JPS61297041A - Working device using robot - Google Patents

Abstract

PURPOSE:To enhance the working accuracy and efficiency by installing working robots in two or more types, which are placed on a traveling member to apply processing to an object mounted thereon, and by furnishing a robot replacing means for replacing the working robot in standby off the working line on the way of the working line. CONSTITUTION:An object to be processed 4 placed on a working line 1 is processed by any appropriate one of the working robots 5a, 5b provide in two or more types. The working robots 5a, 5b are placed on traveling members 2, 3 to apply intended processing to the object 4 on the same traveling member to lead to reduction of the error in their relative location, which should assure high precision processing. As processing is made with different types of working robots 5a, 5b during movement of the object 4, there is no need to stop it on the line 1 once and locate, wherefore the working efficiency is enhanced.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a work device that uses a robot to assemble and process products.

BACKGROUND OF THE INVENTION In recent years, with the practical use of various industrial robots, robots have been adopted for tasks such as assembling and processing a wide variety of products, and the automation of tasks has been promoted.

As a working device using such a robot, a patent application was filed in 1973.
No. 8-1031) is disclosed in Application No. 8.

As shown in FIG. 4, in this conventional technology, on a moving body P being transported on a work line, directly or through a workpiece a,
It is equipped with a work opening box) b, selects and acquires a part d from a parts supply section C arranged on the side of the work line, and transfers it to the mobile body P.
It is configured so that it can be assembled to the workpiece a above. Also, a large robot e is placed on the side of the work line.
Work such as fitting, welding, and screw tightening is performed on the workpiece a. While the large robot e is performing the above-mentioned work, the moving body P is positioned at a predetermined position by the positioning unit f and is stopped.

Problems to be Solved by the Invention In the above-mentioned prior art, the work opening (b) itself can be mounted and fixed on the moving body P, and work such as assembling parts on the workpiece a can be performed in that state. Therefore, workpiece a
This has the advantage that the relative positional error between the robot b and the working robot b can be made extremely small, making it possible to work with high precision.

However, in the work performed by large robot e, workpiece a is on the work line, while large robot e is outside the work line, so the relative position error between the two tends to become large, making it difficult to perform high-precision work. The problem is that it becomes difficult.

In addition, during the work performed by the large robot e, the moving body P is stopped at a predetermined position, so the time required for the moving body P to be sent to the work position for separation increases during the stopping time, resulting in a decrease in work efficiency. In order to solve the above-mentioned problems, the present invention provides a plurality of working robots that are mounted on a moving body moving on a work line and perform predetermined work on a workpiece on the moving body. In addition, robot exchange means is provided for exchanging a work robot that has completed a certain type of work on the work line with a work robot that has been placed on standby outside the work line to perform another type of work midway through the work line. The present invention provides a working device using a robot characterized by the following features.

Effects The present invention has the above-described configuration, which allows a plurality of types of work robots to perform the work that each robot is good at on a workpiece on a work line, and also mounts each work robot on a moving body. Since a predetermined work is performed on the workpiece on the same moving body, the relative position error between the two can be reduced, and as a result, highly accurate work is possible.

Further, according to the present invention, work is performed by various types of work robots while the workpiece is moving, so there is no need to stop and position the workpiece on the work line, improving work efficiency. can.

Embodiment Below, a working device using a robot according to an embodiment of the present invention will be explained with reference to the drawings. FIG. 1 shows an automatic assembly line equipped with two types of working robots 5a and 5b. The figure and FIG. 3 show a part of it in detail. A work line 1 is equipped with a conveyor 2 that moves at a constant speed in one direction, and pallets 3 are placed on the conveyor 2 at predetermined intervals. A product base 4, which is a workpiece, is disposed on each pallet 3, and the product base 4, which is a workpiece, is arranged so that a predetermined work can be performed by the first work robot 5a and the second work robot 5b while moving on the work line 1. are doing.

The part marked A on work line 1 is the first work robot loading position, the part marked B is the first work position, the part marked C is the work robot exchange position, the part marked D is the second work position, and the part marked E is the second working robot unloading position.

A component supply table 6 is disposed on the side of the work line 1 in parallel thereto, and various component trays 8 containing components 7 are placed on the component supply table 6.

A first mother robot 10a and a second mother robot 10b that move while being guided by rails 9 parallel to the work line 1 are arranged outside the parts supply table 6.

In Figure 1, lla and llb are parts warehouses, 12
are a spare first working robot 5a and a second working robot 5b.
This is a robot mounting table for placing.

Both the first working robot 5a and the second working robot 5b are articulated robots with built-in microcomputers, and are mounted on the pallet 3 to perform predetermined tasks. They are different and have structures suitable for each task. For example, the first work robot) 5a is the component 7 from the component tray 8.
It has a mechanism for selectively taking out the product and installing it at a predetermined position on the product base 4, and the hand mechanism 1 is designed to be suitable for this function.
3a is constructed, while the second working robot 5b has a function of taking out a component 7 such as a snap ring from the component tray 8 in order to fix the component 7, and inserting and fixing it into a predetermined position on the product base 4. The hand mechanism 13b is configured to be suitable for this function.

