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WO2017018107A1 - Positioning system and positioning method - Google Patents

Positioning system and positioning method Download PDF

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Publication number
WO2017018107A1
WO2017018107A1 PCT/JP2016/068699 JP2016068699W WO2017018107A1 WO 2017018107 A1 WO2017018107 A1 WO 2017018107A1 JP 2016068699 W JP2016068699 W JP 2016068699W WO 2017018107 A1 WO2017018107 A1 WO 2017018107A1
Authority
WO
WIPO (PCT)
Prior art keywords
positioning
plate
structural member
moving mechanism
positioning hole
Prior art date
Application number
PCT/JP2016/068699
Other languages
French (fr)
Japanese (ja)
Inventor
隆之 清水
直人 梓澤
健一 鶴田
宏城 東
後藤　拓也
Original Assignee
三菱重工業株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 三菱重工業株式会社 filed Critical 三菱重工業株式会社
Publication of WO2017018107A1 publication Critical patent/WO2017018107A1/en

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Classifications

    • 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
    • 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
    • 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
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like

Definitions

  • the present invention relates to a positioning system and a positioning method for positioning a plate-like member on a positioning device.
  • Patent Document 1 discloses disposing a body part on a support body attached to a robot arm and positioning the body part disposed on the support body to another body part by a robot arm. Further, Patent Document 1 discloses that before joining two body parts by riveting or the like, the alignment of the body parts is maintained by the support to release the robot to perform other operations. Has been.
  • Patent Document 1 there is no disclosure of a specific structure of a support body that maintains alignment of a fuselage part positioned by a robot, and a state in which a structural member is positioned when the fuselage part is coupled by riveting or the like It doesn't suggest anything about how to maintain.
  • the structural member may contact the positioning device and be damaged when the gripping device transports the structural member.
  • Patent Document 1 does not disclose anything about preventing damage to the structural member conveyed by the gripping device.
  • the present invention has been made in view of such circumstances, and a positioning system that enables reliable positioning on a positioning device without damaging a plate-like member conveyed while being held by a holding device. And it aims at providing the positioning method.
  • a positioning system includes a gripping device that transports a plate-shaped member in which a positioning hole is formed, a positioning device that positions the plate-shaped member, the gripping device, and the positioning device.
  • a control device that controls the positioning device, and the positioning device is inserted into the positioning hole from the first surface to the second surface of the plate-like member and a support portion that supports the first surface of the plate-like member.
  • a positioning projection and a moving mechanism that moves the positioning projection along an axis extending from the positioning projection, and the control device supports the first surface of the plate-like member on the support.
  • a first control unit for controlling the gripping device so that the positioning hole is disposed on the axis line on which the positioning projection extends, and the first control unit is placed in the placement state.
  • a second control unit that controls the moving mechanism so as to insert the positioning protrusion with the positioning hole of the serial plate member.
  • the gripping device is configured such that the first surface of the plate-like member is supported by the support portion, and the positioning hole is disposed on the axis extending from the positioning projection portion. Is controlled.
  • the movement of the positioning projection is not performed by the moving mechanism, so that the plate-like member comes into contact with the positioning projection by the gripping device. Will not be damaged.
  • the positioning protrusion is moved by the moving mechanism so that the gripping device is inserted into the positioning hole of the plate member after the plate member is arranged in the above-described arrangement state.
  • the plate-like member in a state where the first surface of the plate-like member is supported by the support portion is reliably positioned by the positioning device.
  • the positioning system according to one aspect of the present invention it is possible to reliably position the positioning member on the positioning device without damaging the plate-like member conveyed while being gripped by the gripping device.
  • the plate-shaped member has a curvature along at least a predetermined direction and a pair of positioning holes are formed at both ends in the predetermined direction.
  • the pair of positioning projections inserted into the pair of positioning holes, and the axis that extends the positioning projections at each of the both end portions of the plate-like member in the predetermined direction,
  • the first surface may be orthogonal to the first surface.
  • the distance between the tip ends of the pair of positioning projections and the base ends of the pair of positioning projections This is different from the interval.
  • the pair of positioning projections are inserted along the shape of the plate-like member having a curvature in a predetermined direction, so that the axial direction in which the positioning projections extend is inclined from the vertical direction with respect to the installation surface on which the positioning device is installed. This is because. Therefore, when the pair of positioning projections is kept fixed, the distance between the tip ends of the pair of positioning projections and the distance between the base ends of the pair of positioning projections are different. It is difficult to insert into the tip of the positioning projection.
  • the axis on which the positioning protrusion extends and the first surface are orthogonal to each other at both ends in a predetermined direction of the plate-like member in which the moving mechanism is placed. Therefore, until the plate-like member is in the arrangement state, the tip portions of the pair of positioning projections do not protrude, and the arrangement described above is performed without damaging the plate-like member conveyed while being held by the holding device. It becomes possible to perform positioning to the positioning device after that.
  • the first control unit may be configured to release the gripped state of the plate-like member after the positioning protrusion is inserted into the positioning hole by the moving mechanism.
  • the device may be controlled. By doing so, it is possible to suppress a problem that the arrangement state of the plate-shaped member changes until the positioning protrusion is inserted into the positioning hole and the plate-shaped member is reliably positioned by the positioning device. Can do.
  • the first control unit may be configured such that the first surface is supported by the support unit before the positioning projection is pulled out of the positioning hole by the moving mechanism.
  • the gripping device may be controlled to grip the shaped member.
  • the positioning system includes a detection device that detects that the positioning hole is disposed on the axis line from which the positioning protrusion extends, and the second control unit is configured to detect the positioning device by the detection device.
  • the moving mechanism may be controlled to insert the positioning protrusion into the positioning hole.
  • the positioning protrusion moves by the moving mechanism when the detection device detects that the positioning hole is arranged on the axis extending from the positioning protrusion. Therefore, when the positioning hole is not arranged on the axis line from which the positioning projection extends, for example, when a positioning error or some trouble occurs, the positioning projection is moved by mistake and the plate member is damaged. Problems can be suppressed.
  • the positioning system includes a load measuring unit that measures a load required for the moving mechanism to move the positioning protrusion, and the moving mechanism has a predetermined load measured by the load measuring unit.
  • the movement of the positioning projection may be stopped when the load exceeds the limit load.
  • a positioning method is a positioning executed by a positioning system including a gripping device that transports a plate-like member in which a positioning hole is formed and a positioning device that positions the plate-like member.
  • the positioning device includes a support portion that supports the first surface of the plate-like member, and a positioning protrusion that is inserted into the positioning hole from the first surface to the second surface of the plate-like member.
  • a moving mechanism for moving the positioning projection along an axis extending from the positioning projection, the first surface of the plate member is supported by the support, and the positioning hole is A first control step of controlling the gripping device so as to be in an arrangement state in which the positioning protrusions are arranged on the axis, and in front of the plate-like member in the arrangement state by the first control step And a second control step for controlling the moving mechanism to insert the positioning projections into the positioning hole.
  • the first control step is such that the first surface of the plate-like member is supported by the support portion, and the positioning hole is disposed on the axis line from which the positioning protrusion extends.
  • the gripping device is controlled so that When the plate-like member is transported by the gripping device so as to be placed, the movement of the positioning projection is not performed by the moving mechanism, so that the plate-like member comes into contact with the positioning projection by the gripping device. Will not be damaged.
  • the positioning protrusion is moved by the moving mechanism so that the gripping device is inserted into the positioning hole of the plate-like member after the plate-like member is placed in the above-described arrangement state.
  • the plate-like member in a state where the first surface of the plate-like member is supported by the support portion is reliably positioned by the positioning device.
  • the positioning method according to one aspect of the present invention it is possible to reliably position the plate-like member conveyed while being held by the holding device without damaging the plate-like member.
  • the present invention it is possible to provide a positioning system and a positioning method that can reliably position a plate-like member conveyed while being gripped by a gripping device without damaging the plate-like member.
  • FIG. 7 is a vertical cross-sectional view taken along the line AA of the assembling jig shown in FIG. 6, showing a state in which a positioning pin is not inserted into the positioning hole.
  • FIG. 7 is a vertical cross-sectional view of the assembling jig shown in FIG. 6 taken along the line AA, showing a state in which a positioning pin is inserted into the positioning hole.
  • It is a block diagram which shows the control structure of the assembly system of 1st Embodiment. It is a flowchart which shows the process which the control apparatus of 1st Embodiment performs.
