JPH05185332A - Automatic assembly method - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide an automatic assembly method capable of shortening the tact time of assembly to improve productivity. [Construction] An assembling process in which an assembling robot 22 picks up parts sequentially to assemble a predetermined assembly while moving on a predetermined orbit from a start position to an end position, and an assembling robot 22 moves from an end position to the start position. In an automatic assembly method including a return process and a return process, the assembly process and the return process are repeated to manufacture a plurality of predetermined assemblies, and the assembly robot 22 includes a plurality of replacement parts corresponding to a plurality of different parts. A first replacement unit having a hand and a final replacement hand 204 corresponding to a component to be assembled at the end position during the stroke time when the assembly robot 22 returns from the end position to the start position. Exchange to the exchange hand 200.

Description

Detailed Description of the Invention

[0001]

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

[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.

Here, in order to sequentially pick these different parts, the robot needs to use different hands. Therefore, the robot has a hand stocker for stocking hands corresponding to different parts, and from this hand stocker, the hands corresponding to the parts to be sequentially picked are replaced and used. ..

[0004]

However, in the above-described assembly apparatus of the prior art, when the assembly operation of the assembly is completed, the robot is allowed to return to the starting position of the running track while keeping the same state. When returning to the start position, the robot has a hand for picking the final part. Therefore, when trying to assemble the assembly again from the start position, the hand must be replaced with a hand corresponding to the first part as a pre-process of assembly. Therefore, time for replacing the hand is required before the assembling operation, and as a result, the takt time for assembling becomes long and the productivity is lowered. Therefore, the present invention has been made in view of the above problems, and an object thereof is to provide an automatic assembling method that can shorten the takt time of assembling and improve productivity. is there.

[0005]

In order to solve the above-mentioned problems and to achieve the object, an automatic assembly method of the present invention is such that an assembly robot starts from a start position on a predetermined track on an upstream side of the track. An assembly step of sequentially picking up components from a plurality of component supply devices arranged along the track while moving toward an end position located on the downstream side to assemble a predetermined assembly; After completing the assembly of the body, a returning step of returning from the end position to the starting position is provided, and an automatic assembly for manufacturing a plurality of the predetermined assemblies by repeating the assembling step and the returning step. In the method, the assembly robot
Having a plurality of exchange hands respectively corresponding to the plurality of different parts, the assembling robot moves from the start position to the end position to finish assembling the predetermined assembly, and then from the end position to the During the process of returning to the start position, the final replacement hand corresponding to the final assembly component assembled at the end position is replaced with the first replacement hand corresponding to the first component assembled first at the start position. I am trying.

In the automatic assembling method according to the present invention, a movement completion signal for detecting that the assembling robot has completely moved from the end position to the start position, and the final exchange hand is exchanged for the first exchange hand. It is characterized in that the assembling of the parts to be assembled first is started by an AND signal with the hand exchange end signal for detecting the fact. Further, in the automatic assembling method according to the present invention, the assembling jig pallet for assembling the parts is carried into the assembling robot by the movement completion signal.

[0007]

As described above, the automatic assembling method according to the present invention is configured. Therefore, while the robot returns from the end position to the start position, the final exchange hand is exchanged with the first exchange hand. Since the robot is already ready to pick the parts to be assembled first, the time for hand replacement is not required, the takt time is shortened, and the productivity can be improved.

[0008]

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 a one-station automatic assembling apparatus 10 constituting an automatic assembling system 8 to which an automatic assembling method according to an embodiment is applied will be described. As the automatic assembly system 8, it is conceivable that the automatic assembly system 10 is composed of only one automatic assembly system 10 or that the automatic assembly system 10 is composed of a plurality of units.

The automatic assembling apparatus 10 is provided with a shuttle base 12 extending linearly along one direction by a predetermined length. On the shuttle base 12, one main rail 1 that defines a track extending along one direction described above.
4 is placed. A plurality of component supply mechanisms 18 are arranged on one side (the other side in the drawing) of the shuttle base 12. Some of the plurality of component supply mechanisms 18 are pallet-type component supply mechanisms 18a in which components are arranged on a pallet, and others are covered with tape and connected in a plurality of strips. Is a tape-type component supply device 18b (details are disclosed in Japanese Patent Application Laid-Open No. 2-292140 filed by the applicant of the present application).

