JPS63295128A - Automatic assembly device - Google Patents

Abstract

PURPOSE:To perform an automatic control and to eliminate the restriction of arranging machines, by providing a supplier of a kit pallet mounting a part of plural kinds, conveyer conveying the part on the pallet to be positioned and an assembly device building the positioned part. CONSTITUTION:A kit pallet 9, mounting a part of plural kinds to be placed mixing, is conveyed in the vicinity of an assembly cell 3a by a conveyer 12. After a part on a magazine 25 is conveyed being positioned on a press fit jig 24 by a robot 13a in the assembly cell 3a, the part on the pallet 9 is conveyed being positioned and press fitted on the press fit jig 24 by the robot 13a. And that part and the other part on the pallet 9 are assembled by robots 13a, 17a with each assembly head 18a, 19a, 20a, being held as the half-finished product on a jig 21a. And the parts are mounted to the pallet 9 by the robot 13a, moved to an assembly cell 3b, similarly combined with a part from a feeder 27, formed into a finished product, relocated to an empty pallet 9 and taken out.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic assembly device for automatically assembling a product consisting of a plurality of parts.

[Conventional technique WI] Figure 3 shows the Japanese Patent Application Laid-Open No. 61-823, which the present applicant previously applied.
This is a plan view of a conventional automatic assembly device disclosed in Japanese Patent No. 5. In the figure, (13) is an NC-controlled robot, (1
4) This robot (13) Kera a with ni tori taha 7
F, (40a), (4Qb).

(40c), (40d) are vibrating pole feeders that supply parts, (41a), (41b), (41c
).

(41d) are those vibrating pole feeders (40a)~
(40d) is the component positioning section. (24) is a jig that holds the parts to be erected; (22) is a press-fitting head located directly above the jig (24) for press-fitting the parts;
(23) is a vertical movement mechanism that moves the press-fitting head (22) up and down, (44) is a jig that holds the component similarly to jig (24), and (42) is the base of jig (44) for performing insertion work. The insertion head located above (43) is the insertion head (44)
) is a vertical movement mechanism that moves up and down. (45) is assembled/
This is a pallet for transporting items, and is transported by a conveyor (46).

Next, the operation will be explained. Each component is fed one by one by vibrating pole feeders (40a) to (40d) and positioned by respective component positioning sections (41a) to (41d). The hand (14) attached to the robot (13) grasps these parts one by one,
Jig (24) by operating Lobov (13)
or (44) transport the part above. Jig (24)
Above, the press-fitting head (22) is lowered by the vertical movement mechanism (23) with the hand (worker 4) gripping the part, and the press-fitting work is performed.
) grips the component, the insertion head (42) is lowered by the vertical movement mechanism (43), and the insertion operation is performed.

By sequentially performing these operations in a predetermined sequence, after 0 gt when the assembly work is completed, the hand (14) of the robot (13) grasps this assembled product, and the robot (13) starts operating. The assembled product is transferred onto a pallet (45) positioned on a conveyor (46).

By repeating these series of operations, the assembled products are transferred onto the pallet (45) one after another, and the assembled products are transferred onto the pallet (45) one after another.
5) reaches 'tQta', the conveyor (46) is operated, a new empty pallet is positioned and the operation continues.

[Problem that the invention seeks to solve]

Since the conventional automatic assembly device is configured as described above, a plurality of component supply devices such as vibrating pole feeders (40a) to (40d) must be arranged around the robot I-(13). There were restrictions on the number of parts that could be handled due to space constraints. In addition, if the shape of the parts being handled changes and it becomes necessary to readjust the parts feeding device accordingly,
There was a problem in that it was difficult to make adjustments due to space constraints.

This invention was made in order to solve the above-mentioned problems, and there is no space restriction on the arrangement of the parts supply device, and it is possible to easily supply a large number of parts and also to easily change parts. The purpose is to obtain an automatic assembly device that can handle this.

[Means for solving problems]

In order to achieve the above object, the present invention provides a kit pallet on which a plurality of types of parts are placed, a kit pallet supply device that supplies the kit pallet, a transport device that transports and positions the parts on the kit pallet, and a kit pallet supply device that supplies the kit pallet. An automatic assembly device is provided that includes an assembly device that assembles positioned parts using a conveyance device, and a control device that controls these devices.

[For production]

A plurality of types of parts placed on a kit pallet and transported can be combined and assembled by an assembling device at a predetermined position, and the assembly work can be performed automatically while moving sequentially.