  • It is a longitudinal cross-sectional view which shows the positioning part of 2nd Embodiment, and is a figure which shows the state by which a positioning pin is not inserted in a positioning hole.
  • It is a longitudinal cross-sectional view which shows the positioning part of 2nd Embodiment, and is a figure which shows the state by which the positioning pin was inserted in the positioning hole.
  • It is a longitudinal cross-sectional view which shows the positioning part of 3rd Embodiment.
  • the assembly system 600 of 1st Embodiment of this invention includes a plurality of plate-like structural members 200 in which the gripping devices 300 and 301 are formed with a pair of positioning holes 220 and 221 at both ends in the long side direction.
  • the system is a system in which a plurality of plate-like structural members 200 are assembled by processing such as riveting and transported in a state where the (plate-like member) is gripped and positioned on an assembly jig 100 (positioning device).
  • An assembly jig 100 shown in FIG. 1 is a device for positioning a plurality of plate-like structural members 200 (see FIG. 2) in which a pair of positioning holes 220 and 221 are formed at both ends in the long side direction.
  • the assembling jig 100 is attached to the support unit 110 including a pair of first support members 110 a and a plurality of second support members 110 b, and has a plate-like structure on the support unit 110.
  • a pair of positioning portions 120 and 121 for positioning the member 200 is provided.
  • the pair of first support members 110a are long members arranged in parallel along the axis X, and are fixed to the installation surface on which the support unit 110 is installed by fastening bolts (not shown) or the like.
  • the plurality of second support members 110b are members that have one end fixed to one of the pair of first support members 110a and the other end fixed to the other of the pair of first support members 110a. As shown in FIG. 1, the plurality of second support members 110 b are arranged in parallel to each other so as to extend in a direction along the axis Y that is orthogonal to the axis X. As shown in FIG. 1, the second support member 110 b has an arch shape in which the central portion along the axis Y protrudes from both ends with respect to the installation surface on which the first support member 110 a is installed. The reason why the second support member 110b has an arch shape with a curvature is to support the lower surface 200a (first surface; see FIG. 7) of the plate-like structural member 200 along the shape. The plurality of second support members 110b support the lower surface 200a of the plate-like structural member 200 at a plurality of locations along the axis X.
  • the pair of positioning portions 120 and 121 are disposed at the same position along the axis Y.
  • Three pairs of positioning portions 120 and 121 are formed at three different positions along the axis Y on the second support member 110b on both ends along the axis X.
  • the three plate-like structural members 200 can be positioned by the three pairs of positioning portions 120 and 121.
  • the plate-like structural member 200 is a plate-like member having a rectangular shape in plan view and having a pair of positioning holes 220 and 221 formed at both ends in the long side direction.
  • a pair of projecting portions 210 and 211 formed so as to project outward are formed at both ends in the long side direction of the plate-like structural member 200.
  • the pair of positioning holes 220 and 221 are formed in the pair of projecting portions 210 and 211.
  • the direction (first direction) connecting the pair of positioning holes 220 and 221 coincides with the long side direction of the plate-like structural member 200.
  • the three plate-like structural members 200 are positioned on the support portion 110 by three pairs of positioning portions 120 and 121 arranged at three different positions along the axis Y. Is done.
  • the plate-shaped structural member 200 shown in FIG. 2 shall be a rectangular shape in planar view, another aspect may be sufficient.
  • the plate-like structural member 200 may have a pair of projecting portions 210 and 211 formed at both ends of a trapezoidal or other shape member.
  • the plate-like structural member 200 of the present embodiment is a long structural member used for an aircraft fuselage or main wing, for example.
  • Various lengths can be adopted as the length in the long side direction.
  • the long side direction is about 8 m to 10 m
  • the short side direction is about 2 m.
  • the thickness of the plate-like structural member 200 is, for example, 3 mm to 5 mm.
  • the material of the plate-like structural member 200 for example, an aluminum alloy.
  • the plate-like structural member 200 shown in FIG. 2 has no through-holes.
  • the plate-like structural member 200 has one or more through-holes (for example, a plurality of plate-like structural members 200 used in an aircraft fuselage). It is good also as what formed the through-hole for window attachment formed in 1).
  • the assembly system 600 includes an assembly jig 100, a plate-like structural member 200, a pair of gripping devices 300 and 301 that move while holding the plate-like structural member 200, and a plate-like structure.
  • a supply base 400 for temporarily holding the member 200 and a control device 500 for controlling the assembly system 600 are provided.
  • the pair of gripping devices 300 and 301 are vertical articulated robots, and are devices that can position the suction hand portions 300a and 301a attached to the tip in an arbitrary position in an arbitrary position in the three-dimensional space.
  • the suction hand portions 300a and 301a suck the upper surface 200b (second surface; see FIG. 7) of the plate-like structural member 200 by the action of negative pressure.
  • imaging devices 300b and 301b are attached to the distal ends of the gripping devices 300 and 301.
  • the imaging device 300 b captures the protrusion 210 of the plate-like structural member 200 to acquire image information and transmits it to the control device 500.
  • the control device 500 calculates the position of the positioning hole 220 formed in the protruding portion 210 based on the image information received from the imaging device 300b and the position and orientation of the imaging device 300b attached to the gripping device 300.
  • the imaging device 301 b captures the protruding portion 211 of the plate-like structural member 200 to acquire image information, and transmits the image information to the control device 500.
  • the control device 500 calculates the position of the positioning hole 221 formed in the protruding portion 211 based on the image information received from the imaging device 301b and the position and orientation of the imaging device 301b attached to the gripping device 301.
  • the pair of gripping devices 300 and 301 move the suction hand portions 300a and 301a from the initial position indicated by the solid line in FIG. 4 to the position indicated by the broken line in FIG. 4 and the upper surface 200b of the plate-like structural member 200 by the action of negative pressure. To adsorb. As shown in FIG. 5, the pair of gripping devices 300 and 301 are supplied in cooperation with each other with the suction hand portions 300 a and 301 a sucking both ends in the long side direction of the long plate-like structural member 200. The plate-like structural member 200 held on the table 400 is moved toward the assembly jig 100.
  • the pair of gripping devices 300 and 301 are arranged so that the pair of positioning holes 220 and 221 are disposed above the pair of positioning portions 120 and 121 of the assembly jig 100.
  • the structural member 200 is moved. Thereafter, the pair of gripping devices 300 and 301 moves the plate-like structural member 200 downward so that the pair of positioning holes 220 and 221 are positioned in the pair of positioning portions 120 and 121.
  • FIG. 7 is a vertical cross-sectional view of the assembling jig 100 shown in FIG. 6 taken along the line AA, and shows a state where the positioning pins 120a and 121a are not inserted into the positioning holes 220 and 221.
  • FIG. 8 is a cross-sectional view taken along the line AA of the assembling jig 100 shown in FIG. 6, and shows a state where the positioning pins 120a and 121a are inserted into the positioning holes 220 and 221.
  • the positioning portions 120 and 121 secondly support the positioning pins 120 a and 121 a (positioning protrusions) inserted into the positioning holes 220 and 221 of the plate-like structural member 200 and the positioning pins 120 a and 121 a.
  • Attachment members 120b and 121b attached to the member 110b are provided.
  • FIGS. 4 to 6 are examples in which one plate-like structural member 200 is installed in the assembling jig 100.
  • the assembly system 600 of this embodiment has two other plate-like members. It is assumed that the structural member 200 can be continuously supplied to the supply base 400 to the other two sets of positioning portions 120 and 121, and description thereof will be omitted.
  • the pair of positioning portions 120 and 121 are attached to the second support member 110 b via a pair of slide mechanisms 130 and 131.
  • the slide mechanism 130 is a mechanism that moves the positioning pin 120a along the axis Z1 in which the positioning pin 120a extends.
  • the slide mechanism 131 is a mechanism that moves the positioning pin 121a along the axis Z2 in which the positioning pin 121a extends.
  • the slide mechanism 130 has a drive motor 130a fixed to the second support member 110b, a feed screw 130b connected to the drive shaft of the drive motor 130a, and a female screw engaged with the feed screw 130b.
  • a moving member 130c formed on the inner peripheral surface and a guide member 130d for guiding the moving member 130c are provided.
  • the moving member 130c is attached to an attachment member 120b to which the positioning pin 120a is attached.
  • the slide mechanism 131 engages with the drive motor 131a fixed to the second support member 110b, the feed screw 131b connected to the drive shaft of the drive motor 131a, and the feed screw 131b.
