JPS62218030A - Assembly device employing robot - Google Patents

Abstract

PURPOSE:To improve the rate of operation through conducting a re-assembly which requires no suspension of an assembly line each time a defective assembly of a work occurs by providing a correction station at the downstream side of an assembly station, and a sub-conveyer, an error-detection means and the like on its side. CONSTITUTION:A main-conveyer 11 equipped with pallets 14 has an assembly station S1 and a correction station S2 at its downstream side. And in the vicinity of the assembly station S1 is arranged a robot 51, into whose operating radius are carried gaskets, heads 3 by means of a conveyer 61 and bolts 4 by means of bolt feeders 71, 72. In addition, a sub-conveyer 81 is provided on the side of the main-conveyer 11, and a worker M is placed on standby. And when a defective assembly is found through detection, it is carried out into the sub-conveyer 81, and is further carried to the correction station S2, where it is reassembled by handwork. All the while, there is no need to stop the main-conveyer 11.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an assembly device using a robot.

(Prior Art and its Problems) Workpieces such as gaskets and cylinder heads are increasingly being assembled by automation using robots onto a base such as a cylinder block of an engine. In order to sequentially assemble various workpieces onto such a base, the base is conveyed by a conveyor, positioned at an assembly station, and then the workpieces are assembled at predetermined positions by a robot. (Refer to Japanese Patent Laid-Open No. 60-82429).

By the way, there may be cases where the robot does not properly assemble the workpieces, that is, there is a case where the workpieces are assembled incorrectly. When this defective workpiece assembly occurs, conventionally, the line, that is, the conveyor for conveying the substrate, is temporarily stopped and the workpiece is manually assembled at the assembly station where the defective assembly occurred. was.

However, stopping the line every time a workpiece assembly failure occurs is a major cause of a significant decrease in g and operating rate of the urn, and some kind of countermeasure is desired in this regard. It is.

(Object of the Invention) The present invention has been made in consideration of the above-mentioned circumstances, and even if a defect occurs in the assembly of a workpiece by a robot, the line, that is, the workpiece, will be It is an object of the present invention to provide an assembling device using a robot that can improve the operating rate of this line by eliminating the need to stop a conveyor for conveying substrates to be assembled.

(Means and operations for achieving the object) In order to achieve the above-mentioned object, in the present invention, the work is assembled manually on the downstream side of the assembly station where the work is assembled by the robot. While a rework station is provided to carry out workpiece assembly, a sub-conveyor is also separately installed to transport workpieces that have been assembled incorrectly from the assembly station where the workpiece has been incorrectly assembled to the rework station. A robot located at the assembling station where the assembling failure has occurred is configured to carry out the workpiece that has failed in short communication to the subconveyor. Specifically, the configuration is as follows. In other words, an assembly using a robot is provided in which an assembly station is provided in the conveyance path of a main conveyor that conveys the substrate, and the robot assembles the work onto the substrate positioned at the assembly station. In the apparatus, a rework station provided in the transport path of the main conveyor on the downstream side of the station with MI, and a sub for work transport configured between the vicinity of the assembly station and the vicinity of the first rework station. a conveyor; and an error detection means for detecting a defective assembly of the workpiece by the robot, the robot moving the workpiece to the sub-conveyor when the error detection means detects a defective assembly of the workpiece. This is the configuration that is set to be exported.

With this configuration, if a workpiece assembly defect occurs, the workpiece will be reassembled at the rework station installed downstream, so the line will be stopped each time this assembly defect occurs. becomes unnecessary.

Further, since the workpieces that have been assembled incorrectly are conveyed, that is, sequentially fed, to the rework station by the sub-conveyor, it is not necessary to separately prepare a workpiece at the rework station. In addition, since the workpieces that have been assembled incorrectly are carried out to the sub-conveyor, that is, the rework station, by the robot that assembles the workpieces themselves, a device for carrying out the workpieces to the sub-conveyor is installed. It also becomes unnecessary to provide it separately.

(Example) Examples of the present invention will be described below based on the attached drawings.

FIG. 1 shows an example of a base body and a workpiece assembled to the base body. In the embodiment, the base body to which the workpiece is assembled is a cylinder block l (hereinafter simply referred to as the block) of a V-type six-cylinder engine. The workpieces include a gasket 2, a cylinder head 3 (hereinafter simply referred to as a head), and a port 4 for attaching the head. Two gaskets 2 and two heads 3 are used as the workpieces for each bank on the left and right sides for one block l, and Porto 4 has a total of 16 pieces of 8 wood of 2 types for punctures on one side (in terms of types) (2 types) are now used. The total number of each work 2.3.4 is sequentially assembled by one robot at one assembly station (
Porto 4 is only temporarily inserted and is not tightened).

