JPH06320363A - Part automatic assembling device - Google Patents

Abstract

PURPOSE:To provide a part automatic assembling device for high general pur pose use capable of assembling many parts to a semi-fabricated product, in a part automatic assembling device to assemble parts and take out parts from a part feeding unit. CONSTITUTION:A part automatic assembling device comprises an assembly line 11; and assembly work table 27, part conveying device 28L and 28R to feed parts 30L and 30R; and first and second arms 16R-17R to which a mechanical hand to take out and assemble the parts 30L and the like is attachable. Further, the part automatic assembling device comprises a horizontal type robot 14 to move the first arm 16L, etc., within a horizontal plane and in a vertical direction and assemble the part 30L, etc., from above to a semi- fabricated product, 12; and an orthogonal type robot 33 to which a mechanical hand is attached and which assembles the part 30L, etc., from the side of the semi-fabricated product 12 through movement of the mechanical hand in a vertical and a horizontal direction. The given position of an assembly line 11 and an assembling work table 27 are disposed within the common work range 23 for each arm of a horizontal type robot 14 and the orthogonal type robot 33 is disposed in the vicinity of the assembling work table 27.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic parts assembling apparatus, and more particularly to a mechanical hand for assembling parts and taking out parts from a parts supply unit, which is mounted on a semi-finished product on an assembly work table above and on the side. The present invention relates to a component automatic assembly device for assembling components from one side.

[0002]

2. Description of the Related Art Conventionally, a semi-finished product which is sequentially conveyed along an assembly line is assembled with predetermined parts at preset positions, and all necessary parts are assembled to obtain a desired performance. It has become common to manufacture products having the above-mentioned requirements, and it is also common to carry out the work of assembling the above parts using a horizontal articulated industrial assembly robot.

An example of a conventional automatic parts assembly apparatus equipped with this type of industrial assembly robot is, for example, an actual Kaihei 2-278.
No. 28, two independent horizontal articulated robots are arranged back to back in parallel with the assembly line, and working parts for common operation are provided at predetermined positions of the component supply line and the assembly line, respectively. It is described that each robot is provided with an assembly work unit for assembling parts into a semi-finished product in an independent work area of each robot. This automatic parts assembly device (hereinafter referred to as the first
In the conventional example), the semi-finished product is pulled out from the assembly line by the unloading mechanism, the robot transfers to each assembly work unit, and at the same time, the machine tact when assembling common parts by taking out parts from the parts supply line and assembling It is supposed to be.

Further, two independent horizontal articulated robots are arranged back-to-back at right angles to the assembly line, and one robot is provided with a predetermined position of the component supply line in the independent work area and the other robot is independently operated. It is described that a predetermined position of an assembly line is arranged in a work area, and an assembly work unit is provided in each of the work parts for common operation at predetermined predetermined positions in the middle of the component supply line and the assembly line. This automatic component assembly apparatus (hereinafter, referred to as a second conventional example) pulls out a semi-finished product from an assembly line by a carry-out mechanism, one robot transfers the components to respective assembly work units, and the other robot transfers components from a component supply line. By taking out and assembling, the machine tact when assembling common parts is halved.

[0005]

However, in the first conventional example, since the work units are arranged in the individual work areas of each robot, when assembling multiple parts into a semi-finished product, each robot is There was a problem that the assembly jig corresponding to the parts had to be replaced and a parts supply line had to be added for each part. Further, even if different assembly jigs are attached to the respective robots, there is a problem that it takes time because the semi-finished products must be transferred from one part to the other work unit for each part.

Further, in the second conventional example, one robot transfers the semi-finished product to each assembly work unit,
Since the other robot picks up parts from the parts supply line and assembles them into the semi-finished product, it is uneconomical to use one robot as a transfer-only machine, and when assembling multiple parts into the semi-finished product, the other robot There was a problem that one of the robots had to wait during the time of assembling by replacing with an assembling jig corresponding to the above.

