JPH0513771B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic assembly device used for assembly work.

[Prior Art] Generally, in automatic assembly equipment having multiple degrees of freedom, the number of degrees of freedom is determined at the time of designing the assembly equipment itself, and the number of degrees of freedom is not increased or decreased later. . When installing an assembly device, an assembly device having a number of degrees of freedom depending on the content of the work to be performed is selected and installed.

[Problem to be solved by the invention] However, the content of the work performed by the assembly device is
It is often changed due to a change in the parts to be assembled or a change in the process, which may change the number of degrees of freedom required of the assembly device. For example, if a certain degree of freedom provided by an assembly device is no longer needed, the assembly device will be operated with the mechanism that provides that degree of freedom stopped and held. The main body will operate with unnecessary mechanical parts. On the other hand, if a new degree of freedom is required of the assembly device, it is necessary to select and reinstall another assembly device that is compatible with the changed work content.

As described above, in conventional automatic assembly devices, when the degree of freedom required increases or decreases due to changes in work content, various wastes occur and are uneconomical.

An object of the present invention is to provide an automatic assembly device that can cope with the increase or decrease in the degree of freedom required due to changes in work content without wasting equipment.

[Means for Solving the Problems] The automatic assembly device of the present invention is an automatic assembly device in which a work member for assembly work slides on a three-dimensional orthogonal coordinate axis, and the work member is slidably supported by a slide. A mechanical part having a member, a motor, and an arm that is swung by the motor and slides the working member is provided for each of the three coordinate axes, and at least one of the three mechanical parts is detachable. This is what I did.

[Operation] When it is no longer necessary to move the work member in a specific direction due to a change in the work content, the mechanism section for moving the work member in the specific direction is removed from the assembly device.

Additionally, if it becomes necessary to move work members in a new direction due to a change in the work content, the assembly device can be equipped with a mechanism for moving the workpiece in the new direction without replacing the assembly device itself. It is attached.

[Example] An example embodying the present invention will be described below with reference to the drawings.

FIG. 1 shows a front view of the automatic assembly device of this embodiment, and FIG. 2 shows a plan view of the same. The assembly apparatus of this embodiment is configured to be able to slide a moving part 16 as a working member, which will be described later, on a three-dimensional orthogonal coordinate axis. That is, in the installed state of the assembly apparatus shown in FIGS. 1 and 2, when the left-right direction is the X direction, the front-back direction is the Y direction, and the up-down direction is the Z direction, the moving part 16 can be moved in the X, Y, and Z directions.
It is designed to be able to move in three mutually orthogonal directions. The specific configuration is explained below.

The assembly device is installed on an upright base surface A, and a first subframe 1 of the assembly device is fixed to this base surface A. A Y-direction drive motor 2 is attached to the lower surface of the first subframe 1, and the motor 2 is connected to a reduction gear 3 disposed within the first subframe 1. Reducer 3
The output shaft 3a is connected to an arm 4 on the upper side of the first subframe 1, and the arm 4 rotates in accordance with the rotation of the Y-direction drive motor 2.

A support plate 5 is formed on the left side of the first sub-frame 1, and Y-direction slide rails 6 are attached to the upper and lower parts of the support plate 5, respectively.
Each slide rail 6 holds a Y-direction slider 7 movably in the Y-direction to constitute Y-direction slide members 6, 7, and both Y-direction sliders 7 sandwich the upper and lower slide rails 6 and are attached to the first main frame. 8 is fixed in the mounting recess 8a. Therefore, the main frame 8 moves in the Y direction together with both Y direction sliders 7. A cam follower 9 is protruded from the upper side of the first main frame 8, and the cam follower 9 is fitted into a U-shaped groove 4a formed at the tip of the arm 4.

Therefore, when the arm 4 rotates in the forward and reverse directions with the forward and reverse rotation of the Y-direction drive motor 2, the cam follower 9 is moved by the U-shaped groove 4a at its tip, and as a result, the first main frame 8 moves in the Y direction while being guided by the Y direction slide rail 6.

