JPH05185331A - Automatic assembly apparatus and automatic assembly method - Google Patents

Abstract

(57) [Abstract] [Purpose] Providing an automatic assembly device and an automatic assembly method that does not occupy an installation space and keeps costs low even when assembling one assembly by combining a plurality of parts. To do. [Structure] A shuttle base 112 having a track, and a plurality of component supply mechanisms 118a1 to 11a arranged along the track.
8a3 and shuttle 12 designed to run on orbit
0, and a plurality of assembling jigs 200, 220 provided on the shuttle 120 for respectively assembling a plurality of subassemblies.
While being assembled on the plurality of assembly jigs 200 and 220 while picking the components sequentially from the plurality of component supply mechanisms 118a1 to 118a3, the plurality of component assemblies are assembled on the shuttle 120, and the plurality of assembly jigs are assembled. Tool 200,22
The robot 122 for assembling a plurality of subassemblies on the total assembling jig 220, which is one of the zeros.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic assembling apparatus and an automatic assembling method for assembling a predetermined assembly (article) from a plurality of parts while running one robot.

[0002]

2. Description of the Related Art Conventionally, an automatic assembling apparatus for assembling a predetermined assembly while running one robot has been filed by, for example, the applicant of the present invention.
The one disclosed in No. 292139 is known. In this conventional automatic assembly device, pallets that store different types of parts are arranged side by side next to the robot's running track, and while the robot is moving on the running track, these different parts are sequentially handled. Is used to assemble a predetermined assembly on a jig pallet placed on the robot. Then, when the assembly of one assembly is completed, the robot goes backward on the traveling trajectory, returns to the start position, and again,
By repeating the assembly operation of the assembly, the same assembly is mass-produced.

[0003]

In the above automatic assembly apparatus, when two different sub-assemblies are to be assembled into one assembly, the above-mentioned automatic assembly apparatus is used. 3 stations are prepared, the respective subassemblies are assembled in separate (for example, first and second) automatic assembly stations, and then these are further combined in a third assembly station. Was there. Therefore, there are problems that a large number of stations for the automatic assembling apparatus are required, a large installation place for the assembling apparatus is required, and the cost of the assembling apparatus is increased. Therefore, the present invention has been made in view of the above-mentioned problems, and the purpose thereof is not to take an installation place even when assembling one assembly by combining a plurality of subassemblies, An object of the present invention is to provide an automatic assembling apparatus and an automatic assembling method that can keep costs low.

[0004]

In order to solve the above-mentioned problems and to achieve the object, an automatic assembly apparatus of the present invention comprises a shuttle base having a track, and at least one side of the shuttle base, wherein the track is attached to the shuttle base. A plurality of component supply mechanisms arranged along the line, a shuttle adapted to run on the track, a plurality of assembly jigs provided on the shuttle for respectively assembling a plurality of sub-assemblies, While assembling the plurality of subassemblies on the plurality of assembly jigs while sequentially picking the components from the plurality of component supply mechanisms provided on the shuttle, the inside of the plurality of assembly jigs And a robot for assembling the plurality of sub-assemblies on a jig for total assembling, which is one of the above.

Further, in the automatic assembling apparatus according to the present invention, the total assembling jig is detachably attached to the shuttle and is attachable to an assembling apparatus for performing the next assembling step. It is characterized by being. Further, in the automatic assembly method of the present invention, an assembly robot arranged on a shuttle that moves along one orbit makes it possible to pick up parts sequentially from a plurality of component supply mechanisms arranged along the orbit. In the automatic assembling method for assembling the assembly, the first step of assembling a plurality of subassemblies on a plurality of assembling jigs arranged on the shuttle, and a step of assembling the plurality of assembling jigs. A second step of combining the plurality of subassemblies on one jig for total assembly. Further, in the automatic assembling method according to the present invention, the total assembling jig is detachably attached to the shuttle, and the third assembling jig is transferred to the next assembling apparatus. Is further provided.

