WO2017033604A1 - 組立体製造装置及び組立体製造方法 - Google Patents
組立体製造装置及び組立体製造方法 Download PDFInfo
- Publication number
- WO2017033604A1 WO2017033604A1 PCT/JP2016/070602 JP2016070602W WO2017033604A1 WO 2017033604 A1 WO2017033604 A1 WO 2017033604A1 JP 2016070602 W JP2016070602 W JP 2016070602W WO 2017033604 A1 WO2017033604 A1 WO 2017033604A1
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- WIPO (PCT)
- Prior art keywords
- gripping
- unit
- robot
- long member
- hand
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
- B21J15/142—Aerospace structures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/38—Accessories for use in connection with riveting, e.g. pliers for upsetting; Hand tools for riveting
- B21J15/42—Special clamping devices for workpieces to be riveted together, e.g. operating through the rivet holes
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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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
-
- 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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
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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
- B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
- B23P2700/01—Aircraft parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39123—Manipulate, handle flexible object
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39129—One manipulator holds one piece, other inserts, screws other piece, dexterity
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
- Y10S901/09—Closed loop, sensor feedback controls arm movement
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
- Y10S901/47—Optical
Definitions
- the present invention relates to an assembly manufacturing apparatus and an assembly manufacturing method.
- Patent Document 1 listed below discloses a technique for moving an object that is complicated in shape and difficult to support, such as a wing used in a structure of an aircraft or the like, in a manufacturing environment such as an assembly line while keeping its posture accurately. ing.
- the long member is, for example, a stringer that is a structure of an aircraft, and has a length of about 5 m to 15 m. Since the stringers have different shapes depending on the installation location, there are many types of stringers installed in one aircraft. Therefore, when attaching other parts such as a clip to the stringer, it is necessary to prepare many types of fixing jigs for holding the stringer.
- the plate-like skin joined to the stringer is often a double curved surface.
- the stringer is a double curve and has a three-dimensional shape. That is, the stringer is not a linear member that can be installed on one plane, and the fixing jig for holding the stringer also has a complicated shape.
- An object of the present invention is to provide an assembly manufacturing apparatus and an assembly manufacturing method that can be used.
- An assembly manufacturing apparatus grips the first member by moving a plurality of first gripping portions that grip a long first member and the first gripping portion.
- a first driving unit that adjusts the position of the first gripping unit, a second number of second gripping units that grips the first member, and the first driving unit is smaller than the first gripping unit.
- the position is higher than the position accuracy in the position adjustment of the first gripping part by the part, and the second gripping part is moved to adjust the position of the second gripping part gripping the first member.
- Two drive units a storage unit in which the original shape of the first member is recorded, and the first gripping unit and the second unit based on the original shape of the first member recorded in the storage unit
- Serial first driving unit and drives the second driving unit In order that the shape of the first member gripped by the gripping unit matches the original shape of the first member recorded in the storage unit,
- Serial first driving unit and drives the second driving unit In order that the shape of the first member gripped by the gripping unit matches the original shape of the first member recorded in the storage unit,
- Serial first driving unit and drives the second driving unit and a control unit for adjusting the positions of the plurality of first holding unit and the second gripping portion.
- the long first member is gripped by the plurality of first gripping portions, and each first gripping portion gripping the first member is being moved by the first driving portion.
- the position is adjusted.
- the elongated first member is gripped by a smaller number of second gripping parts than the first gripping part, and the position of the second gripping part is adjusted while being moved by the second driving part.
- the position adjustment of the second gripper by the second drive unit is higher in accuracy than the position accuracy in the position adjustment of the first gripper by the first drive unit.
- the control unit drives the first driving unit and the second driving unit based on the original shape of the first member recorded in the storage unit, and the plurality of first holding units and the second driving unit are driven. Adjust the position of the grip.
- the first member gripped by the plurality of first gripping portions and the second gripping portion is the original of the first member recorded in the storage portion. It is held in a shape that matches the shape.
- the plurality of first gripping portions hold the first member together with the second gripping portion with high positional accuracy, the predetermined portion of the first member is compared with the case where the second gripping portion is not used. Misalignment can be reduced.
- the first grip portion or the second grip portion when the position of the first grip portion or the second grip portion is adjusted by the first drive portion or the second drive portion, the first grip portion or the second grip portion remains gripped.
- the first member is configured to be movable along the longitudinal direction.
- the first gripping portion or the second gripping portion has a configuration in which the first member can move in the longitudinal direction while gripping the long first member, the first member It does not constrain the movement or expansion / contraction in the longitudinal direction.
- the plurality of first gripping parts A tensile force or a compressive force is not easily applied to the long first member gripped by the grip portion or the second grip portion, and deformation of the first member can be suppressed.
- the gripping position of the first gripping part or the second gripping part is determined by the original shape of the first member and the first gripping part or the second gripping part of the first gripping part.
- the position is determined in advance based on the deformation amount of the first member when the member is gripped.
- the position where the first gripping part or the second gripping part grips the first member is the original shape of the first member, and the first gripping part or the second gripping part is the first member. Since it is determined in advance based on the deformation amount of the first member when the first member is gripped, for example, by the first grip portion or the second grip portion at a position where the deformation amount of the first member is minimized.
- the first member can be gripped.
- the said 1st aspect WHEREIN You may further provide the plate-shaped fixing
- the said 1st aspect WHEREIN The said fixing
- the fixing portion can be selected according to the shape of the first member.
- a reference point used for position adjustment of the first gripping part or the second gripping part may be determined based on position information derived from an installation position of the fixing part. According to this configuration, since the reference point used for adjusting the position of the first holding part or the second holding part is determined with high accuracy, the position of the first member can be adjusted with high accuracy.
- reference coordinates used for adjusting the position of the first gripping part or the second gripping part may be determined based on position information derived from the installation positions of the two fixing parts. . According to this configuration, since the reference coordinates used for adjusting the position of the first grip part or the second grip part are determined with high accuracy, the position of the first member can be adjusted with high precision.
