KR20240158054A - Automation system for mounting of sub-assembly - Google Patents

Abstract

The subassembly and attachment automation system of the present invention comprises: a workbench; a plate stacking unit positioned in a first direction of the workbench; first rails positioned on both sides of the workbench and extending to the plate stacking unit; a plate transfer device moving along the first rail and transferring a plate from the plate stacking unit to the workbench; a part transfer device transferring a part corresponding to the part to a part preparation unit positioned in a lateral direction of the workbench; a part arrangement and attachment device arranging the part on the part; and a control unit controlling the plate transfer device, the part transfer device, and the part arrangement and attachment device.

Description

{AUTOMATION SYSTEM FOR MOUNTING OF SUB-ASSEMBLY}

The present invention relates to an automated subassembly assembly assembly system that automates the selection, arrangement, and assembly welding processes of subassemblies that are dependent on workers.

The construction of the hull is largely carried out in the order of steel cutting, forming, subassembly, mid-assembly, major assembly, and loading. The subassembly process is the process of laying flat steel on the bottom and welding reinforcing materials to make subassemblies. Subassembly is the process of arranging sub-materials on the main plate and then performing attachment welding.

The method for attaching the sub-assembly is to place the main board on the floor, and the worker brings the sub-assembly, places the sub-assembly in a vertical direction on the main board, and fixes it to the fixing jig. The attachment process is done manually by the worker or by operating a crane to move and fix the location. After that, the worker performs the attachment welding manually.

The above method relies on manual work, and the quality of the work results may vary depending on the skill level of the worker. If there is a problem with the supply of workers, the work is difficult, and the speed of manual work is limited compared to the work site, making it difficult to expand the amount of work.

In addition, since the subassembly process is done manually, material management is not automated, making it difficult to manage performance/quantity.

In order to solve the above problem, the present invention aims to provide a subassembly automation system to automate a subassembly process that is dependent on workers.

The subassembly and attachment automation system of the present invention comprises: a workbench; a plate stacking unit positioned in a first direction of the workbench; first rails positioned on both sides of the workbench and extending to the plate stacking unit; a plate transfer device moving along the first rail and transferring a plate from the plate stacking unit to the workbench; a part transfer device transferring a part corresponding to the part to a part preparation unit positioned in a lateral direction of the workbench; a part arrangement and attachment device arranging the part on the part; and a control unit controlling the plate transfer device, the part transfer device, and the part arrangement and attachment device.

The above-described abacus transport device may include a first gantry moving along the first rail; a coupling plate vertically movably coupled to a first horizontal beam of the first gantry; and an abacus coupling portion positioned below the coupling plate and to which the abacus is attached.

The above-mentioned joining plate can move in a second direction perpendicular to the first direction along the above-mentioned horizontal beam.

The above-mentioned abacus coupling part may include an electromagnet.

The above-mentioned abacus transport device includes a first camera that recognizes the abacus located below the first gantry, and the control unit can control the abacus transport device based on the position and size of the abacus recognized by the first camera.

The above control unit can control the small part transport device to transport the small part to be combined with the main board recognized by the first camera to the small part preparation unit.

The second rail is disposed at a predetermined distance from the first rail and extends in a first direction in which the small part transport device moves, and the small part preparation stand can be positioned between the first rail and the second rail.

The above-mentioned subassembly transport device may include a rail running member that moves along the second rail; a clamp arm extended from the rail running member; and a pallet clamp connected to an end of the clamp arm.

The above pallet clamp can move horizontally along the clamp arm and its height can be changed vertically.

The above clamp arm can be rotatably connected to the rail running part.

The above-mentioned sub-assembly arrangement and attachment device comprises: a second gantry moving along the first rail; a horizontal movement block horizontally movably coupled to a second horizontal beam of the second gantry;

A vertical beam that is connected to the horizontal movement block so as to be movable in the vertical direction; and

It may include a sub-assembly clamp positioned below the vertical beam and holding a sub-assembly placed on the sub-assembly preparation stand.

It may include a rotating member positioned between the vertical beam and the sub-assembly clamp.

The above-mentioned sub-clamp may include a tilting portion positioned at the center; and elastic portions positioned on the left and right of the tilting portion.