[0006]

Since the automatic assembling apparatus and the automatic assembling method according to the present invention are configured as described above, a plurality of subassemblies are assembled on a plurality of assembling jigs on the shuttle, respectively, and these are assembled together. By combining on a jig for assembly, even when assembling a plurality of subassemblies, it is possible to assemble with a single automatic assembly device, so a low-cost automatic assembly device and automatic assembly can be done without taking up a place of installation. A method can be provided.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings. First, with reference to FIG. 1, a typical configuration of the automatic assembly apparatus of the embodiment will be described. The automatic assembly apparatus used in one embodiment is a partial modification of the typical automatic assembly apparatus 10. The automatic assembling apparatus 10 includes a shuttle base 12 that linearly extends a predetermined length along one direction. On the shuttle base 12, one main rail 14 that defines a track extending along the above-mentioned one direction is placed. One side of this shuttle base 12 (the other side in the figure)
A plurality of component supply mechanisms 18 are arranged in the. Some of the plurality of component supply mechanisms 18 are pallet-type component supply mechanisms 18 in which components are arranged on a pallet.
a is a tape-type component supplying device 18b which supplies a component by a package which is covered with a tape and is connected in a plurality of strips (for details, see Japanese Patent Application Laid-Open No. 2-292140). (Disclosed in the bulletin etc.)
Is.

On the shuttle base 12, the shuttle 2 can travel (self-propelled) along the main rails 14.
0 is placed, and on the shuttle 20, a robot 22, an assembly jig pallet 24, and a camera 26 as an image pickup mechanism are placed. And shuttle base 1
This shuttle 2 is installed separately from 2 on the base not shown.
A control mechanism 28 is provided which causes 0 to travel on the main rail 14 so that the robot 22 sequentially accesses a plurality of component supply mechanisms to assemble a predetermined assembly on the assembly jig pallet 24.

It should be noted that the above-mentioned camera 26 is the shuttle 2
It is fixed with respect to 0 and moves integrally according to the traveling of the shuttle 20, and the arrangement state of the components in the component supply pallet P in the pallet type component supply mechanism 18a (specifically, the position shift state in the plane) And the rotation state about the vertical axis), and this imaging information (image information) is the first information in the control mechanism 28 described above.
To the recognition unit 30a, and the first recognition unit 30a recognizes the arrangement state of the components.

Here, the control mechanism 28 determines the gripping position and posture of the component via the hand 32 of the robot 22 based on the arrangement information of the component recognized by the first recognition unit 30a. It is also configured to have a posture. The control mechanism 28 is connected to the shuttle 20 and the robot 22 via a flexible connection cord 34 for the drive control of the robot 22 and the traveling control of the shuttle 20 by the control mechanism 28.

Further, since the control mechanism 28 is designed so that the camera 26 picks up an image of the next component in the pallet P when the robot 22 picks up the component,
During this pickup operation, the state of the component in the pallet P of the next component supply mechanism 18 is recognized via the first recognition unit 30a. Then, the position of the component required in the next pickup operation of the component by the robot 22 is detected and stored, and at the time of the next pickup operation, the hand 32 of the robot 22 is driven so as to pick up the detected component. It is configured to control.

Next, the robot 22 mounted on the shuttle 20 will be described. The robot 22 has a robot main body 52 fixed on the shuttle 20 in a standing state.
A first swivel arm 54 mounted on the upper part of the robot body 52 so as to be rotatable about a vertical axis;
The second swivel arm 36 is attached to the tip of the swivel arm 54 about the vertical axis, and the Z-axis arm 56 is attached to the tip of the second swivel arm 36 so as to be vertically movable. The hand 32 is attached to the lower end of the Z-axis arm 56 via a hand attaching / detaching mechanism 58.

Although not shown in detail, the robot 22 has a first drive motor for rotationally driving the first swivel arm 54 and a rotational drive for the second swivel arm 36. A second drive motor, a third drive motor for moving the Z-axis arm 56 up and down, and a Z-axis arm 56.
And a fourth drive motor for rotationally driving. The Z-axis arm is moved from the center of the robot body 52 when the first turning arm 54 and the second turning arm 36 are set to be linear by appropriately controlling the driving of these first to fourth drive motors. Within the range of a circular shape whose radius is the distance L to the center of 56, the hand 32
Will be able to move.