- an attachment robot for attaching the second member to the first member may be further provided.
- the second member is attached to the first member held by the first holding unit or the second holding unit by the mounting robot.
- At least one of the first gripping unit, the second gripping unit, and the attachment robot may be movable, and the positions may be relatively changed. According to this configuration, since the relative position is changed when at least one of the first gripping unit, the second gripping unit, and the mounting robot moves, the mounting robot performs the mounting operation. For example, the place where the first gripper takes out the first member from the supply position can be made different.
- the plurality of first gripping portions grip the elongated first member, and the first driving portion grips the first gripping portion.
- a second driving unit having higher accuracy than the position accuracy in the position adjustment of the first gripping unit by the first driving unit moves the second gripping unit to move the first member
- the step of adjusting the position of the gripped second gripping unit, and the control unit based on the original shape of the first member recorded in the storage unit, the first gripping unit and the second gripping unit
- the first drive unit and the first member so that the shape of the first member held by the head matches the original shape
- it drives the second driving unit comprising the steps of adjusting the position of said plurality of gripping portions, and attaching the second member relative to the first member.
- the first holding unit may further include a step of moving the first member along the longitudinal direction while holding the first member.
- the method may further include a step of gripping the first member again.
- the present invention when holding the long member, it is possible to reduce the displacement of the predetermined portion of the long member without using a fixing jig.
- the long member assembling apparatus 1 includes a conveyor 2, a table 3, a plurality of support robots 4, a butting plate 5, an attachment robot 6, a laser tracker 7, a gripping robot 11, and the like.
- the long member assembling apparatus 1 is an assembly manufacturing apparatus that manufactures an assembly in which another component 22 as a second member is attached to the long member 10 as a first member.
- the long member assembling apparatus 1 takes out the long member 10 from the supply position 20 and conveys it to the mounting position 21. Then, another part 22 is attached to the long member 10 at the attachment position 21. The long member 10 before mounting the component 22 is temporarily placed at the supply position 20, and the mounting robot 6 and the gripping robot 11 are fixedly placed on the floor near the mounting position 21.
- the long member 10 is, for example, a stringer that is a structural member of an aircraft.
- the stringer has a length of about 5 to 15 m, for example, a double curve shape and a three-dimensional shape.
- another part 22 called a clip is attached to the stringer.
- the clip is a component for joining long frames connected to a plurality of stringers. Since the clip is attached at an accurate position with respect to the longitudinal direction of the stringer, when assembling one frame to the plurality of stringers, the frames can be connected over the plurality of stringers without bending.
- the conveyor 2 moves the table 3 from one end side to the other end side and from the other end side to the one end side.
- One end of the conveyor 2 is in the vicinity of the supply position 20 of the long member 10, and the conveyor 2 moves the table 3 from the vicinity of the supply position 20 to the vicinity of the mounting robot 6.
- the support robot 6 When the attachment robot 6 attaches a plurality of parts 22 to the long member 10 in the longitudinal direction, the support robot in which the conveyor 2 grips the long member 10 after the attachment of the predetermined region of the long member 10 is completed.
- the table 3 on which 4 is installed is conveyed.
- the long member 10 is transported while the support robot 4 holds the part shape of the long member 10 in a predetermined holding shape, and the mounting robot 6 moves to the next predetermined region.
- the component 22 can be attached to the front.
- the conveyor 2 conveys the table 3, and the attachment robot 6 further attaches the component 22 to the predetermined area of the next long member 10. By repeating this operation, the component 22 is attached over the entire length of the long member 10.
- the attachment of the component 22 in one predetermined region may be a single component 22 or a plurality of components 22 along the longitudinal direction.
- a plurality of supporting robots 4 and abutting plates 5 are installed in a row on the table 3. As a result, the plurality of support robots 4 and the butting plate 5 move on the conveyor 2 integrally.
- a plurality of support robots 4 are placed in a row on the table 3, and the butting plates 5 are placed one by one on both ends of the table 3, that is, on both sides of the plurality of support robots 4.
- the number of support robots 4 placed on the table 3 and the distance between the support robots 4 are preset according to the long member 10 to be assembled.
- the number of support robots 4 that operate to hold the long member 10 is determined according to the length of the long member 10 that is actually held.
- FIG. 1 shows a state where the long member 10 is gripped by four of the five support robots 4.
- the support robot 4 supports a hand portion 8 having a configuration for gripping the long member 10, an arm portion 9 provided at the tip of the hand portion 8, and the arm portion 9. It has the trunk
- the hand part 8 is an example of a first grip part
- the arm part 9 and the trunk part 12 are examples of a first drive part.
- the hand portion 8 has a stopper 13 that holds the long member 10 so that the long member 10 does not fall off, and is capable of moving the long member 10 in the X direction when the stopper 13 is not holding it. It has an A reference surface roller portion 14 for positioning the Y coordinate of the member 10, a B reference surface roller portion 15 for positioning the Z coordinate, and the like. The detailed configuration of the hand unit 8 will be described later.
- the arm portion 9 and the trunk portion 12 have a configuration for moving the hand portion 8 so that the hand portion 8 can appropriately support the long member 10.
- a commonly used robot configuration can be applied for the arm portion 9 and the trunk portion 12.
- the support robot 4 moves the hand unit 8 while detecting the position of the hand unit 8 based on the reference position of the support robot 4 itself.
- the abutting plate 5 has a flat plate portion 16, and one end of the long member 10 is abutted on the surface of the flat plate portion 16. Further, the abutting plate 5 has a configuration in which one end of the long member 10 is restrained. Thereby, one end of the long member 10 abutted against the abutting plate 5 can be used as a reference position for positioning when the other component 22 is attached. The detailed configuration of the butting plate 5 will be described later.
- the abutting plate 5 is provided with a reflector 27 that reflects the laser light from the laser tracker 7.
