2 is an explanatory diagram of the operation of the configuration of the actual example shown in Fig. 1, Figure 3 is a configuration diagram of another embodiment of the present invention, and Figure 4 is a diagram of the configuration of another embodiment of the present invention. Configuration of conveyor line and X-axis modifier
Le's configuration diagram, Fang 5 diagram, is! Figure 6 is a detailed configuration diagram of the X-axis module configured in Figure J-4. Figure 7 is an explanatory diagram of the operation of Figure 8.
Figure 3 is a control block diagram for an actual flow example configuration, and Figure 9 is an explanatory diagram of a conventional configuration. In the figure, l, 1α, Ih...conveyance line, 2, 2α. 2h...Movable block, 4,4α, 4h...Transport node, 5...Cartesian coordinate robot, 56...No.nd (article gripping part), Al-A3...Parts, B.S.
··substrate.

Claims (2)

[Claims] (1) First and second conveyance lines that are arranged in parallel to each other and convey pallets, respectively, and that are provided so as to straddle the first and second conveyance lines, and that the article gripping section is connected to both of the conveyance lines. and a Cartesian coordinate type robot driven at least in a direction transverse to the line and in a direction perpendicular to the line, and the article gripping section picks up the parts from a parts pallet on which the parts to be transported by the first transport line are mounted. An automatic assembly robot characterized in that it performs assembly work on an assembly work pallet that is taken out and transported by the second transport line. (2) The orthogonal coordinate robot has a take-out positioning mechanism that takes out the pallets being transported from the first and second transport lines and positions them in the direction of the transport lines. The automatic assembly robot described in (1).