CN111319063A - Method for manufacturing robot - Google Patents
Method for manufacturing robot Download PDFInfo
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- CN111319063A CN111319063A CN201811525991.XA CN201811525991A CN111319063A CN 111319063 A CN111319063 A CN 111319063A CN 201811525991 A CN201811525991 A CN 201811525991A CN 111319063 A CN111319063 A CN 111319063A
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title abstract description 21
- 239000004973 liquid crystal related substance Substances 0.000 description 9
- 210000001015 abdomen Anatomy 0.000 description 6
- 238000004904 shortening Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
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- Robotics (AREA)
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Abstract
A method for manufacturing a robot is provided, which contributes to improving the efficiency of the manufacturing work of the robot and the safety of the manufacturing work. In the method for manufacturing a robot according to the present invention, the robot includes: a base unit; a column unit supported in a standing manner by the base unit; an arm unit rotatably connected to the column unit; and a hand unit rotatably connected with the arm unit, including: a unit assembling step of performing base unit assembling work, column unit assembling work, arm unit assembling work, and hand unit assembling work, at least two of which are performed in parallel; and a complete machine assembling step, wherein the base unit, the upright column unit, the arm unit and the hand unit which are assembled in the unit assembling step are connected together.
Description
Technical Field
The present invention relates to a method for manufacturing a robot.
Background
In order to improve production efficiency, reduce labor cost, improve operation safety, and the like, robots are currently used in many industries.
For example, in a production line of liquid crystal panels, a robot is often used to perform operations such as conveyance of the liquid crystal panels.
A robot used in a production line of a liquid crystal panel generally includes: a base unit; a column unit supported on the base unit in an upright manner; an arm unit rotatably connected to the column unit; and a hand unit rotatably connected with the arm unit.
Conventionally, when manufacturing such a robot, it is common to assemble a base unit, erect and mount a long column body included in the column unit on the base unit, mount various functional components such as a guide rail, a drive member, and a cable on the column body, mount an arm body included in an arm unit on the column body, mount various functional components such as a drive member and a cable on the arm body, and finally mount a hand base, a fork, and the like included in a hand unit on the arm body.
In this way, when the robot is manufactured in the related art, since the robot is assembled from the bottom up, it is not possible to simultaneously assemble the base unit, the column unit, and other units of the robot, and the number of components of the robot is large (may reach thousands), which results in a long assembly time and a low assembly work efficiency.
In recent years, the liquid crystal panel has been becoming larger, and accordingly, the robot has also become larger, and the long column main body included in the column unit may become 10 or more long.
In such a case, when the arm unit and the hand unit (mainly, functional components included in the arm unit and the hand unit) are assembled to the column main body, it is often necessary to perform a long-time overhead work, which is highly dangerous, and the work convenience and work safety of the worker are low.
Therefore, how to improve the efficiency of the robot manufacturing operation and improve the safety of the robot manufacturing operation has become an urgent problem to be solved.
Disclosure of Invention
The present invention has been made in view of the above problems, and an object thereof is to provide a method for manufacturing a robot, which contributes to improvement in efficiency of a manufacturing operation of the robot and improvement in safety of the manufacturing operation.
In order to achieve the above object, the present invention provides a method of manufacturing a robot, the robot including: a base unit; a column unit supported on the base unit in an upright manner; an arm unit rotatably connected to the column unit; and a hand unit rotatably connected with the arm unit, including: a unit assembling step of performing a base unit assembling work, a column unit assembling work, an arm unit assembling work, and a hand unit assembling work, at least two of the base unit assembling work, the column unit assembling work, the arm unit assembling work, and the hand unit assembling work being performed in parallel; and a complete machine assembling step of assembling the base unit, the column unit, the arm unit, and the hand unit assembled in the unit assembling step together.
According to the method for manufacturing a robot of the present invention, since the assembly work of the base unit, the column unit, the arm unit, and the hand unit itself is performed first, and then the assembled units are connected together, unlike the conventional method, even in a large-sized robot, it is not necessary to perform the work high above the ground for a long time in order to attach the functional components of the arm unit (for example, a drive source, a cable, etc.) and the functional components of the hand unit (for example, a sensor, a cable, etc.), which contributes to the improvement of the safety of the work; further, when the functional components of the arm unit and the functional components of the hand unit are mounted, the work can be performed at a low position, for example, the work can be performed while standing on the ground, so that the workability is high, and at least two of the base unit assembling work, the column unit assembling work, the arm unit assembling work, and the hand unit assembling work are performed in parallel, so that the waiting time can be reduced, the assembling work time of the robot can be effectively shortened, and the efficiency of the manufacturing work of the robot can be improved.
