JPS58165980A - Work placing type assembling robot system - Google Patents
Work placing type assembling robot systemInfo
- Publication number
- JPS58165980A JPS58165980A JP4682282A JP4682282A JPS58165980A JP S58165980 A JPS58165980 A JP S58165980A JP 4682282 A JP4682282 A JP 4682282A JP 4682282 A JP4682282 A JP 4682282A JP S58165980 A JPS58165980 A JP S58165980A
- Authority
- JP
- Japan
- Prior art keywords
- tool
- manipulator
- engine
- assembly
- pallet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000008878 coupling Effects 0.000 description 17
- 238000010168 coupling process Methods 0.000 description 17
- 238000005859 coupling reaction Methods 0.000 description 17
- 230000003028 elevating effect Effects 0.000 description 3
- 210000000078 claw Anatomy 0.000 description 2
- 125000000391 vinyl group Chemical group [H]C([*])=C([H])[H] 0.000 description 1
- 229920002554 vinyl polymer Polymers 0.000 description 1
Landscapes
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発明は、ワークを定位置に設置した状態で、該ワーク
に対する複数−の部品の組付は作業をマニピュレータに
よって自動的に行う組立ロボットシステムを提供するも
のである。DETAILED DESCRIPTION OF THE INVENTION The present invention provides an assembly robot system in which a manipulator automatically assembles a plurality of parts to a workpiece with the workpiece set in a fixed position.
以下、本発明の一実施例を添付の例示図に基づいて説明
すると、第１図乃至第３図において、１ａ、ｌｂは、組
立作業台２の左右両側に配設されたマニピュレータであ
って、夫々組立作業台２と平行な矢印６方向に、モータ
ー１５によって駆動される捻子軸１６により移動せしめ
られる可動台４上に設置されている。５ａ、５ｂは、各
マニピュレータｌａ、ｌｂの一側方に配設された工具支
持手段であり、６は、両マニビニレータ１ａ、１ｂの他
側方に配設された部品搬送用コンベヤであって、定位置
に定姿勢で各種部品７を支持するパレット６を矢印９方
向に搬送し、各マニピュレータｌａ、ｌｂに対応する所
定値１１Ａ、Ｂに該パレット６を停止させることが出来
る。１０は、エンジン１１の両端下部を支持するエンジ
ン支持用アタッチメント１２を備えたエンジン搬送台車
であり、メインライン１２５から分岐ライン１４を経由
して組立作業台２脇の所定値ＷＩＣにエンジン１１を搬
入し、又、組立完了後のエンジン１１を分岐ライン１４
からメインライン１３を経由して所定の場所へ搬出する
。１７は、所定位置Ｃに停止するエンジン搬送台車１０
上と組立作業台２との間でエンジン１１を移載するエン
ジン移載手段であり、ガイドレール１８に支持され且つ
モーターによって駆動される左右一対の捻子軸２１によ
って矢印１９方向に移動せしめられる移動台車２０と、
この移動台車２０に昇降ガイドロッド２２を介して昇降
自在に支持され且つシリンダーユニツ）２２５によって
昇降移動せしめられる昇降台２４と、この昇降台２４に
設けられた開閉自在なエンジン吊り下げ具２ｓとから構
成されている。Hereinafter, one embodiment of the present invention will be described based on the attached illustrative drawings. In FIGS. 1 to 3, 1a and lb are manipulators disposed on both the left and right sides of the assembly workbench 2, They are each installed on a movable table 4 that is moved by a screw shaft 16 driven by a motor 15 in the direction of arrow 6 parallel to the assembly workbench 2 . 5a and 5b are tool support means arranged on one side of each manipulator la and lb; 6 is a conveyor for transporting parts arranged on the other side of both manipulators 1a and 1b; A pallet 6 supporting various parts 7 in a fixed position and a fixed posture can be transported in the direction of arrow 9, and the pallet 6 can be stopped at predetermined values 11A and 11B corresponding to each manipulator la and lb. Reference numeral 10 denotes an engine transport vehicle equipped with engine support attachments 12 that support the lower portions of both ends of the engine 11, and carries the engine 11 from the main line 125 via the branch line 14 to a predetermined WIC beside the assembly workbench 2. In addition, the engine 11 after assembly is connected to the branch line 14.
from there via the main line 13 to a predetermined location. 17 is an engine carrier 10 that stops at a predetermined position C.