Here, one knock pin 5 for positioning with respect to the head 3 is planted in the block 1, and two screw holes 6 out of a total of 16 screw holes 6 for the port 4 formed in the block 1 are installed. The tube labin 7 is fitted to the robot, and the robot detects the position of the tube labin 7, thereby aligning the origin of the robot (indexing the origin in the robot's coordinate system). Note that numerals 8 and 9 in FIG. 1 are through holes for bolts 4 opened in gasket 2 or head 3.

The main conveyor 11 for conveying the block 1 as a base will be explained. As shown in FIGS. 2 to 4, the main conveyor 11 is of a so-called free roller conveyor type. That is, on the slope F,
A pair of left and right guide frames 12 are arranged along the conveyance path of the main conveyor 11.
A large number of rollers 13 are attached at small intervals in the conveyance direction. Each roller 13 is constantly rotated in a predetermined direction by a motor (not shown) via a chain or the like. Therefore, the pallet 13 placed on the roller 13 between the pair of left and right guide frames 12
However, unless it is subjected to external force, it will be transported slowly along the guide rail. As will be described later, this pallet 14 is one on which a block l as a base is placed, and when the pallet 14 is stopped at a predetermined position, the stopper 16, which is moved forward and backward by the cylinder 15, is set to the advanced position, and the pallet 14 is stopped at a predetermined position. This is done by making contact with the front end surface of 14 in the conveyance direction.

To explain the pallet 14, in this embodiment, the pallet 14 includes a base plate 17 placed directly on the roller 13, and a bearing on the base plate 17! The turntable 19 includes a turntable 19 that is horizontally rotatable via a turntable 8, and a support 20 that extends upward from the outer peripheral edge of the turntable 19. This support 20 acts on one side of the block 1 and normally supports the block 1 in a cantilevered manner. The supporting portion 20a of the support column 20 for the block 1 is rotated forward and reverse by at least 180° around a horizontal axis by a motor 21, thereby causing the block 1 to rotate.

It is possible to take a normal rotation position where the head mounting surface side faces upward, and a reverse rotation position where the head mounting surface side faces downward.

Main conveyor 1 with pallets 14 as described above
1 is 1 assembly station Sl and assembly station 5
On the downstream side of 1, there is a rework stage, S2.

Both stations≦l, among S2, at least gasket 2. ML where head 3 and port 4 are assembled
In the attached stage box S1, the pallet 14 is positioned, that is, the block l serving as the base is positioned. The device for this positioning is
A first positioning device 31 for the pallet 4 and a block l
and a second positioning device 32 that supports the column 20 from the opposite end of the column 20 (the supporting portion 20a thereof). The first positioning device 31 includes a lifter 34 that is raised and lowered by a cylinder 33, and a plurality of positioning bins 35 protruding from the lifter 34.
The base plate 17 of the pallet 14 and the turntable 19 are provided with engagement holes 36 or 3 that align with each other at regular positions.
7 is formed. Then, with the pallet 14 at the assembly station Sl and stopped by the stopper 16, when the cylinder 33 is extended, the 1 positioning pin 35 is fitted into the engagement hole 36, 37, and the base plate 1
7 and the turntable 19 are positioned, and the pallet 14, that is, the block 1, is slightly floated above the roller 13, and the edge of the pallet 14 and the block 1 are separated from the roller 13.

The second position break M32 includes a bracket 38 extending from the guide frame 12 of the main conveyor 11, and a support arm 40 swingably attached to the bracket 38 by a pin 39. but,
It is designed to be swung by a cylinder 41. Then, by operating the cylinder 41 with the pallet 14 positioned as described above by the first positioning device 31, the lower surface of the block 1 is moved onto the support arm 40.
The support arm 40 and the pillars 20 of the barre 14 reliably support the block l from both sides in the width direction.

A robot 51 is arranged near the assembly station Sl. This robot h51 is of an indirect type having six rotation axes, and a working tool (hand) 53 for holding a workpiece is attached to the tip of an arm 52. This work tool 53 is compatible with the three types of workpieces mentioned above, namely the gasket 2, the head 3, and the port 4.
A work tool changing table 54 (see FIG. 2) is arranged within a working radius of . This exchange table 54 has three places 54a for placing three types of work tools 53, one for gasket 2, one for head 3, and one for port 4, at predetermined positions.
The switching table 5 is divided into 54b and 54c.
4, the robot 51 itself is responsible for removing unnecessary work tools 53 and selecting and attaching necessary work tools 53. Note that the working tool 53 shown in FIGS. 3 and 4 is used to hold the head 3.