In other words, since the robot 22 is moved according to the traveling of the shuttle 20, the robot main body 5
It is possible to move the hand 32 to an arbitrary position within a range extending from the center of 2 to the width of the distance L on both sides, that is, to freely access the components within this range. A hand stocker 60 is arranged on the shuttle 20 at a position independent of the robot main body 52.
A plurality of different types of hands (not shown) are detachably attached to the hand stocker 60, and an arbitrary hand 32 can be attached to the Z-axis arm 56 via the hand attaching / detaching mechanism 58.
It can be attached to the lower end of the. In this hand stocker 60, a notch 60 having a substantially U shape is formed.
a and a lock pin (not shown), while each hand 3
2 has a stepped portion (not shown) that fits into the notch 60a, and by engaging this stepped portion with the notch 60a, a replacement hand (not shown) can be stocked here. There is.

Next, an automatic assembly system 108 in which two automatic assembling apparatuses 10 described above are combined will be described.
FIG. 2 is a plan view showing the automatic assembly system 108.
The first and second automatic assembling devices 110 and 130, which are two automatic assembling devices, are connected in series. The configurations of the first and second automatic assembly apparatuses 110 and 130 are almost the same as the configuration of the above-described automatic assembly apparatus 10.
The first automatic assembly apparatus 110 includes a shuttle 120 arranged on the shuttle base 112, a first robot 122 and a camera 124 arranged on the shuttle 120, and a component supply arranged adjacent to the shuttle base 112. Mechanism 118a1, 118a2, 118b1, 118b2, 1
18a3.

On the shuttle 120, the first robot 1
In addition to 22 and the camera 124, a first assembly jig 200 is fixed at a position on the right side of the first robot 122 in the drawing. On the first assembly jig 200, a first assembly jig 200 described later is provided.
It is designed to assemble the parts of. Further, at a position adjacent to the first assembling jig 200,
An assembly jig pallet 24 as a second assembly jig that is detachable from the shuttle 120 is arranged. On the assembly jig pallet 24, a second subassembly to be described later is provided. It is designed to be assembled.

Then, the shuttle 120 moves from a start position A located on the left side of the shuttle base 112 in the figure toward an end position E located on the right side of the shuttle base 112, and moves to the first position.
The robot 122 is a component supply mechanism 118a1, 118a2, 118b arranged along the shuttle base 112.
Pick the parts from 1,118b2,118a3,
The first and second subassemblies are assembled on the first assembly jig 200 and the assembly jig pallet 24. Then, the first and second subassemblies are combined on the assembly jig pallet 24 to complete the third subassembly. The third and fourth component supply mechanisms 118b1 and 118b2 from the left in the figure are the tape-type component supply mechanisms described above, and the other three component supply mechanisms 118a1.
118a2 and 118a3 are pallet type component supply mechanisms.

On the other hand, the second automatic assembly apparatus 130 is adjacent to the shuttle base 132, the shuttle 140 arranged on the shuttle base 132, the second robot 142 and the camera 143 arranged on the shuttle 140. The component supply mechanisms 138a1 and 138b1 and the component storage mechanism 139 are arranged. The shuttle 140
Is equipped with a third assembly jig 220 at a position on the left side of the position where the second robot 142 is placed. This third assembly jig 220 is mounted on the assembly jig pallet 24. Can be placed. That is, the second automatic assembling apparatus 130 is an actual assembling jig on which the third sub-assemblies, which are the first and second sub-assemblies combined on the first automatic assembling apparatus 110, are placed. The pallet 24 '("actual" means that the third subassembly is placed) is received from the first automatic assembly device 110, and the third subassembly further receives another pallet. It is configured to assemble parts. Therefore, the component supply mechanisms 138a1 and 138b1 store components to be further assembled to the third subassembly assembled by the first automatic assembly device 110, and the shuttle 1
As 40 moves along the shuttle base 132 from the start position F located on the left side in the drawing toward the end position H located on the right side, the second robot 142 causes these parts to move to the third subassembly. And the final assembly is stored in the component storage mechanism 139. Then, the shuttle 140 returns from the end position H to the start position F with the empty assembly jig pallet 24 from which the final assembly has been removed placed.

Here, these two automatic assembling devices 11
Between 0 and 130, the respective automatic assembling devices 110 and 13
A jig exchange station 150 for exchanging the assembly jig pallet 24 between 0 is arranged. The jig exchange station 150 is composed of two conveyor devices 152 and 154 arranged on both sides of the shuttle bases 112 and 132 of the first and second automatic assembling devices 110 and 130.