In the method for manufacturing a robot according to the present invention, it is preferable that the unit assembling step performs the base unit assembling work, the column unit assembling work, the arm unit assembling work, and the hand unit assembling work in parallel.
According to the method for manufacturing a robot of the present invention, the base unit assembling work, the column unit assembling work, the arm unit assembling work, and the hand unit assembling work are performed in parallel, which contributes to further shortening the assembling time of the robot and further improving the efficiency of the robot manufacturing work.
In the robot manufacturing method according to the present invention, it is preferable that the work of connecting the base unit and the column unit and the work of connecting the arm unit and the hand unit are performed in parallel in the entire machine assembling step.
According to the method for manufacturing a robot of the present invention, the work of assembling the base unit and the column unit and the work of assembling the arm unit and the hand unit are performed in parallel, which contributes to further shortening the time required for assembling the robot and further improving the efficiency of the work of manufacturing the robot.
In the method for manufacturing a robot according to the present invention, it is preferable that the base unit, the column unit, the arm unit, and the hand unit are connected in this order in the whole assembly step.
According to the method for manufacturing a robot of the present invention, when the arm unit and the hand unit are heavy, it is possible to reduce the difficulty in assembling the arm unit and the hand unit and to improve the accuracy of assembling the robot.
In the method for manufacturing a robot according to the present invention, it is preferable that the column unit includes: a long-shaped member; and a functional member for a column attached to the elongated member, wherein the functional member for a column is attached to the elongated member in a state in which the elongated member is laid down in the column unit assembling operation.
According to the method for manufacturing a robot of the present invention, even when the long member (for example, the column main body or one of the columnar portions included therein) has a large length, the work of attaching the functional component is easily performed at each of the portions in the longitudinal direction of the long member, the workability is good, the time required for the robot assembly work is further shortened, and the efficiency of the robot manufacturing work is improved.
In the method for manufacturing a robot according to the present invention, it is preferable that, in the column unit assembling work, both end sides in the longitudinal direction of the elongated member are supported by support members so as to be rotatable about an axis extending in the longitudinal direction of the elongated member.
According to the method for manufacturing a robot of the present invention, when it is necessary to attach a functional component to a plurality of attachment surfaces arranged around the axis of an elongated member (for example, a column body or one columnar portion included therein), the attachment surfaces can be positioned at appropriate positions (for example, the attachment surfaces are positioned so as to be approximately flush with the abdomen of a worker and so as to be directed upward) by rotating the elongated member around the axis thereof, and therefore, it is easy to further improve workability, further shorten the time required for the robot assembly work, and improve the efficiency of the robot manufacturing work.
In the method for manufacturing a robot according to the present invention, it is preferable that the arm unit includes: an elongated arm body; and an arm functional member attached to the arm body, wherein the arm functional member is attached to the arm body in a state in which the arm body is supported so as to be rotatable about an axis extending in a longitudinal direction of the arm body in the arm unit assembling work.
According to the method for manufacturing a robot of the present invention, when it is necessary to attach a functional component to a plurality of attachment surfaces of the arm main body arranged around the axis thereof, the attachment surfaces can be positioned at appropriate positions (for example, the height of the attachment surfaces is made to substantially coincide with the abdomen of the worker and the attachment surfaces are directed upward) by rotating the arm main body around the axis thereof, and therefore, it is easy to further improve workability, further shorten the time required for the robot assembly work, and improve the efficiency of the robot manufacturing work.
In the robot manufacturing method according to the present invention, it is preferable that a plurality of or all of the operations of the base unit assembling operation, the column unit assembling operation, the arm unit assembling operation, and the hand unit assembling operation are performed at a plurality of positions arranged in a first direction, and the whole machine assembling step is performed at a position adjacent to the plurality of positions in a second direction perpendicular to the first direction.