The tool for holding the gasket 2 is of a suction type using negative pressure, and the tool for holding the port 4 is configured to be able to grip the vicinity of the port's head.

Within the working radius of the robot 51 are a gasket 2, a head 3. Porto 4 works are being carried in. The gasket 2 and the spatula 3 are transported by a conveyor 61, and this conveyor 61 is used in the embodiment.

It is considered to be a free roller conveyor type. That is,
For one block 1, four workpieces, a pair of left and right gaskets 2 and a pair of left and right helads 3, are placed on a pallet 62 traveling on a conveyor 61, either individually or as a pair of gaskets 2. and a pair of helads 3 for transport. Such a pallet 62 is stopped at a predetermined position F by a stopper 64 operated by a cylinder 63 near the end of the conveyor 61 in the carrying direction, and the workpieces on the pallet 62 are stopped by this stopper 64. (gasket 2 or head 3) will be held by robot 51.

Of course, in order for the robot 51 to hold the gasket 2 and the head 3 accurately at a predetermined position (predetermined posture), the gasket 2 and the head 3 are held at a predetermined position on the pallet 62 by means of a positioning bin or the like installed on the pallet 62. This is what is listed on.

Note that the pallet 62 immediately before being stopped by the stopper 64 is held at the standby position by another stopper 66 actuated by the cylinder 65. Also,
The work (gasket 2 or spatula 3) is dropped) 5
The pallet 62 after being removed by the conveyor 6
Collection conveyor 67 located above 1 (see Figure 3)
The gasket 2 and head 3 are placed on the pallet 62 by
4 on top! Although the pallets 62 are collected at the location where the work is carried out, the robot 51 itself also performs the work of transporting the pallets 62 on the conveyor 61 to the collection conveyor 67.

On the other hand, a pair of port feeders 71 and 72 are arranged near the assembly station 31 in order to carry the port 4 as a workpiece into the working radius of the robot 51. These two bolt feeders 71 and 72 are provided in two sets because two types of port 4 are used, and as is known, each bolt feeder 71, 72 uses vibration so that each port 4 has its head facing upward. The robot 51 sequentially transports the trees one by one in a lined up state, and the porto 4 that has come to the end of the transport paths 71a and 72a is sequentially transported by the robot 51.
It will be assembled into. Porto 4 by this robot 51
In order to easily hold the port 4, a lifter 74 which is operated by a cylinder 73 and slightly lifts the port 4 is provided at the end portion of the discharge passages 71a and 72a (see FIG. 3).

On the side of the main conveyor 11, as shown in FIG.
The rework station S2 from the assembly station S1
A sub-conveyor 81 is provided that extends toward. This sub-conveyor 81 is, for example, a free roller conveyor type, and its upstream end 81a (the end from which the work at the assembly station Sl is carried out) is connected to the robot 51.
is set to be within the working radius of In addition,
At this repair station S2, a worker M is on standby, and as will be described later, when a workpiece such as a gasket 2, a head 3, and a port 4 are assembled incorrectly to a block l, he or she can manually repair the workpieces. It is for reassembly.

Next, the operation of one or more such configurations will be explained.

First, in a pre-process of the assembly station S1, the oil pan 82 is attached to the block l in advance. This oil pan installation is performed with the block I in the reverse position, that is, with the head mounting surface facing downward, and before coming to the assembly station S1, it is returned from this reverse position to the normal rotation position.

When the block 1 with the oil pan 82 attached comes to the assembly station 51 and its pallet 14 is stopped by the stopper 16, the first and second stirrups break f1131.
．． 32 positions the block l. After this, the position of the tube labine 7 provided in the block l is confirmed by the sensor 83 (see Fig. 3) attached to the tip of the arm of the robot 51, and the coordinate system at the time of this confirmation is the origin position. be done.

After setting the origin position, the robot 51 replaces the work tool 53 according to the workpiece, and replaces the gasket 2 as the workpiece. The head 3 and port 4 are assembled to the block 1 one after another.The order of assembly is that the left and right gaskets 2 are first assembled, then the left and right heads 3 are assembled, and finally the left and right heads 3 are assembled. Porto 4 is assembled (insertion only, no tightening). The assembly of the above-mentioned spatula 3 requires particular precision, so the work tool (hand) of the robot 51
53 is preferably of a lockable floating type; in other words, by locking, the head 3 is rigidly held until it comes into contact with the 7-pick pin 5 of the block L, and after this contact, the lock is released. head 3
By supporting the 20-ring and lowering it somewhat clumsily, the head will eventually fit into the dowel pin and be assembled with precision onto the inclined head mounting surface of block 1. .