The conveyor device 152 includes a main body 152a,
A belt conveyor 152b for carrying out the actual assembly jig pallet 24 'on the shuttle 112 of the first automatic assembly apparatus 110 in the direction of arrow A1, and this belt conveyor 15b.
Belt conveyor 152c for carrying the actual assembly jig pallet 24 carried by 2b in the direction of arrow B1
Then, the actual assembly jig pallet 24 'transported by the belt conveyor 152c is transported in the direction of arrow C1,
It is composed of a belt conveyor 152d for loading onto the third assembling jig 220 on the shuttle 140.

Further, the conveyor device 154, just like the conveyor device 152, is a belt for carrying out the main body 154a and the empty assembly jig pallet 24 on the shuttle 140 of the second automatic assembly device 130 in the direction of arrow A2. A conveyor 154b, a belt conveyor 154c for carrying the empty assembly jig pallet 24 carried by the belt conveyor 154b in the direction of arrow B2, and an empty assembly jig pallet 24 carried by the belt conveyor 154c. Is conveyed in the direction of arrow C2 and is carried in on the shuttle 120 of the first automatic assembly apparatus 110.

With such a structure, the first automatic assembly apparatus 11 has come to the end position E after the third subassembly has been assembled.
The actual assembly jig pallet 24 'on which the third subassembly is placed is unloaded from the shuttle 120 of No. 0, and the empty assembly jig unloaded from the shuttle 140 of the second automatic assembly apparatus 130. The tool pallet 24 is loaded onto the shuttle 120. Similarly, the empty assembly jig pallet 24 is unloaded from the shuttle 140 of the second automatic assembly apparatus 130 that has returned to the start position F, and is also unloaded from the shuttle 120 of the first automatic assembly apparatus 110. The actual assembly jig pallet 24 ′ is loaded onto the shuttle 140.

In this way, the assembling jig pallet 24 is moved to the first automatic assembling apparatus 110 and the second automatic assembling apparatus 130.
By exchanging between them, the assembly can be continuously assembled by the first and second automatic assembly apparatuses 110 and 130. Next, with reference to FIG. 3, a first subassembly 300 and a second subassembly 330 will be described as an example of the first and second subassemblies assembled by the first automatic assembly apparatus.

The first subassembly 300 is a subassembly that is assembled on the first assembly jig 200 of the first automatic assembly apparatus 110. The first subassembly 300 is a paper feed motor unit used in a printer or the like, and includes a motor 302 and a rotation shaft 302a of the motor 302, as shown in FIG. The pinion gear 304 attached and meshed with the pinion gear 304 2
It is composed of a stepped gear 306 and a lever member 308 having a gear portion. And this first subassembly 300
As shown in FIG. 3B, first, the pinion gear 304 is attached to the rotating shaft 302a of the motor 302, and then the rotating shaft 302b provided in a position adjacent to the rotating shaft 302a of the motor 302 has two stages. The gear 306 is attached, and the lever member 308 is attached to the rotary shaft 302c.

Therefore, in order to correspond to this assembly order, the parts supply mechanisms 118a2, 118b1, 1 shown in FIG.
A motor 302, a pinion gear 304, a two-stage gear 306, and a lever member 308 are housed in 18b2 and 118a3, respectively. On the other hand, the second subassembly 330 is, in one embodiment, composed of one part of the main body of the paper feed mechanism of the printer device. However, it is needless to say that in one embodiment, the second subassembly 330 may be composed of a large number of parts, which happens to be composed of only one part. In that case, a component supply mechanism corresponding to these components is further arranged along the shuttle base 112, and the first robot 122 causes the first robot 122 to dispose of these components on the assembly jig pallet 24 in the second portion. The assembly 330 will be assembled. Note that, in the following description, the second subassembly 330 is the paper feeding mechanism body itself, and therefore, the paper feeding mechanism body itself will be described with reference numeral 330. The paper feed mechanism main body 330 is supplied from the component supply mechanism 118a1.

