JPH0313017B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to an assembly system using an assembly robot having three orthogonal axes.

Configuration of conventional example and its problems As shown in FIG.
As shown in the figure, the system utilizes a robot 5 attached to a rotary base machine 4 having a large number of assembly jigs 3. In such a configuration, the system is large, the investment amount is high, it is not suitable for small-scale assembly, and when the product is changed, the entire pallet 1 or assembly jig 3 must be replaced, which requires a lot of work. This method has disadvantages in that it is expensive and requires a lot of time to change over to product changes.

OBJECTS OF THE INVENTION The present invention solves the above-mentioned conventional drawbacks and realizes an inexpensive and small-scale robot assembly system.

Composition of the Invention The present invention comprises an An orthogonal type robot consisting of a plurality of Z slide units each having a Z slide shaft provided on a Y slider and having a Z slide shaft that moves linearly in a direction perpendicular to both the X and Y directions, and each of which has a different chuck attached to the lower end of the Z slide shaft; A jig station that has a plurality of assembly jigs on the underside of the slide unit and is slidable from one position within the movement range of the Y slider to one position outside of both the XY slide units, and a plurality of parts. A parts station that holds a pallet, a take-out station that holds a finished product pallet, and a plurality of assembly jigs provided on the jig station at a position where the jig station has moved to a position outside of both the XY slide units. Consisting of multiple construction method units installed concentrically and a main body that fixes them on the top surface, the structure can be made small and simple, product switching is easy, and multi-product mixed production is possible. It is possible to realize a robot assembly system suitable for use at a low cost.

DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to FIG. In FIG. 3, 11 is an X slide unit, and 12 is an X slider that moves linearly in the X direction by a motor 13. Reference numeral 14 denotes a Y slide unit, which is attached to the X slider 12 by a bracket 15 in the Y direction orthogonal to the X direction. 16 is Y by motor 17
This is a Y slider that moves linearly in the direction. Reference numeral 18 indicates four Z slide units attached to the Y slider 16, and reference numeral 19 indicates a Z slide shaft that moves forward and backward using an air cylinder 20 in the Z direction perpendicular to both the X and Y directions. It holds chucks 21, 22, 23, and 24. Reference numerals 25 and 26 denote stands for holding the X slide unit 11 at both ends while maintaining a space in the center thereof. With the above configuration,
An XYZ orthogonal robot is formed.

On the other hand, 27 is a jig station, which has two different assembly jigs 28 and 29, and is disposed below the X slide unit 11, and is located at a position within the movement range of the Y slider 16 in a direction parallel to the Y direction. It is arranged so that it can be moved from a position (hereinafter referred to as the assembly position) to a position outside the Y slide unit 14 (hereinafter referred to as the construction method position) through the lower side of the X slide unit 11 and between the stands 25 and 26. ing. 30 is an air cylinder for moving the jig station 27, and 31 is a guide shaft.

Also, 32 is a parts station, 33,3
4, 35, and 36 are component pallets held at the component station 32. Reference numerals 37 and 38 are take-out stations, and 39 and 40 are finished product pallets held at the take-out stations 37 and 38, respectively.

Reference numerals 41 and 42 denote construction method units, in which caulking heads 43 and 4 are attached to the assembly jigs 28 and 29 at the position where the jig station 27 has moved to the construction method position.
4 are provided to match. 45 indicates the X slide unit 11 and the jig station 2.
7. A main body to which the parts station 32, take-out stations 37, 38, and crimping units 41, 42 are fixed.

The operation of the assemble base configured as described above will be explained below.

