JPH0425100B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an assembly robot, and more particularly to an assembly robot used for work such as assembling other parts to basic parts.

(Prior Art) A specific example of a conventional assembly robot is shown in FIG. This assembly robot 1 is mounted in the horizontal direction (hereinafter referred to as
The X drive section 2 is driven in the X direction) and the horizontal direction (hereinafter referred to as the Y direction) is perpendicular to the X direction.
The Y drive unit 3 is driven in the vertical direction (hereinafter referred to as Z
The X drive unit 2 has a Z drive unit 4 which is driven in the
A Z drive section 4 is attached to each of the. The hand section 5 is driven by each of these drive sections 2, 3, and 4. On the other hand, 6...6 are parts feeders, and predetermined parts are supplied from these parts feeders 6...6. In the above device,
To assemble other parts, such as bolts and seals, to a basic part, first grasp the basic part and place it in a predetermined position A, then grasp the other parts. This is done by repeating the process of attaching it to the basic parts mentioned above.

(Problem to be Solved by the Invention) By the way, in the above device, a predetermined part is picked up from position A where the basic part is placed, to the position of the parts feeder 6, and then transported to the above position A. It is necessary to perform a reciprocating motion to attach each part. Therefore, when the number of parts is large, the moving distance of the robot for transportation becomes significantly long, resulting in a disadvantage that the installation cycle time becomes long and sufficient work efficiency cannot be obtained.

In addition, in order to perform assembly work, high positioning accuracy is required for each drive unit, but if the movement stroke is to be increased while maintaining such high accuracy, the equipment itself becomes extremely expensive. It has the disadvantage of getting used to it.

This invention was made to solve the above-mentioned drawbacks, and its purpose is to shorten the moving distance of the robot required to transport each part, thereby making it possible to perform highly efficient assembly work. To provide an assembly robot that can be manufactured at low cost even if the movement stroke of the robot is long.

(Means for Solving the Problems) In order to solve the above problems, in the assembly robot of the present invention, a driving part that moves in another direction is attached to a basic driving part that moves in a predetermined direction. In addition, in an assembly robot which is provided with a hand section driven by each of these drive sections and which assembles other parts to the basic component using the hand section, an auxiliary table is attached to the basic drive section, An auxiliary drive source is provided to drive this auxiliary table in the same direction as the basic drive unit.

(Function) As a result of the above, the basic part is first placed on the auxiliary table, and then the basic drive unit moves to pick up the part to a predetermined parts feeder position, grips this part, and By driving the auxiliary table at this position, it is possible to assemble parts, and then move to another part position and assemble the parts in the same manner as above. Therefore, compared to the conventional method where the robot moves back and forth between the position where the basic part is placed and the part position, the movement distance of the robot can be shortened, reducing cycle time and improving work efficiency. can. In addition, although high precision is required for the positioning of the hand part during assembly, very high precision is not required for gripping the parts. It is now possible to drive the basic drive unit that moves with the rack and pinion method,
Even when the device has a large movement stroke, it is possible to manufacture the device at low cost.

(Embodiments) Next, specific embodiments of the assembly robot of the present invention will be described in detail with reference to the drawings.

In FIG. 1, reference numeral 11 denotes a base, and a basic drive section 12 that moves in the horizontal direction (X direction) is mounted on this base 11. At the bottom of this basic drive section 12, although not shown, there is a motor,
A pinion that is driven by the motor is provided, and a rack that meshes with the pinion is provided on the base 11 side, so that a structure is adopted in which the basic drive section 12 is self-propelled by the motor. ing. The basic drive unit 12 is equipped with a drive unit 13 that moves in the horizontal direction (Y direction) perpendicular to the X direction and in the vertical direction (Z direction).
A hand portion 14 is attached to the tip of the drive portion 13. In addition, 15 is a Y direction drive motor, 16
is a Z-direction drive motor, and the drive section 13 is driven in either direction by a known nut-screw method. The basic drive section 12 also includes an arm 1 extending toward the hand section 14 side.
7 is attached to the arm 17, and an auxiliary table 18 is attached to this arm 17. Auxiliary table 18
is a support portion 19 of the arm 17 extending in the X direction.
It is slidably mounted on the support part 19 and is driven in the X direction by an auxiliary drive motor 20 attached to the end of the support part 19 using a nut screw method. That is, a nut is fixed to the lower surface of the auxiliary table 18, while a screw rotatably driven by the motor 20 is rotatably supported on the support portion 19, and the nut is engaged with the screw. This is the translation.