(Example) Fig. 1 is a plan view of an automatic assembly device according to the present invention, and Fig. 2 is an exploded perspective view of an example of a product assembled by this automatic assembly device. A large conveyor (12) and two assembly cells (3a) and (3b)
) and a control device (4).

In the conveyor (12), (9) is a kit pallet for placing a plurality of parts in a mixed manner.
The conveyor (12) carries these multiple kit pallets (9)
The assembly cells (3a) and (3b) are arranged so that they are circulated and transported near the assembly cells (3a) and (3b).

The assembly cell (3a) consists of an NC-controlled horizontally articulated robot (13a), a hand (+48) attached to the tip of the robot (13a), and a component mounting table (15a).
, a visual sensor (16a) that recognizes the position and orientation of the component on the component R placement table (15a), an NC-controlled orthogonal coordinate robot (17a), and a visual sensor (16a) attached to the tip of this robot (17a). assembly head (for inserting parts)
18a).

A screw tightening head (19a) for performing screw tightening work and a dispenser head (20a) for applying adhesive
) and various heads (18) of these robots (17a).
a), (19a), and (20a), a jig (21a) that holds the parts for assembly, a press-fit head (22) that press-fits the parts, and a vertical movement mechanism (23) that moves the press-fit head up and down. It consists of a press-fitting jig (24) that holds parts during press-fitting, a magazine (25) that stores small parts, and a supply mechanism (26) that moves the magazine (25) back and forth to feed small parts. has been done. Also, the assembly cell (3b) includes a robot (13b), a hand (14b), a parts ia mounting table 1, and a part ia mounting table 1, almost the same as the assembly cell (3a).
5b), visual acuity sensor (+6b)-robot (17b),
From an insertion head (18b), a screw tightening head (19b), a dispenser head (20b), a jig (2l b), a vibrating pole feeder (27) for supplying small parts, and a parts positioning part (28) of the feeder (27). It has become.

Control equipment! (4) is connected to the NC control devices (not shown) of the several robots mentioned above and other devices, and is configured to be able to control these.

The figure shows an example of a product assembled by the automatic assembly device (1), and this product (29) consists of a bearing (30a), a holder (31) into which the bearing (30a) is press-fitted, and a holder (31) into which the holder (31) is inserted. The stator (33) is connected to the holder (31) by the screw (32) after being inserted, the spindle (34) is inserted into the bearing (30a) press-fitted into the holder (31), and the inserted spindle (
A spacer (35), a wave washer (36) and a flat washer (37) are assembled in the holder (31) with respect to the bearing (34), and a bearing (34) is inserted into the holder (31) and the spindle (34). 30b) and
It consists of a rotor (39) that is tightened and fixed to the tip of the spindle (34) with a screw (38). After assembly, the rotor (39) fixed to the spindle (34) is attached to the holder (3
The structure is such that it can rotate via bearings (30a) and (30b) with respect to a stator (33) fixed to 1).

Next, let's take the case of assembling this product (29) as an example: Automatic assembly! The operation (1) will be explained. Of the parts (30) to (39) constituting the product (29), bearings (30a) and (30b) are attached to the magazine (25).
), the screws (32) and (38) are screwed with a screw tightening machine (19a).
, (19b) are stored in sufficient numbers for the automatic assembly device (1) to operate without being replenished for a long time.

The flow of work until the parts (30) to (39) are assembled into the product (29) will be explained as follows. First, when the empty kit pallet (9) arrives at the predetermined position (2) on the conveyor (12), the holder (31), stator (33), spindle (3
4), spacer (35), wave washer (36), flat washer (37), and rotor (39), a total of 7 parts on the kit pallet (9)! ! When the kit pallet (9) is completed, the kit pallet (9) is conveyed by the conveyor (12) and stopped at a position near the assembly cell (3a). On the other hand, in the assembly cell (3a), the robot (13a) uses the hand (14a) to grasp the bearing (30a) on the magazine (25) and transfer and position it onto the press-fitting jig (24), which is a pick-and-place operation. Then stop the kit pallet (9) and the bearing (30
When the pink-and-place work in a) is completed, the robot (13a) moves onto the kit pallet (9), grips the holder (31) with the hand (14a), and transports it onto the component mounting table (15a). and visual sensor (163)
After recognizing the position and orientation of the holder (31), the hand (14a) moves the holder (31) based on this recognition information.
) in an appropriate position.