Furthermore, since both the first and second conventional examples are horizontal articulated robots, they are good at work for assembling parts from above into a semi-finished product, but usually in the case of automatic assembly depending on the type of product. Include the side work of assembling the parts from the side of the semi-finished product, such as inserting the roller 1, press-fitting or inserting the gear 2 and tightening the screw 3 as in the assembly of the copying machine unit shown in FIG. Mostly. For this reason, in order to force the horizontal articulated robot to perform lateral force work, the motor for driving the robot in the horizontal direction must be increased, which causes a problem that the horizontal articulated robot becomes large.

Therefore, the invention according to claim 1 provides a highly versatile automatic component assembling apparatus capable of efficiently assembling multiple components and capable of assembling components from above and from the side of the semi-finished product. It is an object. It is an object of the invention according to claim 2 to provide an automatic parts assembling apparatus capable of efficiently assembling a product in which assembling work of parts from the side of a semi-finished product is frequent.

According to a third aspect of the present invention, there is provided an automatic parts assembling apparatus capable of efficiently assembling a product in which many parts are assembled from the side with respect to the assembling of parts from above the semi-finished product. Has an aim. Claim 4
The described invention is a versatility and a versatility in which the assembling work from above and the side depending on the product to be assembled can be performed regardless of the ratio of the assembling work of the parts from above the semi-finished product and the assembling work of the parts from the side. It is an object of the present invention to provide an automatic component assembling apparatus with high cost.

[0010]

In order to achieve the above object, the invention according to claim 1 is an assembly line for conveying semi-finished products,
An assembly worktable on which a semi-finished product is placed and an assembly work is performed on the semi-finished product, a component supply unit that supplies the component to be assembled to the semi-finished product, a part is taken out from the component supply unit and a part is assembled to the semi-finished product. A horizontal robot having a pair of arms to which a mechanical hand for performing the above can be attached, and the arms can be moved in a horizontal plane and in a vertical direction;
An orthogonal robot which is equipped with a mechanical hand for assembling parts into a semi-finished product and is movable in the vertical and horizontal directions, and a predetermined position of the assembly line and an assembly worktable are common to each arm of the horizontal robot. The robot is installed within the working range and the orthogonal robot is installed near the assembly workbench, and the horizontal robot moves the arm in the horizontal plane and in the vertical direction, and the mechanical hand raises the semifinished product on the assembly workbench. From the above, the orthogonal robot moves in the horizontal direction and the vertical direction, and the mechanical hand is used to assemble the parts from the side to the semi-finished product on the assembly work table.

According to a second aspect of the present invention, two sets of the orthogonal robots of the automatic component assembly apparatus according to the first aspect are provided near an assembly workbench.
The invention described in the above is characterized in that the arm of the horizontal robot of the automatic parts assembly apparatus according to claim 2 is one set. Further, the invention according to claim 4 is an assembly line for conveying a semi-finished product, an assembly work table on which the semi-finished product is placed and which can be moved vertically and horizontally, and a parts supply unit for supplying parts to be assembled to the semi-finished product. And a horizontal robot having a pair of arms on which a mechanical hand for taking out parts from a parts supply unit and assembling parts to a semi-finished product can be mounted, and moving the arms in a horizontal plane and in a vertical direction, And a predetermined position of the assembly line and an assembly workbench are arranged within a common working range of each arm of the horizontal robot, and the horizontal robot moves the arm in a horizontal plane and in a vertical direction by a mechanical hand. Parts are assembled from above onto the semi-finished product on the assembly workbench, and the assembly workbench moves vertically and horizontally to move the mechanism of the horizontal robot. It is characterized in that performing the assembly from the side of the part by Ruhando.

[0012]

According to the first aspect of the invention, within a common working range of the respective arms of the horizontal robot capable of mounting a mechanical hand for taking out parts and assembling the parts to a pair of arms that move in a horizontal plane and in a vertical direction. , A predetermined position of the assembly line and an assembly workbench are arranged, and an orthogonal robot which is mounted with a mechanical hand for assembling the parts and is movable in the vertical and horizontal directions is arranged near the workbench. .