  • a moving member 131c having a female screw formed on the inner peripheral surface and a guide member 131d for guiding the moving member 131c are provided.
  • the moving member 131c is attached to an attachment member 121b to which the positioning pin 121a is attached.
  • the slide mechanism 130 is a mechanism that moves the moving member 130c and the positioning unit 120 connected thereto along the axis Z1 in which the positioning pin 120a extends by driving the drive motor 130a to rotate the feed screw 130b.
  • the slide mechanism 130 moves the positioning portion 120 along the axis Z1, thereby inserting the positioning pin 120a into the positioning hole 220 of the plate-like structural member 200 in which the lower surface 200a is supported by the support portion 110. Assume that 200 is positioned by the positioning unit 120.
  • the slide mechanism 131 is a mechanism for moving the moving member 131c and the positioning portion 121 connected thereto along the axis Z2 in which the positioning pin 121a extends by driving the drive motor 131a to rotate the feed screw 131b. .
  • the slide mechanism 131 moves the positioning portion 121 along the axis Z2, thereby inserting the positioning pin 121a into the positioning hole 221 of the plate-like structural member 200 whose lower surface 200a is supported by the support portion 110, and the plate-like structural member. Assume that 200 is positioned by the positioning unit 121.
  • the positioning pin 120a is a member formed in an axial shape extending along the axis Z1, and is inserted into the positioning hole 220 from the lower surface 200a to the upper surface 200b of the plate-like structural member 200. It is.
  • the positioning pin 121a is a member formed in an axial shape extending along the axis Z2, and is inserted into the positioning hole 221 from the lower surface 200a of the plate-like structural member 200 toward the upper surface 200b.
  • the positioning pins 120a and 121a have a tapered shape in which the outer diameter gradually decreases from the OD from the lower base end portions 120c and 121c to the front end portions 120d and 121d.
  • the portions from the base end portions 120c and 121c of the positioning pins 120a and 121a to the tip portions 120d and 121d have a truncated cone shape with a circular cross section.
  • the plate-like structural member 200 has an arrangement state in which the lower surface 200a is supported by the support portion 110 and the positioning holes 220 and 221 are arranged on the axes Z1 and Z2 from which the positioning pins 120a and 121a extend. It has become.
  • the control device 500 of the assembly system 600 controls the slide mechanisms 130 and 131 when the plate-like structural member 200 is in the arrangement state shown in FIG. 7 by the gripping devices 300 and 301, and the positioning pins 120a and 121a are moved to the axes Z1 and Z2. And move upward along.
  • the axes Z1 and Z2 in which the positioning pins 120a and 121a extend are axes that extend in the vertical direction perpendicular to the installation surface on which the assembly jig 100 is installed.
  • the outer diameter OD of the base end portions 120c, 121c is smaller than the inner diameter ID of the positioning holes 220, 221 into which the base end portions 120c, 121c are inserted. Therefore, when the positioning pins 120a and 121a move upward along the axes Z1 and Z2, the base end portions 120c and 121c are inserted into the positioning holes 220 and 221 as shown in FIG.
  • the difference between the inner diameter ID and the outer diameter OD is not more than twice the positioning error (for example, 0.2 mm) allowed when the assembly jig 100 positions the plate-like structural member 200. By doing in this way, the clearance gap formed between the outer peripheral surface of the base end parts 120c and 121c and the inner peripheral surface of the positioning holes 220 and 221 is maintained below a positioning error.
  • the control device 500 of the present embodiment is a device that constitutes the assembly system 600 and is a device that controls the gripping devices 300 and 301 and the slide mechanisms 130 and 131 of the assembly jig 100. As shown in the block diagram of FIG. 9, the control device 500 includes a first control unit 501 that controls the gripping devices 300 and 301 and a second control unit 502 that controls the slide mechanisms 130 and 131.
  • FIG. 10 is a flowchart illustrating processing executed by the control device 500. Each process shown in FIG. 10 is a process performed by the control device 500 reading and executing a control program stored in a storage unit (not shown). Hereinafter, processing executed by the control device 500 will be described.
  • step S ⁇ b> 1001 the control device 500 determines whether a transport instruction for transporting the plate-like structural member 200 held on the supply base 400 to the assembly jig 100 is input from the operator of the assembly system 600. When it is determined that the conveyance instruction has been input, control device 500 advances the process to step S1002.
  • step S1002 the first control unit 501 of the control device 500 outputs a conveyance command signal for conveying the plate-like structural member 200 held on the supply base 400 to the assembly jig 100, the gripping device 300, 301.
  • the conveyance command signal is a signal for controlling the gripping devices 300 and 301 so as to execute the following steps.
  • the suction hand portions 300a and 301a of the gripping devices 300 and 301 are moved to positions indicated by broken lines in FIG. 4 and the suction hand portions 300a and 301a are placed on the plate-like structural member 200 held by the supply base 400.
  • This is a step of adsorbing the plate-like structural member 200 by bringing them into contact.
  • the second step is a step of transporting the plate-like structural member 200 in a state where the suction hand portions 300 a and 301 a are sucked from the supply base 400 to the assembly jig 100.
  • the plate-like structural member 200 in a state where the suction hand portions 300a and 301a are sucked, the lower surface 200a of the plate-like structural member 200 is supported by the support portion 110, and the positioning holes
  • This is a step of positioning so that 220 and 221 are in an arrangement state (state shown in FIG. 7) arranged on the axes Z1 and Z2 from which the positioning pins 120a and 121a extend.
  • the gripping devices 300 and 301 convey the plate-like structural member 200 held on the supply base 400 and make it a state supported by the assembly jig 100.
  • the gripping devices 300 and 301 are controlled by the first control unit 501 so that the suction hand units 300a and 301a maintain the state in which the plate-like structural member 200 is sucked even after the third step is finished. This is to prevent the position of the plate-like structural member 200 from being shifted by releasing the state where the plate-like structural member 200 is attracted without the positioning pins 120a, 121a being inserted into the positioning holes 220, 221. .
  • step S1003 the control device 500 has an arrangement in which the plate-like structural member 200 is arranged on the axes Z1 and Z2 in which the lower surface 200a is supported by the support portion 110 and the positioning holes 220 and 221 extend from the positioning pins 120a and 121a. Determine if it is in a state. If the control device 500 determines that the plate-like structural member 200 is in the above-described arrangement state, the control device 500 advances the process to step S1004.
  • the control device 500 receives a completion signal indicating that the operation for the conveyance command signal has been completed from the gripping devices 300 and 301.
  • the plate-like structural member 200 is determined to be in the arrangement state described above. This is because the conveyance command signal transmitted to the gripping devices 300 and 301 is a signal for controlling the gripping devices 300 and 301 so that the plate-like structural member 200 is in the above-described arrangement state.
  • step S1004 the second control unit 502 of the control device 500 transmits an insertion command signal for inserting the positioning pins 120a and 121a into the positioning holes 220 and 221 to the slide mechanisms 130 and 131.
  • the slide mechanisms 130 and 131 to which the insertion command signal has been transmitted from the second control unit 502 insert the positioning pins 120a and 121a into the positioning holes 220 and 221 of the plate-like structural member 200 to be in the positioning state shown in FIG.
  • step S1005 the control device 500 determines whether or not the positioning pins 120a and 121a are inserted into the positioning holes 220 and 221 of the plate-like structural member 200, and if it is determined that they are in the inserted state, the step is performed. The process proceeds to S1006.
  • the control device 500 receives a completion signal indicating that the operation for the insertion command signal has been completed from the slide mechanisms 130 and 131. , It is determined that the state is the above-described insertion state. This is because the insertion command signal transmitted to the slide mechanisms 130 and 131 is a signal for controlling the slide mechanisms 130 and 131 so that the plate-like structural member 200 is in the insertion state described above.
  • step S ⁇ b> 1006 the first control unit 501 of the control device 500 transmits a grip release signal for releasing the state in which the suction hand units 300 a and 301 a have sucked the plate-like structural member 200 to the gripping devices 300 and 301.
  • the gripping devices 300 and 301 to which the grip release signal is transmitted release the state in which the suction hand portions 300a and 301a suck the plate-like structural member 200, and the suction hand portions 300a and 301a are in the initial positions indicated by solid lines in FIG. Move.
  • the first control unit 501 is in a state in which the suction hand units 300a and 301a grip the plate-like structural member 200 after the positioning pins 120a and 121a are inserted into the positioning holes 220 and 221 by the slide mechanisms 130 and 131, respectively.