It is an engine transfer means for transferring the engine 11 between the upper part and the assembly workbench 2, and is moved in the direction of the arrow 19 by a pair of left and right screw shafts 21 supported by the guide rail 18 and driven by a motor. Dolly 20 and
An elevating platform 24 supported by the movable cart 20 via an elevating guide rod 22 and moved up and down by a cylinder unit 225, and an engine hanging tool 2s provided on the elevating platform 24 that can be opened and closed. It is configured.
前記組立作業台２は、モーターにより正逆任意の方向に
回転駆動させることの出来るターンテーブル２６上に、
前後一対のエンジンクランプ２７を、共通水平軸（１２
８の周りでモーター等により任意角度回転駆動させ得る
ように、前後一対のブラケット２９を介して支持せしめ
て成るものである。The assembly workbench 2 is mounted on a turntable 26 that can be rotated in any forward or reverse direction by a motor.
A pair of front and rear engine clamps 27 are connected to a common horizontal shaft (12
It is supported through a pair of front and rear brackets 29 so that it can be rotated at any angle by a motor or the like around 8.
前記工具支持手段５ａ、５ｂは、第１図、第４図、及び
第５図に示すように、夫々複数個の各種工具３０を定位
置に嵌合保持する凹部Ｓ１を並設したパレット５２と、
このパレット５２を定位置に着脱自在に支持する支持台
３５とから成り、前記凹部６１には、工具３００角柱状
本体３４が移動及び回転不能に嵌合する工具位置決め部
５５が設けられ、各工具５０は、パレット６２上の定位
置に定姿勢で支持される。この各工具２！ＩＯには、前
記本体５４の一端に設けられた工具へラド６６を駆動す
るモーター３７が、本体５４の他端部に設けられ、該本
体３４の一側面（工具支持手段５ａ、ｓｂで支持された
とき、上向きとなる面）において、結合用雄部材ｉ５Ｂ
が突設されている。この結合用雄部材５８は、第６図及
び第７図に示すように角柱状であって、その側面に被係
合凹部６６ａを備え、その上端面には、モーター２Ｓ１
への給電及び制御信号授受用の複数個の端子４０が設け
られている。As shown in FIGS. 1, 4, and 5, the tool support means 5a, 5b each include a pallet 52 in which a plurality of recesses S1 are arranged in parallel to fit and hold a plurality of various tools 30 in a fixed position. ,
The recess 61 is provided with a tool positioning part 55 in which the prismatic main body 34 of the tool 300 is fitted so that it cannot move or rotate. 50 is supported at a fixed position on a pallet 62 in a fixed posture. Each of these tools 2! In the IO, a motor 37 is provided at the other end of the main body 54 to drive a tool rod 66 provided at one end of the main body 54, and a motor 37 is provided at the other end of the main body 54 (supported by the tool supporting means 5a, sb). When the male coupling member i5B
is installed protrudingly. This male coupling member 58 has a prismatic shape as shown in FIGS. 6 and 7, has an engaged recess 66a on its side surface, and has an engaged recess 66a on its upper end surface.
A plurality of terminals 40 are provided for feeding power to and transmitting and receiving control signals.
マニピュレータｌａ、ｌ’ｂは、そのアーム先端に工具
自動着脱結合［１９を備えている。この工具自動着脱結
合部Ｓ９は、第６図及び第７図に示すように、前記工具
３０の結合用雄部材６８が相対回転不能に嵌入する結合
用雌孔４１と、この離乳４１に嵌入した結合用雄部材６
６の被係合凹部３８ａに対して敷金離脱自在なロックビ
ン４２と、このロックビン４２を出退移動させるシリン
ダーユニソ１］と、前記結合用雄部材６８が前記雌孔４
１内に嵌合し且つｌツクビン４２によってロックされた
とき、前記各端子４０に圧接する給電、信号授受用端子
４４とを備えている。The manipulators la and l'b are equipped with an automatic tool attachment/detachment coupling [19] at the tip of its arm. As shown in FIGS. 6 and 7, this tool automatic attachment/detachment coupling part S9 includes a coupling female hole 41 into which the coupling male member 68 of the tool 30 is fitted in a relatively non-rotatable manner, and a coupling female hole 41 into which the coupling male member 68 of the tool 30 is fitted into the weaning member 41. Connecting male member 6
A lock bin 42 from which the security deposit can be detached from the engaged recess 38a of 6; a cylinder unit 1 for moving the lock bin 42 in and out;
The terminal 44 is provided with power supply and signal exchange terminals 44 that come into pressure contact with the respective terminals 40 when the terminal 40 is fitted into the terminal 1 and locked by the latch pin 42.