Then, the arm equipped with the mechanical hand of the horizontal robot moves in the horizontal plane and in the vertical direction to take out the component from the component supply unit and assemble the semi-finished product on the assembly line from above, or the semi-finished product. Is gripped and transferred onto the assembly work table to assemble the components from above, and the orthogonal robot also assembles the components from the side. At this time, while one arm is performing the assembly work, the other arm takes out the component from the component supply unit. Further, the orthogonal robot descends when the arm of the horizontal robot moves in the horizontal plane, thereby avoiding interference between the orthogonal robot and the horizontal robot.

Therefore, the upper work for assembling the parts from above onto the semi-finished product and the lateral work for assembling the parts from the side are performed simultaneously, so that the assembling time is greatly shortened. Further, since the assembling work is performed on the same assembling workbench, the parts supplied to the horizontal robot and the orthogonal robot can be efficiently and automatically assembled regardless of whether they are single parts or different parts.

According to the second aspect of the invention, two sets of orthogonal robots are provided near the assembly workbench. Therefore, even a product that requires a large amount of horizontal work for laterally assembling parts into a semi-finished product can be efficiently and automatically assembled without waiting the horizontal robot. In the invention according to claim 3, the arm of the horizontal robot is made into one set. Therefore, a product which requires a lot of lateral work for assembling parts from the side rather than an upper work for assembling parts from above in a semi-finished product is efficiently and automatically assembled.

Further, according to the invention of claim 4, a common work of each arm of a horizontal robot capable of mounting a mechanical hand for taking out parts and assembling parts to a pair of arms moving in a horizontal plane and in a vertical direction. Within the range, a predetermined position of the assembly line and a semi-finished product are placed, and an assembly workbench capable of moving vertically and horizontally is arranged.

Then, the arm equipped with the mechanical hand of the horizontal robot moves in the horizontal plane and in the vertical direction to take out the component from the component supply unit and assemble the semi-finished product on the assembly line from above, or the semi-finished product. Is gripped and transferred onto the assembly workbench, and the parts are assembled from above. Further, in the semi-finished product transferred onto the assembly workbench, the assembly workbench moves vertically and horizontally, and the parts are laterally assembled by the mechanical hand of the horizontal robot. Further, after the semi-finished product is transferred to the assembly work table, the part is taken out from the part supply unit by one of the arms and mounted on the semi-finished product. At this time, while one arm is performing the assembly work, the other arm takes out the component from the component supply unit.

Therefore, since the upper work for assembling the parts from above into the semi-finished product and the lateral work for assembling the parts from the side are performed without transferring the semi-finished products, the assembling work time is greatly shortened. Also, the arm of the horizontal robot moves to assemble the parts to the semi-finished product from above, and the assembly work table moves to assemble the parts from the side to the semi-finished product. Also, it is efficiently and automatically assembled regardless of the ratio of lateral work for assembling parts from the side.

[0019]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. FIG. 1 is a plan view showing an embodiment of an automatic component assembling apparatus according to the invention of claim 1. In the figure, 11 is an assembly line, and the assembly line 11 is adapted to carry an assembly carrier 13 on which a semi-finished product 12 is placed. A horizontal multi-joint type multi-arm robot 14 is provided in the vicinity of the assembly line 11, and the semi-finished product 12 of the assembly line 11 is described later in a horizontal multi-joint type multi-arm robot (hereinafter also referred to as horizontal robot) 14. It is designed to be conveyed parallel to the arm.

The horizontal robot 14 has a first arm 16 having a mechanical hand (not shown) at the tips 20L and 20R.
L and 16R, and the base ends of the first arms 16L and 16R are connected to the base ends of the second arms 17L and 17R and the second arms 17L and 17R that are rotatably connected by connecting parts 21L and 21R. Department
An actuator for rotating the mechanical hand (hereinafter, also simply referred to as a hand) and attaching / detaching the hand to and from the tip ends 20L and 20R. The body portion 19 is rotatably connected by 22L and 22R. But the connection
21L and 21R include rotary drive sources for rotating the first arms 16L and 16R with respect to the second arms 17L and 17R, and a connecting portion 22L and
22R is provided with an independent lifting mechanism for lifting and lowering the second arms 17L and 17R. In the horizontal robot 14, the actuator, the rotary drive source, and the lifting mechanism are driven and controlled by a controller (not shown).
The two arms 16L, 16R, 17L, 17R can be raised and lowered and rotated independently of each other. That is, the first and second
The arms 16L, 16R, 17L and 17R form a pair of arms.