  • the gripping devices 300 and 301 are controlled so as to release.
  • the control device 500 ends the execution of the conveyance instruction for conveying the plate-like structural member 200 held on the supply base 400 to the assembling jig 100.
  • the process shown in FIG. 10 shows a conveyance instruction for conveying one plate-like structural member 200. For example, when positioning three plate-like structural members 200 on the assembly jig 100, Each process shown in FIG. 10 is executed three times.
  • the three plate-like structural members 200 are positioned by the three pairs of positioning pins 120a and 121a, the three plate-like structural members 200 are assembled by processing such as riveting.
  • the protrusions 210 and 211 included in the three plate-like structural members 200 are cut by a cutting device (not shown). The protrusions 210 and 211 are cut because they are unnecessary portions as the final product.
  • the positioning holes 220 and 221 are formed in the protruding portions 210 and 211 that are cut because they are unnecessary portions as the final product. Therefore, the protrusions 210 and 211 that are not used as a final product can be used for positioning for accurate assembly.
  • the drive motors 130a and 131a and the feed screws 130b and 131b are used to move the positioning pins 120a and 121a.
  • the positioning pins 120a and 121a may be moved by a direct acting actuator.
  • the direct acting actuator is, for example, a hydraulic cylinder, a pneumatic cylinder, or a solenoid (electromagnetic actuator).
  • the assembly system 600 of the present embodiment described above will be described.
  • the lower surface 200a of the plate-like structural member 200 is supported by the support portion 110, and the positioning holes 220 and 221 are disposed on the axes Z1 and Z2 from which the positioning pins 120a and 121a extend.
  • the gripping devices 300 and 301 are controlled so as to be in the arrangement state.
  • the gripping devices 300 and 301 are not moved by the slide mechanisms 130 and 131 of the positioning pins 120a and 121a.
  • the plate-like structural member 200 does not come into contact with the positioning pins 120a and 121a and is not damaged by the conveyance by the above.
  • the positioning pins 120a and 121a are inserted by the slide mechanisms 130 and 131 into the positioning holes 220 and 221 of the plate-like structural member 200 after the gripping devices 300 and 301 place the plate-like structural member 200 in the aforementioned arrangement state. Moving. Therefore, the plate-like structural member 200 in a state where the lower surface 200 a of the plate-like structural member 200 is supported by the support portion 110 is reliably positioned on the assembly jig 100. As described above, according to the assembly system 600 of the present embodiment, the plate-like structural member 200 conveyed while being held by the holding devices 300 and 301 can be reliably positioned on the assembly jig 100 without being damaged. It becomes possible.
  • the first control unit 501 holds the plate-like structural member 200 after the positioning pins 120a and 121a are inserted into the positioning holes 220 and 221 by the slide mechanisms 130 and 131, respectively.
  • the gripping devices 300 and 301 are controlled so as to release. By doing so, the positioning pins 120a and 121a are inserted into the positioning holes 220 and 221 and the plate-like structural member 200 is reliably positioned by the assembly jig 100. A problem that the arrangement state changes can be suppressed.
  • the present embodiment is a modification of the first embodiment, and is the same as the first embodiment unless otherwise described below.
  • the slide mechanisms 130 and 131 of the assembly jig 100 move the positioning pins 120a and 121a along the axes Z1 and Z2 extending in the vertical direction.
  • the positioning pins 120a and 121a are moved along the axes Z1 ′ and Z2 ′ in which the slide mechanisms 130 ′ and 131 ′ of the assembly jig extend in a direction inclined from the vertical direction. It is.
  • the positioning parts 120 and 121 of this embodiment differ in arrangement
  • the plate-like structural member 200 ′ disposed on the assembly jig 100 has a curvature in the short side direction (Y direction in FIG. 3) and the long side direction (X direction in FIG. 3; predetermined). It is particularly advantageous if it has a curvature along the direction).
  • the plate-like structural member 200 ′ having a curvature along the long side direction (X direction) has a distance D1 in the long side direction between the tip part 120 d and the tip part 121 d so that the positioning hole 220 is positioned. It is longer than the distance D2 in the long side direction between the center position on the lower surface 200a 'and the center position on the lower surface 200a' of the positioning hole 221 '.
  • the positioning pins 120a and 121a are fixed at the positions shown in FIG. 12, when the positioning holes 220 ′ and 221 ′ of the plate-like structural member 200 ′ are lowered toward the positioning pins 120a and 121a by the gripping device.
  • the plate-like structural member 200 'comes into contact with the positioning pins 120a and 121a.
  • the plate-like structural member 200 ′ is inserted into the positioning holes 220 ′ and 221 ′ after the plate-like structural member 200 ′ is supported by the support portion 110. Problems that come into contact with the positioning pins 120a and 121a can be suppressed.
  • slide mechanisms 130 ′ and 131 ′ are different from the slide mechanisms 130 and 131 of the first embodiment.
  • the functions of the drive motor 130a ′, the feed screw 130b ′, the moving member 130c ′, and the guide member 130d ′ included in the slide mechanism 130 ′ are the same as those of the drive motor 130a, the feed screw 130b, and the movement included in the slide mechanism 130 of the first embodiment. It is the same as the member 130c and the guide member 130d.
  • the functions of the drive motor 131a ′, the feed screw 131b ′, the moving member 131c ′, and the guide member 131d ′ included in the slide mechanism 131 ′ are the same as those of the drive motor 131a, the feed screw 131b, and the movement included in the slide mechanism 131 of the first embodiment. It is the same as the member 131c and the guide member 131d.
  • the slide mechanism 130 ′ of this embodiment is attached to the second support member 110b such that the feed screw 130b ′ extends in a direction inclined from the vertical direction in which the second support member 110b extends. Different from the slide mechanism 130.
  • the slide mechanism 131 ′ of the present embodiment is first attached to the second support member 110b such that the feed screw 131b ′ extends in a direction inclined from the vertical direction in which the second support member 110b extends. This is different from the slide mechanism 131 of the embodiment.
  • the slide mechanisms 130 ′ and 131 ′ are axes orthogonal to the lower surface 200 a ′ and the upper surface 200 b ′ at both ends in the long side direction (X direction) of the plate-like structural member 200 ′ arranged as shown in FIG.
  • the positioning pins 120a and 121a are moved in the Z1 ′ and Z2 ′ directions. By inserting the positioning pins 120a and 121a into the positioning holes 220 'and 221' of the plate-like structural member 200 'in the arrangement state shown in FIG. 11, the insertion state shown in FIG. 12 is obtained.
  • the plate-like structural member 200 has a curvature in the long side direction and a pair of positioning holes 220 ′ and 221 ′ are formed at both ends in the long side direction, the tip portions 120d and 121d of the pair of positioning pins 120a and 121a The distance D1 between the centers and the distance D2 between the centers of the base ends 120c, 121c of the pair of positioning pins 120a, 121a are different.
  • the pair of positioning pins 120a and 121a are inserted along the shape of the plate-like structural member 200 having a curvature in the long side direction, so that the directions of the axes Z1 ′ and Z2 ′ in which the positioning pins 120a and 121a extend are vertical. This is because it is inclined in a different direction from the direction.
  • the pair of positioning pins 120a and 121a when the pair of positioning pins 120a and 121a is kept fixed, the distance D1 between the tip portions 120d and 121d of the pair of positioning pins 120a and 121a and the base end portions 120c and 121c of the pair of positioning pins 120a and 121a Therefore, it is difficult to insert the pair of positioning holes 220 ′ and 221 ′ into the tip portions 120d and 121d of the pair of positioning pins 120a and 121a.
  • a pair of positioning members in the direction perpendicular to the lower surface 200a ′ at each of the both ends in the long side direction of the plate-like structural member 200 ′ in which the slide mechanisms 130 ′ and 131 ′ are arranged. Since the pins 120a and 121a are moved, the tip portions 120d and 121d of the pair of positioning pins 120a and 121a do not protrude until the plate-like structural member 200 ′ is placed. Therefore, the plate-like structural member 200 ′ conveyed in the state of being gripped by the gripping devices 300 and 301 can be brought into the above-described arrangement state without being damaged, and thereafter can be reliably positioned on the assembly jig.
  • the control device 500 determines that the plate-like structural member 200 is in a desired arrangement state when receiving a completion signal indicating that the operation for the conveyance command signal has been completed from the gripping devices 300 and 301. It was something to do.