According to the method for manufacturing a robot of the present invention, it is possible to contribute to a compact arrangement of the respective stations for performing the base unit assembling work, the column unit assembling work, the arm unit assembling work, and the hand unit assembling work, and to a reduction in the distance between the respective stations for performing the base unit assembling work, the column unit assembling work, the arm unit assembling work, and the hand unit assembling work and the station for performing the entire machine assembling step, thereby contributing to a further improvement in the efficiency of the robot manufacturing work.
(effect of the invention)
According to the present invention, since the base unit, the column unit, the arm unit, and the hand unit are assembled and then the assembled units are connected to each other, unlike the conventional art, even in a large-sized robot, it is not necessary to perform a long-time overhead work for attaching functional components (for example, a drive source, a cable, etc.) of the arm unit and functional components (for example, a sensor, a cable, etc.) of the hand unit, which contributes to improvement of safety of the work; further, when the functional components of the arm unit and the functional components of the hand unit are mounted, the work can be performed at a low position, for example, the work can be performed while standing on the ground, so that the workability is high, and at least two of the base unit assembling work, the column unit assembling work, the arm unit assembling work, and the hand unit assembling work are performed in parallel, so that the waiting time can be reduced, the assembling work time of the robot can be effectively shortened, and the efficiency of the manufacturing work of the robot can be improved.
Drawings
Fig. 1 is a plan view schematically showing a robot according to an embodiment of the present invention, and a solid line shows a state where a hand unit is extended, and a broken line shows a state where the hand unit is retracted.
Fig. 2 is a side view of the robot shown in fig. 1, and a solid line indicates a state where the hand unit is at a lowered position, and a broken line indicates a state where the hand unit is at a raised position.
Fig. 3 is a diagram schematically showing an example of the layout of each work area for manufacturing the robot.
(symbol description)
1 robot
10 base unit
11 seat part
12 mobile station
13 rotating table
20 column unit
21 first upright post
22 second upright post
23 arm bearing
30 arm unit
31 first arm
32 second arm
40 hand unit
41 hand base
42 fork part
2 liquid crystal panel
BU base unit assembling operation area
VU column unit assembly work area
AU arm unit assembling work area
HU hand unit assembling operation area
WA complete machine assembling operation area
Detailed Description
Next, an embodiment of the present invention will be described with reference to fig. 1 and 2, in which fig. 1 is a plan view schematically showing a robot according to the embodiment of the present invention, and a solid line shows a state in which a hand unit is extended, and a broken line shows a state in which the hand unit is retracted, and fig. 2 is a side view of the robot shown in fig. 1, and a solid line shows a state in which the hand unit is in a lowered position, and a broken line shows a state in which the hand unit is in a raised position.
For convenience of explanation, three directions orthogonal to each other are referred to as an X direction, a Y direction, and a Z direction, and one side in the X direction is referred to as X1, the other side in the X direction is referred to as X2, one side in the Y direction is referred to as Y1, the other side in the Y direction is referred to as Y2, one side in the Z direction is referred to as Z1, and the other side in the Z direction is referred to as Z2.
The robot 1 of the present embodiment is a horizontal articulated industrial robot for conveying a liquid crystal panel 2 to be conveyed.
As shown in fig. 1 and 2, the robot 1 includes: a base unit 10; a column unit 20, the column unit 20 being supported on the base unit 10 in an upright manner; an arm unit 30, the arm unit 30 being rotatably connected to the column unit 20; and a hand unit 40, the hand unit 40 being rotatably connected with the arm unit 30.
Here, the base unit 10 includes: a base body; and a base unit function member (not shown) such as a drive source and a bearing attached to the base main body. Specifically, the base main body includes: a seat 11; a moving table 12, the moving table 12 being supported by the moving table 12 so as to be horizontally movable (movable in the X direction in the illustrated example) with respect to the seat 11; and a rotary table 13, the rotary table 13 being supported rotatably (specifically, rotatably about an axis extending in the Z direction) on the moving table 12. Although not shown, a base unit function member such as a speed reducer may be provided in a joint portion connecting the rotary table 13 and the movable table 12 to be rotatable.