- position information of the reflector 27 provided on the abutting plate 5 is detected by the laser light emitted from the laser tracker 7 and reflected by the reflector 27. From the position information of the reflector 27, the position and inclination of the abutting plate 5 can be detected, and the reference coordinates can be set.
- the butting plates 5 are placed one on each end of the table 3, that is, one on each side of the plurality of support robots 4.
- the abutting plate 5 is selected according to the shape of the long member 10.
- FIG. 1 shows a state in which the long member 10 is in contact with the abutting plate 5 on the side close to the laser tracker 7.
- the mounting robot 6 includes a hand portion 17 that grips another component 22, an arm portion 18 provided with the hand portion 17 at the tip, a trunk portion 19 that supports the arm portion 18, and the like.
- the arm portion 18 and the trunk portion 19 have a configuration for moving the other component 22 gripped by the hand portion 17 to the attachment position 21 of the long member 10.
- a commonly used robot configuration can be applied for the arm portion 18 and the torso portion 19.
- the mounting robot 6 moves the hand unit 17 while detecting the position of the hand unit 17 based on the reference position of the mounting robot 6 itself and the position information of the reflector 28 provided in the hand unit 17 of the mounting robot 6.
- a reflector 28 that reflects the laser beam from the laser tracker 7 is provided in the hand portion 17 of the mounting robot 6.
- position information of the reflector 28 provided in the hand unit 17 is detected by the laser light emitted from the laser tracker 7 and reflected by the reflector 28.
- the hand unit 17 can be controlled based on the position information of the reflector 28 detected by the laser tracker 7, and the position control accuracy of the hand unit 17 of the mounting robot 6 can be improved as compared with the case where the reflector 28 is not provided.
- At least three reflectors 28 are installed in the hand unit 17, and the position of each reflector 28 is detected by the laser tracker 7. Thereby, the inclination and position of the hand unit 17 are accurately calculated.
- the mounting robot 6, the gripping robot 11, or another robot has a function of clamping the long member 10 and the part 22, drilling, and driving.
- the gripping robot 11 includes a hand unit 37 configured to grip the long member 10 and other components 22, an arm unit 38 provided with the hand unit 37 at the tip, a body unit 39 that supports the arm unit 38, and the like. Have.
- the hand unit 37 has a configuration capable of moving the long member 10 in the X direction, and has a configuration capable of positioning the Y coordinate and the Z coordinate of the long member 10.
- the arm part 38 and the trunk part 39 have a configuration for moving the hand part 37 so that the hand part 37 can appropriately support the long member 10.
- a commonly used robot configuration can be applied for the arm 38 and the torso 39.
- the gripping robot 11 moves the hand unit 37 while detecting the position of the hand unit 37 based on the reference position of the gripping robot 11 itself and the position information of the reflector 29 provided in the hand unit 37 of the gripping robot 11.
- a reflector 29 that reflects the laser beam from the laser tracker 7 is provided in the hand portion 37 of the gripping robot 11.
- position information of the reflector 29 provided in the hand unit 37 is detected by the laser light emitted from the laser tracker 7 and reflected by the reflector 29.
- the hand unit 37 can be controlled based on the position information of the reflector 29 detected by the laser tracker 7, and the position control accuracy of the hand unit 37 of the gripping robot 11 can be improved as compared with the case where the reflector 29 is not provided. Therefore, in the present embodiment, the gripping robot 11 has fewer positional errors in positioning than the support robot 4.
- At least three reflectors 29 are installed in the hand unit 37, and the position of each reflector 29 is detected by the laser tracker 7. Thereby, the inclination and position of the hand part 37 are accurately calculated.
- the mounting robot 6, the gripping robot 11, or another robot clamps the long member 10 and the part 22, drills, or strikes. Or
- the laser tracker 7 scans the laser beam and detects the positions of the reflectors 27, 28, and 29.
- the laser tracker 7 is fixedly installed at a position different from the conveyor 2, the support robot 4, the attachment robot 6, and the gripping robot 11.
- the control unit 30 that controls the long member assembling apparatus 1 includes, for example, a conveyor control unit 31, a support robot control unit 32, an attachment robot control unit 33, a gripping robot control unit 34, and the like. Prepare.
- the control unit 30 is a computer that is executed by a program, for example.
- the conveyor control unit 31 adjusts the position of the conveyor 2 so that a predetermined area of the long member 10 moves to the attachment position 21.
- the conveyor control unit 31 starts the movement of the conveyor 2 based on the region where the component 22 is attached to the long member 10 and the attachment position 21 and moves the table 3 to a predetermined position.
- the support robot control unit 32 determines the position of the hand unit 8 based on the reference position of the support robot 4 itself and the reference coordinates acquired by the laser tracker 7 and based on the position information of the reflector 27 provided on the abutting plate 5.
- the hand unit 8 is moved while detecting.
- the support robot control unit 32 brings the end of the long member 10 into contact with the butting plate 5.
- the support robot control unit 32 moves the hand units 8 of the plurality of support robots 4 based on the original shape of the long member 10 recorded in the memory 35.
- the attachment robot controller 33 is provided on the abutting plate 5 acquired by the laser tracker 7 and the reference position of the attachment robot 6 itself, the position of the reflector 28 provided in the hand portion 17 of the attachment robot 6, and the position of the reflector 28. Based on the reference coordinates based on the position information of the reflector 27 and the position information of the reflector 28 provided in the hand unit 17, the hand unit 17 is moved while detecting the position of the hand unit 17. Further, the attachment robot control unit 33 operates the hand unit 17 so as to attach another component 22 to the long member 10. Specifically, the attachment robot control unit 33 causes the hand unit 17 to cause the long member 10 and the component 22 to be clamped, drilled or hammered. However, this function may be performed by the gripping robot control unit 34 described later or the control unit of another robot.
