JPS6130873B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Robotic processing or assembly apparatus of the present invention;
More specifically, the present invention relates to a processing or assembly device using a moving robot.

Most conventional processing or assembly devices using robots have stand-type robots, and it is rare to see robots that move. Although there are assembly robots that occasionally move, these robots stop at a parts supply station or assembly station and take out or assemble parts, and their role in running is simply to transport the parts. During the transport time of this part, no parts were assembled at all,
does not add any value to the product,
It was a waste of time. This has caused problems in shortening the assembly cycle time.

The object of the present invention is to eliminate the above-mentioned conventional drawbacks, to greatly simplify the control of the robot, and to enable the robot to supply parts and assemble or process parts by running the robot cart along a closed-loop travel trajectory. It is an object of the present invention to provide a processing or assembly device using a robot, which can shorten the automation cycle time of assembly or processing and provide a system with improved productivity. The present invention provides a running track formed in a closed loop so that the robot can circulate, a robot carriage that runs along the running track, the robot carriage, a robot and an assembly table mounted on the robot carriage, and the above-mentioned running track. a conveyor provided along a part of the conveyor, a parts tray placed so as to be movable on the conveyor, loaded with assembly parts to be assembled on the assembly table, and provided with a plurality of positioning members; and the robot. a guide means for regulating the position of the component tray along the conveyor so as to maintain a constant distance from the robot truck in a direction perpendicular to the traveling direction of the truck; and a positioning member for the component tray provided on the robot truck. a plurality of fitting members that can be fitted with the robot and a driving means for fitting and disengaging the fitting members with the positioning member, and actuating the driving means to adjust the relative positional relationship between the robot and the component tray. Processing or assembly by a robot, characterized in that the robot is configured to travel along a traveling track while being held constant, the robot holds parts mounted on a parts tray, and the assembly or processing can be performed on an assembly table. It is a device.

In a preferred embodiment of the robot processing or assembly apparatus of the present invention, the positioning member of the component tray is a fitting hole, and the fitting member of the robot cart is a rod-shaped member.

In a further preferred embodiment of the robot processing or assembly apparatus of the present invention, the component tray conveying means has a plane sliding roller group and a positioning roller group disposed at right angles to the roller group, and the component tray is It is placed on the plane sliding roller group with the side opposite to the positioning member facing the positioning roller group.

The feature of the robot processing or assembly apparatus of the present invention is that an assembly table is mounted together with the robot on a moving robot cart, a parts tray (stand) carrying assembly parts is made to run in synchronization with the robot cart, and the robot cart is moved. Even while traveling on the rails, the robot can arbitrarily take out parts from the parts tray and assemble them using an assembly table.

EMBODIMENT OF THE INVENTION Hereinafter, the apparatus of this invention will be explained in detail based on the drawing which shows an Example. FIG. 1 is a plan view of an assembly process according to an embodiment of the device of the present invention.

The robot cart 1 carries a robot 1A and an assembly table 3, and is controlled to run on a track-shaped rail 2 by a drive control means (not shown). Peripheral devices 6 to 10 are installed around the rail 2, and the peripheral devices 6 to 10 perform operations that cannot be performed by the robot 1A, such as measurement, oiling, shrink fitting, etc. A conveyor 4 for transporting the component tray 5 is provided between the peripheral devices 6 to 8 in parallel to the traveling rail 2.

A certain amount of parts trays 5 are stored at the starting point of the conveyor 4, and the robot cart 1
By the time a point is reached, one is separated and positioned. Thereafter, the robot cart 1 is positioned and stopped at point A, is connected to the parts tray 5 by a connecting means to be described later, and starts traveling again. The robot cart 1 and the parts tray 5 are now running in synchronization, and the robot 1A can pick up parts from the parts tray 5 and assemble them on the assembly table 3 while moving. After repeating the assembly and interaction with the peripheral devices 6 to 8 several times, when the robot cart 1 reaches point B, the robot 1A picks up all the parts from the parts tray 5, so the robot cart 1 and the parts tray 5 is released, the robot cart 1 travels toward the next station, and the parts tray 5 heads off-line for parts arrangement.

Next, the robot cart 1 and the parts tray 5 will be described in detail with reference to FIGS. 2 and 3 showing an embodiment.

Conveyor (conveying means) 4 for conveying the parts tray 5
This is a non-powered conveyor consisting of 11 groups of planar sliding rollers arranged in two rows and 12 groups of side rollers (positioning rollers) arranged in one row at right angles to the roller groups. The parts tray 5 is placed on a group of flat sliding rollers 11 of the conveyor 4. The component tray 5 has two positioning fitting holes 13 of the positioning member.
is provided. The component tray 5 is placed on a group of planar sliding rollers 11 with the side opposite to the fitting hole 13 facing the group of side rollers 12.