In this embodiment, a Y-direction mechanism section 10 is provided for giving the assembly apparatus a degree of freedom on the Y-direction coordinate axis by the Y-direction drive motor 2, reduction gear 3, arm 4, Y-direction slide members 6, 7, etc. It consists of

The first main frame 8 can be attached to and detached from the Y-direction slider 7. When attaching and detaching, the cam follower 9 is moved into the U-shaped groove of the arm 4 by moving the main frame 8 in the X direction. It is inserted into and removed from 4a.

A Z-direction slide rail 11 is provided on the left side of the first main frame 8, and a Z-direction slider 12 is held on the slide rail 11 so as to be movable in the Z-direction.
It consists of A guide member 13 is fixed to the Z-direction slider 12, and the guide member 13 is composed of a pair of upper and lower guide plates 13a extending in the left-right direction.

On the other hand, on the lower side of the first main frame 8
A direction slide rail 14 is provided, and an X direction slider 15 is held on the slide rail 14 so as to be movable in the X direction.
5. A guide groove 15a is formed in the X-direction slider 15, and a moving part 16 is attached to the guide groove 15a so as to be movable in the Z direction.
A chuck or the like is attached to the lower end of the moving section 16 depending on the content of the work to be performed by the automatic assembly device.

A cam follower 17 is provided above the moving part 16.
is provided to protrude rearward, and this cam follower 17 is attached to the guide plate 1 of the guide member 13.
3a is inserted from the front. For this reason, Z
When the direction slider 12 and the guide member 13 move in the Z direction, the moving section 16 moves in the Z direction via the cam follower 17.

Further, an X-direction drive motor 18 and a reduction gear 20 are attached to the first main frame 8, and a drive pulley 19 fixed to the output shaft 18a of the drive motor 18 and an input shaft 20a of the reduction gear 20 are attached to the first main frame 8. A driven pulley 21 is connected to the driven pulley 21 by a transmission belt 22. An arm 23 is attached to the output shaft 20b of the reducer 20, and a connecting groove 23a is formed at the tip of the arm 23. A cam follower 24 provided at the top of the X-direction slider 15 is fitted into the connecting groove 23a.

Therefore, when the X-direction drive motor 18 rotates in the forward and reverse directions, the reducer 20 is driven to rotate in the forward and reverse directions via the transmission belt 22, and the reducer 20 causes the arm 23 to swing. As a result, the X-direction slider 15 moves to the X-direction slide rail 1 via the cam follower 24.
4, and at the same time the moving section 16 also moves in the X direction.

In this embodiment, the X-direction slide members 14 and 15, the X-direction drive motor 18, and the reducer 2
0, and an X-direction mechanism section 2 for giving the assembly device a degree of freedom in the X-direction coordinate axis by means of the arm 23, etc.
5.

On the other hand, a Z-direction drive motor 26 and a reducer 28 are attached to the first main frame 8, and are fixed to the output shaft 26a of the drive motor 26, and are connected to a drive pulley 27 and an input shaft 28a of the reducer 28. A driven pulley 29 is connected to the driven pulley 29 by a transmission belt 30. An arm 31 is attached to the output shaft 28b of the reducer 28, and a cam follower 32 is provided protruding from the front surface of the tip of the arm 31. This cam follower 32 is connected to the guide member 1
It is inserted between the guide plates 13a of No. 3 from the rear.

Therefore, when the Z-direction drive motor 26 rotates in the forward and reverse directions, the reducer 28 is driven to rotate in the forward and reverse directions via the transmission belt 30, and the reducer 28 causes the arm 31 to swing. As a result, the cam follower 32 of the arm 31 reciprocates the guide member 13 in the Z direction while moving along between the guide plates 13a, and accordingly, the moving part 16 moves in the Z direction while being guided by the guide groove 15a. become.

In this embodiment, the Z-direction slide members 11 and 12, the Z-direction drive motor 26, and the reducer 2
8. The arm 31 and the like constitute a Z-direction mechanism section 33 for giving the assembly device a degree of freedom in the Z-direction coordinate axis.

In this embodiment, DC servo motors are used as the X-direction, Y-direction, and direction drive motors 18, 2, and 26. Further, these drive motors 18, 2, and 26 are connected to a control section (not shown), and the rotation direction and rotation speed are changed based on a control signal from the control section.