- the gripping robot control unit 34 is provided on the abutting plate 5 acquired by the laser tracker 7 and the reference position of the gripping robot 11 itself, the position of the reflector 29 provided in the hand unit 37 of the gripping robot 11, and the laser tracker 7. Based on the reference coordinates based on the position information of the reflector 27 and the position information of the reflector 29 provided on the hand unit 37, the hand unit 37 is moved while detecting the position of the hand unit 37.
- the hand portion 8 of the support robot 4 includes a stopper 13, an A reference surface roller portion 14, a B reference surface roller portion 15, and the like.
- 4 to 6 illustrate the case of the long member 10 having a so-called Z-shaped cross section, the present invention can be achieved by changing the arrangement positions of the stopper 13 and the plurality of gripping portions. The present invention can also be applied to the long member 10 having another cross-sectional shape.
- the stopper 13 sandwiches the flat plate portion of the long member 10 from both sides.
- the stopper 13 is used when the elongate member 10 is moved from the supply position 20 to the conveyor 2 side, and prevents the elongate member 10 from dropping from the hand portion 8 of the support robot 4. Further, when the long member 10 is gripped by the stopper 13, the long member 10 is brought into contact with the abutting plate 5. At this time, only the stopper 13 of any one of the support robots 4 needs to sandwich the long member 10. The stopper 13 releases the grip of the long member 10 after the long member 10 is abutted against the abutting plate 5.
- the stopper 13 includes, for example, a fixed part 13A and a moving part 13B, and the moving part 13B is moved toward and away from the fixed part 13A by an actuator (not shown).
- an actuator not shown
- the moving part 13B approaches the fixed part 13A, the flat plate portion of the long member 10 is sandwiched.
- the moving part 13B moves away from the fixed part 13A to release the sandwiching.
- the A reference surface roller portion 14 positions the A reference surface in the long member 10.
- the A reference surface roller unit 14 adjusts the position of the Y coordinate of the gripped portion.
- the A reference surface roller portion 14 includes a fixed roller 14A and a moving roller 14B.
- the moving roller 14B is moved in parallel to the Y axis in the XY plane by an actuator (not shown) and approaches the fixed roller 14A. Go away.
- the moving roller 14B approaches the fixed roller 14A, the flat plate portion of the long member 10 is sandwiched.
- the moving roller 14B moves away from the fixed roller 14A, the sandwiching is released.
- the rotation axes of the fixed roller 14A and the moving roller 14B are perpendicular to the longitudinal direction of the long member 10 and parallel to the A reference plane.
- the support robot 4 adjusts the position of the outer peripheral surface of the fixed roller 14A that is in contact with the A reference surface, thereby positioning the A reference surface in the long member 10.
- the B reference surface roller unit 15 positions the B reference surface in the long member 10.
- the B reference surface roller unit 15 adjusts the position of the Z coordinate of the gripped portion.
- the B reference surface roller unit 15 includes a fixed roller 15A and a moving roller 15B.
- the moving roller 15B is parallel to the Z axis in the XZ plane by an actuator (not shown). Move to.
- the rotation axes of the fixed roller 15A and the moving roller 15B are axial directions that are perpendicular to the longitudinal direction of the long member 10 and parallel to the B reference plane.
- the support robot 4 adjusts the position of the outer peripheral surface of the fixed roller 15A that is in contact with the B reference surface, thereby positioning the B reference surface in the long member 10.
- the end surface (YZ surface) at one end of the long member 10 is completely brought into contact with the flat surface (YZ surface) of the flat plate portion 16 of the butting plate 5 and is also restrained in the Y direction and the Z direction.
- abutted to the butting plate 5 and the extending direction of the elongate member 10 can be specified.
- the butting plate 5 is provided with a flat plate portion 16, an A reference surface jig 24 and a B reference surface jig 25 provided on the flat plate portion 16, a floating unit 23, a reflector 27, and the like.
- 7 and 8 illustrate the case of the long member 10 having a so-called Z-shaped cross section, the present invention is arranged with the A reference plane jig 24 and the B reference plane jig 25. It is applicable also to the elongate member 10 which has another cross-sectional shape by changing a position. Further, FIG. 8 shows a state in which the long member 10 is in contact with the butting plate 5 on the side different from FIG.
- the A reference plane jig 24 restrains the A reference plane of the long member 10 to be the reference position.
- the A reference plane jig 24 restrains the movement of the long member 10 in the Y direction.
- the A reference plane jig 24 includes, for example, a fixed component 24A and a moving component 24B, and the fixed component 24A protrudes from one surface side of the flat plate portion 16 and is installed.
- the moving component 24B is moved closer to or away from the fixed component 24A by an actuator (not shown).
- an actuator not shown.
- the moving part 24B approaches the fixed part 24A, the flat plate portion of the long member 10 is sandwiched. On the contrary, the moving part 24B moves away from the fixed part 24A to release the sandwiching.
- the surface where the fixed component 24 ⁇ / b> A contacts the long member 10 has a surface perpendicular to the plane of the flat plate portion 16.
- the B reference plane jig 25 restrains the B reference plane of the long member 10 to be the reference position.
- the B reference plane jig 25 restrains the movement of the long member 10 in the Z direction.
- the B reference plane jig 25 includes, for example, a fixed component 25A and a moving component 25B.
- the surface on which the fixed component 25 ⁇ / b> A contacts the long member 10 has a surface perpendicular to the plane of the flat plate portion 16.
- the floating unit 23 is installed between the support base 26 and the flat plate portion 16.
- the floating unit 23 allows the flat plate portion 16 to move in the X direction or tilt with respect to the X direction. Thereby, the end surface of the long member 10 is appropriately in surface contact with the surface of the flat plate portion 16 of the butting plate 5.
- the support base 26 is fixedly installed on the table 3.
- At least three reflectors 27 are installed in the flat plate portion 16, and the position of each reflector 27 is detected by the laser tracker 7. Thereby, the inclination and position of the flat plate portion 16 are accurately calculated.
- the long member 10 to be assembled is temporarily placed on a rack or the like at the supply position 20 before another component 22 is attached.