The above-mentioned sub-clamps include a pair and the spacing in the horizontal direction can be changed.

The above-described sub-assembly arrangement and attachment device may include a welding device positioned at the lower portion of the vertical beam and for attaching and welding the joint between the sub-assembly held by the sub-assembly clamp and the main plate.

The above welding device may include a welding part moving device that can move along the joint between the above sub-assembly and the main plate.

The above welding device can perform the first attachment welding while the above-mentioned sub-assembly clamp is clamping the above-mentioned sub-assembly, and then perform the second attachment welding while the above-mentioned sub-assembly clamp is releasing the clamping of the above-mentioned sub-assembly.

According to one aspect of the present invention, by automating the subassembly process, it is possible to produce a product of constant quality without depending on worker skill.

As the assembly process is automated, production speed is expected to increase compared to manual work, and the impact of changes in labor supply and demand due to external environmental factors can be minimized.

As the assembly process becomes smarter, it is easy to manage the process, such as compiling work performance and managing materials.

Further scope of applicability of the present invention will become apparent from the detailed description below. However, since various changes and modifications within the spirit and scope of the present invention will become apparent to those skilled in the art, it should be understood that the detailed description and specific embodiments, such as preferred embodiments of the present invention, are given by way of example only.

FIG. 1 is a perspective view illustrating one embodiment of the small assembly attachment automation system of the present invention.
FIG. 2 is a plan view illustrating one embodiment of the small assembly attachment automation system of the present invention.
FIG. 3 is a perspective view illustrating one embodiment of the abacus transport device of the small assembly attachment automation system of the present invention.
Figure 4 is a flow chart illustrating one embodiment of a method for transferring abacuses in the small assembly automation process of the present invention.
FIG. 5 is a drawing illustrating one embodiment of a small part transport device of the small assembly attachment automation system of the present invention.
Figure 6 is a flow chart illustrating one embodiment of a method for transporting small parts in a small assembly automation process of the present invention.
FIG. 7 is a drawing illustrating an embodiment of the arrangement of sub-assembly parts and a mounting device of the sub-assembly mounting automation system of the present invention.
FIGS. 8 to 10 are process flow diagrams illustrating one embodiment of a sub-assembly automation process for welding sub-assemblies of the present invention.

Below, with reference to the attached drawings, an embodiment of the present invention is described in detail so that a person having ordinary skill in the art to which the present invention pertains can easily practice it.

However, the present invention can be implemented in various different forms and is not limited to the embodiments described herein. In addition, in order to clearly describe the present invention in the drawings, parts that are not related to the description are omitted, and similar parts are given similar drawing reference numerals throughout the specification.

In this specification, duplicate descriptions of identical components are omitted.

Also, in this specification, when it is mentioned that a component is 'connected' or 'connected' to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components in between. On the other hand, in this specification, when it is mentioned that a component is 'directly connected' or 'directly connected' to another component, it should be understood that there are no other components in between.

Additionally, the terms used herein are only used to describe particular embodiments and are not intended to limit the present invention.

Also, in this specification, singular expressions may include plural expressions unless the context clearly indicates otherwise.

In addition, in this specification, it should be understood that terms such as “include” or “have” only specify the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, and do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

Also, in this specification, the term 'and/or' includes a combination of multiple listed items or any one of multiple listed items. In this specification, 'A or B' can include 'A', 'B', or 'both A and B'.

The construction of the hull is largely carried out in the order of steel cutting, forming and subassembly, medium assembly, large assembly, and loading. Among these, the subassembly process is a process of welding sub-assemblies to the main plate to make sub-assemblies, and is carried out in the order of attachment, welding, and finishing. The method of attaching the sub-assembly (20) is as follows: the main plate (10) is placed on the floor, and the worker brings the sub-assembly (20), and places the sub-assembly (20) vertically on the main plate (10) and fixes it to a fixing jig. The worker can place and fix the sub-assembly by hand or by operating a crane to move and fix the location. After that, the worker performs attachment welding at the connection between the main plate and the sub-assembly.

The conventional subassembly process relies on manual labor, so the quality and speed vary depending on the skill level of the worker, and there are difficulties in managing parts, etc. In order to produce products of consistent quality without being dependent on the skill level of the worker, and to improve the production speed, it is necessary to automate the subassembly process.

