WO2008023418A1 - Palette de stockage et appareil d'assemblage automatique - Google Patents

Palette de stockage et appareil d'assemblage automatique Download PDF

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Publication number
WO2008023418A1
WO2008023418A1 PCT/JP2006/316574 JP2006316574W WO2008023418A1 WO 2008023418 A1 WO2008023418 A1 WO 2008023418A1 JP 2006316574 W JP2006316574 W JP 2006316574W WO 2008023418 A1 WO2008023418 A1 WO 2008023418A1
Authority
WO
WIPO (PCT)
Prior art keywords
assembly
storage
unit
drawer
box
Prior art date
Application number
PCT/JP2006/316574
Other languages
English (en)
Japanese (ja)
Inventor
Yoichi Hirasawa
Original Assignee
Hirata Corporation
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 Hirata Corporation filed Critical Hirata Corporation
Priority to JP2008530776A priority Critical patent/JPWO2008023418A1/ja
Priority to PCT/JP2006/316574 priority patent/WO2008023418A1/fr
Publication of WO2008023418A1 publication Critical patent/WO2008023418A1/fr

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
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D19/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D19/0004—Rigid pallets without side walls
    • B65D19/0006—Rigid pallets without side walls the load supporting surface being made of a single element
    • B65D19/003—Rigid pallets without side walls the load supporting surface being made of a single element forming discontinuous or non-planar contact surfaces
    • B65D19/0032—Rigid pallets without side walls the load supporting surface being made of a single element forming discontinuous or non-planar contact surfaces the base surface being made of a single element
    • B65D19/0034—Rigid pallets without side walls the load supporting surface being made of a single element forming discontinuous or non-planar contact surfaces the base surface being made of a single element forming a continuous plane contact surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D2519/00004—Details relating to pallets
    • B65D2519/00258—Overall construction
    • B65D2519/00263—Overall construction of the pallet
    • B65D2519/00273—Overall construction of the pallet made of more than one piece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D2519/00004—Details relating to pallets
    • B65D2519/00258—Overall construction
    • B65D2519/00283—Overall construction of the load supporting surface
    • B65D2519/00288—Overall construction of the load supporting surface made of one piece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D2519/00004—Details relating to pallets
    • B65D2519/00258—Overall construction
    • B65D2519/00313—Overall construction of the base surface
    • B65D2519/00318—Overall construction of the base surface made of one piece

Definitions

  • the present invention uses a storage pallet for storing an assembly object, parts, etc., and the storage pallet when various parts are assembled to the assembly object that is the basis of the product to complete the product. It relates to an automatic standing device.
  • an assembly line for assembling products composed of various parts has been provided with, for example, a plurality of assembly stations for performing predetermined assembly operations, and the entire assembly station is assigned to each assembly station. After that, the method of completing one product is adopted. At this time, a plurality of parts of the same type were prepared in advance at one assembly station, and the parts were repeatedly assembled by a predetermined assembly robot with respect to the objects to be sequentially loaded.
  • parts prepared in advance in the assembly station are stored in a storage pallet that can be stored in a plurality of planes in consideration of confirmation of storage status and management or supply form, and are carried into the assembly station. I was ashamed.
  • a storage pallet (2) that stores the parts by two conveyors arranged in a plane. Parts storage box), while the parts are being taken out from the storage pallet carried by one conveyor, the next storage pallet is carried by the other conveyor and prepared in advance.
  • a method that allows parts to be removed from the other storage pallet without interruption, or the storage pallet at the bottom of the storage pallets (component storage boxes) carried on a conveyor and stacked in multiple stages Take it out and move it to the specified position, take out multiple parts from the storage pallet, place them on the temporary table, and supply these parts from the temporary table to the object to be assembled.
  • a method is known in which empty storage pallets are discharged by a separate discharge conveyor (see, for example, Patent Document 2).
  • the assembly object and parts may be relatively small, but the assembly object such as a liquid crystal panel or a display panel and the parts are relatively large and occupy a large area.
  • the assembly object such as a liquid crystal panel or a display panel and the parts are relatively large and occupy a large area.
  • Patent Document 1 Japanese Patent Laid-Open No. 5-310325
  • Patent Document 2 Japanese Patent Laid-Open No. 2001-259936
  • Patent Document 3 Actual Fairness 7-42577
  • the present invention has been made in view of the circumstances of the above-described conventional technology, and its purpose is to simplify the structure, reduce the size, and reduce the space for installing the equipment. Applying a storage pallet and this storage pallet that do not require processing of fractions, etc., can prevent forgetting to assemble parts, improve work efficiency, and can complete products with an optimal production plan It is an object of the present invention to provide an automatic assembly apparatus.
  • the storage pallet of the present invention that achieves the above object is a storage pallet that stores together the assembly object and the parts to be assembled to the assembly object, and a first storage unit that stores the assembly object. And a second storage part that is arranged below the first storage part in the vertical direction and stores components.
  • the storage pallet including the first storage unit and the second storage unit arranged in the vertical direction is used in an automatic assembly line or the like that completes a predetermined product by assembling various parts to the assembly target.
  • the assembly object and parts can be stored and transported together (carried). Therefore, there is only one transport line for transporting this storage pallet, and the area required for transport or handling can be reduced even when the assembly objects and parts are relatively large, because they are arranged vertically. Can save space.
  • the assembly object and parts can be stored and transported together, This eliminates the need for fractional processing that can occur when transporting and handling the product in a rack, prevents forgetting to assemble the parts, improves work efficiency, and provides an optimal production plan. Can be completed.
  • the first storage portion is defined on the upper surface of the casing having a predetermined contour, and the second storage section is formed so as to be able to be taken in and out in the horizontal direction with respect to the casing.
  • a configuration that is a drawer-like box can be employed.
  • the assembly object is stored (placed) on the upper surface (the uppermost part) of the housing, and the parts are stored in the drawer-like box located below, so that the assembly object and the parts can be securely attached together. Can be transported (carried). In other words, since the assembly object and parts are always handled together, management becomes easy.
  • the drawer-like box can adopt a configuration in which the drawer-like box has a plurality of drawer-like box forces that are arranged in the vertical direction and each stores a part.
  • the assembly object can be stored (placed) on the upper surface (uppermost portion) of the housing, and the components can be stored in each of the plurality of drawer-shaped boxes arranged below it. With the handle, the drawer box can be easily put in and out.
  • the handles provided on the plurality of drawer-like boxes are arranged so as to be biased horizontally with respect to each other. Therefore, even when a plurality of drawer-like boxes having a low height are arranged, the handle can be attached. It is easy to identify the parts to be stored at the position of the handle, and even if the handles are close to each other in the vertical direction, they are separated from each other in the horizontal direction. Can be easily gripped, and when a mechanism for gripping a handle is applied, the mechanism can be reliably operated so as not to interfere with other handles.
  • the first storage portion is a first concave box having an opening portion opened upward
  • the second storage portion is an opening opened upward.
  • a configuration having at least one second concave box stacked at the lower side of the first concave box so as to be detachable from each other can be adopted.
  • the storage pallet is composed of a plurality of concave boxes stacked in a separable manner in a heavy box shape, it is easy to store and take out the objects to be assembled and parts, and according to the number of parts. It is also easy to increase the second concave box.