- the table 3 on which the plurality of support robots 4 are placed moves on the conveyor 2, and the support robot 4 approaches the long member 10 at the temporarily placed supply position 20 (step S1).
- the number of supporting robots 4 that hold the long member 10 and the abutting plate 5 on the side that contacts the long member 10 are determined. Note that the adjustment of the position of the support robot 4 on the table 3 has already been performed.
- the hand portions 8 of the plurality of supporting robots 4 hold the long member 10, move the long member 10 from the supply position 20 to the conveyor 2 side, and take out the long member 10 from the supply position 20 (step). S2). At this time, the hand portion 8 of the support robot 4 holds the long member 10 at a position where the long member 10 is not bent, that is, at a position where no tensile force or compressive force acts on the long member 10. Is preferred.
- Step S3 the hand portions 8 of the plurality of support robots 4 are moved, and the position and holding shape of the long member 10 are adjusted by the support robot 4.
- Step S3 one end of the long member 10 is restrained with respect to the butting plate 5. Thereby, the position and holding shape of the long member 10 are accurately adjusted on the basis of one end of the long member 10.
- the table 3 is conveyed by the conveyor 2 while the plurality of supporting robots 4 hold the long member 10.
- the support robot 4 on the table 3 placed on the conveyor 2 is transported to the attachment position 21 where the attachment robot 6 can attach another component 22 to the long member 10. Move (step S4).
- the hand portion 37 of the gripping robot 11 is moved based on the original shape of the long member 10 recorded in the memory 35, and the position of the long member 10 is moved by the gripping robot 11.
- the holding shape is adjusted (step S5).
- position control based on the reference position of the gripping robot 11 itself is performed instead of position control by the laser tracker 7, and position control using the laser tracker 7 is performed at the time of final fine adjustment.
- the position accuracy of the mounting position 21 to which the other component 22 is attached is improved.
- the attachment robot 6 and the gripping robot 11 attach other parts 22 to the long member 10 (step S6).
- position control based on the reference position of the mounting robot 6 itself is performed instead of position control by the laser tracker 7, and position control using the laser tracker 7 is performed at the time of final fine adjustment.
- position control using the laser tracker 7 is performed at the time of final fine adjustment.
- another part 22 is attached at a desired accurate position by the attachment robot 6.
- the position and holding shape of the long member 10 may be adjusted again by the support robot 4 before the mounting robot 6 attaches another component 22 to the long member 10.
- the long member 10 After the position and the like of the long member 10 are adjusted and conveyed by the support robot 4, the long member 10 is held in an accurate position and original shape before the other parts 22 are attached by the attachment robot 6. It may be inspected whether or not. For example, the attachment position 21 of the other component 22 on the long member 10 is measured, or the total length of the long member 10 is measured to inspect whether the original shape is held.
- the plurality of support robots 4 hold at a position where the deformation amount (deflection amount) of the long member 10 is minimized as much as possible (step S11).
- the number of support robots 4 that hold the long member 10 is determined based on the total length and shape of the long member 10, the operation range of the support robot 4, and the like.
- the gripping position where the deformation amount of the long member 10 is minimized is determined by a prior analysis based on the original shape of the long member 10 and the deformation amount of the long member 10, for example.
- the gripping position of one of the support robots 4 is the end of the long member 10, and the gripping positions by the plurality of support robots 4 may be equal. Presumed.
- the precise gripping position is calculated by analysis and finely adjusted. In the analysis, the attachment position 21 of the other component 22 attached to the long member 10 is also taken into consideration, and therefore the gripping position is not necessarily limited to the minimum deformation amount of the long member 10. Absent.
- step S12 the edge part of the elongate member 10 is restrained so that it cannot move to all directions of a X direction, a Y direction, and a Z direction.
- the hand portion 8 of the support robot 4 causes an error, and it is difficult to completely prevent the long member 10 from moving, and it is completely in all directions in the X, Y, and Z directions. It is difficult to restrain. On the other hand, by using the abutting plate 5, it is possible to reduce the error and determine the reference position.
- the plurality of support robots 4 and the gripping robot 11 readjust the gripping position.
- the hand portion 8 of the support robot 4 is moved to a position where the long member 10 held by the support robot 4 matches the original shape based on the original shape of the long member 10 (step S13).
- the hand portion 37 of the gripping robot 11 is also moved to a position where the long member 10 supported by the gripping robot 11 matches the original shape based on the original shape of the long member 10 (step S14).
- the original shape is the shape of the long member 10 recorded in the memory 35.
- the design dimension of the long member 10 is recorded as an original shape.
- the positions of the movement destinations of the hand portions 8 and 37 are positions at coordinates that are based on the reference position, that is, the constraint position of the long member 10 on the abutting plate 5 as a reference (0 point).
- the coordinates of the movement destination position of the hand units 8 and 37 are calculated based on the original shape recorded in the memory 35.
- the hand units 8 and 37 move based on the X, Y, and Z coordinate positions calculated as the movement destination positions, the long member 10 is held at a position that matches the original shape.
- the hand units 8 and 37 are not connected to the long member 10. It has a configuration that is not constrained in the X direction, that is, the longitudinal direction of the long member 10. Therefore, the long member 10 is not subjected to a tensile force or a compressive force in the longitudinal direction. As a result, the long member 10 is hardly deformed.
- the gripping robot 11 has fewer positional errors in positioning than the support robot 4.
- the position and holding shape of the long member 10 not only the adjustment by the plurality of support robots 4 but also the adjustment by the gripping robot 11 having higher positional accuracy than the plurality of support robots 4, The positional accuracy of the mounting position 21 to which the part 22 is attached is improved.
- the long member 10 is a stringer having a length of 7.9 m
- the support robot 4 and the gripping robot 11 hold the stringer
- the displacement of the mounting position 21 that occurs in the longitudinal direction of the stringer is analyzed.
- the improvement of the positional accuracy according to the present embodiment was verified.
- the analysis results are shown in FIG.
- the result of FIG. 11 shows the value of the position shift at the mounting position 21 where the position shift is maximum among the 15 mounting positions 21 on the stringer under each condition.
- Condition (1) is the case where the stringer is supported by five support robots 4 and the gripping robot 11 is not used, and the position accuracy of the hand portion 8 of the support robot 4 is set to 0.0 mm. It is a result. In this case, the displacement of the attachment position 21 generated in the longitudinal direction of the stringer was 0.012 mm. The reason why the displacement of the attachment position 21 does not become 0.0 mm is that the stringer is slightly bent between the support robots 4. And this bending appears as a position shift in the longitudinal direction.
- Condition (2) (2) is the case where the stringer is supported by five support robots 4 and the gripping robot 11 is not used, and the position accuracy of the hand portion 8 of the support robot 4 is set to 0.5 mm. It is a result. In this case, the displacement of the attachment position 21 generated in the longitudinal direction of the stringer was 0.186 mm.
- Condition (3) (3) is that when the stringer is supported by the five support robots 4 and the gripping robot 11, the positional accuracy of the hand unit 8 of the support robot 4 is 0.5 mm, and the hand unit 37 of the gripping robot 11 is This is the result when the positional accuracy of is set to 0.0 mm. In this case, the displacement of the attachment position 21 generated in the longitudinal direction of the stringer was 0.071 mm.
- Condition (4) (4) is that when the stringer is supported by the five support robots 4 and the gripping robot 11, the positional accuracy of the hand unit 8 of the support robot 4 is 0.2 mm, and the hand unit 37 of the gripping robot 11 is This is the result when the positional accuracy of is set to 0.0 mm. In this case, the displacement of the attachment position 21 generated in the longitudinal direction of the stringer was 0.033 mm.
- condition (4) Since the condition (4) has improved positional accuracy and satisfies the required accuracy as compared with the condition (2), the positional accuracy of all the plurality of supporting robots 4 as in the condition (1). Even if the long member 10 is supported together with one gripping robot 11 with high positional accuracy as in the condition (4), the positional accuracy of the other plurality of supporting robots 4 may be low. That knowledge was obtained.
- the support robot 4 grips a predetermined position of the long member 10 at the supply position 20 by the hand unit 8.
- the gripping position at this time may not be as accurate as when the other parts 22 are attached, and is based on the positions detected by the position detection units of the support robot 4 and the conveyor 2.
- the support robot 4 contacts the long member 10 against the abutting plate 5 with the stopper 13 gripping the long member 10. At this time, the end surface (YZ surface) at one end of the long member 10 is completely brought into contact with the flat surface (YZ surface) of the abutting plate 5 by the floating unit 23.
- the A reference plane jig 24 and the B reference plane jig 25 of the abutting plate 5 sandwich the long member 10 in the order of the A reference plane jig 24 and the B reference plane jig 25.
- the stopper 13 of the support robot 4 releases the grip of the long member 10.
- the long member 10 may be sandwiched in the order of the B reference plane jig 25 and the A reference plane jig 24.
- the reference coordinates are set, for example, by detecting the reflectors 27 on the two butting plates 5 and using the detected positions of the plurality of reflectors 27 as a reference. Specifically, one reflector 27 on the abutting plate 5 provided on one end side of the table 3 is detected, and two reflectors 27 on the abutting plate 5 provided on the other end side of the table 3 are detected. Is done. As a result, the XY plane is determined and the reference coordinates are set.
- the reflector can be directly installed at the position of the reference point (origin) on the abutting plate 5, the reference point can be set, but even if it cannot be directly installed, the end of the long member 10 is contacted on the abutting plate 5 It is possible to set by detecting the three reflectors 27.
- the reflectors 28 and 29 are always provided in the hand portions 17 and 37, but the present invention is not limited to this example.
- the detection by the laser tracker 7 may not always be performed, and the inherent error of the mounting robot 6 and the gripping robot 11 is detected in advance using the laser tracker 7 and the error is recorded. Also good. Then, when attaching, the reflectors 28 and 29 are removed, and the attachment robot 6 and the gripping robot 11 are attached in consideration of the recorded error, so that the accuracy of attaching the component 22 can be improved.
- the present invention is not limited to this example, and the mounting robot 6 and the gripping robot 11 are placed on the conveyor, and the support robot 4 and the butting plate 5 are placed.
- the structure which can move with respect to the contact plate 5 may be sufficient.
- the present invention is limited to this example.
- the support robot 4 may be installed so that it can run on the table 3 based on the length and shape of the long member 10 to be gripped.
- positioning of the hand unit 8 of the support robot 4 is also performed using the position information of the support robot 4 with respect to the reference position on the table 3.
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Abstract
Description
下記の特許文献1では、組立ライン等の製造環境において、航空機等の構造体に使用される翼など、形状が複雑で支持が難しい物体を、その姿勢を正確に保って移動させる技術が開示されている。
この構成によれば、第1の把持部又は第2の把持部が第1部材を把持する位置が、第1部材の原形状と、第1の把持部又は第2の把持部が第1部材を把持したときの第1部材の変形量に基づいて予め決定されていることから、例えば、第1部材の変形量が最小限となる位置に、第1の把持部又は第2の把持部によって第1部材を把持させることができる。
この構成によれば、固定部によって、第1部材の一端が固定され、第1部材の長手方向の移動が拘束されるため、第1部材の一端を位置決めの基準位置とすることができる。
この構成によれば、一列に配置された複数の第1の把持部の両側に一つずつ設置された固定部のいずれかを用いることができ、固定部によって第1部材の一端を固定する際、第1部材の形状等に応じて、固定部を選択できる。
この構成によれば、第1の把持部又は第2の把持部の位置調節に用いられる基準点が精度良く決定されるため、第1部材の位置調節を精度良く行うことができる。
この構成によれば、第1の把持部又は第2の把持部の位置調節に用いられる基準座標が精度良く決定されるため、第1部材の位置調節を精度良く行うことができる。
この構成によれば、取付けロボットによって、第1の把持部又は第2の把持部が把持する第1部材に対して第2部材が取り付けられる。
この構成によれば、第1の把持部と、第2の把持部及び取付けロボットは、少なくともいずれか一方が移動することによって、相対的な位置が変更されることから、取付けロボットが取付け作業を行う場所と、例えば、第1の把持部が第1部材を供給位置から取り出す場所とを異ならせることができる。
まず、図1を参照して、本実施形態に係る長尺部材組立装置の構成について説明する。
長尺部材組立装置1は、コンベヤー2と、テーブル3と、複数台の支持ロボット4と、突き当て板5と、取付けロボット6と、レーザートラッカー7と、把持ロボット11などを備える。長尺部材組立装置1は、第1部材である長尺部材10に対し、第2部材である他の部品22が取り付けられた組立体を製造する組立体製造装置である。
また、突き当て板5は、長尺部材10の一端を拘束する構成を有する。これにより、突き当て板5に突き当てられた長尺部材10の一端を、他の部品22を取り付ける際の位置決めの基準位置とすることができる。突き当て板5の詳細な構成については、後述する。
支持ロボット4のハンド部8は、ストッパー13と、A基準面ローラ部14と、B基準面ローラ部15などを備える。なお、図4から図6では、横断面がいわゆるZ形である長尺部材10の場合について説明しているが、本発明は、ストッパー13と、複数の把持部の配置位置を変更することで、他の断面形状を有する長尺部材10にも適用可能である。
ストッパー13は、長尺部材10を突き当て板5に対し突き当てた後は、長尺部材10の把持を解除する。
A基準面ローラ部14は、固定ローラ14Aと移動ローラ14Bからなり、移動ローラ14Bはアクチュエータ(図示せず。)によって、XY平面内でY軸に対し平行に移動し、固定ローラ14Aに対し近づいたり遠ざかったりする。移動ローラ14Bが固定ローラ14Aに近づくことで、長尺部材10の平板部分を挟み込み、反対に、移動ローラ14Bが固定ローラ14Aから遠ざかることで、挟み込みを解除する。
B基準面ローラ部15は、A基準面ローラ部14と同様に、固定ローラ15Aと移動ローラ15Bからなり、移動ローラ15Bはアクチュエータ(図示せず。)によって、XZ平面内でZ軸に対し平行に移動する。固定ローラ15Aと移動ローラ15Bのそれぞれの回転軸は、長尺部材10の長手方向に対して垂直であって、かつ、B基準面に対し平行な軸方向である。
長尺部材10の一端部における端面(YZ面)が、突き当て板5の平板部16の平面(YZ面)に面状に完全に当接され、かつ、Y方向及びZ方向にも拘束されることによって、突き当て板5に当接された長尺部材10の一端部の位置と、長尺部材10の延設方向が特定可能となる。
なお、固定部品24Aと移動部品24Bが長尺部材10を挟み込んだとき、固定部品24Aと接触する長尺部材10の平板面が、A基準面である。
なお、固定部品25Aと移動部品25Bが長尺部材10を挟み込んだとき、固定部品25Aと接触する長尺部材10の平板面が、B基準面である。
支持台26は、テーブル3上に固定して設置される。
組立対象となる長尺部材10は、他の部品22が取り付けられる前、供給位置20のラック等に仮置きされている。そして、複数の支持ロボット4が載置されたテーブル3がコンベヤー2上を移動して、仮置きされた供給位置20にある長尺部材10のほうへ支持ロボット4が近づく(ステップS1)。このとき、長尺部材10を把持する支持ロボット4の台数、長尺部材10を当接する側の突き当て板5が決定されている。なお、テーブル3上で支持ロボット4の位置の調整は、既に行われた状態となっている。
複数の支持ロボット4は、長尺部材10における変形量(撓み量)が可能な限り最小限になるような位置で把持する(ステップS11)。長尺部材10を把持する支持ロボット4の台数は、長尺部材10の全長や形状、支持ロボット4の動作範囲等に基づいて決定される。長尺部材10の変形量が最小限になる把持位置は、例えば、長尺部材10の原形状と長尺部材10の変形量に基づいて、事前の解析で決定される。突き当て板5を用いて長尺部材10の端部を拘束する場合は、解析条件として、突き当て板5による拘束も考慮しておく。
(1)は、ストリンガーを5台の支持ロボット4によって支持し、把持ロボット11を用いない場合において、支持ロボット4のハンド部8の位置精度を0.0mmと設定したときの結果である。この場合、ストリンガーの長手方向に生じる取付位置21の位置ずれは、0.012mmとなった。取付位置21の位置ずれが0.0mmとならないのは、支持ロボット4間においてストリンガーに僅かな撓みが生じているためである。そして、この撓みが長手方向の位置ずれとなって表れている。
(2)は、ストリンガーを5台の支持ロボット4によって支持し、把持ロボット11を用いない場合において、支持ロボット4のハンド部8の位置精度を0.5mmと設定したときの結果である。この場合、ストリンガーの長手方向に生じる取付位置21の位置ずれは、0.186mmとなった。
(3)は、ストリンガーを5台の支持ロボット4と把持ロボット11によって支持する場合において、支持ロボット4のハンド部8の位置精度を0.5mm、把持ロボット11のハンド部37の位置精度を0.0mmと設定したときの結果である。この場合、ストリンガーの長手方向に生じる取付位置21の位置ずれは、0.071mmとなった。
(4)は、ストリンガーを5台の支持ロボット4と把持ロボット11によって支持する場合において、支持ロボット4のハンド部8の位置精度を0.2mm、把持ロボット11のハンド部37の位置精度を0.0mmと設定したときの結果である。この場合、ストリンガーの長手方向に生じる取付位置21の位置ずれは、0.033mmとなった。
支持ロボット4が、ハンド部8によって、供給位置20にある長尺部材10の所定位置を把持する。このときの把持位置は、他の部品22の取付け時ほど正確でなくてもよく、支持ロボット4及びコンベヤー2が有する位置検出部が検出した位置に基づいている。
基準座標は、例えば、二つの突き当て板5上のリフレクタ27を検出し、検出された複数のリフレクタ27の位置を基準にすることによって設定される。具体的には、テーブル3の一端側に設けられた突き当て板5上の一つのリフレクタ27が検出され、テーブル3の他端側に設けられた突き当て板5上の二つのリフレクタ27が検出される。これにより、XY平面が確定され、基準座標が設定される。
2 コンベヤー
3 テーブル
4 支持ロボット
5 突き当て板
6 取付けロボット
7 レーザートラッカー
8,17,37 ハンド部
9,18,38 腕部
10 長尺部材
11 把持ロボット
12,19,39 胴部
13 ストッパー
13A 固定部品
13B 移動部品
14 A基準面ローラ部
14A 固定ローラ
14B 移動ローラ
15 B基準面ローラ部
15A 固定ローラ
15B 移動ローラ
16 平板部
20 供給位置
21 取付位置
22 部品
23 フローティングユニット
24 A基準面治具
25 B基準面治具
26 支持台
27 リフレクタ
30 制御部
31 コンベヤー制御部
32 支持ロボット制御部
33 取付けロボット制御部
34 把持ロボット制御部
35 メモリ
Claims (12)
- 長尺状の第1部材を把持する複数の第1の把持部と、
前記第1の把持部を移動させて、前記第1部材を把持した前記第1の把持部の位置を調節する第1の駆動部と、
前記第1部材を把持する、前記第1の把持部よりも少ない数の第2の把持部と、
前記第1の駆動部による前記第1の把持部の位置調節における位置精度よりも精度が高く、前記第2の把持部を移動させて、前記第1部材を把持した前記第2の把持部の位置を調節する第2の駆動部と、
前記第1部材の原形状が記録された記憶部と、
前記記憶部に記録された前記第1部材の原形状に基づいて、前記第1の把持部及び前記第2の把持部が把持する前記第1部材の形状が前記記憶部に記録された前記第1部材の原形状と一致するように、前記第1の駆動部及び前記第2の駆動部を駆動して、前記複数の第1の把持部及び前記第2の把持部の位置を調節する制御部と、
を備える組立体製造装置。 - 前記第1の把持部又は前記第2の把持部は、前記第1の駆動部又は前記第2の駆動部によって位置が調節されるとき、前記第1部材を把持したまま、前記第1部材が長手方向に沿って移動可能な構成を有する請求項1に記載の組立体製造装置。
- 前記第1の把持部又は前記第2の把持部の把持位置は、前記第1部材の原形状と、前記第1の把持部又は前記第2の把持部が前記第1部材を把持したときの前記第1部材の変形量とに基づいて、予め決定されている位置である請求項1又は2に記載の組立体製造装置。
- 前記第1部材の一端を固定し、前記第1部材の長手方向の移動を拘束する固定部を更に備える請求項1から3のいずれか1項に記載の組立体製造装置。
- 前記固定部は、一列に配置された前記複数の第1の把持部の両端側に一つずつ設置される請求項4に記載の組立体製造装置。
- 前記第1の把持部又は前記第2の把持部の位置調節に用いられる基準点が、前記固定部の設置位置から導かれる位置情報に基づいて決定される請求項4又は5に記載の組立体製造装置。
- 前記第1の把持部又は前記第2の把持部の位置調節に用いられる基準座標が、二つの前記固定部の設置位置から導かれる位置情報に基づいて決定される請求項6に記載の組立体製造装置。
- 前記第1部材に対し第2部材を取り付ける取付けロボットを更に備える請求項1から7のいずれか1項に記載の組立体製造装置。
- 前記第1の把持部と、前記第2の把持部及び前記取付けロボットは、少なくともいずれか一方が移動可能であり、相対的に位置を変更する請求項8に記載の組立体製造装置。
- 複数の第1の把持部が、長尺状の第1部材を把持するステップと、
第1の駆動部が、前記第1の把持部を移動させて、前記第1部材を把持した前記第1の把持部の位置を調節するステップと、
前記第1の把持部よりも少ない数の第2の把持部が、前記第1部材を把持するステップと、
前記第1の駆動部による前記第1の把持部の位置調節における位置精度よりも精度が高い第2の駆動部が、前記第2の把持部を移動させて、前記第1部材を把持した前記第2の把持部の位置を調節するステップと、
制御部が、記憶部に記録された前記第1部材の原形状に基づいて、前記第1の把持部及び前記第2の把持部が把持する前記第1部材の形状が前記原形状と一致するように、前記第1の駆動部及び前記第2の駆動部を駆動して、前記複数の第1の把持部及び前記第2の把持部の位置を調節するステップと、
前記第1部材に対し第2部材を取り付けるステップと、
を有する組立体製造方法。 - 固定部に対し前記第1部材の一端を固定させ、前記第1部材の長手方向の移動を拘束するステップと、
前記第1の駆動部によって位置が調節されるとき、前記第1の把持部は、前記第1部材を把持したまま、前記第1部材を長手方向に沿って移動させるステップと、
を更に有する請求項10に記載の組立体製造方法。 - 前記第1部材の一端を前記固定部に拘束した後、前記第1の把持部が前記第1部材を把持している状態を解除させ、その後、前記第1の把持部に前記第1部材を再び把持させるステップを更に有する請求項11に記載の組立体製造方法。
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JP7218538B2 (ja) * | 2018-10-17 | 2023-02-07 | 京セラドキュメントソリューションズ株式会社 | 組立装置及び構造物製造方法 |
CN112026193B (zh) * | 2020-08-21 | 2022-05-17 | 王茹新 | 一种医疗器械组装装置 |
NL2027432B1 (en) * | 2021-01-26 | 2022-08-19 | Boeing Co | Edge trimming for moving-line fabrication of aircraft |
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