The first subassembly 300 and the paper feed mechanism main body 330 as the second subassembly are mounted on the assembly jig pallet 24 on the first automatic assembly apparatus 110 as shown in FIG. 3 to form a third subassembly, and the second automatic assembling device 130 causes the third subassembly to form a shaft gear 332 and a cam gear 33 shown in FIG.
4 is assembled to complete the assembly 336. The assembling process of assembling the gear 332 with the shaft and the cam gear 334 is performed in a state where the actual assembling jig pallet 24 ′ is mounted on the third assembling jig 220 on the shuttle 140. The shaft-mounted gear 332 and the cam gear 334 are
Parts supply devices 138a1 and 138b1 arranged at positions along the shuttle base 132 of the automatic assembly device 130 of FIG.
Supplied from each.

Next, FIG. 5 and FIG. 6 show the first assembling jig 2.
It is a figure showing the structure of 00. First assembly jig 200
Are two columns 202 fixed on the shuttle 120 in an upright state, a rotating shaft 204 supported horizontally between the two columns 202, and the rotating shaft 2
A rotary drive mechanism 205 for rotating 04 around a horizontal axis with respect to the support column 202, a jig main body 206 fixed to the central portion of the rotary shaft 204, and a positioning pin 208 protruding upward from the jig main body 206. Similarly, it is roughly configured by a receiving pin 210 protruding upward from the jig body 206. As shown in FIG. 5, the positioning pin 208 is attached to the jig body 206 so as to be vertically slidable. The jig body 206 has a space 206a formed below the lower end 208a of the positioning pin 208. Then, air is sent into the space 206a from the pipe 207 connected to the space 206a, so that the lower end 208 of the positioning pin 208 is reached.
The upper surface of a comes into contact with the jig body 206, and the positioning pin 2
08 is fixed to the jig body 206 while protruding upward. The positioning pin 20
Since 8 is normally urged downward by the compression spring 212, it is in a position retracted with respect to the jig body 206. However, when air is sent into the space 206a as described above, positioning is performed. The pin 208 is in a state of protruding upward with respect to the jig body 206.

An air passage 206b penetrating the jig body 206 in the vertical direction is provided at the center of the jig body 206.
Are formed. By sucking the air in the air passage 206b by the pipe 209 connected to the lower end of the air passage 206b, the motor 302 is attracted to the upper surface of the jig body 206 as shown by the chain double-dashed line in the figure. Can be fixed. At this time, the tip of the positioning pin 208 enters the positioning hole 302e formed in the mounting bracket 302d of the motor 302, and the motor 302
The horizontal position of is defined with respect to the jig body 206.

In this way, the motor 302 is connected to the jig body 20.
6 and the pinion gear 30 is attached to the motor 302.
FIG. 6 is a perspective view showing a state in which the first and second subassemblies 300 (motor unit) are completed with the 4, two-stage gear 306 and the lever member 308 attached. Here, the first subassembly 300 is the paper feed mechanism main body 3 as the second subassembly.
As shown in FIG. 4, the rotary shaft 302a is attached to the unit 30 in a horizontal state. Therefore, in the first jig 200, as shown in FIG. 6, the jig body 206 is rotated by 90 ° by the rotation drive mechanism 205 about the rotation axis.
Is rotated. Then, the first robot 122 uses the motor 3
02 is attached to the paper feed mechanism main body 330 by gripping the rotary shaft 302a in a horizontal state.

Next, FIG. 7 is a perspective view showing the structure of the third assembling jig 220. The third assembly jig 220 is
Two support plates 224 fixed in an upright state with respect to the shuttle 140, and a jig main body 226 supported between the two support plates 224 so as to be rotatable about a rotation axis along the horizontal direction. A rotary drive mechanism 228 for rotating the jig body 226 around a rotation axis along the horizontal direction, and two positioning pins 230 protruding above the jig body 226.
And an actual assembly jig pallet 24 ′ provided on both sides of the jig body 226 and having the third subassembly mounted thereon.
6, the work holding mechanism 232 for holding the work holding mechanism 232 and the jig pallet 24 'for assembling so as not to fall off.
It is generally configured with two guides 234 for attracting to 26.

The actual assembly jig pallet 24 '
Is delivered to the second automatic assembly device 130, and the third
When fixed to the assembling jig 220, as shown in FIG. 8 which is a side view of FIG.
6 is rotated about the horizontal axis by the rotation drive mechanism 228 to be in the posture shown by the chain double-dashed line. At this time, the third subassembly (the one in which the motor unit is attached to the main body 320 of the paper feed mechanism) has the posture shown in FIG. 9, and in this state, the cam gear 332 and the gear with a shaft are provided. 33
4 is assembled from above into the paper feed third subassembly.