  • the assembly object and parts can be handled separately, and flexible management is possible.
  • An automatic assembly apparatus of the present invention that achieves the above object is an automatic assembly apparatus that automatically assembles parts to an assembly object and assembles a predetermined product, and is a first storage for storing the assembly object.
  • a storage pallet including a second storage unit that is arranged below the first storage unit and the first storage unit to store the parts, a holding mechanism that positions and holds the storage pallet at a predetermined loading position, And a handling mechanism for taking out the part from the storage pallet positioned at the position and assembling the part to the assembly object.
  • the handling mechanism removes the parts stored in the second storage section. Take it out and assemble it into the assembly object.
  • the assembly object and parts are transported in a state where they are stacked and stored together, so that the assembly object and parts are relatively large! Even in this case, the area required for transportation or handling can be reduced. In addition, the installation area of the facility can be saved, and the simplification and miniaturization of the device can be achieved. In addition, since the assembly object and parts can be stored and transported together, there is no need for processing such as fractions that can occur when they are separately stored and transported on a pallet. Forgetting assembly can be prevented, work efficiency can be improved, and products can be completed with an optimal production plan.
  • product assembly work can be completed at a single work station.
  • the arrangement location of the apparatus can be freely set. Accordingly, when setting up an automatic assembly line by arranging a plurality of such devices, the degree of freedom in layout increases.
  • the automatic assembly apparatus having the above-described configuration can employ a configuration including a transport mechanism that transports the storage pallet to the loading position and unloads the storage pallet to the outside.
  • the storage pallet that stores the assembly object and the parts together is loaded into a predetermined loading position by one transport mechanism, and when a predetermined assembling operation or the like is completed.
  • the storage pallet that stores the assembly object with the predetermined parts assembled (and any parts that have not been assembled) is carried out for the next process.
  • the assembly object and parts can be transported with only one transport mechanism (conveyor, etc.), so the structure is simplified, the equipment is downsized, and the installation area is reduced. can do.
  • the first storage portion of the storage pallet is defined on the upper surface of the casing that forms a predetermined outline, and the second storage portion of the storage pallet is horizontal to the casing.
  • the storage pallet that stores the assembly object on the upper surface (uppermost portion) of the casing and the parts together in the drawer-like box positioned below the storage pallet is carried in at the predetermined loading position.
  • the drawer unit pulls out the drawer-like box, and the transfer assembly unit takes out the parts stored in the drawer-like box and assembles them to the assembly object stored on the upper surface of the housing.
  • the uppermost part of the storage pallet (the upper surface of the housing) can be used as a work area for assembly work, and the installation area of equipment can be reduced compared with the case where a dedicated work area is provided.
  • the route required for handling can be shortened and work efficiency can be improved.
  • the drawer unit includes a horizontal movement unit that horizontally moves the drawer-like box with respect to the housing, and a guide for the drawer-like box drawn by the horizontal movement unit in the horizontal direction.
  • a configuration that includes a holding unit that holds it in a predetermined drawer position.
  • the drawer-like box is put in and out of the housing by the horizontal movement unit, and the drawer-like box that is pulled out is securely held by the holding unit.
  • the holding unit When removing parts from the box, there is no misalignment. Since it can be taken out and the drawer-like box does not need to be formed firmly, the weight and size of the storage pallet can be reduced.
  • the transfer assembly unit can employ a configuration having a posture adjusting mechanism for adjusting the posture of the held component.
  • the transfer assembly unit holds and transfers a part
  • the held part for example, a flat panel
  • a desired posture for example, tilts
  • the posture adjustment mechanism can be attached to the assembly object while adjusting the posture of the component.
  • each transfer assembly unit operates independently, and each part can be taken out and assembled.
  • the assembling work can be performed more efficiently.
  • the drawer-like box has a handle on the side surface and is arranged in the vertical direction so as to accommodate a plurality of drawer-like box forces, and the horizontal moving unit.
  • the structure can be used so that the handle can be gripped and is movable in the vertical direction.
  • each of the parts can be stored in a plurality of drawer-like boxes arranged vertically in a plurality of stages, and when each drawer-like box is taken in and out of the casing, By holding the handle after moving the horizontal moving unit to the height position of the corresponding drawer-shaped box, the drawer-shaped box can be easily and reliably pulled out of the casing and pushed into the casing. it can.
  • the first storage part of the storage pallet is a first concave box having an opening opened upward
  • the second storage part of the storage pallet is the upper part.
  • At least one second concave box that has an opening that opens toward the side and is detachably stacked on the lower side of the first concave box, and the handling mechanism is positioned at the loading position. Separate the first concave box from the second concave box, or separate the second concave box force located below the second concave box, and separate the predetermined loading position adjacent to the loading position.
  • the storage pallet storing the assembly object in the first concave box located at the uppermost stage and the parts in the second concave box located below the first pallet box is carried and held at the predetermined loading position.
  • the first concave box is first transferred to the adjacent mounting position by the transfer unit, and the parts stored in the second concave box are taken out by the assembly unit and placed. It is assembled to the assembly object in the first concave box at the position, and the first concave box is again transferred to the loading position by the transfer unit.
  • the first concave box and the second concave box immediately below are transferred to the mounting position by the transfer unit so that the parts are exposed, Similarly, the parts housed in the second concave box are taken out by the assembly unit and assembled to the assembly object at the mounting position. If there are multiple second concave boxes, the same operation is repeated.
  • the transfer unit can be formed as a transfer mounting unit that also serves as the mounting unit.
  • the structure can be simplified by adopting the transfer assembly unit that has both the transfer unit and the assembly unit, and the device can be downsized and the installation area can be saved. can do.
  • the transfer assembly unit that also serves as the assembly unit may employ a configuration that includes a posture adjustment mechanism that adjusts the posture of the held component. it can.
  • the transfer assembly unit holds and transfers a part
  • the held part for example, a flat panel
  • a desired posture for example, tilts
  • the posture adjustment mechanism can be attached to the assembly object while adjusting the posture of the component.
  • the automatic assembly apparatus having the above-described configuration can employ a configuration including a work unit that performs a predetermined operation on a component or an assembly target positioned at the mounting position. .
  • parts are assembled by the transfer assembly unit, and predetermined work is performed by the work unit (for example, screw tightening work when the assembled parts are screws, etc.) be able to.
  • FIG. 1A is a plan view showing an embodiment of a storage pallet according to the present invention.
  • FIG. 1B is a front view showing an embodiment of a storage pallet according to the present invention.
  • FIG. 2A is a side view showing a state in which the drawer-like box of the storage pallet is pulled out.
  • FIG. 2B is a plan view showing a state in which the bow I of the storage pallet is bowed out.
  • FIG. 3 is a perspective view showing an example of an assembly object and parts stored in a storage pallet.
  • FIG. 4 is a plan view showing an embodiment of an automatic assembly apparatus according to the present invention.
  • FIG. 5 is a cross-sectional view taken along line E1-E1 in FIG.
  • FIG. 6 is a cross-sectional view taken along line E2-E2 in FIG.