  • the desired arrangement state means that the plate-like structural member 200 is arranged on the axes Z1 and Z2 in which the lower surface 200a is supported by the support portion 110 and the positioning holes 220 and 221 extend from the positioning pins 120a and 121a. The arrangement state.
  • the plate-like structural member 200 is in a desired arrangement. It is judged that it is in a state.
  • the control device 500 of the present embodiment receives a detection signal for detecting that the positioning hole 220 is disposed on the axis Z1 from which the positioning pin 120a extends from the laser sensor 120e or the imaging device 700, the plate-like structural member 200 is determined to be in a desired arrangement state.
  • the gripping devices 300 and 301 accurately convey the plate-like structural member 200 without error.
  • the plate-like structural member 200 may not be accurately conveyed without error due to positioning errors or external factors (for example, contact of the plate-like structural member 200 with an obstacle).
  • the plate-like structural member 200 cannot be accurately conveyed without error, it is possible to suppress problems such as the positioning pins 120a and 121a coming into contact with the plate-like structural member 200.
  • the laser sensor 120e of this embodiment is attached to the tip 120d of the positioning pin 120a.
  • the laser sensor 120e includes a light emitting unit that emits laser light upward along the axis Z1 and a light receiving unit that detects reflected light of the laser light emitted from the light source.
  • the positioning hole 220 is disposed on the axis Z1 from which the positioning pin 120a extends when the amount of light received by the light receiving unit is equal to or less than a predetermined amount with the plate-like structural member 200 supported by the support unit 110. Detect that
  • the imaging apparatus 700 is arranged to take an image of an imaging area including the positioning hole 220 of the plate-like structural member 200 arranged in the support part 110.
  • the imaging apparatus 700 stores in advance a teaching image indicating that the positioning hole 220 is disposed on the axis Z1 in which the positioning pin 120a extends, and the positioning is performed when the actually captured image matches the teaching image. It is detected that the hole 220 is disposed on the axis Z1 from which the positioning pin 120a extends.
  • an assembly system including both the laser sensor 120e and the imaging device 700 is shown.
  • an assembly system including only the laser sensor 120e or an assembly system including only the imaging device 700 may be used.
  • the positioning pin 120a is moved by the slide mechanism 130 when the laser sensor 120e or the imaging device 700 detects that the positioning hole 220 is disposed on the axis Z1 from which the positioning pin 120a extends. Moving. Therefore, when the positioning hole 220 is not arranged on the axis Z1 from which the positioning pin 120a extends (for example, when a positioning error or some trouble occurs), the positioning pin 120a is moved by mistake, and the plate-like structural member 200 is moved. It is possible to suppress problems that cause damage.
  • the slide mechanisms 130 and 131 may include a load measurement sensor (load measurement unit) that measures a load required to move the positioning pins 120a and 121a.
  • the slide mechanisms 130 and 131 stop the movement of the positioning pin 120a when the load measured by the load measurement sensor becomes a predetermined limit load.
  • the first control unit 501 of the control device 500 causes an error in the positioning of the plate-like structural member 200, so that the positioning of the plate-like structural member 200 is performed again.
  • the gripping devices 300 and 301 may be controlled.
  • the positioning holes 220 and 221 are not arranged on the axes Z1 and Z2 from which the positioning pins 120a and 121a extend (for example, when a positioning error or some trouble occurs), it is erroneously performed. Even if the positioning pins 120a and 121a are moved in a direction in which the positioning pins 120a and 121a are brought into contact with the plate-like structural member 200, it is possible to suppress a problem that damages the plate-like structural member 200.
  • the first control unit 501 is configured such that the suction hand units 300 a and 301 a move the plate-like structural member 200 after the positioning pins 120 a and 121 a are inserted into the positioning holes 220 and 221 by the slide mechanisms 130 and 131.
  • the gripping devices 300 and 301 are controlled to release the gripped state, the following may be performed.
  • the first control unit 501 before the positioning pins 120 a and 121 a are pulled out from the positioning holes 220 and 221 by the slide mechanisms 130 and 131.
  • the gripping devices 300 and 301 may be controlled so as to grip the plate-like structural member 200 having the lower surface 200a supported by the support portion 110.
  • Assembly jig 110 support part 110a first support member 110b second support member 120, 121 positioning part 120a, 121a positioning pin (positioning projection part) 120b, 121b Mounting member 120c, 121c Base end 120d, 121d Tip 120e Laser sensor (detection device) 130, 130 ', 131, 131' slide mechanism (moving mechanism) 130a, 130a ', 131a, 131a' Drive motors 130b, 130b ', 131b, 131b' Lead screws 130c, 130c ', 131c, 131c' Moving members 130d, 130d ', 131d, 131d' Guide members 200, 200 'Plate shape Structural member (plate-like member) 200a, 200a ′ lower surface (first surface) 200b, 200b ′ upper surface (second surface) 210, 211 Protruding portion 220, 220 ′, 221, 221 ′ Positioning hole 300, 301 Grasping device 300a

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)

Abstract

Provided is an assembly system (600) equipped with gripping devices (300, 301) for conveying a sheet-shaped structural member, an assembly jig for positioning the sheet-shaped structural member, and a control device (500). The assembly jig comprises supports for supporting the sheet-shaped structural member, positioning pins, and sliding mechanisms (130, 131) for moving the positioning pins. The control device (500) comprises: a first control unit (501) for controlling the gripping devices (300, 301) so that the sheet-shaped structural member is disposed so as to be supported on the supports and the positioning holes are disposed on the axis lines on which the positioning pins extend; and a second control unit (502) for controlling the sliding mechanisms (130, 131) so that the positioning pins are inserted in the positioning holes of the sheet-shaped structural member that has been disposed by the first control unit (501).

Description

位置決めシステムおよび位置決め方法Positioning system and positioning method
　本発明は、板状部材を位置決め装置に位置決めする位置決めシステムおよび位置決め方法に関するものである。 The present invention relates to a positioning system and a positioning method for positioning a plate-like member on a positioning device.
　従来、航空機胴体等の大型の構造部材を、多関節アームを有するロボットを用いて位置付けする自動位置付けシステムが知られている（例えば、特許文献１参照）。
　特許文献１には、ロボットアームに取り付けられた支持体に胴体部品を配置し、支持体に配置した胴体部品をロボットアームによって他の胴体部品に位置付けすることが開示されている。また、特許文献１には、２つの胴体部品をリベット締め等によって結合する前に、胴体部品のアライメントを支持体で維持することにより、ロボットを他の動作を実行するために解放することが開示されている。 2. Description of the Related Art Conventionally, an automatic positioning system that positions a large structural member such as an aircraft fuselage using a robot having an articulated arm is known (see, for example, Patent Document 1).
Patent Document 1 discloses disposing a body part on a support body attached to a robot arm and positioning the body part disposed on the support body to another body part by a robot arm. Further, Patent Document 1 discloses that before joining two body parts by riveting or the like, the alignment of the body parts is maintained by the support to release the robot to perform other operations. Has been.
特開２０１１－１３６４１６号公報JP 2011-136416 A
　しかしながら、特許文献１においては、ロボットにより位置決めされた胴体部品のアライメントを維持する支持体の具体的な構造についての開示はなく、リベット締め等により胴体部品を結合する際に構造部材を位置決めした状態をどのように維持するかについて何ら示唆するものではない。
　ロボット等の構造部材を把持する把持装置を用いて構造部材を位置決め装置に位置決めする場合には、把持装置が構造部材を搬送する際に構造部材が位置決め装置に接触して損傷する可能性がある。しかしながら、特許文献１には、把持装置により搬送される構造部材の損傷を防止することについての何らの開示もされていない。 However, in Patent Document 1, there is no disclosure of a specific structure of a support body that maintains alignment of a fuselage part positioned by a robot, and a state in which a structural member is positioned when the fuselage part is coupled by riveting or the like It doesn't suggest anything about how to maintain.
When positioning a structural member to a positioning device using a gripping device that grips a structural member such as a robot, the structural member may contact the positioning device and be damaged when the gripping device transports the structural member. . However, Patent Document 1 does not disclose anything about preventing damage to the structural member conveyed by the gripping device.
　本発明は、このような事情に鑑みてなされたものであって、把持装置により把持した状態で搬送される板状部材を損傷させることなく位置決め装置に確実に位置決めすることを可能にした位置決めシステムおよび位置決め方法を提供することを目的とする。 The present invention has been made in view of such circumstances, and a positioning system that enables reliable positioning on a positioning device without damaging a plate-like member conveyed while being held by a holding device. And it aims at providing the positioning method.