次に使用方法を説明すると、組み立てるべきエンジン１
１を、搬送台車１ｏにより組立作業台２脇の所定位１１
Ｃまで搬送し、次に移載手段１７の昇降台２４の昇降運
動、吊り下げ具２５の開閉運動、及び移動台車２０の移
動により、搬送台車１０上のエンジン１１を、組立作業
台２上の一対のエンジンクランプ２７藺に搬送し、そし
て該エンジンクランプ２１の作動によりエンジン１１を
、このクランプ２７１ｍで支持させる。Next, to explain how to use it, engine 1 to be assembled.
1 to a predetermined position 11 on the side of the assembly workbench 2 by the transport vehicle 1o.
C, and then the engine 11 on the transport vehicle 10 is moved up and down by the lifting platform 24 of the transfer means 17, the opening/closing movement of the hanging tool 25, and the movement of the moving trolley 20. The engine 11 is transferred to a pair of engine clamps 27, and by actuation of the engine clamps 21, the engine 11 is supported by the clamps 271m.
一方、必要な部品７をセットされたパレット８は、コン
ベヤ６によって各マニビエレータ１ａ＋１ｂ脇の所定位
置Ａ、Ｂまで搬送されている。かかる状態において、両
マニビニレータｉａ、ｌｂが、そのアーム先端の工具自
動着脱結合部２ｓ９にセットされている工具３０により
、！二ピュレータ１ａは所定位置Ａにあるパレット８上
の部品７を、そしてマニピュレータ１ｂは所定位置Ｂに
あるパレット８上の部品７を、夫々取り出して、組立作
業台２上のエンジン１１の所定箇所に組付けるべ（、予
め学習記憶させである運動プログラムに基づいて自動運
転される。On the other hand, the pallet 8 on which the necessary parts 7 have been set is being conveyed by the conveyor 6 to predetermined positions A and B beside each manivier 1a+1b. In such a state, both the manibinilators ia and lb are operated by the tool 30 set in the tool automatic attachment/detachment connection part 2s9 at the tip of the arm! The bipulator 1a takes out the parts 7 on the pallet 8 at a predetermined position A, and the manipulator 1b takes out the parts 7 on the pallet 8 at a predetermined position B. Once assembled, it will automatically operate based on a pre-learned and memorized exercise program.
このマニピュレータ１ａ、ｌｂによる部品７の
１自動組付は作業において、各ヤニビニレータは、大
きさや形状の興なる各種部品７を取り扱うと共に、興な
る種類の作業を行う。例えば第８図及び第９図に示すよ
うに、大部品７ａをクランプしてエンジン１１０所定位
置に移載する作業や、ボルト等の小部品１ｂをクランプ
して所定位置にセットする作業、或いはセットされたボ
ルトを捩じ込む作業等が行われる。従って、実行する作
業の種類に応じた工具、即ち大型クランプ爪３６ａを備
えた工具５０ａや小型クランプ爪Ｓｏｂを備えた工具１
５０ｂ、或いはボルトランナーＳ６Ｃ，を備えた工具５
０Ｃ等を使い分ける必要がある。これら各種）工具３０
（２ＳＯａ”３０ｃ等）ｉｔ、予メ工具支持手段５ａ
、５ｂのパレット３２内にセットされている。そして、
部品組付は作業プログラムに予め組み入れられた工具交
換指令に基づいて、マニピュレータｌａ、ｌｂは、保持
している工具３０を工具支持手段ｓａ、６ｂにおけるパ
レットろ２の空の凹部３１内に嵌合させ、かかる状態で
シリンダーユニット４６によりロックピン４２を抜出移
動させた後、工具自動着脱結合部３９の雌孔４１から工
具６０の結合用雄部材６６を抜出させるべく、該結合部
ろ９を真上に移動させる。parts 7 by these manipulators 1a and lb.