  • FIG. 7 is an operation diagram for explaining the operation of the automatic assembly apparatus.
  • FIG. 8 is an operation diagram for explaining the operation of the automatic assembly apparatus.
  • FIG. 9 is an operation diagram for explaining the operation of the automatic assembly apparatus.
  • FIG. 10 is an operation diagram for explaining the operation of the automatic assembly apparatus.
  • FIG. 11 is an operation diagram for explaining the operation of the automatic assembly apparatus.
  • FIG. 12A is a plan view showing another embodiment of a storage pallet according to the present invention.
  • FIG. 12B is a front view showing another embodiment of the storage pallet according to the present invention.
  • FIG. 13 is a plan view showing another embodiment of the automatic assembly apparatus according to the present invention.
  • FIG. 14 is a cross-sectional view taken along line E1-E1 in FIG.
  • FIG. 15 is a cross-sectional view taken along line E2-E2 in FIG.
  • FIG. 17 is a cross-sectional view taken along line E1-E1 in FIG.
  • FIG. 18 is a cross-sectional view taken along line E2-E2 in FIG.
  • FIG. 19 is a plan view showing still another embodiment of the automatic assembly apparatus according to the present invention.
  • FIG. 20 is a cross-sectional view taken along line E1-E1 in FIG.
  • FIG. 21 is a cross-sectional view taken along line E2-E2 in FIG.
  • FIG. 22 is a plan view showing an embodiment in which an automatic assembly line is configured by arranging a plurality of automatic assembly apparatuses according to the present invention.
  • FIG. 23 is a plan view showing another embodiment in which a plurality of automatic assembly apparatuses according to the present invention are arranged to constitute an automatic assembly line.
  • FIG. 24A is a plan view showing still another embodiment of a storage pallet according to the present invention.
  • FIG. 24B is a cross-sectional view taken along line E1-E1 in FIG. 24A.
  • FIG. 24C is a front view showing still another embodiment of the storage pallet according to the present invention.
  • FIG. 25 is a plan view showing still another embodiment of the automatic assembly apparatus according to the present invention.
  • FIG. 26 is a cross-sectional view taken along line E1-E1 in FIG.
  • FIG. 27 is a cross-sectional view taken along line E2-E2 in FIG.
  • FIG. 28 is an operation diagram for explaining the operation of the automatic assembly apparatus.
  • FIG. 29 is an operation diagram for explaining the operation of the automatic assembly apparatus.
  • FIG. 30 is an operation diagram for explaining the operation of the automatic assembly apparatus.
  • FIG. 31 is an operation diagram for explaining the operation of the automatic assembly apparatus.
  • FIG. 32 is an operation diagram for explaining the operation of the automatic assembly apparatus.
  • FIG. 33 is an operation diagram for explaining the operation of the automatic assembly apparatus.
  • FIG. 34 is an operation diagram for explaining the operation of the automatic assembly apparatus.
  • FIG. 35 is an operation diagram for explaining the operation of the automatic assembly apparatus.
  • FIG. 36 is an operation diagram for explaining the operation of the automatic assembling apparatus.
  • FIG. 37 is an operation diagram for explaining the operation of the automatic assembling apparatus.
  • FIG. 38 is a plan view showing still another embodiment of the automatic assembly apparatus according to the present invention.
  • FIG. 39 is a cross-sectional view taken along line E1-E1 in FIG.
  • FIG. 40A is a plan view showing still another embodiment of the automatic assembly apparatus according to the present invention.
  • 40B is a cross-sectional view along the XZ plane of the automatic assembly device shown in FIG. 40A.
  • FIG. 41A is a plan view showing still another embodiment of the automatic assembly apparatus according to the present invention.
  • 41B is a cross-sectional view of the automatic assembly device shown in FIG. 41A on the XZ plane.
  • the storage pallet P is arranged in the vertical direction (Z direction) so that the outline is a substantially rectangular parallelepiped shape, and the horizontal direction (X direction) can be inserted into and removed from the case 10. It has multiple (three) drawer-shaped boxes 21, 22, 23, etc. formed in a row.
  • the casing 10 has four mounting portions lla and a mounting portion 11a that protrude on the upper surface (uppermost portion) 11 to place the assembly object W0.
  • the four restricting parts l ib and the side face 12 of the three protruding parts are formed adjacent to and projecting upward from the mounting part 11a and positioning in the horizontal direction (X direction and Y direction).
  • Supporting ports 12a, 12b, 12c and the like for supporting the boxes 21, 22, 2 3 in and out are provided.
  • the assembly object W0 is supported by the four mounting portions 1la while being positioned by the four restricting portions 11b on the upper surface (uppermost portion) 11 of the casing 10. .
  • the assembly target object W0 is stored in the first storage part defined by the mounting part 11a and the restricting part ib.
  • the drawer-like boxes 21, 22, and 23 are arranged in the vertical direction (Z direction) below the upper surface 11 on which the first storage portion is defined.
  • the housing 10 is slidably fitted into the support ports 12a, 12b, and 12c, respectively, so that it can be inserted and removed in the horizontal direction (X direction).
  • the drawer-like boxes 21, 22 and 23 are each formed into a bottomed concave box with an open top. Are formed adjacent to the four mounting portions 21a, 22a, and 23a, the mounting portions 21a, 22a, and 23a, and the mounting portions 2 respectively. la, 22a, 23a projecting upwards and positioning in the horizontal direction (X direction and Y direction). 4 restriction parts 21b, 22b, 23b, arranged in the vertical direction (Z direction) with each other on the outer side surface Handles 21c, 22c, 23c etc. are provided.
  • the component W1 is supported by the four placement portions 21a while being positioned by the four restricting portions 21b in the drawer-like box 21. That is, the component W1 is stored in the second storage part defined by the drawer-like box 21 provided with the placement part 21a and the restriction part 21b.
  • the component W2 is supported by the four mounting portions 22a while being positioned by the four restricting portions 22b in the drawer-like box 22. That is, the part W2 is stored in the second storage part defined by the drawer-like box 22 provided with the placement part 22a and the restriction part 22b.
  • the component W3 is supported by the four placement portions 23a while being positioned by the four restriction portions 23b in the drawer-like box 23. That is, the component W3 is stored in the second storage portion defined by the drawer-like box 23 having the placement portion 23a and the restriction portion 23b.
  • a liquid crystal module W as a product (finished product) is configured.
  • the rear side frame WO as an assembly object, the knock light unit Wl as a component, the liquid crystal (LCD) panel W2 as a component, the front side frame W3 as a component, and the like are applied.
  • the storage pallet P force is formed so as to include the first storage part (upper surface 11) and the second storage part (drawer-shaped boxes 21, 22, 23) arranged in the vertical direction (Z direction).
  • the assembly object WO and the parts Wl, W2, and W3 can be housed together and transported (carried). Therefore, even when the assembly object WO and the parts W1, W2, and W3 are relatively large, the area required for transportation or handling can be reduced, and the installation area of the facility can be saved.
  • the assembly object WO and parts Wl, W2, and W3 can be stored and transported together, processing such as fractions that can occur when stored and transported on separate pallets is not necessary. In addition, forgetting to assemble parts can be prevented, work efficiency can be improved in an automatic assembly line, and products can be completed with an optimal production plan.