Furthermore, both of these working robots 5a and 5b have an opening (not shown) for vacuum suction on the bottom surface as a means for fixing them on the pallet 3, and when they are mounted on the pallet 3, a vacuum is applied to the openings (not shown). It is configured to be stably and firmly fixed on the pallet 3 by applying suction force. As this fixing means, it is also possible to adopt fixing using an electromagnet, fixing using a clamp claw, or the like.

Furthermore, these working robots 5a and 5b are patent applications filed in 1986-13.
01) Similar to what is disclosed in Application No. 8, the relative position of the product base 4 is measured, and the product base 4 is
Equipped with a function that allows you to perform a predetermined work at the correct work point.

The first mother robot 10a reciprocates on the rail 9 between the first working robot loading position A and the working robot exchange position C. Then, at the work robot exchange value NC, the first mother robot 10a takes out the first work robot 5a that has completed the predetermined work from the pallet 3, carries it to the first work robot carry-in position A, and transfers it to the work line 1. The first working robot 5a is mounted on the pallet 3 that is being sent over. Also, the first working robot loading position A
While moving from the robot to the work robot exchange position C, it is detected whether the parts tray 8 is out of parts or not, and if the part is out of parts, it is replaced with the parts tray 8 in the parts warehouse 1)a.

The first work robot 5a mounted on the pallet 3 by the first mother robot 10a performs a predetermined work while moving from the first work position B as the pallet 3 moves.

The second mother robot 10b reciprocates on the rail 9 between a working robot exchange position C and a second working robot carry-out position E. Then, the second mother robot 10b takes out the second working robot 5b, which has completed the predetermined work, from the pallet 3 at the second working robot unloading position E, and
This is carried to the working robot exchange position C, where the second working robot 5a is placed on the pallet 3 from which the first working robot 5a has been taken out.
Equipped with work robot 5b. Also 1st Mother Robot 1
Similarly to 0a, the second mother robot 10b also detects whether the parts tray 8 is out of parts while moving from the work robot exchange position C to the second work robot carry-out position E, and if the parts are out of parts, the second mother robot 10b is sent to the parts warehouse. 1) Replace with parts tray 8 of b.

The second work robot 5b mounted on the pallet 3 by the second mother robot 10b performs a predetermined work while moving from a second work position as the pallet 3 moves.

Said first mother robot day Oa, second mother robot)
Both hand mechanisms 14a and 10b detachably grip the work robots 10a and 10b and the component tray 8.
4b. Also, these mother robots 10a,
Reference numeral 10b is constructed such that when the working robots 5a, 5b are mounted on or taken out from the pallet 3, the hand mechanisms 14a, 14b move in synchronization with the movement of the pallet 3.

The present invention can be configured in various ways other than those shown in the above embodiments.

Although the working robot 10a is mounted on the pallet 3 in the above embodiment, it may be mounted directly on the workpiece 4. Further, in the above embodiment, the workpiece 4 and the working robot 10a,
Although the conveyor 2 and the pallet 3 constitute the moving body that carries the work robot 10b, the conveyor 2 and the pallet 3 are not limited thereto. A pair of mother robots 10a and 10b constitute robot exchange means for exchanging a work robot 5b that is kept on standby outside the work line 1 to perform other types of work in the middle of the work line 1. The means of exchange is not limited to this either.

Further, in the above embodiment, two types of working robots 10a, 1
It is configured with 0b, but this is 31! It is also possible to have a configuration that includes more than the same type of working robots, and a configuration in which the number of robot exchange means is increased accordingly. The work contents of each type of work robot are not limited to those shown in the above embodiments, and various work such as soldering work and lubricating oil injection work can be selected.

Effects of the Invention Since the present invention has the above-described configuration and operation, it has the advantage that it is possible to improve the working accuracy of a working device using a robot and to improve the working efficiency.

[Brief explanation of the drawing]

FIG. 1 is a plan view of an embodiment of the present invention, FIG. 2 is a plan view of its essential parts, FIG. 3 is a perspective view of its essential parts, and FIG. 4 is a perspective view of a conventional example. 1−・−・−・−−−−−−−−−−−−1−−−・−
m----・-----・Work line 2.3-----
−−−・−・・・・・・−・−・・−・−Mobile object 4...
・−−１−−−−−−−−−−−−−−−・・
......-----One workpiece 5a, 5b...
−・・・−・−・−−−−−−−−−−−−−−−・
Work robots 10a, 10b----------------------
−−−−−−One robot exchange means.

Claims (2)

[Claims] (1) A work robot that is equipped with multiple types of work robots that are mounted on a moving body that moves on a work line and performs a predetermined work on a workpiece on the mobile body, and that has completed a certain type of work on the work line. A working device using a robot, characterized in that it is equipped with a robot exchange means for exchanging a working robot that is placed on standby outside a working line to perform other types of work in the middle of a working line. (2) A working device using a robot according to claim 1, wherein the robot changing means is a mother robot placed outside the work line.