Further, an assembly workbench 27 is arranged between the assembly line 11 and the horizontal robot 14, and this assembly workbench is used.
27 and the assembly carrier 13 of the assembly line 11 are horizontal robots.
It is provided to be within a common working area 23 of 14 areas.
In addition, component transfer devices 28L and 28R are provided in the unique work ranges 25L and 25R, respectively.
L, 28R parts 30L assembled to workpiece 12, place the 30R has been component supply tray 32L, components such that the hand of the horizontal type robot 14 conveys the 32R to arrow L _1, R ₁ direction to grip 30L, The drive is controlled by the control unit so as to position 30R at an arbitrary position. That is, the component transfer devices 28L and 28R and the component supply tray
32L and 32R constitute a parts supply unit.

This horizontal robot 14 has a common body portion 19
Independent first and second arms 16L, 16R, 17L, 17R are attached to the first and second arms, and they move in the horizontal plane and in the vertical direction, respectively, and have one common work range 23, the other common work range 24 and a unique work range 25L. , 25R, the hand can work, and the hand grips the semi-finished product 12 and transfers it to the assembly work table 27 by moving in the horizontal plane and in the vertical direction, and the component transfer device 28L, Parts from 28R
The parts 30L and 30R are taken out, and the parts 30L and 30R are assembled from above onto the semi-finished product 12 on the assembly conveyance table 13 and the assembly work table 27. The hand of the horizontal robot 14 is attached and detached by the actuator and corresponds to a part to be assembled to the semi-finished product 12 from a work tool provided in a tool unit (not shown) provided in the other common work range 24. It is supposed to be replaced. Further, the assembly work table 17 is rotatably provided, and is rotated by the control unit to change the position of the semi-finished product 12 according to the assembly position of the parts. When rotating the assembly work table 17 to change the position of the semi-finished product 12, the assembly work table 27 is raised or lowered so that the assembly work table 27 does not interfere with the assembly transfer table 13, or one assembly transfer table 13 is used. Be sure to transport every other.

Further, 33 is an orthogonal robot, and the orthogonal robot 33 is arranged on the downstream side (the left side in the figure) of the assembly work table 27 in the conveying direction of the assembly work table 27. Assemble the mechanical hand 34 to which the parts 30L and 30R are transferred by the horizontal robot 14, the slide X-axis 35 that moves the mechanical hand (hereinafter, also simply referred to as the hand 34) 34 in the transport direction of the assembly line 11, and the hand 34. A slide Y-axis 36 that moves in a direction orthogonal to the carrying direction of the line 11 and a slide Z that moves the hand 34 in the vertical direction.
And a shaft 37. The orthogonal robot 33 moves the hand 34 in the XYZ directions so that the parts 30L and 30R transferred from the horizontal robot 14 are laterally assembled to the semi-finished product 12 on the assembly work table 27. Has become.

The control unit includes a CPU, a memory and an I / O.
The horizontal robot 14 and the orthogonal robot 33 are controlled based on a signal from the apparatus main body, sensor information, etc. according to a control program which is composed of a circuit or the like and is stored in advance in an internal memory thereof, and the transfer speed and the assembly speed of the assembly line 11 are set. Workbench
The rotation etc. of 27 are controlled to smoothly execute the assembly work. For example, while one side of the first and second arms 16L, 16R, 17L, 17R is transferring the semi-finished product 12 and assembling the parts 30L, 30R, the other side is taking out the parts 30L, 30R or the orthogonal robot. 33 hand 34 parts 30L, 30R
I am supposed to hand over. Orthogonal robot 33
Prevents the first and second arms 16L, 16R, 17L, 17R from colliding (interfering) with each other by being lowered when rotating.