In this way, the assembly device is equipped with the mechanism parts 10, 25, and 33 in the Y direction, the X direction, and the Z direction,
The respective mechanical parts 10, 25, and 33 give this assembly device three degrees of freedom: the Y, W, and Z coordinate axes.

On the other hand, the automatic assembly device of this embodiment has the above-mentioned X,
It is possible to change the state from having three degrees of freedom in the Y and Z direction coordinate axes to having two degrees of freedom in the Y and Z direction coordinate axes. A second main frame 41 is attached in place of the first main frame 8. The configuration of the assembly device with the second main frame 41 attached will be explained.

This second main frame 41 has a mounting recess 41 a similar to that of the first main frame 8 , and the mounting recess 41 a is fixed to both Y-direction sliders 7 instead of the first main frame 8 . Further, a cam follower 42 is provided protruding from the upper side of the second main frame 41, and this cam follower 42 is fitted into the U-shaped groove 4a of the arm 4. Therefore, the second main frame 41 moves in the Y direction in accordance with the rotation of the Y direction drive motor 2 while being guided by the Y direction slide rail 6.

A guide member 43 is fixed to the front side surface of the second main frame 41, and the moving part 16 is held in a guide groove 43a formed in the guide member 43 so as to be movable in the Z direction.
6,43.

Further, the second main frame 41 is provided with a Z-direction moving motor 26 and a reducer 28 that is rotationally driven by the motor 26, and an arm 44 is attached to the output shaft 28a of the reducer 28. A connecting groove 44a is formed at the tip of the arm 44, and a cam follower 45 provided at the upper part of the moving part 16 is fitted into the connecting groove 44a.

Therefore, when the reducer 28 is driven to rotate in forward and reverse directions by the Z-direction drive motor 26, the arm 4
The cam follower 45 of the moving part 16 is moved by the connecting groove 44 of No. 4. As a result, the moving part 16 moves in the Z direction while being guided by the guide groove 43a of the guide member 43.

In this second main frame 41, the Z-direction slide members 16, 43, the Z-direction drive motor 26, the reducer 28, the arm 44, etc. are used to give the assembly device a degree of freedom in the Z-direction coordinate axis. The Z-direction mechanism section 46 of FIG.

Therefore, the assembly device shown in FIGS.
Only the mechanical parts 10 and 46 in the direction and the Z direction are provided, and both the mechanical parts 10 and 46 give this assembly device two degrees of freedom in the Y and Z direction coordinate axes.

On the other hand, the automatic assembly device of this embodiment has the above-mentioned X,
It is possible to change the state from having three degrees of freedom in the coordinate axes in the Y and Z directions to having two degrees of freedom in the coordinate axes in the X and Y directions. A third main frame 51 can be attached in place of the first main frame 8. The configuration of the assembly device with this third main frame 51 attached will be explained.

This third main frame 51 has a mounting recess 5 similar to the first and second main frames 8, 41.
1a is formed, and its mounting recess 51a is fixed to both Y-direction sliders 7 instead of the first main frame 8. Also, the third main frame 51
A cam follower 52 is protruded from the upper side, and this cam follower 52 is inserted into the U-shaped groove 4 of the arm 4.
It is fitted into a.

Therefore, this third mayframe 51 is
It moves in the Y direction while being guided by the direction slide rail 6 according to the rotation of the Y direction drive motor 2.

The lower part of the third main frame 51 has an X
A direction slide rail 53 is provided, and the moving part 5 as a working member is provided on the X direction slide rail 53.
4 are attached so as to be movable in the X direction, and constitute X direction slide members 53 and 54. Similar to the moving parts 16 of the first and second main frames 8 and 41, chucks and the like are attached to this moving part 54 in accordance with the content of work to be performed by the assembly apparatus.

Further, the third main frame 51 is provided with an X-direction moving motor 18 and a reducer 20 that is rotationally driven by the motor 18, and an arm 23 is attached to the output shaft 20a of the reducer 20. A connecting groove 23a is formed at the tip of the arm 23, and a cam follower 55 provided at the upper part of the moving part 54 is fitted into the connecting groove 23a.