　上記した課題を解決するために、本発明は、以下の手段を採用する。
　本発明の一態様にかかる位置決めシステムは、位置決め孔が形成された板状部材を把持した状態で搬送する把持装置と、前記板状部材を位置決めする位置決め装置と、前記把持装置および前記位置決め装置を制御する制御装置とを備え、前記位置決め装置は、前記板状部材の第１面を支持する支持部と、前記板状部材の前記第１面から第２面へ向けて前記位置決め孔に挿入される位置決め突起部と、該位置決め突起部が延びる軸線に沿って該位置決め突起部を移動させる移動機構とを有し、前記制御装置は、前記板状部材の前記第１面が前記支持部に支持され、かつ前記位置決め孔が前記位置決め突起部が延びる前記軸線上に配置された配置状態となるように前記把持装置を制御する第１制御部と、該第１制御部により前記配置状態とされた前記板状部材の前記位置決め孔に前記位置決め突起部を挿入するよう前記移動機構を制御する第２制御部とを有する。 In order to solve the above-described problems, the present invention employs the following means.
A positioning system according to one aspect of the present invention includes a gripping device that transports a plate-shaped member in which a positioning hole is formed, a positioning device that positions the plate-shaped member, the gripping device, and the positioning device. A control device that controls the positioning device, and the positioning device is inserted into the positioning hole from the first surface to the second surface of the plate-like member and a support portion that supports the first surface of the plate-like member. A positioning projection and a moving mechanism that moves the positioning projection along an axis extending from the positioning projection, and the control device supports the first surface of the plate-like member on the support. And a first control unit for controlling the gripping device so that the positioning hole is disposed on the axis line on which the positioning projection extends, and the first control unit is placed in the placement state. And a second control unit that controls the moving mechanism so as to insert the positioning protrusion with the positioning hole of the serial plate member.
　本発明の一態様にかかる位置決めシステムによれば、板状部材の第１面が支持部に支持され、かつ位置決め孔が位置決め突起部が延びる軸線上に配置された配置状態となるように把持装置が制御される。板状部材が配置状態となるように把持装置により搬送される際には、位置決め突起部の移動機構による移動が行われていないため、把持装置による搬送により板状部材が位置決め突起部に接触して損傷することはない。位置決め突起部は、移動機構により、把持装置が板状部材を前述の配置状態に配置した後に板状部材の位置決め孔に挿入するように移動する。そのため、板状部材の第１面が支持部に支持された状態の板状部材が、位置決め装置に確実に位置決めされる。
　このように、本発明の一態様にかかる位置決めシステムによれば、把持装置により把持した状態で搬送される板状部材を損傷させることなく位置決め装置に確実に位置決めすることが可能となる。 According to the positioning system according to one aspect of the present invention, the gripping device is configured such that the first surface of the plate-like member is supported by the support portion, and the positioning hole is disposed on the axis extending from the positioning projection portion. Is controlled. When the plate-like member is transported by the gripping device so as to be placed, the movement of the positioning projection is not performed by the moving mechanism, so that the plate-like member comes into contact with the positioning projection by the gripping device. Will not be damaged. The positioning protrusion is moved by the moving mechanism so that the gripping device is inserted into the positioning hole of the plate member after the plate member is arranged in the above-described arrangement state. Therefore, the plate-like member in a state where the first surface of the plate-like member is supported by the support portion is reliably positioned by the positioning device.
As described above, according to the positioning system according to one aspect of the present invention, it is possible to reliably position the positioning member on the positioning device without damaging the plate-like member conveyed while being gripped by the gripping device.
　本発明の一態様にかかる位置決めシステムにおいて、前記板状部材は、少なくとも所定方向に沿って曲率を有するとともに該所定方向の両端部に一対の前記位置決め孔が形成されており、前記位置決め装置は、前記一対の位置決め孔に挿入される一対の前記位置決め突起部を有し、前記配置状態とされた前記板状部材の前記所定方向の前記両端部のそれぞれにおいて前記位置決め突起部が延びる前記軸線と前記第１面とが直交する構成であってもよい。 In the positioning system according to one aspect of the present invention, the plate-shaped member has a curvature along at least a predetermined direction and a pair of positioning holes are formed at both ends in the predetermined direction. The pair of positioning projections inserted into the pair of positioning holes, and the axis that extends the positioning projections at each of the both end portions of the plate-like member in the predetermined direction, The first surface may be orthogonal to the first surface.
　板状部材が所定方向に曲率を有するとともに所定方向の両端部に一対の位置決め孔が形成されている場合、一対の位置決め突起部の先端部同士の間隔と一対の位置決め突起部の基端部同士の間隔とは異なったものとなる。これは、所定方向に曲率を有する板状部材の形状に沿って一対の位置決め突起部が挿入されるため、位置決め突起部が延びる軸線方向が位置決め装置が設置される設置面に対する鉛直方向から傾斜しているためである。そのため、一対の位置決め突起部を固定したままとする場合、一対の位置決め突起部の先端部同士の間隔と一対の位置決め突起部の基端部同士の間隔とが異なるため、一対の位置決め孔を一対の位置決め突起部の先端部に挿入することは困難である。 When the plate-like member has a curvature in a predetermined direction and a pair of positioning holes are formed at both ends in the predetermined direction, the distance between the tip ends of the pair of positioning projections and the base ends of the pair of positioning projections This is different from the interval. This is because the pair of positioning projections are inserted along the shape of the plate-like member having a curvature in a predetermined direction, so that the axial direction in which the positioning projections extend is inclined from the vertical direction with respect to the installation surface on which the positioning device is installed. This is because. Therefore, when the pair of positioning projections is kept fixed, the distance between the tip ends of the pair of positioning projections and the distance between the base ends of the pair of positioning projections are different. It is difficult to insert into the tip of the positioning projection.
　本構成にかかる位置決めシステムによれば、移動機構が配置状態とされた板状部材の所定方向の両端部のそれぞれにおいて位置決め突起部が延びる軸線と第１面とが直交する。そのため、板状部材を配置状態とするまでは一対の位置決め突起部の先端部が突出した状態としないことにより、把持装置により把持した状態で搬送される板状部材を損傷させることなく前述した配置状態とし、その後に位置決め装置に確実に位置決めすることが可能となる。 According to the positioning system according to this configuration, the axis on which the positioning protrusion extends and the first surface are orthogonal to each other at both ends in a predetermined direction of the plate-like member in which the moving mechanism is placed. Therefore, until the plate-like member is in the arrangement state, the tip portions of the pair of positioning projections do not protrude, and the arrangement described above is performed without damaging the plate-like member conveyed while being held by the holding device. It becomes possible to perform positioning to the positioning device after that.
　本発明の一態様にかかる位置決めシステムにおいて、前記第１制御部は、前記移動機構により前記位置決め突起部が前記位置決め孔に挿入された後に、前記板状部材を把持した状態を解除するよう前記把持装置を制御してもよい。
　このようにすることで、位置決め突起部が位置決め孔に挿入されて板状部材が位置決め装置に確実に位置決めされるまでの間に、板状部材の配置状態が変化してしまう不具合を抑制することができる。 In the positioning system according to one aspect of the present invention, the first control unit may be configured to release the gripped state of the plate-like member after the positioning protrusion is inserted into the positioning hole by the moving mechanism. The device may be controlled.
By doing so, it is possible to suppress a problem that the arrangement state of the plate-shaped member changes until the positioning protrusion is inserted into the positioning hole and the plate-shaped member is reliably positioned by the positioning device. Can do.
　本発明の一態様にかかる位置決めシステムにおいて、前記第１制御部は、前記移動機構により前記位置決め突起部が前記位置決め孔から引き抜かれる前に、前記支持部に前記第１面が支持された前記板状部材を把持するよう前記把持装置を制御してもよい。
　このようにすることで、位置決め突起部が位置決め孔から引き抜かれて位置決めが解除される際に、板状部材の配置状態が変化してしまう不具合を抑制することができる。 In the positioning system according to one aspect of the present invention, the first control unit may be configured such that the first surface is supported by the support unit before the positioning projection is pulled out of the positioning hole by the moving mechanism. The gripping device may be controlled to grip the shaped member.
By doing in this way, when a positioning projection part is pulled out from a positioning hole and positioning is cancelled | released, the malfunction which the arrangement state of a plate-shaped member changes can be suppressed.