As described above, in this embodiment, the horizontal robot
A predetermined position of the assembly line 11 and an assembly work table 27 are arranged in a common work range 23 of the first arm 16L of 14 and the orthogonal robot 33 is arranged in the vicinity of the assembly work table 27. . When only the parts 30L and 30R are assembled to the semi-finished product 12 from above, the first arm 16L and the like of the horizontal robot 14 are moved in the horizontal plane and in the vertical direction to move the parts 30L and 30R from the part supply unit. The parts 30L and 30R are taken out and assembled to the semi-finished product 12 on the assembling transfer table 13 of the assembling line 11 from above. When the parts 30L and 30R are assembled to the semi-finished product 12 from above and from the side, the first arm 16L of the horizontal robot 14 is moved in the horizontal plane and in the up-and-down direction to grip the semi-finished product 12 for assembling work. The parts 30L and 30R are transferred onto the table 27 and assembled from above, and the parts are laterally moved by the orthogonal robot 33.
30L and 30R are assembled. At this time, the first arm 16
While one of L, 17L or the second arm 16R, 17R is performing the assembling work, the other one of the second arm 16R, 17R is used by the component transfer device 28
The parts 30L and 30R are taken out from L and 28R, and the parts 30L and 30R are transferred to the hand 34 of the orthogonal robot 33.

Therefore, the semi-finished product 12 has parts 30L and 30R.
Are alternately assembled from above by the first arm 16L of the horizontal robot 14 and from the side by the orthogonal robot 33, so that the assembly work time is greatly reduced and the assembly time of the semi-finished product 12 is significantly reduced. It In addition, parts 30 supplied to the horizontal robot 14 and the orthogonal robot 33
Since L and 30R are assembled on the semi-finished product 12 on the same assembly worktable 27, even different parts can be efficiently and automatically assembled. Therefore, switching and setting of the assembly work can be facilitated, and versatility and diversion are improved. Furthermore, when a plurality of apparatus bodies are installed in the assembly line 11 to form a continuous multi-component automatic assembly system, the installation space can be reduced. It should be noted that since the horizontal robot 14 is provided with two sets of the above-mentioned arms, one set of the orthogonal robot 33 is provided, so that the assembling work in which the ratio of the upper work and the lateral work is 2: 1 is efficient. To be executed.

Further, an assembly work table 27 is arranged in a work range 23 between the assembly line 11 and the horizontal robot 14, and the semi-finished product 12
Need only be reciprocally transferred between the assembly line 11 and the assembly work table 27, so that the transfer time of the semi-finished product 12 is greatly shortened and the assembly time is further shortened. Further, the horizontal robot 14 is a semi-finished product on the assembly transfer table 13 and the assembly work table 27.
Since the upper work of assembling the parts 30L and 30R from above to the 12 can be performed, the assembling work can be performed without transferring the semi-finished product 12 of only the upper work onto the assembling work table 27, and the assembling work is shortened. .

The orthogonal robot 33 has a first arm 16L.
Since they descend when they rotate, interference with the horizontal robot 14 is avoided. Further, since the orthogonal robot 33 is arranged on the downstream side of the assembly line 11 of the assembly work table 27, the installation space does not become large.
FIG. 2 is a plan view showing an embodiment of the component automatic assembly apparatus according to the invention of claim 2. In this embodiment, the same components as those in the above-mentioned embodiment are designated by the same reference numerals and the description thereof will be omitted.

In the figure, reference numeral 43 is an orthogonal robot, and the orthogonal robot 43 is disposed on the upstream side of the assembly line 11 of the assembly work table 27. The orthogonal robot 43 is horizontal with the orthogonal robot 33. The parts 30L and 30R delivered from the die robot 14 are laterally assembled to the semi-finished product 12 on the assembly work table 27. In the present embodiment, in addition to the effects of the above-described embodiment, since the orthogonal robots 33 and 43 are arranged on the upstream and downstream sides of the assembly line 11 of the assembly work table 27,
Even a product with a large amount of horizontal work in which the parts 30L and 30R are assembled from the side to the semi-finished product 12 is automatically assembled without the horizontal robot 14 waiting. The horizontal robot 14 has two arms, whereas the orthogonal robots 33 and 43 have two arms.
Since they are arranged in a set, the assembling work in which the ratio of the upper work and the lateral work is 1: 1 can be efficiently executed.