  • the automatic thread raising device M stores the base 100, the frame 110, the storage pallet P in the Y direction, the transfer mechanism 120 for transferring in and out, and the storage at a predetermined transfer position.
  • Holding mechanism 130 that holds the pallet P separated from the transport mechanism 120 while positioning it, and the storage pallet P force positioned at the loading position.
  • Drawer unit 140 to be put in and out, parts Wl, W2, and W3 stored in the drawer-like boxes 21, 2 2, and 23 are assembled and stored in the uppermost part of the storage pallet P (upper surface 11 of the housing 10) It is equipped with a transfer assembly unit 150, etc., which is moved to assembly W0 and assembled.
  • the drawer unit 140, transfer assembly unit 150, etc. constitute a handling mechanism that takes out the storage pallet P-power parts Wl, W2, W3 positioned at the loading position and assembles them to the assembly object W0. RU
  • the transport mechanism 120 has a transport surface 121 that carries the storage pallet P and transports it in the horizontal direction (Y direction), and a guide member 122 that guides the storage pallet P in the Y direction.
  • a roller conveyor provided with a drive mechanism 123 and the like for driving a roller that defines the conveying surface 121.
  • the transport mechanism 120 then transports the storage nort P carried and transported by the external transport line L to a predetermined transport position, and also stores the finished product W that has completed the predetermined assembly work.
  • the loading position force is also transported toward the external transfer line L (and downstream process).
  • the holding mechanism 130 includes a carrying table 131 that holds the storage pallet P at the loading position, an elevator 132 that causes the carrying table 131 to move in and out of the transfer surface 121, and the like. ing.
  • the carrying table 131 is formed into a flat and long rectangular shape in the Y direction, and includes four positioning pins 13 la for positioning the storage pallet P in the vicinity of the four corners of the upper surface. ing.
  • the elevator 132 has a rod 132 that supports the supporting table 131 with a lower force. a, a drive source 132b for expanding and contracting the rod 132a in the vertical direction (Z direction) is provided.
  • the drive source 132b extends the rod 132a and raises the carrying table 131 to a predetermined height. Then, the storage pallet P is carried on the carrying table 131 and is separated from the transfer surface 121, and is positioned by the positioning pin 131a, so that no positional deviation occurs at the loading position and a position raised by a predetermined height. ⁇ Holds firmly like so.
  • the drive source 132b contracts the rod 132a and lowers the carrying table 131 to the original standby position. Then, the storage pallet P is detached from the carrying table 131 and is carried on the conveying surface 121.
  • the drawer unit 140 is disposed adjacent to the transport mechanism 120 and the holding mechanism 130, and the drawer-like boxes 21, 22, 23 of the storage pallet P are removed from the housing 10.
  • the horizontal movement unit 141 that is pulled out or pushed into the housing 10 and the drawer-like boxes 21, 22, and 23 that are pulled out by the horizontal movement unit 141 are guided in the horizontal direction (X direction) and held at a predetermined pull-out position.
  • the holding unit 142 and the horizontal movement unit 141 are provided with an elevating unit 143 that elevates and lowers in the vertical direction (Z direction).
  • the horizontal moving unit 141 includes a pair of gripping pieces 141a and gripping pieces 141a that can grip the handles 21c, 22c, and 23c of the drawer-like boxes 21, 22, and 23.
  • a horizontal drive unit 141b for moving in the horizontal direction (X direction) is provided.
  • the horizontal driving unit 141b As the horizontal driving unit 141b, other driving methods such as a screw feed mechanism using a ball screw and a nut, a hydraulic telescopic actuator, a belt type, a gear type, and the like are applied.
  • the holding unit 142 includes holding pieces 142a, 142b, and 142c that hold the drawer-like boxes 21, 22, and 23 while guiding them at both edges in the Y direction.
  • the horizontal movement unit 141 operates the lifting unit 143 to align the gripping pieces 141a with the height positions of the corresponding handles 21c, 22c, 23c. Then, the horizontal drive unit 141b is driven to grip the gripping piece 141a close to the handles 21c, 22c, 23c, and then moved in the horizontal direction (X direction) to pull out the drawer-shaped boxes 21, 22, 23.
  • the drawer is held on the holding pieces 142a, 142b, 142c of the holding unit 142.
  • the drawer-like boxes 21, 22, and 23 are firmly held with respect to the holding unit 142.
  • the reverse operation is performed.
  • the drawer-like boxes 21, 22, and 23 are put in and out by the horizontal movement unit 141 with respect to the housing 10, and the drawer-like boxes 21, 22, and 23 that are drawn out are the holding units 142. Therefore, when the transfer assembly unit 150 takes out the parts Wl, W2, and W3 from the drawer-like boxes 21, 22, and 23, it can be surely taken out without causing a displacement. Further, since the drawer-like boxes 21, 22, and 23 are held by the holding unit 142, it is possible to reduce the weight and size of the storage pallet P that does not need to be firmly formed.
  • the transfer assembly unit 150 pivots the pair of gripping portions 151 and the pair of gripping portions 151 respectively for gripping the parts Wl, W2, and W3 from both sides in the Y direction.
  • a pair of X-axis drive units 154 that drive in the X direction while holding them
  • a pair of Y-axis drive units 155 that hold both ends of the X-axis drive unit 154 and drive in the Y direction.
  • the elevating unit 153, the X-axis drive unit 154, and the Y-axis drive unit 155 other driving methods such as a screw feed mechanism using a ball screw and a nut, a hydraulic telescopic actuator, a belt type, a gear type, and the like are applied.
  • the transfer assembly unit 150 operates the elevating unit 153 to lower the pair of gripping units 151 at a predetermined standby position to a predetermined height, and operates the Y-axis driving unit 155 to make a pair.
  • the lifting part 153 and the X-axis drive part 154 are operated to bring the gripped part W1 (W2, W3) into the loading position.
  • the lifting part 153 is operated at that position to lower the pair of gripping parts 151 Assembling the parts W1 (W2, W3) on the assembly object WO (parts W1, W2), operating the Y-axis drive unit 155 to release the parts W1 (W2, W3)
  • the X-axis drive unit 154 is operated to return the pair of gripping units 151 to a predetermined standby position.
  • the transfer assembly unit 150 since the transfer assembly unit 150 has the posture adjustment mechanism 152 that adjusts the posture of the gripped (held) parts Wl, W2, and W3, the transfer assembly unit 150 holds and transfers the parts Wl, W2, and W3.
  • the attitude of the parts Wl, W2, W3 is adjusted by the attitude adjustment mechanism 152. Can be assembled to the assembly WO in an optimal posture.
  • the assembly object WO is stored in the upper surface 11 (the mounting portion 1 la and the regulating portion l ib) as the first storage portion, and the three parts Wl, W2, and W3 are the first. 2 Stored in drawer-shaped boxes 21, 22, and 23, respectively.
  • the transport mechanism 120 is operated to transport the storage pallet P to the loading position in the device M and stop it (in FIG. 7).
  • SI, S2 the holding mechanism 130 is operated, and the holding pallet P is lifted by a predetermined height by the carrying table 131 and held at the loading position while positioning (S3 in FIG. 7).