　本発明の一態様にかかる位置決めシステムにおいて、前記位置決め孔が前記位置決め突起部が延びる前記軸線上に配置されていることを検出する検出装置を備え、前記第２制御部は、前記検出装置により前記位置決め孔が前記位置決め突起部が延びる前記軸線上に配置されていることが検出された場合に、前記位置決め孔に前記位置決め突起部を挿入するよう前記移動機構を制御する構成であってもよい。 In the positioning system according to an aspect of the present invention, the positioning system includes a detection device that detects that the positioning hole is disposed on the axis line from which the positioning protrusion extends, and the second control unit is configured to detect the positioning device by the detection device. When it is detected that the positioning hole is disposed on the axis along which the positioning protrusion extends, the moving mechanism may be controlled to insert the positioning protrusion into the positioning hole.
　本構成にかかる位置決めシステムによれば、位置決め孔が位置決め突起部が延びる軸線上に配置されていることが検出装置により検出された場合に位置決め突起部が移動機構により移動する。そのため、位置決め孔が位置決め突起部が延びる軸線上に配置されていない場合（例えば、位置決め誤差や何らかの不具合が発生した場合）に、誤って位置決め突起部を移動させて板状部材を損傷させてしまう不具合を抑制することができる。 According to the positioning system according to the present configuration, the positioning protrusion moves by the moving mechanism when the detection device detects that the positioning hole is arranged on the axis extending from the positioning protrusion. Therefore, when the positioning hole is not arranged on the axis line from which the positioning projection extends, for example, when a positioning error or some trouble occurs, the positioning projection is moved by mistake and the plate member is damaged. Problems can be suppressed.
　本発明の一態様にかかる位置決めシステムにおいて、前記移動機構が前記位置決め突起部を移動させるのに要する荷重を計測する荷重計測部を備え、前記移動機構は、前記荷重計測部が計測する荷重が所定の制限荷重以上となる場合に前記位置決め突起部の移動を停止させるようにしてもよい。
　このようにすることで、例えば、位置決め孔が位置決め突起部が延びる軸線上に配置されていない場合（例えば、位置決め誤差や何らかの不具合が発生した場合）に、誤って位置決め突起部を移動させたとしても、板状部材を損傷させてしまう不具合を抑制することができる。 The positioning system according to one aspect of the present invention includes a load measuring unit that measures a load required for the moving mechanism to move the positioning protrusion, and the moving mechanism has a predetermined load measured by the load measuring unit. The movement of the positioning projection may be stopped when the load exceeds the limit load.
By doing so, for example, if the positioning hole is not arranged on the axis line from which the positioning projection extends, (for example, if a positioning error or some trouble occurs), the positioning projection is moved by mistake. Moreover, the malfunction which damages a plate-shaped member can be suppressed.
　本発明の一態様にかかる位置決め方法は、位置決め孔が形成された板状部材を把持した状態で搬送する把持装置と、前記板状部材を位置決めする位置決め装置とを備える位置決めシステムにより実行される位置決め方法であって、前記位置決め装置は、前記板状部材の第１面を支持する支持部と、前記板状部材の前記第１面から第２面へ向けて前記位置決め孔に挿入される位置決め突起部と、該位置決め突起部が延びる軸線に沿って該位置決め突起部を移動させる移動機構とを有し、前記板状部材の前記第１面が前記支持部に支持され、かつ前記位置決め孔が前記位置決め突起部が延びる前記軸線上に配置された配置状態となるように前記把持装置を制御する第１制御工程と、該第１制御工程により前記配置状態とされた前記板状部材の前記位置決め孔に前記位置決め突起部を挿入するよう前記移動機構を制御する第２制御工程とを備える。 A positioning method according to one aspect of the present invention is a positioning executed by a positioning system including a gripping device that transports a plate-like member in which a positioning hole is formed and a positioning device that positions the plate-like member. In the method, the positioning device includes a support portion that supports the first surface of the plate-like member, and a positioning protrusion that is inserted into the positioning hole from the first surface to the second surface of the plate-like member. And a moving mechanism for moving the positioning projection along an axis extending from the positioning projection, the first surface of the plate member is supported by the support, and the positioning hole is A first control step of controlling the gripping device so as to be in an arrangement state in which the positioning protrusions are arranged on the axis, and in front of the plate-like member in the arrangement state by the first control step And a second control step for controlling the moving mechanism to insert the positioning projections into the positioning hole.
　本発明の一態様にかかる位置決め方法によれば、第１制御工程により、板状部材の第１面が支持部に支持され、かつ位置決め孔が位置決め突起部が延びる軸線上に配置された配置状態となるように把持装置が制御される。板状部材が配置状態となるように把持装置により搬送される際には、位置決め突起部の移動機構による移動が行われていないため、把持装置による搬送により板状部材が位置決め突起部に接触して損傷することはない。また、第２制御工程により、位置決め突起部は、把持装置が板状部材を前述の配置状態に配置した後に板状部材の位置決め孔に挿入するように移動機構により移動する。そのため、板状部材の第１面が支持部に支持された状態の板状部材が、位置決め装置に確実に位置決めされる。
　このように、本発明の一態様にかかる位置決め方法によれば、把持装置により把持した状態で搬送される板状部材を損傷させることなく位置決め装置に確実に位置決めすることが可能となる。 According to the positioning method according to one aspect of the present invention, the first control step is such that the first surface of the plate-like member is supported by the support portion, and the positioning hole is disposed on the axis line from which the positioning protrusion extends. The gripping device is controlled so that When the plate-like member is transported by the gripping device so as to be placed, the movement of the positioning projection is not performed by the moving mechanism, so that the plate-like member comes into contact with the positioning projection by the gripping device. Will not be damaged. Further, in the second control step, the positioning protrusion is moved by the moving mechanism so that the gripping device is inserted into the positioning hole of the plate-like member after the plate-like member is placed in the above-described arrangement state. Therefore, the plate-like member in a state where the first surface of the plate-like member is supported by the support portion is reliably positioned by the positioning device.
As described above, according to the positioning method according to one aspect of the present invention, it is possible to reliably position the plate-like member conveyed while being held by the holding device without damaging the plate-like member.
　本発明によれば、把持装置により把持した状態で搬送される板状部材を損傷させることなく位置決め装置に確実に位置決めすることを可能にした位置決めシステムおよび位置決め方法を提供することができる。 According to the present invention, it is possible to provide a positioning system and a positioning method that can reliably position a plate-like member conveyed while being gripped by a gripping device without damaging the plate-like member.
第１実施形態の組立用治具を示す斜視図である。It is a perspective view which shows the assembly jig of 1st Embodiment. 第１実施形態の板状構造部材を示す平面図である。It is a top view which shows the plate-shaped structure member of 1st Embodiment. 板状構造部材を位置決めした状態の組立用治具を示す斜視図である。It is a perspective view which shows the jig | tool for an assembly of the state which positioned the plate-shaped structure member. 第１実施形態の組立システムを示す平面図である。It is a top view which shows the assembly system of 1st Embodiment. 第１実施形態の組立システムを示す平面図である。It is a top view which shows the assembly system of 1st Embodiment. 第１実施形態の組立システムを示す平面図である。It is a top view which shows the assembly system of 1st Embodiment. 図６に示す組立用治具のＡ－Ａ矢視縦断面図であり、位置決め孔に位置決めピンが挿入されない状態を示す図である。FIG. 7 is a vertical cross-sectional view taken along the line AA of the assembling jig shown in FIG. 6, showing a state in which a positioning pin is not inserted into the positioning hole. 図６に示す組立用治具のＡ－Ａ矢視縦断面図であり、位置決め孔に位置決めピンが挿入された状態を示す図である。FIG. 7 is a vertical cross-sectional view of the assembling jig shown in FIG. 6 taken along the line AA, showing a state in which a positioning pin is inserted into the positioning hole. 第１実施形態の組立システムの制御構成を示すブロック図である。It is a block diagram which shows the control structure of the assembly system of 1st Embodiment. 第１実施形態の制御装置が実行する処理を示すフローチャートである。It is a flowchart which shows the process which the control apparatus of 1st Embodiment performs. 第２実施形態の位置決め部を示す縦断面図であり、位置決め孔に位置決めピンが挿入されない状態を示す図である。It is a longitudinal cross-sectional view which shows the positioning part of 2nd Embodiment, and is a figure which shows the state by which a positioning pin is not inserted in a positioning hole. 第２実施形態の位置決め部を示す縦断面図であり、位置決め孔に位置決めピンが挿入された状態を示す図である。It is a longitudinal cross-sectional view which shows the positioning part of 2nd Embodiment, and is a figure which shows the state by which the positioning pin was inserted in the positioning hole. 第３実施形態の位置決め部を示す縦断面図である。It is a longitudinal cross-sectional view which shows the positioning part of 3rd Embodiment.