Further, the orthogonal robots 33 and 43 are assembled worktables.
Since the assembly worktable 27 is disposed on the upstream and downstream sides of the assembly line 11, it is not necessary to rotate the assembly workbench 27 and the control is not complicated. FIG. 3 is a plan view showing an embodiment of the parts automatic assembly apparatus according to the invention of claim 3. In this example,
The same components as those in the above-described embodiment are designated by the same reference numerals and the description thereof will be omitted.

In the figure, reference numeral 54 denotes a horizontal robot. The horizontal robot 54 includes a first arm 56 having a mechanical hand (not shown) at the tip 60, and the first arm 56.
A second arm 57 whose distal end is rotatably connected to the base end of 56 by a connecting part 61, and a body part 59 whose base end of the second arm 57 is rotatably connected by a connecting part 62. An actuator for rotating the hand and detaching the hand is provided at the tip 60, and a second actuator is provided at the connecting portion 61.
A rotary drive source for rotating the first arm 56 with respect to the arm 57 is provided, and an independent elevating mechanism for elevating and rotating the second arm 57 is provided at the connecting portion 62. The horizontal type robot 54 is driven and controlled by the control unit so that
The semi-finished product 12 is transferred from the assembly line 11 arranged so as to be within the work range 63 by raising and lowering and rotating the arms 56 and 57 onto the assembly work table 27, and the parts transfer devices 28L and 28R to the parts 30.
L and 30R are taken out and the parts 30L and 30R are assembled to the semi-finished product 12 from above. That is, the first and second arms 56 and 57 form a set of arms.

In the present embodiment, two sets of orthogonal robots 33 and 43 are provided for the first set of first and second arms 56 and 57 of the horizontal robot 54 in comparison with the above-described embodiment. Therefore, a product that requires a lot of lateral work to assemble the parts 30L and 30R from the upper side in the semi-finished product 12 can be automatically and efficiently assembled. It should be noted that the horizontal robot 54 has one arm as described above, while the orthogonal robot 54 has one arm.
Since two sets of 33 and 43 are arranged, the assembling work having a ratio of the upper work and the lateral work of 1 to 2 can be efficiently executed.

4 to 7 are plan views showing an embodiment of an automatic parts assembling apparatus according to the present invention. In addition,
In this embodiment, the same components as those in the above-mentioned embodiment are designated by the same reference numerals and the description thereof will be omitted. In the figure, 74 is a horizontal robot, and the horizontal robot 74 is the first arm 16
Rotary mechanical hand (hereinafter also simply referred to as rotary hand) 81L, 81R on the tip 20L, 20R of L, 16R
The rotary hands 81L and 81L are provided with four hands 84a to 84d. This rotary hand
81L and 81L are adapted to rotate the hands 84a to 84d corresponding to the parts to be assembled to the semi-finished product 12. The hands 84a to 84d are provided with work tools 82a, which are provided in tool units provided in the unique work ranges 25L and 25R.
It is designed to be replaced corresponding to the parts assembled from 82b to the semi-finished product 12.

Reference numeral 87 denotes an assembly work table. The assembly work table 87 has a slide X-axis 95 for moving the semi-finished product 12 in the carrying direction of the assembly line 11, and a direction orthogonal to the carrying direction of the semi-finished product 12 in the assembly line 11. Slide Y-axis 96 for moving the semi-finished product 12 in the vertical direction, slide Z-axis 97 for moving the semi-finished product 12 in the vertical direction, and position for rotating the semi-finished product 12 (angle θ with respect to the rotary hands 81L, 81R).
And a rotation motor 98 for changing the.