  • the drawer unit 140 force grips the handle 21c with the pair of gripping pieces 141a (S4 in FIG. 8), and pulls out the drawer-like box 21 located in the uppermost stage to a predetermined drawer position (in FIG. 8). S5).
  • the holding unit 142 guides the drawer-like box 21 in the X direction, holds the drawer-like box 21 firmly in a predetermined drawer position (so as not to cause rattling).
  • the transfer assembly unit 150 brings the pair of gripping portions 151 close to the drawer-like box 21 (S6 in FIG. 8, S7 in FIG. 9), and grips (holds) the part Wl. Take out from the drawer-shaped box 21 (S8 in Fig. 9) and move it above the assembly object W0 stored in the top (upper surface 11) of the storage pallet P positioned at the loading position (in Fig. 8). S9). Further, the drawer unit 140 pushes the empty drawer-like box 21 into the housing 10 and returns it to the original position (S9 in FIG. 8).
  • the transfer assembly unit 150 lowers the gripped (held) part W1 and assembles it to the assembly object WO (S10 in FIG. 10).
  • the posture adjustment mechanism 152 adjusts the component W1 so as to have an optimal posture.
  • the drawer unit 140 slightly retracts after releasing the handle 21c, and positions the pair of gripping pieces 141a at the height of the handle 22c of the second drawer-like box 22 (S10 in FIG. 10).
  • the transfer assembly unit 150 lifts by releasing the part W1 (Sl, S12 in FIG. 10), and returns to a predetermined standby position.
  • the drawer unit 140 grips the handle 22c with a pair of gripping pieces 141a (S12 in FIG. 10), pulls the second drawer-like box 22 to a predetermined drawer position, and transfers the transfer assembly.
  • the attachment unit 150 grips and removes the part W2 stored in the drawer-like box 22 and, above the assembly object W0 stored at the top of the storage pallet P, in the same manner as the assembly operation of the part W1 described above. Assemble part W2 with the upper force of part W1.
  • the removal and assembly operations of the part W3 stored in the third drawer-like box 23 are performed in the same manner as described above.
  • the transport mechanism 120 unloads the storage pallet P storing the finished product W toward the external transport line L (S15 in FIG. 11).
  • the assembly object W0 and the parts Wl, W2, and W3 are stacked in the vertical direction (Z direction) and carried in a state of being stored together.
  • Assembly object W0 and parts Wl, W2, W3 are relatively large, the area required for transportation or handling can be reduced, the installation area of the equipment can be saved, and the equipment M can be simplified, downsized, etc. Can be achieved.
  • the uppermost part of the storage pallet P (the upper surface 11 of the housing 10) is used as a work area for assembly work, the installation area of the equipment can be reduced compared to the case where a dedicated work area is provided. The path required for handling can be shortened and work efficiency can be improved.
  • the assembly object WO and parts Wl, W2, and W3 can be stored and transported together, they can be stored in separate pallets. Processing such as fractions that can occur when storing, transporting, and handling is unnecessary, and forgetting to assemble parts Wl, W2, and W3 can be prevented, and work efficiency can be improved. To complete the product.
  • the arrangement location of the device M can be set freely. Accordingly, when setting up an automatic assembly line by arranging a plurality of the devices M, the degree of freedom of the layout is increased.
  • FIG. 12A and FIG. 12B show another embodiment of the storage pallet according to the present invention.
  • the same components as those of the above-described embodiment are denoted by the same reference numerals and description thereof is omitted.
  • the storage pallet P includes a housing 10 and three drawer-like boxes 21, 22, and 23 provided so as to be able to enter and exit the housing 10.
  • handles 21, 22c ', 23 of the three drawer-like boxes 21, 22, 23 are arranged at positions offset from each other.
  • the drawer-like boxes 21, 22, 23 having a low height are arranged.
  • the handles 21, 22c ', 23 can be easily attached even in the case of multiple arrangements, and are stored in the drawer-like boxes 21, 22, 23 using the positions of the handles 21, 22c', 23 as indices.
  • the parts Wl, W2, and W3 can be identified.
  • the handles 21, 22c ', 23 are close to each other in the vertical direction (Z direction), the operator can easily grip them because they are separated from each other in the horizontal direction (Y direction).
  • the handles 21, 22 c ′ and 23 are gripped by the pair of gripping pieces 141 a, they can be securely gripped without interfering with other handles.
  • FIG. 13 to FIG. 15 show another embodiment of the automatic assembly apparatus according to the present invention.
  • the same components as those of the above-described embodiment are denoted by the same reference numerals and description thereof is omitted.
  • the automatic assembly apparatus M includes a base 100, a frame 110, a transport mechanism 120, a holding mechanism 130, a drawer unit 140, and parts Wl stored in drawer boxes 21, 22, and 23. , W2 and W3 are taken out and held, and a transfer assembly unit 15CT for moving and assembling to the assembly object W0 stored in the uppermost part (the upper surface 11 of the housing 10) of the storage pallet P is provided.
  • the drawer unit 140, transfer assembly unit 15 (the handling pallet that takes out the storage pallet Wl, W2, W3, which is positioned at the loading position by means of scissors, etc., and assembles it to the assembly object W0 is constructed. It has been.
  • Transfer assembly unit 150 mm as shown in FIG. 13 to FIG. 15, a pair of gripping parts 151 that grip parts Wl, W2, and W3 from both sides in the heel direction and a pair of gripping parts 151 are pivoted.
  • a pair of posture adjustment mechanism 152 that freely supports and adjusts its posture, a pair of lifting and lowering portions 153 that hold up and down in the vertical direction (the heel direction) while holding the gripping portion 151 and the posture adjustment mechanism 152, both ends in the heel direction
  • a pair of X-axis drive parts 154 located in the X direction and extending in the X direction are held by a pair of X-axis drive parts 154 and a pair of lift parts 153 are driven in the ⁇ direction.
  • Two shaft drive parts 155 'etc. are provided.
  • the lifting / lowering unit 153, the X-axis driving unit 154, and the vertical shaft driving unit 155 ' are other driving methods such as a screw feed mechanism using a ball screw and a nut, a hydraulic telescopic actuator, a belt type, a gear type, etc. Applies.
  • this automatic assembly device ⁇ there is a transfer assembly unit 15 (one shaft drive unit 155 'constituting the kite, and each of the 155 shaft drive units 155' Since the pair of lifting and lowering parts 153 that hold the gripping part 151 and the posture adjusting mechanism 152 are movably held, the structure is simplified compared to the previous embodiment, and the parts Wl, W2, and W3 When gripping, the mutual relationship between the pair of gripping portions 151 does not require relative position control in the X direction, and it is only necessary to control the separation distance in the ⁇ direction. A gripping operation can be performed.
  • 16 to 18 show still another embodiment of the automatic assembly apparatus according to the present invention. It is.
  • the same components as those of the above-described embodiment are denoted by the same reference numerals and description thereof is omitted.
  • the automatic assembling apparatus M is a comparatively housed in a base 100, a frame 110, a transport mechanism 120, a holding mechanism 130, a drawer unit 140, and drawer-like boxes 21, 22, and 23. Take out and hold small parts (not shown) and move them to the assembly object W0 stored in the top of the storage pallet P (upper surface 11 of the housing 10). Etc.!