On the shuttle base 12, the shuttle 2 can travel (self-propelled) along the main rails 14.
0 is mounted, and on the shuttle 20, a robot 22, an assembly jig pallet 24, and a camera 26 as an imaging mechanism are mounted. Then, on a base (not shown), which is separate from the shuttle base 12, the shuttle 20 is run on the main rail 14, and the robot 22
Is provided with a control mechanism 28 for sequentially accessing a plurality of component supply mechanisms to assemble a predetermined assembly on the assembly jig pallet 24.

The camera 26 described above is used in 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 array 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, 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 is picking up the component. The state of the component in the pallet P of the next component supply mechanism 18 is recognized through the 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 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, in the automatic assembly system 8 in which one or a plurality of the above-mentioned automatic assembly apparatuses 10 are combined,
A case where the automatic assembling method according to the embodiment is applied will be specifically described. (First Embodiment) FIG. 2 is a plan view showing an automatic assembly system 8 to which the automatic assembly method of the first embodiment is applied, in which one automatic assembly apparatus 10 is used. Shuttle 2
0 moves from the start position located on the left side in the drawing to the end position located on the right side with respect to the shuttle base 12, and the component supply mechanisms 18a1, 18b1, 18b2, 18a2 arranged along the shuttle base 12.
The components are sequentially picked from the above and a predetermined assembly is assembled on the assembly jig pallet 24. Then, the completed assembly is stored in the component storage mechanism 19 provided corresponding to the end position. The second and third component supply mechanisms 18b1 and 18b2 from the left in the figure are tape-type component supply mechanisms, and the other two component supply mechanisms 1
8a1 and 18a2 are pallet type component supply mechanisms.

Here, referring to FIG. 3, an assembly 100 as an example of an assembly assembled by this automatic assembly system.
Will be described. The assembly 100 is a paper feeding motor unit used in a printer or the like, and is shown in FIG.
As shown in FIG. 2, the motor 102 and the pinion gear 104 attached to the rotating shaft 102 a of the motor 102.
And a two-stage gear 106 meshing with the pinion gear 104
And a lever member 108 having a gear portion. In this assembly 100, as shown in FIG. 3B, the pinion gear 104 is first mounted on the rotary shaft 102a of the motor 102, and then the rotary shaft 102b provided adjacent to the rotary shaft 102a. The two-stage gear 106 is mounted on the rotary shaft 102c, and the lever member 108 is mounted on the rotary shaft 102c. Therefore, in order to correspond to this assembly order, the component supply mechanism 18a shown in FIG.
1, 18b1, 18b2, 18a2 have motor 10
2, the pinion gear 104, the two-stage gear 106, and the lever member 108 are accommodated in the component storage mechanism 19, respectively.
The completed assembly 100 is stored from the assembly jig pallet 24.

Here, the motor 102 and the pinion gear 10
Different types of hands are required to pick the 4, 2nd-stage gear 106 and the lever member 108 from the component supply mechanisms 18a1, 18b1, 18b2, 18a2, respectively, but refer to FIG. The types of this hand will be described. First, FIG. 4A shows a structure of a hand 200 for gripping the motor 102. The hand 200 includes a hand main body 200a, two fingers 200b whose one end is rotatably held by the hand main body 200a, a compression spring 200c for biasing each of the fingers 200b in an opening direction, and a finger 2.
00b is roughly configured by two air cylinders 200d for closing the valve 00b against the biasing force of the compression spring 200c. Therefore, when the two air cylinders 200d are not operated, the fingers 200b are in the open state, and in this state, the motor 102 is positioned at the center of the two fingers 200b, and then the two air cylinders 200d are operated. By doing so, two fingers 20
It becomes possible to hold the motor 102 during 0b.