This assembling work table 87 is used to transfer the semi-finished product 12 to XYZ.
By moving in the −θ direction, the parts gripped by the horizontal robot 84 are assembled from the side with the hand 84a or the like. As shown in FIG. When performing the work, the assembly work table 87 is lowered and the first and second arms 16L
Etc. are rotated and lowered to assemble the parts held by the rotary hands 81L and 81R by the hand 84a and the like onto the semi-finished product 12. Further, as shown in FIG. 7, when performing a lateral work for assembling the parts to the semi-finished product 12 from the side, the semi-finished product 12 is held at the height of the rotary hands 81L and 81R while the semi-finished product 12 is held at the height of the rotary hands 81L and 81R. Semi-finished product by rotating the arm 16 etc.
After moving the rotary hands 81L and 81R to the vicinity of 12, the assembly work table 87 is moved to assemble the parts gripped by the hand 84a and the like onto the semi-finished product 12. At this time, the horizontal robot 84 uses the brake 89 to move the first and second arms 16L,
It prevents the 16R etc. from moving and enables screwing and press-fitting.

Incidentally, 88a is a screw feeder, 88b and 88c are small parts feeders, the screw feeder 88a is within a unique working range 25L, and the small parts feeders 88b and 88c are within a unique working range 25L. The hands 84a to 84d are arranged so that they can be held. Further, 90 is a rotary drive source for rotating the first and second arms 16, etc., and 87a, 87b are replacement assembly worktables on which different semi-finished products can be placed.

In this embodiment, rotary hands 81L and 81R having a plurality of hands 84a to 84d are provided at the tips 20L and 20R of the first arms 16L and 16R, respectively, and the assembly work table 87 is an XY.
The first and second arms 16 are configured to be movable in the −Z−θ direction.
By rotating the L and the like in the vertical direction, the semi-finished product 12 is assembled with components from above, and the assembly worktable 87 is moved to the XY-.
By moving in the Z-θ direction, the rotary hand 81L,
Parts are assembled from the side to the semi-finished product 12 by the hands 84a to 84d of 81R. Therefore, the parts can be efficiently assembled regardless of the ratio of the upper work for assembling the parts from above to the semi-finished product 12 and the lateral work for assembling the parts from the side. In addition, the rotary hands 81L and 81R have a plurality of hands 84.
Since a to 84d are provided, various types of assembly can be performed without changing work tools. Therefore, switching and setting of the assembly work can be facilitated, and versatility and diversion are improved. Further, since it is not necessary to arrange the orthogonal robot, the installation space can be reduced.

Further, when performing the lateral work, the first arm 16L of the horizontal robot 84 is prevented from being moved by the brake 89, and the parts are assembled by moving the assembly work table 87. It is not necessary to make the rotary drive source 90 for rotating the one arm 16L or the like large. Further, since the assembly work table 87 is configured to be movable, it is not necessary to perform linear interpolation when rotating the first arm 16L and the like, and the control program of the control unit and the configuration for controlling are simplified. It

[0039]

According to the first aspect of the present invention, one arm of a horizontal robot transfers a semi-finished product conveyed by an assembly line onto an assembly work table within a common work range of each arm. While assembling the parts, the other arm removes the parts from the parts supply unit. Then, the pair of arms alternately assembles the parts from above the semi-finished product. In addition, an orthogonal robot assembles parts into semi-finished products from the side. At this time, the orthogonal robot avoids interference with the horizontal robot by descending when the arm of the horizontal robot moves horizontally. Therefore, the upper work for assembling the parts from above in the semi-finished product and the lateral work for assembling the parts from the side can be continuously executed with no vacant time, and the assembling work time can be significantly shortened. Also, since the parts are assembled from above and from the side on the same assembly work table, the transfer time of semi-finished products can be greatly shortened,
The assembly time can be further shortened. Further, even if the parts to be supplied to the horizontal type robot and the orthogonal type robot are single type parts or different type parts, they can be automatically assembled. As a result, it is possible to provide a highly versatile component automatic assembly apparatus capable of efficiently assembling multiple components from above and from the side of a semi-finished product.

According to the second aspect of the present invention, two sets of orthogonal robots are provided in the vicinity of the assembly workbench, so that the horizontal robot is made to stand by even for a product in which semi-finished products are assembled sideways from side to side and in which a lot of horizontal work is performed. It can be efficiently and automatically assembled. According to the invention described in claim 3, since the arm of the horizontal robot is made into one set, the automatic assembly of a product which has a lot of lateral work of assembling parts from the side rather than the upper work of assembling the parts from above to the semi-finished product is efficiently performed. can do.