  • the drawer unit 140, the two transfer assembly units 150 "and the like constitute a handling mechanism for taking out parts from the storage pallet P positioned at the carry-in position and assembling them to the assembly object W0.
  • the two transfer assembly units 150 "each have a holding part 151" for holding the part by gripping or sucking, and a holding part 151 to be pivotable.
  • the mounting unit 15CT is configured to be used as a pair of Y-axis drive units 155 '.
  • the lifting / lowering unit 153 ", the X-axis driving unit 154", and the Y-axis driving unit 155 " have a screw feed mechanism using a ball screw and a nut, a hydraulic telescopic actuator, a belt type, a gear type, and other drives. The method is applied.
  • the two transfer assembly units 150 ⁇ (holding part 15 ⁇ ', attitude adjustment mechanism 152 ⁇ , elevating part 153 ⁇ , and X-axis drive part 154 ⁇ ) are each independent. It is designed to be driven. Therefore, when the parts stored in the drawer-like boxes 21, 22, 23 are like a plurality of small items, each transfer assembly unit 150 ⁇ operates independently, and each part is taken out and assembled. As a result, assembly work can be performed more efficiently.
  • FIG. 19 to FIG. 21 show still another embodiment of the automatic assembly apparatus according to the present invention. This embodiment is different from the embodiment shown in FIGS. 13 to 15 and FIGS.
  • the embodiment shown in FIG. 18 is combined, and the same components as those of the above-described embodiment are denoted by the same reference numerals and description thereof is omitted.
  • the automatic assembling apparatus M is relatively assembled in a base 100, a frame 110, a transport mechanism 120, a holding mechanism 130, a drawer unit 140, and drawer-like boxes 21, 22, and 23. Take out and hold small parts (not shown) and move them to the assembly object W0 stored in the top of the storage pallet P (upper surface 11 of the housing 10). Etc.!
  • the drawer unit 140, the two transfer assembly units 150 "and the like constitute a handling mechanism for taking out parts from the storage pallet P positioned at the carry-in position and assembling them to the assembly object W0.
  • Two transfer assembly units 15 (as shown in FIGS. 19 to 21, respectively, holding part 151 "for holding the part by gripping or sucking, and holding part 151 to be pivotable.
  • the posture adjustment mechanism 152 '' that supports and adjusts its posture, and the lift unit 153 ⁇ that moves up and down in the vertical direction (holding direction) while holding the holding unit 151 ⁇ and the posture adjustment mechanism 152 ⁇ , at both ends in the heel direction
  • a pair of X-axis drive parts 154 positioned and extending in the X direction 154
  • Both ends in the heel direction are held by a pair of X-axis drive parts 154, and two lift parts 153 "are held in the heel direction
  • two transfer assembly units 15 in other words, a single shaft drive unit 155 is configured to be used as one!).
  • the lifting / lowering unit 153 ", the X-axis driving unit 154, and the vertical shaft driving unit 155 ' are other types of driving such as a screw feed mechanism using a ball screw and a nut, a hydraulic telescopic actuator, a belt type, a gear type, etc. The method is applied.
  • This automatic assembly apparatus ⁇ has a shaft drive unit 155, which constitutes the transfer assembly unit 150 ⁇ , and each of the 155 shaft drive units 155 is held respectively. Since the two elevating parts 153 ⁇ holding the part 151 / and the posture adjusting mechanism 152 ⁇ are independently movably held, the structure is simplified. Also, the two transfer assembly units 150 "(holding part 151 ⁇ , attitude adjustment mechanism 152 ⁇ , elevating part 153 ⁇ ) are driven independently on the shaft drive part 155 ⁇ , When the parts stored in the box 21, 22, 23 are like multiple small items, each transfer assembly unit 150 ⁇ operates independently. In addition, each part can be taken out and assembled, and the assembly work can be performed more efficiently.
  • FIG. 22 shows an embodiment in which a plurality of automatic assembly apparatuses M according to the present invention are arranged to form an automatic assembly line.
  • the storage pallet to be applied is not limited to three drawer-like boxes, but preferably includes a plurality of drawer-like boxes, which can transport more parts together with the assembly object.
  • FIG. 23 shows an embodiment in which an automatic assembly line is formed by interposing a plurality of automatic assembly apparatuses AT according to the present invention.
  • This automatic assembly line is a self-propelled transfer line that transports the storage pallet P by connecting multiple automatic assembly devices that are scattered and connected to these automatic assembly devices! Etc. are formed.
  • the automatic assembly apparatus M ′ is obtained by eliminating the transfer mechanism 120 from the automatic assembly apparatus M shown in FIGS. 4 and 6 described above.
  • the conveyance line! Conveys the storage pallet P to each automatic assembly apparatus, and carries the storage pallet P into and out of the holding mechanism 130 of the apparatus.
  • the automatic thread and vertical line can be used to freely set the location of the device M, the degree of freedom in layout when arranging a plurality of devices AT is increased, and the desired work process can be achieved.
  • a corresponding automatic assembly line can be easily formed.
  • FIGS. 24A to 24C show still another embodiment of the storage pallet according to the present invention
  • FIGS. 25 to 27 show the implementation of the automatic assembly apparatus to which the storage pallet according to this embodiment is applied. The form is shown. Note that the same reference numerals are given to the same components as those of the above-described embodiment, and the description thereof is omitted.
  • this storage pallet has a first concave box 210 as a first storage part, and openings 221, 231, 241 opened upward. Both of them are provided with three second quadrangular boxes 220, 230, 240, etc. as second storage parts that are detachably stacked on the lower side of the first concave box 210 !.
  • the first concave box 210 has a shape that protrudes to place the assembly object W0 on the opening 211, the bottom 212, and the bottom 212 opened upward.
  • Four placement units 212a formed adjacent to the placement unit 212a, and projecting upward from the placement unit 212a to perform positioning in the horizontal direction (X direction and Y direction)
  • a part 212b, a fitting protrusion 213 protruding in a rectangular shape below the lower surface force, and the like are provided.
  • the assembly object WO is supported by the four mounting portions 212a while being positioned by the four restricting portions 212b at the bottom portion 212 of the first concave box 210. That is, the assembly object W0 is stored in the first storage section defined by the mounting section 212a and the regulation section 212b.
  • FIG. 24C [0071] 2nd quadrilateral box 220, 230, 240 ⁇ , Fig. 24 ⁇ ! Fig. 24C [As shown, this is an opening 221, 231, 241 open to the top, bottom 222 respectively. , 232, 242, four mountings formed to project parts Wl, W2, W3 at the bottom 222, 2 32, 242 3 ⁇ 4222a, 232a, 242a, mounting rods 222a, 232a, 242a.
  • the four regulating parts 222b, 232b, 242b which are positioned upward in the horizontal direction (X direction and Y direction) and project upward from the mounting parts 222a, 232a, 242a. It has fitting protrusions 223, 233, 243, etc. protruding from the surface.