1. During the automatic assembly operation, each vinyl inulator handles various parts 7 of different sizes and shapes, and performs different types of work. For example, as shown in FIGS. 8 and 9, the work of clamping a large part 7a and transferring it to a predetermined position on the engine 110, the work of clamping a small part 1b such as a bolt and setting it in a predetermined position, or the work of setting Work such as screwing in the bolts that have been removed is performed. Therefore, a tool according to the type of work to be performed, that is, a tool 50a equipped with a large clamp claw 36a or a tool 1 equipped with a small clamp claw Sob.
50b, or tool 5 with bolt runner S6C.
It is necessary to use 0C etc. properly. These various) tools 30
(2SOa”30c etc.)it, preliminary tool support means 5a
, 5b is set in the pallet 32. and,
To assemble the parts, the manipulators la and lb fit the held tools 30 into the empty recesses 31 of the pallet filters 2 in the tool support means sa and 6b, based on a tool exchange command incorporated in the work program in advance. After the lock pin 42 is extracted and moved by the cylinder unit 46 in such a state, the coupling male member 66 of the tool 60 is extracted from the female hole 41 of the automatic tool attachment/detachment coupling part 39. move it directly above.
このように保持している工具３０を、工具支持手段５ａ
、５ｂの所定位置に戻した後、マニピュレータｌａ、ｌ
ｂは、次に取り付けるべき工具６０をその工具自動着脱
結合部５９に結合すべく作動する。即ち、工具自動着脱
結合部６９の雌孔４１に工具ＳＯの結合用雄部材３８を
嵌入させるべく、該工具自動着脱結合部ｉ５９が目的の
工具３０に向けて下降した後、シリンダーユニット４３
が作動してロックピン４２を被係合凹部Ｓ８ａに嵌合さ
せる。この結果、工具自動着脱結合部ろ９の端子４４と
工具５Ｄ側の端子４０とが圧接し、工具３０の駆動用モ
ーター５７により、その工具へ・ノド５６をプログラム
通りに作動させることが出来る状態となる。The tool 30 held in this way is held by the tool support means 5a.
, 5b back to their predetermined positions, the manipulators la, l
b operates to couple the tool 60 to be attached next to the tool automatic attachment/detachment coupling part 59. That is, in order to fit the coupling male member 38 of the tool SO into the female hole 41 of the automatic tool attachment/detachment coupling part 69, the automatic tool attachment/detachment coupling part i59 descends toward the target tool 30, and then the cylinder unit 43
is operated to fit the lock pin 42 into the engaged recess S8a. As a result, the terminal 44 of the automatic tool attachment/detachment coupling part 9 and the terminal 40 on the tool 5D side come into pressure contact, and the drive motor 57 of the tool 30 can operate the throat 56 to the tool according to the program. becomes.
以上の如く、各マニピュレータｌａ、ｌｂは、各種の工
具５０ （５０ａ〜２ＳＯＣ等）を使用して、各種の部
品７ （７ａ、７ｂ等）をエンジン１１に自動的に組付
けるが、マニピュレータ１ａ、１ｂの自由度の不足を補
うため、或いは作業速度を高めるために、組立作業台２
上のターンテーブル２６の回転とエンジンクランプ２７
の回転とにより、エンジン１１をそのときの作業に適し
た姿勢に自動的に変更することが出来る。更に、マニピ
ュレータｌａ、ｉｂの位置を、可動台４の移動により矢
印６方向に変更させることも可能である。As described above, each manipulator la, lb automatically assembles various parts 7 (7a, 7b, etc.) to the engine 11 using various tools 50 (50a to 2SOC, etc.). In order to compensate for the lack of freedom in 1b or to increase the work speed, the assembly workbench 2
Rotation of upper turntable 26 and engine clamp 27
By the rotation of the engine 11, the posture of the engine 11 can be automatically changed to a position suitable for the work at that time. Furthermore, it is also possible to change the positions of the manipulators la and ib in the direction of the arrow 6 by moving the movable base 4.