FIG. 4B shows the pinion gears 104 and 2
The structure of a common hand 202 for gripping the step gear 106 is shown. The hand 202 is roughly composed of a hand main body 202a, a protrusion 202b formed at a lower end of the hand main body 202a, and a tunnel-shaped air passage 202c penetrating the inside of the hand main body 202a. There is. One end of the air passage 202c is
A vacuum pipe 202e for sucking air from the inside of the air passage 202c is connected to the side surface of the hand body 202a. Further, the opening hole 202d at the other end of the air passage 202c is provided in the hand body 20.
The pinion gear 104 and the two-step gear 106 are held by the hand body 202a by being sucked by the suction force of the air sucked from the opening hole 202d of the air passage 202c. To be done. At this time, the protrusion 2 formed on the lower end of the hand body 202a
02b fits into the center holes of the pinion gear 104 and the two-step gear 106, and the pinion gear 104 and the two-step gear 106 are held in a state of being positioned with respect to the hand body 202a.

Next, FIG. 4C shows the structure of the hand 204 for holding the lever member 108 and storing the completed assembly 100 in the pallet P.
The structure of the hand 204 is almost the same as the structure of the hand 200, and the hand body 204a, the two fingers 204b, the two compression springs 204c, and the finger 204b against the biasing force of the compression springs 204c. Two air cylinders 20 for holding in a closed state
4d and 4d. However, the hand body 2
The rotation center hole 10 of the lever member 108 is provided at the lower end of 04a.
8a and two pin portions 20 that are respectively fitted in positioning holes 108c formed in the portion 108b extended like a lever.
4e is formed, and the lever member 108 is positioned and attached to the motor 102 by the pin portion 204e. This lever member 108
After the attachment is completed, the hand 204 holds the assembly 100 and stores the assembly 100 in the pallet P of the component storage mechanism 19.

Next, the assembling operation of the automatic assembling system 8 will be described with reference to the flow chart shown in FIG. First, in steps S2 and S4, the shuttle 20 is at the start position A, and the robot 2
2 picks one motor 102 from the component supply mechanism 18a1 with the hand 200. Immediately after the picking operation is completed, the shuttle 20 moves to the position B corresponding to the next component supply mechanism 18b1 in steps S6 to S8. While the shuttle 20 is moving, in step S10 to step S16, the robot 22 places the picked motor 102 on the assembly jig pallet 24 and moves the hand 200 to the pinion gear 104.
To the hand 202 for picking.

When the movement of the shuttle 20 is completed and the exchange of the hands is completed, the process proceeds to steps S18 and S20, and the robot 22 picks the pinion gear 104 with the hand 202 from the component supply mechanism 18b1. When this picking operation is completed, the shuttle 20 moves to step S22.
And in step S24, the next component supply mechanism 18b
Move to position C corresponding to 2. While the shuttle 20 is moving, the robot 22 moves to step S26.
~ In step S30, the pinion gear 104 is assembled to the motor 102 already on the assembly jig pallet 24.

Next, step S32 and step S34
In, the robot 22 picks the two-stage gear 106 from the component supply mechanism 18b2 with the same hand 202 that picks the pinion gear 104. Upon completion of this picking operation, the shuttle 20 immediately moves to the position D corresponding to the next component supply mechanism 18a2 in steps S36 and S38. During the time during which the shuttle 20 is moving, the robot 22 attaches the picked two-stage gear 106 to the motor 102 in steps S40 to S46, and the hand 202
The hand 204 for picking the lever member 108
Replace with.

When the movement of the shuttle 20 is completed and the exchange of the hands is completed, the process proceeds to steps S48 and S50, and the robot 22 picks the lever member 108 with the hand 204 from the component supply mechanism 18a2. When this picking operation is completed, the shuttle 20 moves to the position E corresponding to the parts storage mechanism 19 for housing the completed assembly 100 in steps S52 and S54. During the time during which the shuttle 20 is moving, the robot 22 moves from step S56 to step S62.
The picked lever member 108 is assembled to the motor 102 and the completed assembly 100 is held as it is. Then, when the movement of the shuttle 20 is completed, the hand 204 is moved to a position directly above the component storage mechanism 19.

Next, in steps S70 and S72, the robot 22 places the completed assembly 100 on the pallet P on the component storage mechanism 19 and retracts the hand 204 from the component storage mechanism 19. When the retracting operation of the hand 204 is completed, the shuttle 20 performs the next assembly, in steps S74 and S76, along the shuttle base 12 from the end position where assembly is completed, which is the reverse of the assembly operation. Move in the direction and start position A
Return to. In the time during which the shuttle 20 returns to the start position, in steps S78 and S80, the robot 22 causes the hand 204 used for picking the lever member 108 to correspond to the motor 102 which is the first part to pick. The hand 200 is replaced.
When a movement completion signal notifying that the operation of returning the shuttle 20 to the start position is completed and a hand exchange completion signal notifying that the hand exchange has been completed are both output, these AND signals cause the next assembly. Since it is detected that the operation may be started, the process returns to step S2 and the next assembling operation is started again.