Next, the robot (13a) inserts the holder (31) into the press-fitting jig (
24) When the upper bearing <303) is transported to the position directly above it, the press-fitting head (22) is lowered by the vertical movement mechanism (23) to press-fit the bearing (30a) into the holder (31). The press-fitting head (22) is raised by the vertical movement mechanism (23), and the robot (13a) transfers the holder (31) from the press-fitting jig (24) to the jig (21a).

Next, the robot (13a) and the hand (14a) pick and place the stator (33) from the kit pallet (9) to the component mounting table (15a) in the same way as the holder (31), and pick and place the stator (33) from the kit pallet (9) to the component mounting table (15a). After recognition by 16a), the robot (17a) transports the jig (21a) directly above the holder (31).In this state, the robot (17a) inserts the insertion head (18; l) into the grasped stator (33).
The insertion head (18a) is lowered to insert the stator (33) and holder (31). After the insertion work is completed, Robo-z) (17a) moves so that the screw tightening head (19a) is directly above the screw tightening position of the stator (33) and holder (31), and then the screw tightening head (19a) After lowering the robot (17a), it is activated to tighten the two screws (32).After the tightening operation is completed, the robot (17a) moves the screw tightening head (19a)
In the same manner as above, move the rad (20a) to the dispenser and lower it, and apply adhesive to each of the two screw tightening locations.

In this way, when the semi-finished product consisting of the holder (31), stator (33), bearing (30a) and screw (32) is assembled, the robot (13a) and the hand (14a) are assembled.
) is this semi-finished product on the jig (21a) and the magazine (
25) A pick-and-place operation is performed to transfer the upper bearing (30b) to a predetermined position on the kit pallet (9), and all operations in the assembly cell (3a) are completed.

Next, the conveyor (12) transports the kit pallet (9) to a position near the assembly cell (3b), and stops and positions it. The robot (13b) in the subsequent assembly cell (3b)
), hand (14b), parts storage stand (15b),
The work contents by the visual sensor (16b), robot (17b), insertion head (18b), screw tightening head (19b), dispenser head (20b) and jig (2l b) correspond to those in the assembly cell (3a). (138).

(14a)...It is almost the same as that of (21a). To explain the assembly procedure, the spindle (34) is
The parts are picked and placed from the kit pallet (9) onto the parts table (15b), gripped again by the hand (14b) based on recognition information from the visual sensor (16b), and then positioned on the jig (21b). .

Next, the semi-finished products assembled by the assembly cell (3a) are similarly positioned directly above the spindle (34) on the jig (2l b>) and are inserted by the insertion head (18b).Continued. The spacer (35) taken out from the feeder (27) by the component positioning unit (28) and positioned, the corrugated washer (36) and the flat washer (37) conveyed by the kit pallet (9) are sequentially transferred to the robot ( 13b) and the hand (14b) on the jig (2l b), and the anti-pindle (34)
and the holder (31). Next, the bearing (30b) is similarly transported and positioned from the kit pallet (9) to just above the jig (2l b), and is inserted into the holder (31) by the insertion head (18b), while at the same time it is inserted into the spindle (34). is inserted into the bearing (30b).

When the rotor (39) is similarly positioned on the Hilt after visual recognition and re-gripping from the kit pallet (9) and placed on the tip of the spindle (34), the screw tightening head (19b) and the dispenser head (20b) are placed on the tip of the spindle (34). ), the screw (38) is tightened and the adhesive is applied.
Assembly of product (29) is completed.

After this, when the products (29) are returned onto the kit pallet (9), the conveyor (12) flows the kit pallet (9) towards the predetermined position (2). When the kit pallet is stopped and positioned at a predetermined position (2), the completed product (29) is manually taken out. The kit pallet (9) is thus empty.

The above is the sequence of assembly work performed by the automatic assembly device (1) until one product (29) is completed. ) is executed by controlling each device within. Therefore, is it a pre-registration? If the operation program is set using the D device (4), the product (29)
If a defective product or assembly defect occurs, such parts can be returned to an empty space on the kit pallet (9).

Although the above example shows the case where the product (29) is assembled, other products can also be assembled in the assembly cell (29) depending on the number of parts.
3a), (3b) or by increasing or decreasing the number of kit pallets (9) or by changing the length of the conveyor (12). Further, depending on the structure of the product, not only the above-mentioned assembly head but also a Christie spencer, a snap ring insertion machine, a kamehendo, etc. may be provided.