又、両マニビ二レータ１ａ、１ｂは、夫々独立した部品
組付は作業の他、互いに協同して次のような複合作業を
行う。即ち、第８図に示すように−４のマニピュレータ
１ａには、その工具自動着脱結合部３９にセットされた
工具５０ａによりクランプした大部品７ａを、エンジン
１１の所定位Ｗ（両者のボルト孔が合致する位置）に移
載すると共にその位置に該部品７ａを保持せしめる作業
を行わせ、他方のマニピュレーターｂには、その工具自
動着脱結合部３９にセットされた工具６０ｂによりクラ
ンプしたボルト７ｂを、前記マニピュレータ１ａによっ
て保持されている状態の部品７ａのボルト孔に嵌合させ
る作業を行わせ、更にこのマニピュレータ１ｂには、工
具Ｂｏｂを、ボルトランナーＳ６ｃを備えた工具３０ｃ
に交換する作業と、当該工具３０ｃにより前記ポル）７
ｂを捩じ込むボルト締め作業とを行わせる。このような
複合作業により、例えばマニピュレータ１ａによる部品
７ａの保持作業がなければ、当該部品７ａが落下してし
まうような場所での部品取り付は作業も支障なく行わせ
得る。In addition to independently assembling parts, the two manibinators 1a and 1b cooperate with each other to perform the following complex operations. That is, as shown in FIG. 8, the large part 7a clamped by the tool 50a set in the tool automatic attachment/detachment joint 39 is placed in the manipulator 1a of -4 at a predetermined position W of the engine 11 (both bolt holes are connected to the manipulator 1a). The other manipulator b has the bolt 7b clamped by the tool 60b set in the tool automatic attachment/detachment joint 39. The manipulator 1a performs a work of fitting the part 7a into the bolt hole held by the manipulator 1a, and the manipulator 1b is provided with a tool 30c equipped with a bolt runner S6c and a tool Bob.
and the work of replacing it with the tool 30c.
The bolt tightening work of screwing in b is performed. With such a complex operation, for example, it is possible to perform the work of attaching a component without any trouble in a place where the component 7a would fall if the component 7a was not held by the manipulator 1a.
従来の組立用マニピュレータを使用した組立ロボットシ
ステムでは、夫々単一部品の組付けを行う複数台のマニ
ピュレータを、ワークの搬送経路にそって適当間隔匿き
に配設し、ワークを各マニピュレータ脇の定位置で順次
停止させながら、部品の組付は作業を各マニピュレータ
によって行うように構成されていた。このような従来の
システムでは、ワークが各マニピュレータ間を移動する
間の時間が、各マニピュレータにと９て待ち時間となり
、しかもワークを定位置に精度良く停止させなければな
らない関係から、マニピュレータ間のワーク移動速度が
比較的低速に抑えられる結果、前記持ち時間が長くなり
、マニピュレータの稼動率が低くなっていた。In conventional assembly robot systems using assembly manipulators, multiple manipulators each assemble a single part are arranged at appropriate intervals along the workpiece transport path, and the workpieces are placed next to each manipulator. The structure was such that the assembly of parts was performed by each manipulator while sequentially stopping at a fixed position. In such conventional systems, the time it takes for the workpiece to move between the manipulators becomes a waiting time for each manipulator, and since the workpiece must be accurately stopped at a fixed position, the time required for the workpiece to move between the manipulators is As a result of suppressing the workpiece movement speed to a relatively low speed, the holding time becomes longer and the operation rate of the manipulator becomes lower.
然るに本発明の組立ロボットシステムでは、上記実施例
に示した如く、ワークを支持する組立作業台を定位置に
設置し、複数個の部品を夫々定位習に支持するパレット
を、前記組立作業台の側方定位置に供給する搬送手段を
設け、この定位置に供給された前記パレット上の複数個
の部品を、前記組立作業台上のワークに順次組付ける組
立用マニピュレータを配設して成るものであるから、マ
ニピュレータを連続的に稼動させて、複数個の部品を一
つのワークに順次組付けることが出来、マ０
ニヒュレータの稼動率を大巾に高めることが出来る。又
、一つのワークを組上げるのに要する設備の占有床面積
も極減する。However, in the assembly robot system of the present invention, as shown in the above embodiment, an assembly workbench that supports workpieces is installed in a fixed position, and a pallet that supports a plurality of parts in each fixed position is placed on the assembly workbench. A conveyance means for supplying to a fixed position on the side is provided, and an assembly manipulator is provided for sequentially assembling the plurality of parts on the pallet supplied to the fixed position to the workpiece on the assembly workbench. Therefore, the manipulator can be operated continuously to sequentially assemble a plurality of parts onto one workpiece, and the operating rate of the manipulator can be greatly increased. Furthermore, the floor space occupied by the equipment required to assemble one workpiece is also greatly reduced.