Thus, according to this first embodiment,
Within the time necessary for the shuttle 20 to return from the end position to the start position, the hand 204 corresponding to the final assembly part (lever member 108) is replaced with the hand 204 corresponding to the first assembly part (motor 102). Since it is replaced with 200, there is no need for additional time for replacing the hand, and the tact time for assembly can be shortened. If the length of the shuttle base 102 in the extending direction is short, it is expected that the time for exchanging the hands will be slightly longer than the time for the shuttle 20 to return from the end position to the start position. By taking an AND signal between the movement completion signal of the shuttle 20 and the hand exchange end signal, the next assembly operation is started. In this way, there is no fear of causing malfunction of the assembly device.

(Second Embodiment) FIG. 6 is a plan view showing an automatic assembly system 308 to which the automatic assembly method of the second embodiment is applied, in which two automatic assembly devices are used. In the figure, two automatic assembling apparatuses, a first automatic assembling apparatus 310 and a second automatic assembling apparatus 330, are arranged so as to face each other, as shown in the drawing. The first automatic assembly device 310 includes a shuttle 316 arranged on the shuttle base 314, a first robot 318 arranged on the shuttle 316, and a component supply mechanism 322 a arranged adjacent to the shuttle base 314. 322b1, 32
2b2. These parts supply mechanism 322
a, 322b1 and 322b2 respectively have a motor 102,
A pinion gear 104 and a two-stage gear 106 are housed. Assembling work of these three parts is performed on the first automatic assembling apparatus 310. The hands used at this time are exactly the same as those in the first embodiment, and as shown in the drawing, these hands 20 are placed on the shuttle 316.
A 0,202 hand stocker 360 is provided.

The second automatic assembly device 330 includes a shuttle 336 arranged on the shuttle base 334, a second robot 338 arranged on the shuttle 336,
A component supply mechanism 342a and a component storage mechanism 344 arranged adjacent to the shuttle base 334 are provided.
The lever member 108 is housed in the component supply mechanism 342a. In the second automatic assembly apparatus 330, the work of attaching the lever member 108 to the subassembly of the motor 102, the pinion gear 104, and the two-stage gear 106 assembled by the first automatic assembly apparatus 310, and the completed assembly 10
The work of storing 0 in the component storage mechanism 344 is performed. The hand used at this time is exactly the same as that of the first embodiment, and the above-mentioned hand 20 is used for the above work.
4 is used.

Then, these two automatic assembling devices 31
Between 0 and 330, the respective automatic assembly devices 310 and 33
Belt conveyors 350 and 352 for exchanging the assembly jig pallet 24 between 0 are arranged. In the first automatic assembly apparatus 310, as described above, the motor 102,
Assembly work of the pinion gear 104 and the two-stage gear 106 is performed. Then, the sub-assembly in which these three parts are assembled together with the assembly jig pallet 24 is moved from the end position of the first automatic assembly apparatus 310 to the belt conveyor 35.
2 to the start position of the second automatic assembly device 330.

In the second automatic assembly device 330, the motor 102, the pinion gear 104, and the two-stage gear 106 mounted on the assembly jig pallet 24 supplied at the start position of the automatic assembly device 330. Further, the operation of attaching the lever member 108 to the sub-assembly including the above is performed. Then, the second robot 338 uses the lever member 10
8 is attached and the completed assembly 100 is stored in the component storage mechanism 344. The empty assembly jig pallet 24 from which the assembly 100 has been removed is returned from the end position of the second automatic assembly device 330 to the start position of the first automatic assembly device 310 via the belt conveyor 350. Be done.
As described above, the assembly 100 can be completed by exchanging the assembly jig pallet 24 between the first automatic assembly apparatus 310 and the second automatic assembly apparatus 330.