FIG. 1 is a perspective view illustrating one embodiment of the small assembly attachment automation system (100) of the present invention, and FIG. 2 is a plan view illustrating one embodiment of the small assembly attachment automation system (100) of the present invention.

The small assembly and attachment automation system (100) of the present invention includes a work table (150), a main board storage area (153), a first rail (141), a main board transport device (110), a small part transport device (120), and a small part arrangement and attachment device (130).

The work table (150) is a place where a welding process for welding a sub-assembly (20) and a main plate (10) is performed, and a conveyor belt or multiple rollers (151) can be used to transport the main plate (10) before assembly and the main plate (10) after assembly. Using multiple rollers (151) has the advantage of selectively transporting the main plate (10) by driving only the rollers (151) below the main plate (10) at the desired transport location.

The work table (150) may have a shape that is elongated in the first direction, and the main plate (10) may move along the first direction.

A pair of first rails (141) may be included on the left and right sides of the worktable (150). The first rail (141) may be located on only one side, but since a gantry type supported by a pair of legs is stable in order to support the weight of the main plate (10), a pair of first rails (141) may be included.

By using a plate transfer device (110) including a first gantry (111) consisting of a pair of columns each connected to a pair of first rails (141) and a vertical beam connecting the pair of columns, the plate (10) can be easily transferred from the plate storage yard (153) to the work table (150).

After the main board (10) is placed on the work table (150), the sub-assembly (20) to be joined to the main board (10) can be moved to the side of the work table (150) using the sub-assembly transport device (120). The sub-assembly (20) is small in size and is placed vertically to the main board (10) for attachment welding, so it can be stored on a pallet (21) so as to form a vertical direction with the main board (10) placed on the work table (150).

A single pallet (21) can accommodate a plurality of sub-assemblies (20) to be assembled on a single main board (10), and a sub-assembly transport device (120) can transport the pallet (21) to a sub-assembly preparation stand (155) next to a workbench (150) and place the sub-assembly arrangement and attachment device (130) at a position where the sub-assembly (20) can be clamped.

The abacus transport device (110) transports the abacus from the abacus storage yard (153) to the work platform (150). When the abacus (10) is placed on the work platform (150), it can be transported along the work platform (150). Therefore, it is sufficient to move only to one side of the work platform (150) from the abacus storage yard (153). Therefore, as shown in Fig. 2, the area for loading, sorting, and transporting the Abacus can only include one side of the work platform.

As shown in Fig. 2, the small parts transport device (120) moves along the second rail (142) to transport the small parts to the small parts preparation stand (155) located laterally of the work table (150), and when a pair of work tables (150) are arranged adjacently, one small parts transport device (120) can move between them. B. The small parts stacking/selection/transport section does not overlap with sections A and B in the first direction, which is the direction of movement.

The small parts transport device (120) transports a small parts pallet (21) that is relatively light in weight compared to the main plate (10), so it may include one rail running part (121), and may have a form in which one rail running part (121) is simultaneously connected to one pair of second rails (142) so that it moves stably without tilting.

In order to prevent interference between the small part transport device (120) and the main board transport device (110) and the small part arrangement and attachment device (130), the first rail (141) and the second rail (142) can be arranged so that the small part preparation stand (155) is positioned between the small part transport device (120) and the second rail (142) is spaced apart from the first rail (141).

After the abacus (10) is placed on the worktable (150), the sub-assembly arrangement and attachment device (130) can transfer the sub-assembly (20) located on the sub-assembly preparation table (155) onto the abacus (10). The movement ranges of the abacus transport device (110) and the sub-assembly arrangement and attachment device (130) may overlap on the first rail (141), but the worktable (150) can move the abacus (10) to the C. sub-assembly (20) selection/arrangement/attachment section by operating the worktable (150) so that they do not overlap each other as shown in FIG. 2.

The subassembly arrangement and attachment device (130) can move along the first rail (141) and can arrange and attach and weld a plurality of subassemblies (20) on the main plate (10) according to their respective design positions.

The abacus transport device (110), the small parts transport device (120), and the small parts arrangement and attachment device (130) may all include a camera and may include a control unit (not shown) that controls each device based on information recognized through the camera.