更に、従来のシステムでは、それを構成するロボット
（マニピュレータ）の内、１台でも故障すると、システ
ム全体の稼動が停止する恐れがあったが、本発明システ
ムでは、ｌボット（マニビニレー、夕）の停止は、それ
を有する小システムのみの停止となり、全体の稼動率に
は大きな影響を与えないで済む。Furthermore, in conventional systems, the robots that make up the system
If even one of the manipulators broke down, there was a risk that the entire system would stop operating, but in the system of the present invention, stopping the l-bot (manipulator) only stops the small system that has it. , it does not have a large impact on the overall operating rate.
尚、本発明の実施に際しては、マニピュレータにおける
工具の自動交換システムは必須要件ではない０例えば、
必要な工具の種類が少なければ、マニピュレータのアー
ム先端部に、選択的に使用し得る複数の工具を取付けて
おくことも出来るし、更に一台の組立作業台に所属する
マニピュレータの台数を増加すれば良い。Note that when implementing the present invention, an automatic tool exchange system in the manipulator is not an essential requirement.
If the number of required tools is small, it is possible to attach multiple tools to the tip of the manipulator arm that can be used selectively, or to increase the number of manipulators that belong to one assembly workbench. Good.
第１図は全体の平面図、第２図は一部切り欠き正面図、
第３図は一部切り欠き側面図、第４図は１
工具支持手段とマニピュレータのアーム先端部とを示す
縦断側面図、第５図は同縦断正面図、第６図は工具とマ
ニピュレータとの結合部を示す縦断面図（第７図は同横
断面図、第８図及び第９図は作業状態を示す側面図であ
る。
ｌａ、ｌｂ・・・マニピュレータ、２・・・組立作業台
、５ａ、５ｂ・・・工具支持手段、６・・・部品搬送用
コンパ’ｒ、７ （７ａ、７ｂ）・・・部品、６・・・
パレット、１０・・・エンジン搬送台車、１１・・・エ
ンジン、１７・・・エンジン移載手段、２０・・・移動
台車、２４・・・昇降台、２５・・・４ンジン吊り下げ
具、２６・・・ターンテーブル、２７・・・エンジンク
ランプ、５０ （３０ａ＃２ＳＯＣ）・・・工具、５１
・・・工具嵌合凹部、３６（＄６ａ〜２Ｓ６ｃ）・・・
工具ヘッド、６７・・・工具ヘッド駆動用モーター、３
８・・・結合用雄部材、３９・・・工具自動着脱結合部
、４０．４４・・・給電、信号授受用端子、４１・・・
結合用離乳、４２・・・ロックピン
２Figure 1 is an overall plan view, Figure 2 is a partially cutaway front view,
Fig. 3 is a partially cutaway side view, Fig. 4 is a longitudinal sectional side view showing the tool support means and the tip of the arm of the manipulator, Fig. 5 is a longitudinal sectional front view of the same, and Fig. 6 is a cross-sectional view of the tool and the manipulator. A longitudinal cross-sectional view showing the joint part (FIG. 7 is a cross-sectional view thereof, and FIGS. 8 and 9 are side views showing working conditions. la, lb... manipulator, 2... assembly workbench, 5a, 5b...Tool support means, 6...Computer for transporting parts, 7 (7a, 7b)...Parts, 6...
Pallet, 10... Engine carrier, 11... Engine, 17... Engine transfer means, 20... Moving trolley, 24... Lifting platform, 25... 4 engine hanging tool, 26 ... Turntable, 27 ... Engine clamp, 50 (30a #2SOC) ... Tool, 51
...Tool fitting recess, 36 ($6a~2S6c)...
