JPS6029285A - Assembling method by robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] (a) Industrial application field The present invention relates to an assembly method using a robot, and more specifically,
The present invention relates to an assembly method that uses a robot to assemble a product through multiple steps, which is economical and has versatility so that several different types of assemblies can be performed, and which reduces line stock.

(B) Prior Art As shown in Figure 1, in the conventional assembly process, there is an assembly conveyor a, a person is placed at each assembly process, and parts are assembled one after another onto the products flowing on the conveyor. Met. In recent years, robotization has progressed, and assembly is now performed by robots B instead of humans. However, by replacing the people on the conventional assembly line with robots, the appearance of the line has changed somewhat, but the line method cannot be said to have fundamentally changed, as the changes were made to suit the robots. there were.

(Purpose of the invention) The purpose of the invention is to shorten the assembly line compared to conventional assembly lines, and - instead of using one robot for the assembly process, one robot can perform several assembly processes. The object of the present invention is to provide an assembly method using a robot that is easy to use and has versatility in several types of robots.

(D) Structure of the Invention The present invention provides a rotary table having a plurality of assembly jigs arranged thereon so as to be rotatable around the center of rotation of an arm of an assembly robot, and a plurality of component supply devices arranged around the rotary table. #In an assembly method in which an arm of an assembly robot is moved and the arms are used to sequentially take out components from the component supply device and assemble them onto the components on the assembly jig, the turntable is moved in accordance with the movement of the arm. The assembly jig is configured to be rotated to move the assembly jig to a position corresponding to a component supply device that supplies parts to be assembled.

(e) Examples Embodiments of the present invention will be described below with reference to the drawings.

In FIGS. 2 to 4, an apparatus for carrying out the assembly method according to the invention is schematically shown. This device 1 includes an assembly robot 2, a turntable device 3 having a turntable that is rotatable around the rotation center of the arm of the assembly robot 2, and a plurality of component supply devices 4 (4a) disposed around the turntable. ~4F1).

The assembly robot 2 has a known structure including a multi-jointed arm 22 rotatably provided at the upper end of an upright support 21. In this embodiment, the arm 22 has three stages (22a
, 22b, 22c), and a hand 24 of a known structure is provided at the tip thereof to receive the components My supplied from the component supply device 4.

As shown in FIG. 4, the turntable device 3 includes a turntable 31 that is rotatably supported by a column 21 of the assembly robot 2, and a drive motor 32, such as a servo motor, that can control positioning and rotates the turntable 31. have. A fully fixed gear 33 meshes with a gear 34 attached to a servo motor 32.

The turntable also includes a component supply device 4, which holds several types of components (in this embodiment, 4 components) that hold members to which supplied components are attached.
A plurality of assembly jigs 35 (35a to 35d) of different types are provided at predetermined intervals in the circumferential direction (Fig. 3).
. Since the method of attaching the assembly jig 35 to the turntable 31 is a known method, detailed explanation will be omitted. The different types of assembly jigs 35 (35a to 35d) may be arranged along the circumferential direction as shown in FIG. 3, or may be arranged in a straight line in the radial direction. can be selected.

Each component supply device 4 (4a to 4d) may have a known structure such as a known parts feeder, but each component supply device 4 (4a to 4d) supplies a number of components corresponding to the number of types of assembly jigs 35 provided on the turntable. Ends 41-44 are provided. Different parts are delivered from each part supply end, for example, from the parts supply device 4.
Parts Ma, , Mc2. Mc3 and Mc4 are component supply ends 41, 42, 43 and 44 of the component supply device 4b.
The parts Ml), , Mb2. Ml)3 and Mb4 are the component supply ends 41, 42 . of the component supply device 4C.
43 and 44 respectively include parts Mc; , Mc2.
Mc3 and Mc4 also receive components Ma from the component supply ends 41, 42, 43 and 44 of the component supply device 4d, respectively.
l, M(12, Md3 and Md4 are supplied.

It goes without saying that even though the shapes of the parts are different, some of the shapes have been devised so that they can be easily removed.

Next, the operation will be explained. Parts Ma, Mb, are held in the assembly jig 35a (not shown).

Me and Md are installed in sequence, and the assembly jig 35b
Part Ma2. Mb2. Mc and Md2 are sequentially attached, and parts Ma3', Mb3. Mc3 and Md
, are sequentially attached, and furthermore, parts Ma4, Mb, , Mc4 and M are held in the assembly jig 35d.
d4 are attached sequentially. Therefore, parts Ma, , Mb
, , Mc.

The assembly of and Md will be explained.

First, the assembly jig 35a is positioned in front of the component supply device 4a (for example, in front of the center of the component supply device 4a), and the assembly robot 2 arm 22 operates to use the hand 24 to pick up the components from the component supply section 41 of the component supply device 4a. Ma, take it out and attach it to the assembly jig 35a on the ground.

Next, the turntable 31 is rotated by a certain angle (θ), and the assembly jig 35a is positioned in front of the component supply device 4b, and the arm 22 is also rotated by the same angle as the turntable 31, and the hand 24 is rotated by the component supply device 4b. Component supply end 4 of 4b
Parts Mb and z receiver are taken from 1 and assembled to the members on the assembly jig 35a.

Thereafter, the assembly jig 35a and the arm 22 are sequentially moved in front of the component supply device 4c+4d, and the components Mc, ,
Assemble Mcd 17. After the assembly of the parts has been completed, the assembly jig 35a is sent to position E, and then the parts are sent to the next process.

Hereinafter, parts Ma, ... - Md2 corresponding to the members supported by the assembly jigs 35b-, 35c, 35d are
.

When assembling Ma5 to Md32 and Ma4 to Md4, the assembly jig is moved in front of the parts supply device and assembled in the same manner as described above.

(f) Effects As described above, by interlocking and controlling the electrically controlled robot and the assembly rotary table, multiple assembly steps can be performed efficiently with one robot, making it possible to produce a wide variety of products in small quantities. Also, compared to conventional assembly lines, line stock is reduced and the number of robots is also reduced.

[Brief explanation of drawings]

Fig. 1 is a schematic explanatory diagram of a conventional assembly line, Fig. 2 is a perspective view of an apparatus for carrying out the assembly method according to the present invention, Fig. 3 is an explanatory diagram of the operation of the apparatus shown in Fig. 2, and Fig. 4 is a turntable. FIG. 2 is a cross-sectional view of the device. 2: Assembly robot 21: Strut 22: Arm 3: Turntable device 31: Turntable 35: Assembly jig 4; Parts supply device patent applicant CKD Co., Ltd. (4 others)

Claims (1)

[Claims] A rotary table equipped with a plurality of assembly jigs is provided rotatably around the center of rotation of the arm of the assembly robot, a plurality of component supply devices are arranged around the rotary table, and the arm of the assembly robot is In an assembly method in which components are moved and sequentially taken out from the component supply device by the arm and assembled on the assembly jig, the turntable is rotated in accordance with the movement of the arm to move the assembly jig and the components to be assembled. An assembly method using a robot characterized by moving parts to a position corresponding to a parts supply device.