Information on the shape, arrangement, and type of the abacus (10) can be extracted through the first camera (117) of the abacus transport device (110), and the control unit can extract a small part (20) to be combined with the abacus (10) based on this.

The second camera (127) of the spare parts transport device (120) can detect a pallet containing spare parts (20) designated by the control unit and transport it to the spare parts preparation stand (155) located next to the work table (150).

The sub-assembly arrangement and attachment device (130) receives information on sub-assemblies (20) to be combined from the control unit according to the position of the main plate (10), clamps the sub-assemblies (20), and performs the arrangement and attachment welding process of the sub-assemblies (20) at the correct position on the main plate (10).

The sub-assembly arrangement and attachment device (130) requires a large amount of work since it must arrange and attach multiple sub-assemblies (20). Therefore, as shown in Fig. 1, the sub-assembly arrangement and attachment device (130) may be provided in greater numbers than the main plate transport device (110) or the sub-assembly transport device (120). The sub-assembly arrangement and attachment device (130) may be arranged in a plurality of units in the longitudinal direction of the work table (150) to perform multiple sub-assembly processes simultaneously.

Below, we will examine the configuration of each device in more detail, and each device and its control method in more detail.

[Abacus transport device]

FIG. 3 is a perspective view illustrating an embodiment of a main board transport device (110) of an automated subassembly installation system (100) of the present invention, and FIG. 4 is a flowchart illustrating an embodiment of a method for transporting a main board (10) of an automated subassembly process of the present invention.

Referring to FIG. 3, the abacus transport device (110) of the present embodiment includes a first gantry (111) including a pair of support members (1111) whose lower ends are connected to a pair of first rails (141) and a first horizontal beam (1112) extending horizontally from the upper ends of the pair of support members (1111). The first gantry (111) moves in a first direction (y-axis) along the first rail (141).

It includes a coupling plate (115) that moves horizontally along a first horizontal beam (1112) and moves vertically. The coupling plate (115) may include a first vertical beam (114) on the upper side and may include a first horizontal movement block (113) positioned between the first vertical beam (114) and the first horizontal beam (1112).

The first horizontal movement block (113) can move horizontally along the first horizontal beam (1112), and the first vertical beam (114) can move vertically with respect to the first horizontal movement block (113), so that the joining plate (115) can move in a second direction (x-axis) perpendicular to the first direction and in a vertical direction (z-axis).

The coupling plate (115) includes a plurality of main plate coupling parts (116) at the bottom, and the main plate coupling parts (116) can attach and detach a metal plate using an electromagnet.

The first camera (117) located at the edge of the joining plate (115) can recognize the main plate (10) and transmit information about the main plate (10) to the control unit. The first camera (117) may be located at the joining plate (115) or at the first horizontal beam (1112). A plurality of cameras may be positioned at different locations.

The abacus transport device (110) is moved to the abacus storage yard (153) (S111), the abacus (10) located on the abacus storage yard (153) is recognized, and information on the shape, arrangement, and type of the abacus (10) is extracted (S112). Information on the abacus (10) is transmitted to the control unit (S113), and the sub-assembly (20) to be combined with the abacus (10) is confirmed to confirm the work target item (S114).

After moving the abacus transport device (110) in the first direction and the second direction so that the abacus (10) located in the abacus storage area (153) is positioned so that the coupling plate (115) can be positioned at a position where multiple abacus coupling parts (116) can be coupled to the maximum extent, the coupling plate (115) can be lowered and the abacus coupling part (116) can be operated to attach the abacus (10).

Afterwards, the joining plate (115) is raised upward and moved to the work table (150), and the magnetic force of the electromagnet of the main plate joining part (116) is removed so that the main plate (10) can be placed on the work table (150) (S115).

Even if the abacus (10) is not arranged parallel to the first direction, the abacus (20) can be attached to the correct position of the abacus (10) because the arrangement of the sub-assemblies and the attachment device (130) to be examined later are rotatable.

[Small and Medium Material Transport Device]

FIG. 5 is a drawing showing an embodiment of a small part transport device (120) of a small part assembly automation system (100) of the present invention, and FIG. 6 is a flowchart showing an embodiment of a small part (20) transport method of a small part assembly automation process of the present invention.