Further, the pillar unit 20 includes: a long-strip-shaped column main body; and a column unit functional member (not shown) such as a drive source attached to the column body. Specifically, the column body is an elongated shape extending in the Z direction as a whole (i.e., the longitudinal direction is coincident with the Z direction), and includes: a first column 21 extending in the Z direction, the first column 21 having a lower end (end on the Z2 side) fixed to the turntable 13; a second column 22 extending in the Z direction, the second column 22 being supported by the first column 21 so as to be movable in the Z direction with respect to the first column 21; and an arm support 23, the arm support 23 being supported by the second column 22 so as to be movable in the Z direction with respect to the second column 22. In the illustrated example, the first column 21 has a substantially rectangular parallelepiped shape and has four attachment surfaces arranged around the axis thereof, and the first column 21 may be formed in a hollow shape so as to route functional components such as cables therein. Similarly, in the illustrated example, the second pillar 22 has a substantially rectangular parallelepiped shape with four mounting surfaces arranged around the axis thereof, and the second pillar 22 may be formed in a hollow shape so as to route functional components such as cables therein
Further, the arm unit 30 includes: an elongated arm body; and arm unit functional components (not shown) such as a drive source and bearings attached to the arm body. Specifically, the arm main body includes: a first arm 31, one end of the first arm 31 being rotatably connected to the arm support 23 and extending substantially in a horizontal plane; and a second arm 32, one end of which second arm 32 is rotatably connected to the other end of first arm 31 and extends substantially in a horizontal plane. In the illustrated example, the first arm 31 has a substantially rectangular parallelepiped shape (both end portions have a semi-cylindrical shape), and the first arm 31 may be formed in a hollow shape so as to route functional components such as cables therein. Similarly, in the illustrated example, the second arm 32 has a substantially rectangular parallelepiped shape (both end portions have a semi-cylindrical shape), and the second arm 32 may be formed in a hollow shape so as to route functional components such as cables inside. In the illustrated example, the two first arms 31 and the two second arms 32 are provided to be substantially symmetrical with respect to each other. Although not shown, an arm unit function member may be provided in a joint portion connecting the first arm 31 and the second arm 32 to be rotatable.
Further, the hand unit 40 includes: a hand main body; and a hand unit function member (not shown) such as a sensor attached to the hand body. Specifically, the hand main body includes: a hand base 41, the hand base 41 being rotatably supported by the other end of the second arm 32; and a fork 42, wherein the fork 42 is attached to the hand base 41 and extends substantially in a horizontal plane. In the illustrated column, the fork 42 is used for mounting the liquid crystal panel 2.
Further, although not shown, the robot 1 further includes a controller for controlling each part of the robot 1, and when the robot 1 operates, the controller controls each part so that, for example, the column unit 20 can be moved toward the X1 side or the X2 side, the arm unit 30 can be moved toward the Z1 side or the Z2 side, the first arm 31 and the second arm 32 of the arm unit 30 can be extended or contracted in the Y direction, and the hand unit 40 can be moved toward the Y1 side or the Y2 side, thereby realizing conveyance of the liquid crystal panel 2 to various positions, and the like.
Next, a method for manufacturing a robot according to an embodiment of the present invention will be described.
The method for manufacturing a robot according to the present embodiment includes: a unit assembling step of performing a base unit assembling operation of assembling the base unit 10, a column unit assembling operation of assembling the column unit 20, an arm unit assembling operation of assembling the arm unit 30, and a hand unit assembling operation of assembling the hand unit 40; and a complete machine assembling step of assembling the base unit 10, the column unit 20, the arm unit 30, and the hand unit 40 assembled in the unit assembling step together.
Specifically, in the unit assembling step, the base unit assembling work, the column unit assembling work, the arm unit assembling work, and the hand unit assembling work are performed in parallel, and in the complete machine assembling step, the base unit 10, the column unit 20, the arm unit 30, and the hand unit 40 are sequentially connected together (that is, the base unit 10 is first installed on the ground or the like, the column unit 20 is connected to the base unit 10, the arm unit 30 is connected to the column unit 20, and finally the hand unit 40 is connected to the arm unit 30).