According to the fourth aspect of the invention, the assembly worktable is configured to be movable horizontally and vertically, and the horizontal robot is used to assemble the parts onto the semi-finished product from above and move the assembly worktable. Since the horizontal robot assembles parts to the semi-finished product from the side, top work to assemble the parts to the semi-finished product from above and lateral work to assemble the parts from the side can be performed sequentially, significantly reducing the assembly work time. be able to. As a result, regardless of the ratio of the work of assembling the parts from above the semi-finished product and the work of assembling the parts from the side, the work can be done from above and from the side according to the product to be assembled. It is possible to provide a high-part automatic assembly device.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment of an automatic parts assembling apparatus according to the invention described in claim 1. FIG.

FIG. 2 is a plan view showing an embodiment of an automatic component assembling apparatus according to the invention of claim 2;

FIG. 3 is a plan view showing an embodiment of an automatic component assembling apparatus according to a third aspect of the invention.

FIG. 4 is a plan view showing an embodiment of an automatic component assembling apparatus according to a fourth aspect of the invention.

FIG. 5 is a front view thereof.

FIG. 6 is a state diagram illustrating the work.

FIG. 7 is a state diagram for explaining a work different from the work shown in FIG.

FIG. 8 is an exploded perspective view showing a copying machine unit that is automatically assembled by an automatic component assembly apparatus.

[Explanation of symbols]

 11 Assembly line 12 Semi-finished product 13 Assembly carrier 14 Horizontal articulated robot (horizontal robot) 16L, 16R, 56 1st arm (arm) 17L, 17R, 57 2nd arm (arm) 23, 24 Common working range 25L, 25R Unique work range 27, 87 Assembly workbench 28L, 28R Parts transfer device (parts supply unit) 30L, 30R Parts 32L, 32R Parts supply tray (parts supply unit) 33, 43 Cartesian robot 34, 84a-84d Mechanical hand 81L, 81R Rotary hand

Claims (4)

[Claims] 1. An assembly line for conveying a semi-finished product, an assembly work table on which the semi-finished product is placed, and an assembly work for assembling the parts to the semi-finished product, a component supply unit for supplying a component to be assembled to the semi-finished product, and a component supply It has a pair of arms that can be equipped with mechanical hands for taking out parts from the unit and assembling parts into semi-finished products, and a horizontal robot that can move the arms in a horizontal plane and in the vertical direction, and a semi-finished product. An orthogonal robot that is equipped with a mechanical hand that assembles parts and can move in the vertical and horizontal directions.The predetermined position of the assembly line and the assembly worktable are within the common working range of each arm of the horizontal robot. And the orthogonal robot is installed near the assembly worktable, and the horizontal robot moves the arm in the horizontal plane and in the vertical direction. Parts are assembled from above on the semi-finished product on the assembly workbench by using the mechanical hand, and the orthogonal robot moves horizontally and vertically to assemble parts from the side on the semi-finished product on the assembly workbench by the mechanical hand. A component automatic assembly apparatus characterized by performing. 2. An automatic parts assembling apparatus, wherein two sets of the orthogonal robots of the automatic parts assembling apparatus according to claim 1 are provided near an assembling work table. 3. The automatic part assembly apparatus according to claim 2, wherein the horizontal robot of the automatic part assembly apparatus according to claim 2 has one arm. 4. An assembly line for conveying a semi-finished product, an assembly work table on which the semi-finished product is placed and which can be moved vertically and horizontally, a parts supply unit for supplying parts to be assembled to the semi-finished product, and a parts supply unit. A horizontal robot that has a pair of arms to which a mechanical hand can be mounted for taking out parts from the machine and assembling the parts into a semi-finished product, and moving the arms in a horizontal plane and in the vertical direction. The predetermined position of the line and the assembly workbench are arranged within the common work range of each arm of the horizontal robot, and the horizontal robot moves the arm in the horizontal plane and in the vertical direction, and the mechanical work is performed on the assembly workbench. Assemble the parts from above to the semi-finished product, and the assembly work table moves vertically and horizontally to form a mechanical hand for a horizontal robot. Parts automatic assembling apparatus characterized by performing the assembly from the side of the part I.