Referring to FIG. 5, the small-material transport device (120) includes a rail running part (121) that moves along a second rail (142), a clamp arm (123) extended from the rail running part (121), and a pallet clamp (125) connected to an end of the clamp arm (123).

Since the weight of the small member (20) is lighter than that of the abacus transport device (110) described above, a rail travel unit (121) as a single support unit can be used, and the rail travel unit (121) can move in the first direction and transport a pallet (21) on which the small member (20) is mounted.

The clamp arm (123) extends horizontally and the pallet clamp (125) can move horizontally along the clamp arm (123). The pallet clamp (125) can be moved along the second rail (142) and the pallet clamp (125) can be moved along the clamp arm so that the pallet clamp (125) is positioned on a pallet (21) corresponding to a work item among a plurality of pallets (21) located in a pallet (20) storage area.

In addition, the clamp arm is rotatably coupled to the rail running section (121) so as to selectively clamp one of the small-material pallets (21) positioned on both sides of the second rail (142) and can transport all of the small-material preparation stands (155) positioned on both sides of the second rail (142) with one small-material transport device (120).

The small parts transport device (120) receives the small parts (20) information corresponding to the main board (10) recognized by the main board transport device (110) from the control unit (S121) and moves to the small parts (20) storage area along the second rail (142) (S122). The small parts pallet (21), which is the work target, is confirmed using the second camera (127) of the small parts transport device (120) (S123). The second camera (127) may be coupled to the pallet clamp (125), or may be located at the part where the clamp arm (123) and the pallet clamp (125) are coupled, as shown in FIG. 5.

After positioning the pallet clamp (125) to a position where it can clamp the small-part pallet (21), the pallet clamp (125) is moved downward to clamp the small-part pallet (21) (S124). To avoid interference with other small-part pallets (21), the pallet clamp (125) is moved upward, and then the small-part transport device (120) moves along the second rail (142) to transport the small-part pallet (21) to the small-part preparation stand (155) (S125).

A single type of small part (20) may be stored in a small part pallet (21), but as shown in Fig. 5, small parts (20) to be combined with one main plate (10) may be stored in one pallet. A small part transport device (120) can transport a small part pallet (21) to transport a set of small parts to be combined with the main plate (10) at one time to a small part preparation stand (155).

[Arrangement and attachment of small parts]

FIG. 7 is a drawing showing an embodiment of the arrangement of sub-assembly parts and the attachment device (130) of the sub-assembly attachment automation system (100) of the present invention.

Referring to FIG. 7, the subassembly arrangement and attachment device (130) may include a second gantry (131) including a pair of support members (1311) that move along a first rail (141) and a horizontal movement block (133) that is horizontally movably coupled to a second horizontal beam (1312) that connects the upper sides of the pair of support members (1311).

In addition, the subassembly arrangement and attachment device (130) may include a second vertical beam (134) that is vertically movably connected to a horizontal movement block (133) and a subassembly clamp (135) that is positioned below the second vertical beam (134) and holds a subassembly (20) placed on a subassembly preparation stand (155).

Although the weight of the sub-assembly (20) itself is not large, a second gantry (131) including a support member (1311) positioned on a pair of first rails (141) can be used to stably hold the sub-assembly (20) during attachment welding.

The second gantry (131) can move in the first direction (y-axis direction) along the first rail (141). The second horizontal beam (1312) extended in the second direction (x-axis direction) perpendicular to the second gantry (131) can be further extended toward the sub-assembly preparation stage (155) from a pair of support members (1311) positioned on the rail of the second gantry (131).

The sub-assembly clamp (135) can move in the second direction (x-axis direction) along the second horizontal beam (1312) and move between the sub-assembly preparation stand (155) and the work table (150).

The sub-clamp (135) is connected to the second vertical beam (134), and the sub-clamp (135) can move horizontally and vertically through the second horizontal movement block (133) located between the second vertical beam (134) and the second horizontal beam (1312).

The small member clamp (135) located at the bottom of the second vertical beam (134) is a clamp that presses on both sides of the small member (20) so that it can hold a plate-shaped member, unlike the pallet clamp (125) described above, as shown in the enlarged view of Fig. 7.