Therefore, when the speed reducer 20 is driven to rotate in forward and reverse directions by the X-direction drive motor 18, the cam follower 55 of the moving part 54 is moved by the connecting groove 23a of the arm 23. As a result, the moving section 54
It moves in the X direction while being guided by the direction slide rail 53.

In the third main frame 51, the X-direction drive motor 18, the speed reducer 20, the arm 23, the X-direction slide members 53, 54, etc. provide the assembly device with a degree of freedom on the X-direction coordinate axis. The X-direction mechanism section 56 of FIG.

Therefore, the assembly device shown in FIGS.
Only the mechanical parts 10 and 56 in the direction and the X direction are provided, and both the mechanical parts 10 and 56 give this assembly device two degrees of freedom in the Y and X direction coordinate axes.

On the other hand, the automatic assembly device of this embodiment has the above-mentioned X,
It is possible to change the state from having three degrees of freedom in the Y and Z coordinate axes to having two degrees of freedom in the X and Y coordinate axes. A second subframe 61 is attached in place of the first subframe 1, the Y-direction slide rail 6, and the Y-direction slider 7. The configuration of the assembly device with this second subframe 61 attached will be explained.

This second subframe 61 includes a bracket 63 fixed to the base surface A, and a bracket 63 fixed to the base surface A.
3, and a support seat 62 supported by 6.
2 and 63 are connected by a bolt 64 through an elongated hole 62a. An engaging portion 62b corresponding to the mounting recess 8a of the first main frame 8 is formed on the support seat 62, and this engaging portion 62b is fixed to the mounting recess 8a. The support seat 62 has a long hole 6
The position of the moving part 16 can be adjusted in the X direction within the allowable range of 2a, thereby making it possible to change the position of the moving part 16.

In this way, the assembly apparatus shown in FIGS.
and Z-direction mechanism parts 25 and 33 are provided,
The mechanism parts 25 and 33 give this assembly device two degrees of freedom in the X and Z coordinate axes.

Note that the elongated hole 62a is not necessarily necessary, and
The support seat 62 and the bracket 63 may be integrated.

As described in detail above, the automatic assembly apparatus of this embodiment is equipped with all the mechanism parts 25, 10, 33 in the X direction, Y direction, and Z direction (first, second
In addition to the state shown in FIG.
6 (FIGS. 3 and 4), a state where only the X direction mechanism section 25 and the Z direction mechanism section 33 are provided (FIGS. 7 and 8), and a state where only the X direction mechanism section 56 and the Y direction mechanism section 10 are included. It is also possible to put it in a prepared state (FIGS. 5 and 6).

Therefore, for example, for an assembly device that has been operating with all the mechanical parts 25, 10, and 33 in the X, Y, and Z directions, a specific degree of freedom is no longer required due to a change in the work content. If the degree of freedom is no longer needed, the mechanical part constituting the degree of freedom that is no longer needed can be removed from the assembly device. As a result, the assembly device can be operated with excess mechanical parts removed.

In addition, when a large number of automatic assembly devices are prepared and operated, the main frame 8 and subframe 1 that are no longer needed can be removed from the assembly device and attached to another assembly device, and these frames 8 and 1 can be removed. It also becomes possible to use it effectively.

In addition, if a new degree of freedom is required due to a change in the work content for an assembly device that was previously operating with only any two of the above-mentioned mechanical parts, the first, An assembly device having degrees of freedom in the X, Y, and Z coordinate axes shown in FIG. 2 can be obtained. Therefore, there is no need to select and reinstall another assembly device that is compatible with the changed work content.

In addition, as mentioned above, the second main frame 41
does not include the X-direction mechanism section 25, and the third main frame 51 does not include the Z-direction mechanism section 33. It is lightweight compared to the frame. Therefore, as shown in FIGS. 3 to 6, when these second or third main frames 41, 51 are in use, the Y direction for moving each main frame 41, 51 in the Y direction is The load on the directional drive motor 2 can be reduced. As a result, the operating speed of the assembly apparatus can be increased, and heavier workpieces can be transported.

Note that the present invention is not limited to the above embodiments, and may be implemented as follows.