In the column unit assembling work, the functional member for a column is attached to the first column 11 in a state where the first column 11 of the column unit 20 is laid down, and the functional member for a column is attached to the second column 12 in a state where the second column 12 of the column unit 20 is laid down. In the column unit assembling work, for example, both ends in the longitudinal direction of the first column 11 of the column unit 20 are supported by the support members (specifically, for example, fixing members with support shafts are connected to both ends in the longitudinal direction of the first column 11 by screws or the like, and then the support shafts at both ends are supported by brackets through bearings so that the height of the mounting surface of the first column 11 is substantially equal to the abdomen of the operator, so that the operator can perform the mounting work of the drive source, the cable, and the like while standing on the ground), so that the first column 11 can be rotated about an axis extending in the longitudinal direction of the first column 11, and both ends in the longitudinal direction of the second column 12 of the column unit 20 are supported by the support members (specifically, for example, fixing members with support shafts are connected to both ends in the longitudinal direction of the second column 12 by screws or the like, then, the support shafts at both ends are supported by the brackets through bearings so that the height of the mounting surface of the second column 12 is substantially equal to the abdomen of the operator, so that the operator can perform the mounting work of the drive source, the cable, and the like while standing on the ground), so that the second column 12 can be rotated about an axis extending in the longitudinal direction of the second column 12.
In the arm unit assembling work, the arm functional component is attached to the arm main body in a state where the arm main body included in the arm unit 30 is supported so as to be rotatable about an axis extending in the longitudinal direction of the arm main body (specifically, for example, the arm main body included in the arm unit 30 is provided so as to be rotatable about the axis on a work table having a height substantially corresponding to the abdomen of the worker so that the worker can perform the attaching work of the drive source, the cable, and the like while standing on the ground).
In the hand unit assembling work, for example, the main body of the hand unit 40 is set on a work table having a height substantially corresponding to the abdomen of the worker, and then the worker performs the work of attaching the cable, the sensor, and the like while standing on the ground.
(main effect of the present embodiment)
According to the present embodiment, since the assembly work of the base unit 10, the column unit 20, the arm unit 30, and the hand unit 40 itself is performed first, and then the assembled units are connected together, unlike the conventional art, even in the large-sized robot 1, it is not necessary to perform the work high above the ground for a long time in order to attach the functional components (for example, the drive source, the cable, etc.) of the arm unit 30 and the functional components (for example, the sensor, the cable, etc.) of the hand unit 40, which contributes to the improvement of the safety of the work; further, when the functional components of the arm unit 30 and the functional components of the hand unit 40 are mounted, since the workability is good because the work can be performed at a low position, for example, the work can be performed while standing on the ground, and since the base unit assembling work, the column unit assembling work, the arm unit assembling work, and the hand unit assembling work are performed in parallel, the waiting time can be reduced, the assembling work time of the robot 1 can be effectively shortened, and the efficiency of the manufacturing work of the robot 1 can be improved.
The present invention is described above by way of example with reference to the accompanying drawings, and it is to be understood that the specific implementations of the present invention are not limited to the above-described embodiments.
For example, although the robot for conveying the liquid crystal panel 2 has been described in the above embodiment, the present invention is not limited to this, and may be applied to other fields such as a semiconductor robot.
In the above-described embodiment, the specific configurations of the base unit 10, the column unit 20, the arm unit 30, and the hand unit 40 have been described with reference to fig. 1 and 2, but the configurations of the base unit 10, the column unit 20, the arm unit 30, and the hand unit 40 are not limited to those shown in the drawings and may be appropriately modified as necessary.
In the above-described embodiment, the base unit assembling work, the column unit assembling work, the arm unit assembling work, and the hand unit assembling work are performed in parallel in the unit assembling step, but the present invention is not limited thereto, and at least two of the base unit assembling work, the column unit assembling work, the arm unit assembling work, and the hand unit assembling work may be performed in parallel in the unit assembling step.
In the above embodiment, the base unit 10, the column unit 20, the arm unit 30, and the hand unit 40 are connected in sequence in the complete machine assembly step, but the present invention is not limited to this, and in the complete machine assembly step, the work of connecting the base unit 10 and the column unit 20 and the work of connecting the arm unit 30 and the hand unit 40 may be performed in parallel, and then the arm unit 30 and the column unit 20 may be connected. This contributes to further shortening the time required for assembling the robot and further improving the efficiency of the robot manufacturing operation.
In the above embodiment, it is also conceivable that a plurality of or all of the base unit assembling work, the column unit assembling work, the arm unit assembling work, and the hand unit assembling work are performed at a plurality of positions arranged in the first direction, and the whole machine assembling step is performed at a position adjacent to the plurality of positions in the second direction perpendicular to the first direction. This contributes to further improving the efficiency of the robot manufacturing operation.