Next, the assembling operation in the automatic assembling system 308 thus configured will be described with reference to the flow charts shown in FIGS. 7 and 8. FIG. 7 shows the operation of the first automatic assembly device 310. First, in steps S102 and S104, the shuttle 316 is at the start position A, and the first robot 318 uses the hand 200 to move the parts supply mechanism 32.
Pick one motor 102 from 2a. Immediately after this pick operation is completed, the shuttle 316 moves to the position B corresponding to the next component supply mechanism 322b1 in steps S106 to S108. While the shuttle 316 is moving, in step S110 to step S116, the first robot 318 places the picked motor 102 on the assembly jig pallet 24, and picks the hand 200 and the pinion gear 104. The hand 202 is replaced.

When the movement of the shuttle 316 is completed and the hand exchange is completed, the steps S118 and S1 are performed.
20, the first robot 318 determines that the parts supply mechanism 3
The pinion gear 104 is picked with the hand 202 from 22b1. When this picking operation ends, the shuttle 316
In steps S122 and S124,
It moves to the position C corresponding to the next component supply mechanism 322b2. During the time during which the shuttle 316 is moving, the first robot 318 operates in steps S126 to S1.
At 30, the pinion gear 104 is assembled to the motor 102 already on the assembly jig pallet 24.

Next, step S132 and step S1
At 34, the first robot 318 picks the two-stage gear 106 from the component supply mechanism 322b2 with the same hand 202 that picks the pinion gear 104. Upon completion of this picking operation, the shuttle 316 immediately moves to a position (end position) for carrying out the assembly jig pallet 24 toward the second automatic assembly device 330 in steps S136 and S138. .. During the time that this shuttle 20 is moving,
The first robot 318 assembles the picked two-stage gear 106 to the motor 102 in step S140 to step S144, and retracts the hand 202 from the assembly jig pallet 24.

When it is confirmed that the hand 202 is retracted from the assembly jig pallet 24, in steps S146 and 148, the assembly jig pallet 24 is moved to the second position with the subassemblies still mounted. It is carried out toward the automatic assembly device 330. When it is confirmed that this export has been completed,
In steps S150 and S152, the shuttle 316 is returned from the end position to the start position. When the movement completion detection signal indicating the completion of movement is detected, in step S154, the second automatic assembly device 3
Empty assembly jig pallet 24 transported from 30
Are loaded into the shuttle 316. When the completion of the carry-in is confirmed, the process returns to step S106 and waits until the picking of the motor 102 is completed in step S104.

On the other hand, the first robot 318 uses the time for carrying out the assembly jig pallet 24 and the time for the shuttle 316 to return from the end position to the start position.
Replaces hand 202 with hand 200 for picking motor 102. And step S152
When it is confirmed that the shuttle 316 has returned to the start position, the first robot 318 moves the hand 202 onto the pallet in the component supply mechanism 322a in step S162, returns to step S102, and returns to the hand again. 202, from the component supply mechanism 322a to the motor 1
Pick 02 and repeat the subsequent operation.

Next, FIG. 8 shows a second automatic assembling apparatus 330.
3 is a flowchart showing the operation of FIG. First, in steps S202 and S204, the shuttle 3
36 is in the start position D, and the second robot 338
Picks the lever member 108 with the hand 204 from the component supply mechanism 342a. When this picking operation ends,
Shuttle 336 operates at steps S206 and S2.
At 08, it moves to a position corresponding to the component storage mechanism 19 for storing the completed assembly 100. During the time when the shuttle 336 is moving, the second robot 3
38, in steps S210 to S216,
The lever member 108 thus picked up is assembled to the motor 102. Then, when the movement of the shuttle 336 is completed, the hand 204 holding the completed assembly 100 as it is is moved to a position directly above the component storage mechanism 344.

Next, step S218 and step S22.
At 0, the second robot 338 has completed the assembly 100
Is placed on the pallet P on the component storage mechanism 344, and the hand 204 is retracted from the component storage mechanism 344. When the retracting operation of the hand 204 is completed, the shuttle 336
In order to carry out the empty assembly jig pallet 24, in steps S222 and S224,
The assembly jig pallet 24 is moved to the carry-out position. Then, in steps S226 and 228, the assembly jig pallet 24 is carried out toward the first automatic assembly apparatus 310. In steps S230 and S232, the shuttle 336 is moved to the start position. When it is confirmed that this movement is completed, the process proceeds to step S234 and step S236, and the assembly jig pallet 24 on which the sub-assemblies conveyed from the first automatic assembly device 310 are placed.
Will be carried in. When it is confirmed that the carry-in is completed, the process returns to step S206, and at step S204,
Wait until the lever member 108 is picked.