  • the component W1 is supported by the four mounting portions 222a while being positioned by the four restricting portions 222b at the bottom 222 of the second concave box 220. That is, the part W1 is stored in the second storage part defined by the placement part 222a and the restriction part 222b.
  • the component W2 is supported by the four placement portions 232a while being positioned by the four restriction portions 232b at the bottom portion 232 of the second concave box 230. That is, the part W2 is stored in the second storage part defined by the placement part 232a and the restriction part 232b.
  • the component W3 is supported by the four mounting portions 242a while being positioned by the four restricting portions 242b in the bottom portion 242 of the second concave box 240. Ie, part The product W3 is stored in the second storage portion defined by the placement portion 242a and the restriction portion 242b.
  • the storage pallet is arranged in the vertical direction (Z direction), the first concave box 210 as the first storage part and the three second concave boxes 220, 230, 240 as the second storage part.
  • the assembly object WO and the parts Wl, W2, and W3 can be housed together and transported (carried). Therefore, even when the assembly object W0 and the parts Wl, W2, and W3 are relatively large, the area required for transportation or handling can be reduced, and the installation area of the equipment can be saved.
  • the assembly object W0 and parts Wl, W2, and W3 can be stored and transported together, there is no need for processing such as fractions that can occur when they are stored and transported on separate pallets.
  • forgetting to assemble parts can be prevented, work efficiency can be improved in automatic assembly lines, and products can be completed with an optimal production plan.
  • the storage pallet since the storage pallet has a plurality of concave box forces stacked in a separable manner in a heavy box shape, it is easy to store and take out the assembly object W0 and parts Wl, W2, W3, and the number of parts. It is also easy to increase the second concave box according to the situation. Furthermore, the assembly object W0 and parts Wl, W2, and W3 can be handled separately as needed (in the upstream preparation process, etc.), enabling flexible management.
  • the automatic assembling apparatus ⁇ ' As shown in FIG. 25 to FIG. 27, the automatic assembling apparatus ⁇ ', the base 100, the frame 110, the transport mechanism 120 for carrying in and out the storage pallet in the vertical direction, and the storage pallet at the predetermined transfer position.
  • the holding mechanism 130 that is separated from the transport mechanism 120 and is positioned and held, the mounting mechanism 140 that is arranged adjacent to the transport mechanism 120 and the holding mechanism 130 and defines the mounting position, the first concave box 210 and the second concave shape It is equipped with a transfer assembly unit 150 that performs transfer operations for boxes 220 and 230, transfer operations for parts Wl, W2, and W3, and assembly operations.
  • a handling mechanism is constructed that takes out the storage pallet force parts Wl, W2, W3 positioned at the loading position and assembles them to the assembly object W0 by the mounting table 140 ⁇ , the transfer assembly unit 150, etc.
  • Mounting table 14 (as shown in Figs. 25 to 27, the transport mechanism 120 and the holding mechanism 13 Four positioning pins 141a ′ that are arranged adjacent to 0 and project from the mounting surface 14 ⁇ mounting surface 14 ⁇ that define the mounting position on which the first concave box 210 or the second concave box 220, 230 is mounted. 'Equipped with etc.
  • the transfer assembly unit 150 performs the transfer operation of the first concave box 210 and the second concave boxes 220 and 230 in addition to the operations of taking out and assembling the parts Wl, W2, and W3.
  • the transfer assembly unit 150 appropriately controls the X-axis drive unit 154, the Y-axis drive unit 155, and the elevating unit 153 to appropriately move the pair of gripping units 151 in a predetermined standby position.
  • the first concave box 210 and the second concave box 220, 230 are gripped (held) and transferred between the loading position and the mounting position, and the parts Wl, W2, W3 are gripped (held) Then, transfer and assemble it toward the mounting position.
  • the operation of the automatic assembling apparatus M ⁇ will be described with reference to Figs.
  • the operation of the holding mechanism 130, the drawer unit 140, the transfer assembly unit 150, etc. is performed by the above-described components (the holding table 131 and the elevator 132 of the holding mechanism 130, the horizontal moving unit 141 of the drawer unit 140, The holding unit 142, the lifting unit 143, the gripping part 151 of the transfer assembly unit 150, the posture adjusting mechanism 152, the lifting part 153, the X-axis driving part 154, and the Y-axis driving part 155) are driven respectively.
  • the operation is omitted for convenience of explanation.
  • the storage pallet box is configured such that the assembly object W0 is stored in the first concave box 210 as the first storage part, and the three parts Wl, W2, and W3 are the second concave box as the second storage part. Housed in 220, 230, 240 respectively.
  • the transfer assembly unit 150 moves the pair of gripping portions 151 above the first concave box 210 and then descends to grip both sides (S4, S5, S6 in FIG. 29). ), The first concave box 210 is separated from the second concave box 220 and lifted upward and moved horizontally (directly from the mounting table 140 ⁇ ). The first concave box 210 is moved to the placement position (mounting surface 14 ⁇ ) (S7, S8 in FIG. 30).
  • the transfer assembly unit 150 lifts and horizontally moves (moves up to the carry-in position) by detaching the pair of gripping parts 151 from the first concave box 210, and returns to the carry-in position. Then, the part W1 stored in the second concave box 220 is gripped (S9 in FIG. 30, S10, Sl1, and S12 in FIG. 31).
  • the transfer assembly unit 150 takes out the part W1 gripped by the pair of gripping parts 151 from the second concave box 220, lifts it upward, moves horizontally (moves to just above the mounting table 140), and moves downward. Then, the part W1 is threaded onto the assembly object W0 housed in the first concave box 210 (S13, S14, S15 in FIG. 32).
  • the transfer assembly unit 150 disengages the pair of gripping parts 151 from the first concave box 210 (S19 in FIG. 34)
  • the transfer assembly unit 150 lowers it by a predetermined amount (S20 in FIG. 34). ) Hold both sides of the second concave box 210 (S21 in FIG. 34).
  • the transfer assembly unit 150 separates the second concave box 220 from the second concave box 230, lifts it upward, and moves horizontally (with a mounting table of 140 mm).
  • the first concave box 210 and the second concave box 220 are transferred to the mounting position (mounting surface 14 ⁇ on the mounting table 140 ⁇ (S22, S23 in Fig. 35). )
  • the transfer assembly unit 150 removes the pair of grips 151 from the second concave box 220 (S24 in FIG. 35), and after the ascending and horizontal movement, the second assembly unit 150 is again in the loading position. Lower to the concave box 230, grip the part W2 stored in the second concave box 230, and then, as in the case of the part W1, hold the part W1 stored in the first concave box 210 at the mounting position. Assemble to assembled assembly W0. The same applies to the assembly of part W3 in the second concave box 240. Is done.
  • the bottom end after the transfer assembly unit 150 separates the pair of gripping parts 151 from the part W3. (S25 in FIG. 36), and grips both sides of the second concave box 230 in which the first concave box 210 and the second concave box 220 are stacked on the upper side (S26 in FIG. 36).
  • the first concave box 210 and the second concave box 220 are stacked by moving horizontally (moving up to the loading position) and moving downward. Are stacked close to the empty second concave box 240 (S27 in FIG. 36).