Tool head, 67... Tool head drive motor, 3
8...Male member for coupling, 39...Tool automatic attachment/detachment coupling part, 40.44...Power supply, signal exchange terminal, 41...
Weaning for binding, 42...Lock pin 2
Claims (1)
の部品を夫々定位置に支持するパレットを、前記組立作
業台の側方定位置に供給する搬送手段を設け、この定位
置に供給された前記パレット上の複数個の部品を、前記
組立作業台上のワークに順次組付ける組立用マニピュレ
ータを配設して成るワーク定置形組立田ポットシステム
。An assembly workbench that supports a workpiece is installed at a fixed position, and a conveying means is provided for supplying a pallet that supports a plurality of parts at a fixed position to a fixed position on the side of the assembly workbench, and the pallet is supplied to this fixed position. A work stationary assembly pot system comprising an assembly manipulator for sequentially assembling a plurality of parts on the pallet onto the workpieces on the assembly workbench.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4682282A JPS58165980A (en) | 1982-03-23 | 1982-03-23 | Work placing type assembling robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4682282A JPS58165980A (en) | 1982-03-23 | 1982-03-23 | Work placing type assembling robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS58165980A true JPS58165980A (en) | 1983-10-01 |
| JPS643611B2 JPS643611B2 (en) | 1989-01-23 |
Family
ID=12758021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4682282A Granted JPS58165980A (en) | 1982-03-23 | 1982-03-23 | Work placing type assembling robot system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58165980A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6080570A (en) * | 1983-10-05 | 1985-05-08 | 株式会社東芝 | Clamping device |
| JPS60161038A (en) * | 1984-01-30 | 1985-08-22 | Pentel Kk | Assembling device employing robot |
| JPH0392100U (en) * | 1989-12-28 | 1991-09-19 | ||
| US5122075A (en) * | 1991-05-17 | 1992-06-16 | Amp Incorporated | Electrical connector with improved retention feature |
| US5366380A (en) * | 1989-06-13 | 1994-11-22 | General Datacomm, Inc. | Spring biased tapered contact elements for electrical connectors and integrated circuit packages |
| KR20230025134A (en) * | 2021-08-13 | 2023-02-21 | 주식회사 원익홀딩스 | Automatic panel bolting system and panel bolting method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4821369U (en) * | 1971-07-19 | 1973-03-10 | ||
| JPS5494183A (en) * | 1978-01-07 | 1979-07-25 | Kobe Steel Ltd | Automatic assembling and processing method |
| JPS5589526U (en) * | 1978-12-13 | 1980-06-20 | ||
| JPS55112736A (en) * | 1979-02-15 | 1980-08-30 | Ckd Corp | Turret-type assembling method |
-
1982
- 1982-03-23 JP JP4682282A patent/JPS58165980A/en active Granted
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4821369U (en) * | 1971-07-19 | 1973-03-10 | ||
| JPS5494183A (en) * | 1978-01-07 | 1979-07-25 | Kobe Steel Ltd | Automatic assembling and processing method |
| JPS5589526U (en) * | 1978-12-13 | 1980-06-20 | ||
| JPS55112736A (en) * | 1979-02-15 | 1980-08-30 | Ckd Corp | Turret-type assembling method |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6080570A (en) * | 1983-10-05 | 1985-05-08 | 株式会社東芝 | Clamping device |
| JPH025540B2 (en) * | 1983-10-05 | 1990-02-02 | Tokyo Shibaura Electric Co | |
| JPS60161038A (en) * | 1984-01-30 | 1985-08-22 | Pentel Kk | Assembling device employing robot |
| JPH0545373B2 (en) * | 1984-01-30 | 1993-07-09 | Pentel Kk | |
| US5366380A (en) * | 1989-06-13 | 1994-11-22 | General Datacomm, Inc. | Spring biased tapered contact elements for electrical connectors and integrated circuit packages |
| JPH0392100U (en) * | 1989-12-28 | 1991-09-19 | ||
| US5122075A (en) * | 1991-05-17 | 1992-06-16 | Amp Incorporated | Electrical connector with improved retention feature |
| KR20230025134A (en) * | 2021-08-13 | 2023-02-21 | 주식회사 원익홀딩스 | Automatic panel bolting system and panel bolting method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS643611B2 (en) | 1989-01-23 |
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