If it is confirmed in step S232 that the shuttle 336 has returned to the start position,
In parallel with the loading operation of the assembly jig 24 in step S234, the second robot 338 performs the picking operation of the lever member 108 from the component supply mechanism 342a. In this way, by repeating the operations from step S202 to step S236, the assembly 100 can be continuously assembled.

As described above, the first embodiment and the second embodiment
According to the automatic assembly method of the embodiment, the hand corresponding to the final assembly part is associated with the first assembly part within the inevitably required time during the return of the shuttle from the end position to the start position. Since it is replaced with a hand, it is possible to shorten the takt time and improve the productivity. The present invention can be applied to a modified or modified version of the above embodiment without departing from the spirit of the invention.

[0041]

As described above, according to the automatic assembling method of the present invention, the robot exchanges the final exchange hand with the first exchange hand while returning from the end position to the start position. Since the robot is already ready to pick the first parts to assemble, there is no need for time to change hands, which reduces takt time,
It is possible to improve productivity.

[Brief description of drawings]

FIG. 1 is a diagram showing a typical configuration of a one-station automatic assembly apparatus that constitutes an automatic assembly system to which an automatic assembly method according to an embodiment is applied.

FIG. 2 is a plan view showing an automatic assembly system to which the automatic assembly method of the first embodiment is applied.

FIG. 3 is a diagram showing an example of an assembly assembled by an automatic assembly system.

FIG. 4 is a diagram showing types of hands used for assembling an assembly.

FIG. 5 is a flowchart illustrating an assembling operation of the automatic assembling system according to the first embodiment.

FIG. 6 is a plan view showing an automatic assembly system to which the automatic assembly method according to the second embodiment is applied.

FIG. 7 is a flowchart showing an operation of the first automatic assembly device in the second exemplary embodiment.

FIG. 8 is a flowchart showing an operation of the second automatic assembly device in the second embodiment.

[Explanation of symbols]

 8 Automatic Assembly System 10 Automatic Assembly Device 12 Shuttle Base 14 Main Rails 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 body 54 First swivel arm 56 Z-axis arm 58 Hand attaching / detaching mechanism 60 Hand stocker 100 Assembly 102 Motor 104 Pinion gear 106 Two-stage gear 108 Lever member 200, 202, 204 Hand 310 First Automatic Assembly Device 314 Shuttle Base 316 Shuttle 318 First Robot 322a, 322b1, 322b2 Parts Supply Mechanism 330 Second Automatic Assembly Device 334 Shuttle Ba Space 336 Shuttle 338 Second robot 342a Component supply mechanism 344 Component storage mechanism 350,352 Belt conveyor 360 Hand stocker

Claims (3)

[Claims] 1. A plurality of component supply devices arranged along a track while an assembling robot moves on a predetermined track from a start position located upstream of the track toward an end position located downstream thereof. From the end position to the start position after the robot finishes assembling the predetermined assembly. In the automatic assembly method for manufacturing a plurality of the predetermined assemblies by repeating the step and the returning step, the assembly robot has a plurality of exchange hands respectively corresponding to the plurality of different parts, After the assembly robot moves from the start position to the end position to complete the assembly of the predetermined assembly,
At the time of the process of returning from the end position to the start position, the final replacement hand corresponding to the final assembly component assembled at the end position is replaced with the first replacement hand corresponding to the first component first assembled at the start position. An automatic assembly method characterized by exchanging. 2. A movement completion signal for detecting that the assembly robot has completed movement from the end position to the start position, and a hand exchange end signal for detecting that the final exchange hand has been exchanged for the first exchange hand. The automatic assembling method according to claim 1, wherein the assembling of the parts to be assembled first is started by an AND signal of the above. 3. The automatic assembling method according to claim 1, wherein an assembling jig pallet for assembling the parts is carried into the assembling robot in response to the movement completion signal.