In this assembly process, the paper feed mechanism main body 330 is horizontally positioned by the positioning pin 250 as shown in FIG. 10, which is a partially enlarged view of FIG. 7 viewed from the direction of arrow A. In this state, the assembly jig pallet 24 is fixed on the jig main body 226 in a state of being horizontally positioned by the positioning pins 230. In this state, the jig main body 226 is rotated about the horizontal axis as described above to be in the posture as shown in FIG. 9, and then the paper feed mechanism main body (second subassembly) 330 is The first robot 122 attaches the first subassembly 300 (motor unit) from the direction shown by the arrow B, and the third subassembly is completed. In addition,
In FIG. 7, reference numerals 236 and 238 respectively indicate
The stopper is shown when the jig body 226 rotates.

Next, the procedure for assembling the assembly in the automatic assembly system configured as described above will be described. First, in FIG. 2, in the first automatic assembly apparatus 110, the shuttle 120 is stopped at the position (start position) A corresponding to the component supply mechanism 118a1, and the first robot 122 is
The paper feed mechanism main body 330 is picked up from the component supply mechanism 118a1 and placed on the second assembly jig pallet 24. The first robot 122 uses the paper feed mechanism unit main body 33.
While 0 is placed on the assembly jig pallet 24, the shuttle 120 moves to the position B corresponding to the component supply mechanism 118a2, and the first robot 122 moves the component supply mechanism 1a.
The motor 302 is picked up from 18a2 and placed on the first assembly jig 200. After that, shuttle 120
Are sequential component supply mechanisms 118b1, 118b2, 118
The first robot 122 stops at the positions C, D, E corresponding to a3, respectively, and the pinion gear 304 and the second gear 30
6. The lever member 308 is sequentially picked up and assembled to the motor 302.

Then, the first subassembly 300 (the subassembly including the motor 302, the pinion gear 304, the two-stage gear 306 and the lever member 308) completed on the first assembly jig 200 is assembled. It is attached to the paper feed mechanism main body 330 as the second assembly on the jig pallet 24. A procedure for assembling the first subassembly 300 with the second subassembly 330 will be described.

First, referring to FIGS. 5 and 6 showing the completed first subassembly, air is sucked from the air passage by the pipe 209, and the motor 302 is sucked to the jig body 206. Next, the jig main body 206 is rotated by the rotary drive mechanism 205.
Is rotated 90 ° in the direction indicated by the arrow in FIG. As a result, in the first subassembly 300, the rotation axis of the motor 302 is oriented in the horizontal direction. In this state, the hand of the first robot 122 holds the first subassembly 300 from above. After this, the pipe 207 to the jig body 206
Exhaust the compressed air filled in the space 206a of
The positioning pin 208 is attached to the jig body 20 by the spring 212.
6. The motor 302 is pulled in and the suction state of the motor 302 is released. In this state, the first robot 122
Since the first subassembly 300 can be freely moved, the first subassembly 300 is conveyed to the position of the assembly jig pallet 24, and the paper is fed as the second subassembly. It is attached to the mechanism unit main body 330. With the above, the third subassembly is completed.

Next, the jig exchanging station 150 is used to assemble the assembly jig pallet 220 on which the third subassembly is mounted.
Is transferred to the second automatic assembly device 130. When the shuttle 140 of the second automatic assembling apparatus 130 receives the assembling jig pallet 24, the jig body 226 of the third assembling jig 220 is indicated by a chain double-dashed line in FIG. It is rotated 90 ° as shown. In this state, the third
The part assembly is in a state of being oriented in the vertical direction as shown in FIG. In this state, the shuttle 140 sequentially moves to the position F, which corresponds to the component supply mechanisms 138a1 and 138b1, respectively.
Moving to G, the second robot 142 attaches the shaft gear 332 and the cam gear 334 to the third subassembly. Then, the completed assembly is stored in the component storage mechanism 139.

By repeating the above operation, it is possible to continuously assemble a predetermined assembly. As described above, according to the automatic assembling apparatus and the automatic assembling method of the embodiment, on the station of one automatic assembling apparatus,
Since different parts can be assembled and combined, it is possible to realize a low-cost automatic assembly apparatus and automatic assembly method that does not occupy a place where the assembly apparatus is installed. The present invention can be applied to the modified or modified embodiment described above without departing from the spirit of the invention.