The procedure for assembling each part using the robot will be explained based on FIG. 2. First, basic parts are taken out from a predetermined parts feeder 21 and placed on the auxiliary table 18. Next, the basic drive unit 1
2 and the drive section 13, the hand section 14 is moved to a predetermined position and the part is taken out. Next, this part is assembled to the above-mentioned basic part. At this time, the basic drive part 12 is kept in a stopped state without being moved from this position, and the hand part 14 is moved in the Y direction by the drive part 13. Position control is performed in the Z direction and position control in the X direction is performed by driving the auxiliary table 18. When the assembly of the above-mentioned parts is completed, the hand part 14 is moved to another part position by the basic drive part 12 and the drive part 13 in the same way as above, and the assembling is carried out sequentially in the same procedure as above. . When a series of assembly operations are completed, the finished product is transported to a predetermined position and the next operation begins.

As described above, according to the assembly robot, when the hand portion 14 moves to a predetermined part position and grips this part, the assembly work is performed by driving the auxiliary table 18 at this position. It becomes possible to do so. Therefore, there is no need for the robot to reciprocate between the position where the basic parts are placed and each part position as in the past, and the distance traveled by the robot for transportation can be shortened, reducing the work cycle. It can shorten time and improve efficiency. In addition, the drive motor 20 for assembly work, which requires high positioning accuracy, and the drive motor for taking out parts are separate, so when the number of parts increases and the movement stroke of the robot needs to be lengthened, Even if there is a problem, the device can be manufactured at low cost.

Although one embodiment of the assembly robot of the present invention has been described above, the assembly robot of the present invention is not limited to the above embodiment, and can be implemented with various modifications. For example, in the above description, an example is shown in which the robot is of an orthogonal three-axis type, but it can also be implemented in the same manner as described above, for example, with a horizontal joint type or a polar seat type robot. Furthermore, although the above example shows an embodiment in which the basic drive unit is moved in the X direction, it may be moved in another direction, for example, in the Z direction.

(Effects of the Invention) The assembly robot of the present invention is configured as described above, and therefore, when performing assembly work, the robot of the present invention can reduce the robot time required to transport each part. Since the moving distance can be shortened, the work cycle time can be shortened, and work efficiency can be improved. In addition, the drive source for parts extraction and the drive source for assembly work are provided separately, so even if the movement stroke of the robot becomes longer, the drive source for assembly work that requires high precision can be lengthened. Since there is no need
The entire device can be provided at low cost.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing an embodiment of the assembly robot of the present invention, FIG. 2 is an explanatory diagram showing the procedure for performing assembly work using the above robot, and FIG. It is an explanatory view showing a procedure for performing an assembly work. 12... Basic drive section, 13... Drive section, 14...
...Hand portion, 18...Auxiliary table, 20...Auxiliary drive motor.

Claims (1)

[Claims] 1 Attaching the driving unit 13 that moves in another direction to the basic driving unit 12 that moves in a predetermined direction,
In an assembly robot which is provided with a hand section 14 driven by each of these drive sections 12 and 13, and which assembles other parts to a basic component using this hand section 14, the basic drive section 12 has an auxiliary table. 18
An assembly robot characterized in that it is equipped with an auxiliary drive source 20 for driving the auxiliary table 18 in the same direction as the basic drive unit.