In the automatic assembly apparatus of this embodiment, for example, in order to omit the X-direction mechanism section 25 from an assembly apparatus that includes all the mechanism sections 25, 10, and 33, it is necessary to omit the X-direction mechanism section 25 and the Z-direction mechanism section 33. This was done by replacing the first main frame 8 with the second main frame 41 equipped with only the Z-direction mechanism section 46, but the X-direction mechanism section 25 and the Z-direction mechanism section 33 were replaced with Independently attached to the first main frame 8, any of the mechanism parts 25,
33 is no longer needed, the mechanical part 25,
33 may be removed.

Furthermore, in this embodiment, in addition to the state in which all the mechanism parts 25, 10, and 33 in the X direction, Y direction, and Z direction are provided (see FIGS. 1 and 2), any two of them are provided. Although the state in which the device is equipped has been described, the state in which only one mechanism section is provided, that is, the X-direction mechanism section 2 has been described.
5 and 56, only the Y-direction mechanism section 10, and only the Z-direction mechanism sections 33 and 46 are also possible. For example,
In order to have only the direction mechanism section 56, it is sufficient to attach the third main frame 51 to the second subframe 61, and in order to have only the Z direction mechanism section 46, it is sufficient to attach the third main frame 51 to the second subframe 61. The second main frame 41 may be attached to the second subframe 61. Moreover, the Y direction mechanism section 10
In order to have only the first main frame 8, the second main frame 41, or the third main frame 51 attached to the first subframe 1, it is necessary to attach only the first main frame 8, the second main frame 41, or the third main frame 51 to the first subframe 1.

Further, a gear train may be used instead of the transmission belts 22, 30, or arms 4, 23, 31,
44 may be attached and driven directly. Also, regarding the types of drive motors 2, 18, and 26, AC servo motors or the like may be used instead of DC servo motors.

Furthermore, the automatic assembly device of this embodiment has cam followers 9, 17, 24, 32, 42, 4 in each part.
5, 52, and 55 were used, but ball bearings, metal bearings, or simply cam followers 9,
Cylindrical bodies having the same shape as 17, 24, 32, 42, 45, 52, and 55 may be used.

Furthermore, between the guide plates 13a of the guide member 13, the cam follower 17 of the moving part 16 was fitted from the front, and the cam follower 32 of the arm 31 was fitted from the rear. Alternatively, two guide members 13 provided separately may be used.
Both cam followers 17 and 32 may be guided by the cam followers 17 and 32, respectively.

Furthermore, both the arms 23 of the first main frame 8 and the third main frame 51 may have different shapes.

Furthermore, the shapes of the third main frame 51 and the second main frame 41 may be made the same as the first main frame 8, so that all the main frames 8, 41, and 51 may be made common.

Moreover, although the Y-direction slider 7 is of a two-piece type, it may be an integral type.

[Effects of the Invention] As detailed above, the automatic assembly apparatus of the present invention has the excellent effect of being able to cope with the increase or decrease in the degree of freedom required due to changes in work content without wasting equipment. demonstrate.

[Brief explanation of the drawing]

Fig. 1 is a front view showing the assembly device with degrees of freedom in three directions, Fig. 2 is a plan view, and Fig. 3 shows the assembly device with degrees of freedom in the Y and Z directions. Front view, Figure 4 is also a plan view, Figure 5
The figure shows a front view of the assembly device with degrees of freedom in the X and Y directions, FIG. 6 is a plan view, and FIG. 7 shows the assembly device with degrees of freedom in the X and Z directions. The front view shown in FIG. 8 is also a plan view. 16, 54 are moving parts as working members; 2, 1;
8, 26 are motors, 4, 23, 31 are arms,
6, 7, 11, 12, 14, 15, 16, 43,
53, 54 are slide members, 10, 25, 56,
33 and 46 are mechanical parts.

Claims (1)

[Claims] 1. An automatic assembly device in which a work member for assembly work slides on a three-dimensional orthogonal coordinate axis, which includes a slide member that slidably supports the work member, a motor, and the work member that is oscillated by the motor. 1. An automatic assembly device characterized in that a mechanism section having a sliding arm is provided for each of three coordinate axes, and at least one of the three mechanism sections is detachable.