[0038]

As described above, according to the automatic assembling apparatus and the automatic assembling method of the present invention, a plurality of subassemblies are respectively assembled on a plurality of assembling jigs on the shuttle, and these are assembled together. By combining on a jig, even when assembling a plurality of subassemblies, the assembly can be done with a single automatic assembly device, so it does not take up an installation space.
It is possible to provide a low-cost automatic assembly apparatus and automatic assembly method.

[Brief description of drawings]

FIG. 1 is a diagram showing a typical configuration of an automatic assembly apparatus according to an embodiment.

FIG. 2 is a plan view showing an automatic assembly system.

FIG. 3 is a diagram showing an example of first and second subassemblies assembled by a first automatic assembly apparatus.

FIG. 4 is a diagram showing a procedure for assembling a final assembly.

[Figure 5]

FIG. 6 is a view showing a structure of a first assembly jig.

FIG. 7 is a perspective view showing the structure of a second assembly jig.

8 is a side view of FIG. 7 viewed from the direction of arrow A. FIG.

9 is a perspective view showing a state of a third subassembly shown by a chain double-dashed line in FIG. 8. FIG.

10 is a partially enlarged view of FIG. 7 viewed from the direction of arrow A. FIG.

[Explanation of symbols]

8 Automatic Assembly System 10 Automatic Assembly Device 12 Shuttle Base 14 Main Rail 18a1, 18a2 Component Supply Mechanism 18b1, 18b2 Component Supply Mechanism 19 Component Storage Mechanism 20 Shuttle 22 Robot 24 Assembly Jig Pallet 26 Camera 28 Control Mechanism 30a First Recognition Part 32 Hand 34 Connection cord 36 Second swivel arm 52 Robot main body 54 First swivel arm 56 Z-axis arm 58 Hand attaching / detaching mechanism 60 Hand stocker 108 Automatic assembly system 110 First automatic assembly device 112 Shuttle base 118a1, 118a2 118a3, 118b1, 1
18b2 Component supply mechanism 120 Shuttle 122 First robot 124 Camera 130 Second automatic assembly device 132 Shuttle base 138a1, 138b1 Component supply mechanism 139 Component storage mechanism 140 Shuttle 142 Second robot 150 Jig exchange station 152,154 Conveyor device 200 1st assembling jig 202 Strut 204 Rotating shaft 205 Rotating drive mechanism 206 Jig body 207 Pipe 208 Positioning pin 209 Pipe 220 Third assembling jig 222 Base 224 Support plate 226 Jig body 228 Rotating drive mechanism 230 Positioning Pin 232 Work Holding Mechanism 234 Guide 250 Positioning Pin 300 First Subassembly 302 Motor 304 Pinion Gear 306 Two-Stage Gear 308 Lever Member 330 Second Subassembly 332 With Shaft Gear 334 cam gear

Claims (4)

[Claims] 1. A shuttle base having a track, a plurality of component supply mechanisms arranged along the track on at least one side of the shuttle base, and a shuttle adapted to run on the track. A plurality of assembling jigs provided on the shuttle for assembling a plurality of sub-assemblies, and a plurality of assembling jigs provided on the shuttle and sequentially picking components from the plurality of component supply mechanisms. A robot for assembling the plurality of subassemblies on a jig, and for assembling the plurality of subassemblies on a total assembling jig, which is one of the plurality of assembling jigs. An automatic assembly device characterized by: 2. The assembly jig is detachably attached to the shuttle, and is attachable to an assembly device for performing the next assembly step. The automatic assembling apparatus according to. 3. An assembly robot arranged on a shuttle that moves along one orbit to assemble a predetermined assembly while sequentially picking parts from a plurality of component supply mechanisms arranged along the orbit. In the automatic assembly method, a first step of assembling a plurality of subassemblies on a plurality of assembly jigs arranged on the shuttle, and a total of one of the plurality of assembly jigs. And a second step of combining the plurality of subassemblies on a jig for assembling. 4. The total assembling jig is detachably attached to the shuttle, and further comprises a third step of delivering the total assembling jig to a next assembling apparatus. The automatic assembling method according to claim 3, which is characterized in that.