The sub-assembly clamps (135) can be arranged in a pair spaced apart from each other in the horizontal direction to stably clamp the sub-assembly (20). In addition, the sub-assembly clamps (135) can be rotatably coupled to the second vertical beam (134) through the rotating part (136) so that the arrangement direction of the pair of sub-assembly clamps (135) can be changed.

Accordingly, the sub-assembly (20) arranged diagonally or vertically on the abacus (10) can also be freely arranged on the abacus (10). Even if the longitudinal direction of the abacus (10) is slightly deviated from the first direction, the sub-assembly clamp (135) can rotate to place the sub-assembly (20) in an accurate position.

Although not shown in the drawing, various sensors, including a third camera and proximity sensors, can be provided for precise arrangement of the subassemblies (20).

The sub-assembly arrangement and attachment device (130) may include a tilting member (137) so that the horizontal angle of a pair of sub-assembly clamps (135) can be changed, and elastic members (138) may be included on both sides of the tilting member (137) so that the sub-assembly (20) can be pressed downward, i.e., toward the main plate (10), even when the sub-assembly (20) is tilted.

A welding device (139) may be provided to attach and weld the joint between the sub-assembly (20) and the main plate (10) on both sides of the sub-assembly (20) held by the sub-assembly clamp (135). The welding device (139) may be positioned on both sides in a vertical direction with respect to the sub-assembly clamp (135) and may move in a vertical direction and a horizontal direction.

Figures 8 to 10 are process flow diagrams illustrating an example of a method for arranging and attaching welding small parts (20) performed by a small part arrangement and attachment device (130) of a small assembly automation process of the present invention.

The sub-assembly arrangement and attachment device (130) receives work item information about the main board (10) and sub-assembly (20) to be worked on (S131). The arrangement of the main board (10) on the worktable (150) is recognized and a reference coordinate system for the work is set (S132). Based on the received information and the information acquired by the sub-assembly arrangement and attachment device (130), the arrangement information, i.e., coordinates, of the sub-assembly (20) to be arranged on the main board (10) is calculated (S133).

The sub-assembly arrangement and attachment device (130) moves the sub-assembly clamp (135) in the second direction toward the sub-assembly preparation stand (155) and picks sub-assemblies (20) to be worked on from the sub-assembly pallet (21) located on the sub-assembly preparation stand (155) (S134). The picked sub-assemblies (20) are moved back to the work stand (150) and arranged on the main board (10) of the calculated coordinates (S135).

The second vertical beam (134) is lowered to push the sub-assembly (20) so that the sub-assembly (20) is in close contact with the main plate (10) (S136). After the welding device (139) is lowered so that it is positioned at the joint of the sub-assembly (20) and the main plate (10), attachment welding is performed (S137). Since the sub-assembly (20) is a plate-shaped member, the joint also extends horizontally, so the welding device (139) is moved horizontally and the first attachment welding is performed (S138).

After that, the secondary welding is performed after releasing the sub-assembly clamp (135) (S139). In order to perform secondary attachment welding on a part that is difficult to weld while the sub-assembly clamp (135) is holding it, or to perform attachment welding on a part that is bent, the welding device (139) must move independently in the direction of the sub-assembly clamp (135). Therefore, the secondary attachment welding can be additionally performed after releasing the clamping of the sub-assembly clamp (135).

As described above, according to one aspect of the present invention, by automating the subassembly process, it is possible to produce a product of a constant quality without being dependent on the skill of the worker.

As the assembly process is automated, production speed is expected to increase compared to manual work, and the impact of changes in labor supply and demand due to external environmental factors can be minimized.

As the assembly process becomes smarter, it is easy to manage the process, such as compiling work performance and managing materials.

The above detailed description should not be construed as restrictive in all respects but should be considered as illustrative. The scope of the invention should be determined by a reasonable interpretation of the appended claims, and all changes coming within the equivalent scope of the invention are intended to be embraced within the scope of the invention.