After all the workpieces have been assembled, the empty pallets 62 on the conveyor 61 carrying the workpieces are carried out to the recovery conveyor 67 in preparation for assembly to the next block l. In addition, if the workpieces required for one block 1 are delivered in multiple pallets 62, 1
During the assembly work, the empty pallet 62 will be carried out to the collection conveyor 67.

Here, the workpiece, especially the head 3, which requires precision in assembly.
A case where an assembly defect occurs will be explained. Whether or not this assembly defect has occurred can also be detected by using a separate optical sensor.
51 coordinate system. That is, if the coordinate system cannot be set to a normal assembly position, it is determined that the assembly is defective. If this defective assembly occurs, the workpiece with the defective assembly is carried out to the sub-conveyor 81 and conveyed to the rework station S2. This results in 2 rework stations S
2, the workpiece, for example, the head 3, which has not been properly assembled, is manually assembled by the worker M to the block l to which the head 3 has not been assembled. Of course, if this assembly failure occurs, the line, ie, the main conveyor 11, will continue to operate without being stopped since no support will be generated. In addition, if an assembly defect occurs, an alarm device 85 such as a buzzer or lamp installed in the rework stage 1 S2 may be activated from the control unit 84 of the robot 51. It is also possible to display the type of workpiece in which the attachment defect occurred.

Although the embodiments have been described above, the present invention can be similarly applied even when a plurality of types of base bodies, for example, a plurality of types of blocks for engines having different displacements, are mixed and transported. Of course, in this case, the type of block 1 that has arrived at the assembly station Sl is confirmed using a sensor or the like, and a workpiece corresponding to this block I is assembled by the robot 51. In this case, the workpieces to be supplied to the assembly station Sl can be sequentially transported by the same conveyor in synchronization with the transport order of different types of blocks I, as has been commonly done in the past. Note that the above-described determination of the type of substrate can be performed, for example, as follows. That is, while a plurality of permanent magnets are freely attached to the pallet 14 in numbers or positions depending on the type, a plurality of proximity switches activated by the magnets are installed along the conveyance route at a predetermined conveyance position. By arranging the proximity switches, the type of the substrate can be determined based on (a combination of) the operating states 8 of the proximity switches.

Further, one rework station may serve only one assembly station, or may serve a plurality of assembly stations. Note that since it is possible to know in advance which workpieces are likely to cause assembly defects, it is only necessary to provide a rework station at an assembly station where workpieces that are likely to cause assembly defects are assembled.

(Effects of the Invention) As is clear from the above description, even if a defect occurs in the assembly of a workpiece by a robot at an assembly station, the repair station located downstream of this assembly station corrects the assembly defect. Since the damaged workpieces can be reassembled, there is no need to stop the line every time this assembly failure occurs, and the operating rate of the line is greatly improved.

In addition, since the workpieces that have been assembled incorrectly are transported to the repair station by the sub-conveyor, it becomes unnecessary to separately prepare workpieces for reassembly at the repair station. Since the robot that assembles the workpieces itself carries out the unassembled workpieces to the subconveyor, a separate device for conveyance to the subconveyor becomes unnecessary. As a result, the number of devices attached to the line can be minimized as a whole.

[Brief explanation of drawings]

FIG. 1 is a simplified exploded perspective view showing an example of a base and a workpiece assembled to the base. FIG. 2 is a plan view showing one embodiment of the present invention. FIG. 3 is a partially sectional front view of the main part of FIG. 2, viewed from the main conveyor conveyance direction. FIG. 4 is a partial partial view of the left side of FIG. 3. SL: Assembly station S2 Second repair station M: Operator 1 Nijilinda block (base) 2: Sketches (work) 3 Nijilinda head (work) 4: Bolts (work) ll: Main conveyor 14: Pallet 16: Stop collar 31. 32: Positioning device 33 Niji cylinder 34: Lifter 35: Positioning pin 36. 37: Engagement hole 40: Support arm 41 Niji cylinder 51: Robot 53: Work tool 61: Conveyor (for carrying in workpieces) 71. 72: Bolt feeder ( (For carrying in work) 81: Sub conveyor 81a: Upstream side (assembly station side) end 83: Sensor (defective assembly detection)

Claims (1)

[Claims] (1) An assembly device using a robot, in which an assembly station is provided in the transport path of the main conveyor that transports the substrate, and the robot assembles the workpiece to the substrate positioned at the assembly station. A rework station provided in the conveyance path of the main conveyor on the downstream side of the assembly station; a sub-conveyor for transporting workpieces configured between the vicinity of the assembly station and the vicinity of the rework station; an error detection means for detecting a defective assembly of the workpiece by the robot; the robot carries out the workpiece to the sub-conveyor when the error detection means detects a defective assembly of the workpiece; An assembly device using a robot, characterized in that: