公开(公告)号：US5586387A

公开(公告)日：1996-12-24

申请号：US360568

申请日：1994-12-21

申请人： Takuya Nakatani ,  Mitsutaka Abe ,  Shigeru Dono ,  Youji Urano

发明人： Takuya Nakatani ,  Mitsutaka Abe ,  Shigeru Dono ,  Youji Urano

IPC分类号： B23P19/04 ,  B23P21/00 ,  B25J9/18 ,  G05B19/418

CPC分类号： G05B19/4182 ,  B23P21/00 ,  G05B2219/34368 ,  G05B2219/39083 ,  G05B2219/39468 ,  G05B2219/40607 ,  G05B2219/50362 ,  G05B2219/50366 ,  G05B2219/50377 ,  Y02P90/04 ,  Y02P90/083 ,  Y10T29/53013 ,  Y10T29/53087 ,  Y10T29/5337 ,  Y10T29/53383 ,  Y10T29/53417

摘要： An automated part assembly machine has a work table supported to a base and movable relative thereto and at least two separate robots each having an end effector movable around within an individual work region. The two robots are positioned in such a relation as to give a common work region in which the individual work regions of the two robots overlap. A parts supply is arranged to the work table for storing parts to be picked-up by the robots. A plurality of operator hands are selectively and removably attached to the end effector of the robot for handling the parts by the robot. Disposed within the common region is a jig which positions the parts for assembly by the robot. The robots and the work table are controlled to operate in cooperation for assembly of the parts. The machine is characterized in that the robots are mounted on the movable work table together with the operator hands and the jig with the robots spaced in the moving direction of the work table, and that the parts supply extends in the moving direction of the work table. Thus, the robots are enabled to move together with the jig and the operator hands relative to the parts supply so that the robots can reach over a wide range of the parts supply beyond the individual work regions to thereby successfully pick-up suitable parts and transfer them to the jig for immediate assembly of the parts. Further, since the operator hands are on the movable work table, the robot can change the operator hands while moving relative to the parts supply for effecting the part assembly substantially without interruption, in addition to the advantage of enabling one robot to change the operator hand while the other robot is handling the parts.

摘要翻译： 自动化部件组装机具有支撑到基座并可相对于其移动的工作台，以及至少两个分离的机器人，每个机器人具有可在单个工作区域内移动的末端执行器。 两个机器人位于这样的关系中，以便给出两个机器人的各个工作区域重叠的公共工作区域。 零件供应被安排在工作台上，用于存储由机器人拾取的零件。 多个操作者手被选择性地并且可移除地附接到机器人的末端执行器以由机器人处理部件。 在公共区域内设置有用于将机器人组装的部件定位的夹具。 机器人和工作台被控制以协作组装零件。 该机器的特征在于，机器人与操作者手和夹具一起安装在可移动工作台上，其中机器人在工作台的移动方向上间隔开，并且部件供应沿工作台的移动方向延伸 。 因此，机器人能够与夹具和操作者手相对于零件供应一起移动，使得机器人可以跨越各个工作区域的范围内的零件供应范围，从而成功地拾取适当的部件并转移 他们到夹具立即组装零件。 此外，由于操作者手在可移动工作台上，所以机器人可以相对于零件供应而移动时可以改变操作者的手，以实现零件组装的基本上不间断，除了使一个机器人能够改变操作者手的优点 而另一个机器人正在处理部件。