100: Small assembly and installation automation system
110: Abacus transport device 111: First gantry
1112: 1st horizontal beam 113: 1st horizontal movement block
114: First vertical beam 115: Joining plate
116: Abacus joint 117: First camera
120: Small-scale transport device 121: Rail travel unit
123: Clamp arm 125: Pallet clamp
127: Second camera
130: Arrangement and attachment device for subassemblies 131: Second gantry
1312: 2nd horizontal beam 133: 2nd horizontal movement block
134: 2nd vertical beam 135: Sub-assembly clamp
136: Rotating part 137: Tilting part
138: Elastic part 139: Welding device
141: 1st rail 142: 2nd rail
150: Workbench 153: Abacus storage area
155: Preparatory Unit for Absence 10: Abacus
20: Absence 21: Absence Palette

Claims (17)

bench;
A board storage area located in the first direction of the above workbench;
A first rail positioned on both sides of the above workbench and extending to the above abacus storage area;
An abacus transport device that moves along the first rail and transports the abacus from the abacus storage yard to the workbench;
A small-part transfer device for transferring a small-part corresponding to the main plate to a small-part preparation stand located laterally on the above worktable;
A device for arranging and attaching the above-mentioned sub-assemblies on the above-mentioned main board; and
An automated subassembly and attachment system including a control unit that controls the above-mentioned plate transport device, the above-mentioned subassembly transport device, and the above-mentioned subassembly arrangement and attachment device.
In the first paragraph,
The above abacus transport device
A first gantry moving along the first rail;
A coupling plate vertically movably coupled to the first horizontal beam of the first gantry; and
A subassembly attachment automation system characterized by including an abacus joint located at the lower part of the above-mentioned joining plate and to which the abacus is attached.
In the second paragraph,
An automated subassembly attachment system, characterized in that the above-mentioned joining plate moves in a second direction perpendicular to the first direction along the above-mentioned horizontal beam.
In the second paragraph,
A subassembly automation system characterized in that the abacus coupling part includes an electromagnet.
In the second paragraph,
The above abacus transport device includes a first camera that recognizes the abacus located below the first gantry,
A subassembly and attachment automation system characterized in that the control unit controls the abacus transport device based on the position and size of the abacus recognized by the first camera.
In paragraph 5,
The above control unit
A subassembly automation system characterized by controlling the subassembly transport device to transport the subassembly to be combined with the abacus recognized by the first camera to the subassembly preparation stand.
In the first paragraph,
It includes a second rail that is arranged at a predetermined distance from the first rail and extends in the first direction in which the small-material transport device moves.
An automated subassembly and attachment system, characterized in that the subassembly preparation stand is located between the first rail and the second rail.
In Article 7,
The above-mentioned small and medium-sized transport device
A rail driving unit that moves along the second rail;
A clamp arm extended from the above rail running section; and
An automated subassembly attachment system characterized by including a pallet clamp connected to an end of the clamp arm.
In Article 8,
A subassembly and attachment automation system characterized in that the above pallet clamp is horizontally movable along the above clamp arm and has a variable height in the vertical direction.
In Article 8,
A subassembly and attachment automation system characterized in that the clamp arm is rotatably connected to the rail driving section.
In the first paragraph,
The above arrangement of the subassemblies and attachment devices
A second gantry moving along the first rail;
A horizontal movement block that is horizontally movably connected to the second horizontal beam of the second gantry;
A vertical beam that is connected to the horizontal movement block so as to be movable in the vertical direction; and
An automated subassembly attachment system characterized by including a subassembly clamp positioned below the vertical beam and configured to hold a subassembly placed on the subassembly preparation stand.
In Article 11,
An automated subassembly attachment system characterized by including a rotating part positioned between the vertical beam and the subassembly clamp.
In Article 11,
The above-mentioned sub-clamp
A tilting part located in the center; and
An automated subassembly attachment system including elastic members located on the left and right sides of the above-mentioned tilting member.
In Article 11,
An automated subassembly attachment system characterized in that the above subassembly clamps include a pair and have variable horizontal spacing.
In Article 11,
The above arrangement of the subassemblies and attachment devices
A subassembly automation system characterized by including a welding device positioned at the lower portion of the vertical beam and welding the joint between the subassembly member held by the subassembly member clamp and the main plate.
In Article 15,
A subassembly and attachment automation system characterized in that the welding device includes a welding part moving device that can move along the joint of the sub-assembly and the main plate.
In Article 15,
The above welding device
After the first attachment welding, the above-mentioned sub-assembly clamp is clamping the above-mentioned sub-assembly.
An automated subassembly and attachment system characterized in that the subassembly clamp performs secondary attachment welding while the subassembly is in a clamping release state.