The robot cart 1 has a fitting hole 13 for the parts tray 5.
A fitting member, a pin 14 in the form of a rod, is provided. The pin 14 is slidably supported on the pedestal of the robot cart 1, and the rotating shaft 15 provided at the center of the pin 14 and the rod tip of the linear actuator 16 provided on the mount of the robot cart 1 are as follows. They are engaged by a link 18, and the link 18 is pivotally connected to the rotating shaft 17 at its center. Therefore,
By moving the rod of actuator 16 forward or backward, pin 14 is moved backward or forward.

As mentioned above, the robot cart 1 includes the robot 1A.
and an assembly table 3 are mounted, and can run on the rails 2.

When the robot carriage 1 is positioned and stopped at point A, the rod of the actuator 16 moves forward and the pin 14 moves backward. At the point A, the robot truck 1 and the tray 5 are positioned so that the pin 14 of the robot truck 1 faces the fitting hole 13 of the component tray 5 directly.

In this state, when the rod of the actuator 16 is moved backward, the link 18 swings about the rotating shaft 17 and the pin 14 moves forward. As a result, the pin 14 is inserted into the positioning fitting hole 13, and the component tray 5 is moved to the robot carriage 1 by the X shown in FIG.
Complete directional positioning. Further, the pin 14 moves forward, and the collar 19 provided on the pin 14 touches the parts tray 5.
in the Y direction shown in FIG.
Press the side surface of the side roller 12 against the side roller 12 to complete positioning in the Y direction. In this state, a locking means (not shown) operates, and the connection between the pin 14 and the fitting hole 13 remains immovable unless the rod of the actuator 16 is moved forward next time.

As a result, the robot cart 1 and the parts tray 5 become integrated as shown in FIG. 4, and the position of the parts tray 5 in the X and Y directions with respect to the robot cart 1 is determined. When the robot cart 1 moves in this state, the robot cart 1 and the parts tray 5 move together with their positions fixed, and the robot 1A takes out the parts from the parts tray 5 while moving and moves the assembly table 3. It can be used to perform assembly work. Thereafter, the parts extraction and assembly are repeated in sequence, and the exchange with the peripheral devices 6 to 8 is repeated, and when the robot cart reaches point B in FIG. 1, the parts extraction is completed. At this point, the robot truck 1 stops, the rod of the actuator 16 is advanced, the pin 14 is moved backward, and the integration of the parts tray 5 and the robot truck 1 is released.

As a result, the robot cart 1 moves to the next station while continuing the assembly work, while the parts tray 5
are collected offline for parts distribution work.

As explained above, in the robot processing or assembly apparatus of the present invention, the distance between the robot and the parts tray and assembly table can be maintained constant while the robot cart is traveling, so the robot can be controlled using the robot coordinate system. It becomes possible to supply parts from the parts tray and perform assembly or processing work on the assembly table. This eliminates the wasted time of transporting parts in conventional assembly work, and has the effect of improving the productivity of the assembly process.

Furthermore, since the apparatus of the present invention utilizes the traveling robot cart to transport parts, it does not require power, has a simple structure, and is highly economical.

[Brief explanation of the drawing]

FIG. 1 is a plan view of an assembly process according to an embodiment of the device of the present invention, FIGS. 2 and 3 are side views and plan views of an embodiment of the device of the present invention, and FIG. 4 is a robot cart of FIG. 2. FIG. 3 is a side view showing a state in which the parts tray and the component tray are combined. 1... Robot cart, 1A... Robot, 2...
... Rail, 3 ... Assembly table, 4 ... Conveyor (transport means), 5 ... Parts tray, 11 ... Plane sliding roller, 12 ... Side roller (positioning roller), 13 ... Fitting hole, 14...Pin, 1
6... Actuator, 19... Brim.

Claims (1)

[Scope of Claims] 1. A running track formed in a closed loop so as to be able to circulate, a robot carriage running along the running track, a robot and an assembly table mounted on the robot carriage, and a robot and an assembly table mounted on the robot carriage; a conveyor provided along a portion; a parts tray that is placed so as to be movable on the conveyor and is equipped with assembly parts to be assembled on the assembly table; and a plurality of positioning members; and the robot cart. a guide means for regulating the position of the parts tray along the conveyor so as to maintain a substantially constant distance from the parts tray; and a plurality of fittings provided on the robot cart and capable of fitting with positioning members of the parts tray. a member, and a driving means for fitting and disengaging the fitting member with the positioning member, and actuating the driving means to move the robot onto the traveling track while maintaining a constant relative positional relationship between the robot and the component tray. 1. A processing or assembly device using a robot, characterized in that the robot is configured to travel along a component tray, hold components mounted on a component tray, and assemble or process them on an assembly table. 2. The conveyor is comprised of a group of planar sliding rollers, and the guide means is comprised of a group of positioning rollers provided along the conveyor so as to be in contact with the surface of the parts tray on the opposite side of the robot cart. A processing or assembly device using a robot according to claim 1.