For example, as shown in fig. 3, base unit assembly work area BU, column unit assembly work area VU, arm unit assembly work area AU, and hand unit assembly work area HU are provided in this order at a plurality of positions arranged in the vertical direction in the figure, and complete machine assembly work area WA is provided at a position adjacent to each of the above-described areas in the left-right direction in the figure. At the time of manufacture, the base unit 10, which has been assembled in the base unit assembly work area BU, is carried to the right side to the machine assembly work area WA as indicated by a one-way arrow in the drawing, similarly, the column unit 20, which has been assembled in the column unit assembly work area VU, is carried to the right side to the machine assembly work area WA as indicated by a one-way arrow in the drawing, the arm unit 30, which has been assembled in the arm unit assembly work area AU, is carried to the right side to the machine assembly work area WA as indicated by a one-way arrow in the drawing, and the hand unit 40, which has been assembled in the hand unit assembly work area HU, is carried to the right side to the machine assembly work area WA as indicated by a one-way arrow in the drawing, and then, as indicated by a two-way arrow in the drawing, the base unit 10, the column unit 20, the arm unit 30, and the hand unit 40 are sequentially connected together. In this case, since the assembled base unit 10, the column unit 20, the arm unit 30, and the hand unit 40 are arranged in order in the complete machine assembling work area WA, the base unit 10, the column unit 20, the arm unit 30, and the hand unit 40 can be easily connected together without changing positions, which is particularly useful for improving the efficiency of the robot manufacturing work.
It should be understood that the present invention can freely combine the respective embodiments, or appropriately change or omit the respective embodiments within the scope thereof.
Claims (8)
1. A method of manufacturing a robot, the robot comprising: a base unit; a column unit supported on the base unit in an upright manner; an arm unit rotatably connected to the column unit; and a hand unit rotatably connected to the arm unit, characterized by comprising:
a unit assembling step of performing a base unit assembling work, a column unit assembling work, an arm unit assembling work, and a hand unit assembling work, at least two of the base unit assembling work, the column unit assembling work, the arm unit assembling work, and the hand unit assembling work being performed in parallel; and
and a whole machine assembling step of connecting the base unit, the column unit, the arm unit, and the hand unit assembled in the unit assembling step together.
2. The method of manufacturing a robot according to claim 1,
in the unit assembling step, the base unit assembling work, the column unit assembling work, the arm unit assembling work, and the hand unit assembling work are performed in parallel.
3. The method of manufacturing a robot according to claim 1,
in the whole machine assembling step, the work of connecting the base unit and the column unit together and the work of connecting the arm unit and the hand unit together are performed in parallel.
4. The method of manufacturing a robot according to claim 1,
in the whole machine assembling step, the base unit, the column unit, the arm unit and the hand unit are sequentially connected together.
5. The method of manufacturing a robot according to claim 1,
the pillar unit includes: a long-shaped member; and a functional member for a pillar attached to the elongated member,
in the column unit assembling work, the functional member for a column is attached to the elongated member in a state where the elongated member is laid down.
6. A method of manufacturing a robot according to claim 5,
in the column unit assembling work, both end sides in the longitudinal direction of the elongated member are supported by support members so that the elongated member can rotate about an axis extending in the longitudinal direction of the elongated member.
7. The method of manufacturing a robot according to claim 1,
the arm unit includes: an elongated arm body; and an arm functional member attached to the arm main body,
in the arm unit assembling work, the arm functional member is attached to the arm main body in a state where the arm main body is supported so as to be rotatable about an axis extending in a longitudinal direction of the arm main body.
8. The method of manufacturing a robot according to claim 1,
a plurality of operations or all of the operations of assembling the base unit, the column unit, the arm unit, and the hand unit are performed at a plurality of positions arranged in a first direction,
and carrying out the whole machine assembling step at a position adjacent to the plurality of positions in a second direction, wherein the second direction is perpendicular to the first direction.
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| CN201811525991.XA CN111319063B (en) | 2018-12-13 | 2018-12-13 | Method for manufacturing robot |
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| CN201811525991.XA CN111319063B (en) | 2018-12-13 | 2018-12-13 | Method for manufacturing robot |
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| CN111319063B CN111319063B (en) | 2021-11-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115570598A (en) * | 2022-12-08 | 2023-01-06 | 浙江大学 | Micro parallel robot and planarization design and manufacturing method |
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| CN115570598B (en) * | 2022-12-08 | 2023-03-10 | 浙江大学 | Micro parallel robot and planarization design and manufacturing method |
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