First, by the X slide unit 11, Y slide unit 14 and Z slide unit 18,
An XYZ orthogonal robot is constructed, and the Y slider 16 and Z slide unit 18 can be positioned at arbitrary positions within a square plane. Therefore, when assembling product A first, check 2
1 sucks and picks up the component A ₁ from the component pallet 33 and moves it to the assembly jig 28 at the assembly position, and then the chuck 22 picks up the component A 1 from the component pallet 34.
Component A ₂ is transferred and supplied from assembly jig 28 to product A.
Parts supply will end. Next, the jig station 27 is moved from the assembly position to the construction method position, the construction method unit 41 is operated, and the caulking construction method is completed. Afterwards, the jig station 27 returns to the assembly position, and the finished product A is transferred from the assembly jig ₂₈ to the finished product pallet 39 by the chuck 21 common to part A1.
One cycle is completed and the next cycle is started. Next, switch the production model and create another product B.
When assembling, use the chuck 23 to transfer part _B1 from the parts pallet 35 to the assembly jig 29,
Next, after the component _B2 is transferred from the component pallet 36 to the assembly jig 29 by the chuck 24, the jig station 27 is moved from the assembly position to the construction method position, the construction method unit 42 is activated, and the crimping process is completed. Thereafter, the jig station 27 returns to the assembly position, and the chuck 23 takes out the finished product B from the assembly jig 29 onto the finished product pallet 40, completing one cycle and proceeding to the next cycle. Also, when assembling products other than product AB,
Assembly jig 28, 29, chuck 21, 22, 2
3, 24, construction method units 41, 42, and pallets only.

As described above, according to this embodiment, it is possible to perform mixed assembly of two types of products, and at the same time, it is possible to cope with switching to two or more types of products by only replacing a small number of parts. . In addition, since the construction method unit is placed on the back side of the robot movement range, and there are no obstacles on the front three sides of the robot movement range, parts pallets and finished product pallets can be easily replaced, improving work efficiency.

In this embodiment, the construction method units 41 and 42 are caulking units, but other construction method units such as screw tightening, adhesive application, etc. may be used. Also chucks 21, 22, 23, 24
Although a vacuum suction chuck is used, other chucks such as a gripping chuck or an electromagnetic chuck may also be used.

Effects of the Invention As described above, the present invention provides an XYZ orthogonal robot equipped with a plurality of Z slide units and chucks,
A jig station that has a plurality of assembly jigs and moves from within the robot movement range to the outside of the robot body, a plurality of construction method units and a component station,
Since it is a robot assembly system consisting of an extraction station, the configuration can be smaller and simpler than conventional assembly systems using robots, and it is also possible to produce mixed products of several types. At the same time, the only parts to be replaced for multi-product production are assembly jigs, chucks, and method heads, making it possible to change products at low cost and in a short switching time, which has great practical effects.

[Brief explanation of drawings]

Fig. 1 is a plan view of a conventional linear assembly system using an orthogonal robot, Fig. 2 is a plan view of a conventional rotary assembly system using an orthogonal robot, and Fig. 3 is an embodiment of the present invention. It is a perspective view of the assembly base in FIG. 11...X slide unit, 12...X slider, 13...motor, 14...Y slide unit, 16...Y slider, 17...motor, 18...Z slide unit, 19...Z slide shaft, 21, 22, 23, 24...Chuck, 27...Jig station, 28, 29
... Assembly jig, 32 ... Parts station, 3
3, 34, 35, 36... parts palette, 37,
38... Taking out station, 39, 40... Finished product pallet, 41, 42... Construction method unit, 45
...Body.

Claims (1)

[Claims] 1. An X slide unit having an X slider that moves linearly by a motor, a Y slide unit that is provided on the X slider and has a Y slider that moves linearly by a motor in a direction perpendicular to the X direction, and a Y slide unit that is provided on the Y slider, An orthogonal robot consisting of a plurality of Z slide units each having a Z slide shaft that moves linearly in a direction perpendicular to both the X and Y directions, and each of which has a different chuck attached to the lower end of the Z slide shaft;
a jig station which has a plurality of assembly jigs below the X slide unit and is slidably provided from one position within the movement range of the Y slider to one position outside of both the X and Y slide units; A parts station that holds a plurality of part pallets, a take-out station that holds a finished product pallet, and a plurality of assemblies provided on the jig station at a position where the jig station has moved to a position outside of both the XY slide units. An assembly base consisting of multiple construction method units installed concentrically on a jig and a main body that fixes them to the top surface.