Furthermore, in the above embodiment, as a kit pallet supply device,
Although the case is shown in which a conveyor (12) for circulating conveyance is used, kit pallets (9) are placed at both ends of the conveyor for one-way conveyance.
Alternatively, an automatic conveyance vehicle or other conveyance means may be used, and the same effects as in the above embodiments can be achieved.

Note that the receiving and passing of parts is not limited to the predetermined position (2).

Furthermore, in the above embodiment, the assembly cells (3a) and (3b)
, the position and orientation of the component is recognized using the component mounting tables (15a), (15b) and visual sensors (162), (16b), and accurate gripping and positioning is performed using the hands (14a), (14b). As an example, the conveyor (12
), the kit pallet (9), and the shape of the parts, if the desired positioning accuracy can be obtained, the same effect as the above embodiment can be achieved even without visual recognition.

Furthermore, in the above embodiment, the work of placing parts on the kit pallet (9) and taking out the products (29) was performed manually, but at the predetermined position (2)
Similar tasks may be performed by a controlled robot. Furthermore, in the above embodiment, the assembly cells (3a), (3b)
Inside, horizontally articulated mouth bots (13a) and (14a) are used as transport devices for transporting and positioning parts and assembly heads.
) and orthogonal coordinate robots) (17a), (17b)
Although the present invention is not limited to this, other NC-controlled mechanisms may be provided.

(Effects of the Invention) This invention provides a kit pallet on which multiple types of parts are placed, a kit pallet supply device that supplies the kit pallet, a transport device that transports and positions the parts on the kit pallet, and a transport device that uses the Since the automatic assembly device is composed of an assembly device that assembles positioned parts and a control device that controls them, there are no space restrictions on the placement of the component supply device, and a large number of components can be easily supplied. At the same time, an automatic assembly device that can easily accommodate changes in parts was obtained.

[Brief explanation of drawings]

FIG. 1 is a plan view showing an automatic assembly device according to an embodiment of the present invention, FIG. 2 is an exploded perspective view of an example of a product assembled by this automatic assembly device, and FIG. 3 is a plan view showing a conventional automatic assembly device. It is. (1) is an automatic feeding device, (2) is a predetermined position, (9) is a kit pallet, (12) is a conveyor, (13a), (
13b) is a robot, (14a), (14b) are hands, (15a), (15b) are parts MW stand, (16a)
), (16b) are visual recognition sensors, (17a), (17
b) is a robot, (18a), (18b) are assembly heads, (19a), (19b) are screw tightening heads, (20a)
), (20b) is the adhesive dispenser rad, (21a
), (21b) is a jig, (22) is a press-fitting head, (23
) is a vertical movement mechanism, and (24) is a press-fitting jig. In the figures, the same reference numerals indicate the same or equivalent parts. Agent Patent Attorney Muneharu Sasaki Figure 2

Claims (7)

[Claims] (1) A kit pallet on which multiple types of parts are placed, a kit pallet supply device that supplies the kit pallet, a transport device that transports and positions the parts on the kit pallet, and a transport device that transports and positions the parts on the kit pallet. An automatic assembly device comprising an assembly device that performs assembly and a control device that controls each of the devices. (2) The automatic assembly apparatus according to claim 1, wherein the conveyance device comprises a component gripping device that grips a component, and an NC positioning device that positions the component gripping device to be conveyed. (3) Claim No. 1 in which the conveyance device comprises a component gripping device that grips a component, an NC positioning device that positions the component gripping device for transportation, and a recognition device that recognizes the type, position, and orientation of the component. The automatic assembly device according to item 1. (4) The automatic assembly apparatus according to claim 3, wherein the recognition device comprises a component mounting table and a visual sensor. (5) The assembling device comprises an assembling head for assembling parts, an NC positioning device for transporting and positioning the assembling head, and a component position holding device for holding the parts. Automatic assembly equipment. (6) The automatic assembly apparatus according to claim 5, wherein the assembly head is any one of a screw tightening head, an adhesive dispenser, a grease dispenser, a snap ring insertion machine, and a press. (7) The automatic assembling device according to claim 1, wherein the assembling device comprises an assembling head for assembling parts, a vertical movement mechanism for moving the assembling head up and down, and a parts position holding device for holding the parts. Assembly equipment.