  • the transfer assembly unit 150 moves the pair of gripping parts 151 away from the second concave box 230 and moves them upward (S28, S29 in FIG. 37), and the holding mechanism 130 is lowered. Then, the lower surface of the second concave box 240 is transferred to the transport surface 121 of the transport mechanism 120 (S29 in FIG. 37). Thereafter, the transport mechanism 120 unloads the storage pallet storing the finished product W toward the external transport line L (S30 in FIG. 37).
  • the assembly object W0 and the parts Wl, W2, W3 are stacked in the vertical direction (Z direction) and carried together and stored, Even when the assembly object W0 and parts Wl, W2, and W3 are relatively large, the area required for transportation or handling can be reduced, the installation area of the equipment can be saved, the equipment AT 'can be simplified, downsized, etc. Can be achieved.
  • the installation area of the equipment is reduced compared to the case where the assembly object W0 and parts W1, W2, W3 are separately loaded and handled. It can be made smaller, and the route required for handling can be shortened, and work efficiency can be improved.
  • a plurality of concave boxes 210 in which storage pallets are detachably stacked in a heavy box shape, Since 220, 230, and 240 forces are required, it is easy to store and take out the assembly object WO and parts Wl, W2, and W3, and it is also easy to increase the second concave box according to the number of parts. is there.
  • the storage pallet is composed of a plurality of concave boxes 210, 220, 230, and 240 that can be separated from each other, the assembly object W0 and the parts W1 and W2 are arranged as necessary (in the upstream preparation process etc.). , W3 can be handled separately, flexible management is possible, and assembly work of product W can be completed with a single work station, so the location of equipment M ⁇ can be freely set Therefore, when an automatic assembly line is set up by arranging a plurality of the devices M ⁇ , the degree of freedom in layout is increased.
  • FIGS. 38 and 39 show still another embodiment of the automatic assembly apparatus according to the present invention.
  • the same components as those of the above-described embodiment are denoted by the same reference numerals and description thereof is omitted.
  • the storage pallet force parts Wl, W2, and W3 positioned at the loading position are taken out by the mounting table 140 ", the transfer assembly unit 150, the work unit 160, etc., and assembled to the assembly object WO.
  • a nod ring mechanism that performs various tasks is constructed!
  • the parts Wl, W2, W3 can be assembled by the transfer assembly unit 150, and two work units 16 (for example, a predetermined work can be carried out (for example, When the assembled part is a screw or the like, the screw can be tightened.
  • the second storage unit constituting the storage pallet includes a plurality of second storage units (drawer-shaped boxes 21, 22, 23, second concave boxes 220, 230, 240).
  • the pallet ⁇ has been shown, the second storage portion including one drawer-like box or one second concave box may be adopted without being limited thereto.
  • the mounting portions 11a, 21a, 22a, and 23a are set to the necessary and optimum number and position for mounting the assembly object WO and the parts Wl, W2, and W3, which are not limited to four.
  • the storage pallet P, the assembly object WO to be stored, and the components Wl, W2, and W3 are not limited to this, and are not limited to this.
  • the area is relatively small!
  • the automatic assembling apparatus M ⁇ shows a case where the transfer assembly unit 150 that combines the transfer operation of the concave box or the component and the assembly operation of the component is employed.
  • Transfer unit and assembly unit may be provided separately
  • FIGS. 40A and 40B there is a configuration in which a discharge device Ml for discharging the empty second concave boxes 220, 230, 240 is provided adjacent to the device.
  • a discharge device Ml for discharging the empty second concave boxes 220, 230, 240 is provided adjacent to the device.
  • FIGS. 40A and 40B there is a configuration in which a discharge device Ml for discharging the empty second concave boxes 220, 230, 240 is provided adjacent to the device.
  • Fig. 41A and Fig. 41B two mounting tables 140 '' and two transfer mounting units 150 are provided, and one mounting table 140 ⁇ is assembled. It may be used as a work area for performing the attaching work, and the other mounting table 140 ⁇ may be used as an area for stacking and stocking the empty second concave boxes 220, 230, 240.
  • the storage pallet and the automatic assembly apparatus of the present invention achieve simplification of the structure, downsizing, and space saving of the area where the equipment is installed, and processing such as fractions is unnecessary. As a result, it is possible to prevent parts from being forgotten, improve work efficiency, and complete the product with an optimal production plan. Of course, it is applicable not only to panel-shaped products but also to automatic assembly lines for small mechanical products or electrical products.

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Abstract

L'invention concerne une palette de stockage (P, P') comportant, afin de stocker une cible d'assemblage et des pièces devant être assemblées avec la cible d'assemblage, une première unité de stockage (11, 210) permettant de stocker la cible de stockage (W0), et une deuxième unité de stockage (21, 22, 23, 220, 230, 240) arrangée verticalement sous la première unité de stockage. L'invention concerne par ailleurs un appareil d'assemblage automatique comportant un mécanisme de transport (120) permettant de transporter la palette de stockage (P, P'), un mécanisme de retenue (130), une unité d'assemblage de transfert (150), entre autres. En conséquence, la zone nécessaire pour transporter ou manipuler la cible d'assemblage et les pièces peut être réduite pour limiter la zone d'aménagement des installations. De plus, les traitements des fractions, qui peuvent avoir lieu dans le cas des transports et manipulations sur différentes palettes, peuvent être éliminés pour éviter d'oublier l'assemblage des pièces et pour améliorer le rendement de travail, de telle manière que les produits peuvent être réalisés selon le plan de production optimum.
PCT/JP2006/316574 2006-08-24 2006-08-24 Palette de stockage et appareil d'assemblage automatique WO2008023418A1 (fr)

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CN106695425A (zh) * 2016-12-28 2017-05-24 苏州富强科技有限公司 用于自动取料机构的托盘组件
CN111195818A (zh) * 2020-03-24 2020-05-26 深圳市昇茂科技有限公司 一种全自动按键组装机

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JPS6423324U (fr) * 1987-08-03 1989-02-07
JPH0742577Y2 (ja) * 1989-10-12 1995-10-04 沖電気工業株式会社 組立作業用パレット
JPH10147340A (ja) * 1996-11-14 1998-06-02 Ykk Corp 収納付パレット
JP2001259936A (ja) * 2000-03-15 2001-09-25 Canon Inc 部品組立方法とこの方法による部品組立装置

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JPS57211440A (en) * 1981-06-22 1982-12-25 Sony Corp Automatic assembly device
JPS6114826A (ja) * 1984-06-26 1986-01-23 Daifuku Co Ltd エ−ジング用パレツト
JPS6423324U (fr) * 1987-08-03 1989-02-07
JPH0742577Y2 (ja) * 1989-10-12 1995-10-04 沖電気工業株式会社 組立作業用パレット
JPH10147340A (ja) * 1996-11-14 1998-06-02 Ykk Corp 収納付パレット
JP2001259936A (ja) * 2000-03-15 2001-09-25 Canon Inc 部品組立方法とこの方法による部品組立装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106695425A (zh) * 2016-12-28 2017-05-24 苏州富强科技有限公司 用于自动取料机构的托盘组件
CN111195818A (zh) * 2020-03-24 2020-05-26 深圳市昇茂科技有限公司 一种全自动按键组装机

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