〔第１実施形態〕
　以下に、本発明の第１実施形態の組立システム６００について、図面を参照して説明する。
　図４から図６に示すように、本実施形態の組立システム６００は、把持装置３００，３０１が長辺方向の両端部に一対の位置決め孔２２０，２２１が形成された複数の板状構造部材２００（板状部材）を把持した状態で搬送して組立用治具１００（位置決め装置）に位置決めし、複数の板状構造部材２００を鋲打ち（リベッティング）等の加工により組み立てるシステムである。 [First Embodiment]
Below, the assembly system 600 of 1st Embodiment of this invention is demonstrated with reference to drawings.
As shown in FIGS. 4 to 6, the assembly system 600 of the present embodiment includes a plurality of plate-like structural members 200 in which the gripping devices 300 and 301 are formed with a pair of positioning holes 220 and 221 at both ends in the long side direction. The system is a system in which a plurality of plate-like structural members 200 are assembled by processing such as riveting and transported in a state where the (plate-like member) is gripped and positioned on an assembly jig 100 (positioning device).
　図１に示す組立用治具１００は、長辺方向の両端部に一対の位置決め孔２２０，２２１が形成された複数の板状構造部材２００（図２参照）を位置決めする装置である。
　図１に示すように、組立用治具１００は、一対の第１支持部材１１０ａと複数の第２支持部材１１０ｂからなる支持部１１０と、支持部１１０に取り付けられるとともに支持部１１０に板状構造部材２００を位置決めする一対の位置決め部１２０，１２１とを備える。
　一対の第１支持部材１１０ａは、軸線Ｘに沿って平行に配置される長尺状の部材であり、支持部１１０が設置される設置面に締結ボルト（図示略）等により固定されている。 An assembly jig 100 shown in FIG. 1 is a device for positioning a plurality of plate-like structural members 200 (see FIG. 2) in which a pair of positioning holes 220 and 221 are formed at both ends in the long side direction.
As shown in FIG. 1, the assembling jig 100 is attached to the support unit 110 including a pair of first support members 110 a and a plurality of second support members 110 b, and has a plate-like structure on the support unit 110. A pair of positioning portions 120 and 121 for positioning the member 200 is provided.
The pair of first support members 110a are long members arranged in parallel along the axis X, and are fixed to the installation surface on which the support unit 110 is installed by fastening bolts (not shown) or the like.
　複数の第２支持部材１１０ｂは、一端が一対の第１支持部材１１０ａの一方に固定され、他端が一対の第１支持部材１１０ａの他方に固定される部材である。図１に示すように、複数の第２支持部材１１０ｂのそれぞれは、軸線Ｘに直交する軸線Ｙに沿った方向に延びるように互いに平行に配置されている。
　図１に示すように、第２支持部材１１０ｂは、第１支持部材１１０ａが設置される設置面に対して軸線Ｙに沿った中央部が両端部よりも突出したアーチ形状となっている。第２支持部材１１０ｂが曲率を持ったアーチ形状となっているのは、板状構造部材２００の下面２００ａ（第１面；図７参照）をその形状に沿って支持するためである。複数の第２支持部材１１０ｂは、板状構造部材２００の下面２００ａを軸線Ｘに沿った複数箇所で支持する。 The plurality of second support members 110b are members that have one end fixed to one of the pair of first support members 110a and the other end fixed to the other of the pair of first support members 110a. As shown in FIG. 1, the plurality of second support members 110 b are arranged in parallel to each other so as to extend in a direction along the axis Y that is orthogonal to the axis X.
As shown in FIG. 1, the second support member 110 b has an arch shape in which the central portion along the axis Y protrudes from both ends with respect to the installation surface on which the first support member 110 a is installed. The reason why the second support member 110b has an arch shape with a curvature is to support the lower surface 200a (first surface; see FIG. 7) of the plate-like structural member 200 along the shape. The plurality of second support members 110b support the lower surface 200a of the plate-like structural member 200 at a plurality of locations along the axis X.
　図１に示すように、一対の位置決め部１２０，１２１は、軸線Ｙに沿った同一位置に配置されている。軸線Ｘに沿った両端側の第２支持部材１１０ｂには、軸線Ｙに沿った異なる３箇所の位置に一対の位置決め部１２０，１２１が３組形成されている。これら３組の一対の位置決め部１２０，１２１により３枚の板状構造部材２００を位置決めすることが可能となっている。 As shown in FIG. 1, the pair of positioning portions 120 and 121 are disposed at the same position along the axis Y. Three pairs of positioning portions 120 and 121 are formed at three different positions along the axis Y on the second support member 110b on both ends along the axis X. The three plate-like structural members 200 can be positioned by the three pairs of positioning portions 120 and 121.
　図２に示すように、板状構造部材２００は、平面視が矩形状であるとともに長辺方向の両端部のそれぞれに一対の位置決め孔２２０，２２１が形成された板状部材である。板状構造部材２００の長辺方向の両端部には、それぞれ外方へ突出するように形成された一対の突出部２１０，２１１が形成されている。一対の位置決め孔２２０，２２１は、一対の突出部２１０，２１１に形成されている。図２に示すように、一対の位置決め孔２２０，２２１を結ぶ方向（第１方向）が板状構造部材２００の長辺方向と一致している。 As shown in FIG. 2, the plate-like structural member 200 is a plate-like member having a rectangular shape in plan view and having a pair of positioning holes 220 and 221 formed at both ends in the long side direction. A pair of projecting portions 210 and 211 formed so as to project outward are formed at both ends in the long side direction of the plate-like structural member 200. The pair of positioning holes 220 and 221 are formed in the pair of projecting portions 210 and 211. As shown in FIG. 2, the direction (first direction) connecting the pair of positioning holes 220 and 221 coincides with the long side direction of the plate-like structural member 200.
　図３の斜視図に示すように、３枚の板状構造部材２００は、軸線Ｙに沿った異なる３箇所の位置に配置される３組の一対の位置決め部１２０，１２１により支持部１１０に位置決めされる。
　なお、図２に示す板状構造部材２００は、平面視が矩形状であるものとしたが他の態様であってもよい。例えば、板状構造部材２００は台形状やその他の形状の部材の両端部に一対の突出部２１０，２１１を形成したものであってもよい。 As shown in the perspective view of FIG. 3, the three plate-like structural members 200 are positioned on the support portion 110 by three pairs of positioning portions 120 and 121 arranged at three different positions along the axis Y. Is done.
In addition, although the plate-shaped structural member 200 shown in FIG. 2 shall be a rectangular shape in planar view, another aspect may be sufficient. For example, the plate-like structural member 200 may have a pair of projecting portions 210 and 211 formed at both ends of a trapezoidal or other shape member.
　本実施形態の板状構造部材２００は、例えば、航空機の胴体や主翼に用いられる長尺状の構造部材である。長辺方向の長さとしては種々の長さが採用可能であるが、例えば長辺方向が８ｍ～１０ｍ、短辺方向が２ｍ程度である。また、板状構造部材２００の厚みは、例えば３ｍｍ～５ｍｍである。 The plate-like structural member 200 of the present embodiment is a long structural member used for an aircraft fuselage or main wing, for example. Various lengths can be adopted as the length in the long side direction. For example, the long side direction is about 8 m to 10 m, and the short side direction is about 2 m. The thickness of the plate-like structural member 200 is, for example, 3 mm to 5 mm.
　また、板状構造部材２００の材料としては種々のものが採用可能であるが、例えばアルミニウム合金である。
　また、図２に示す板状構造部材２００は、貫通穴が形成されていないものであるが、１箇所あるいは複数箇所に貫通穴（例えば、航空機の胴体に用いられる板状構造部材２００の複数箇所に形成される窓取り付け用の貫通穴）を形成したものとしてもよい。 Various materials can be used as the material of the plate-like structural member 200, for example, an aluminum alloy.
In addition, the plate-like structural member 200 shown in FIG. 2 has no through-holes. However, the plate-like structural member 200 has one or more through-holes (for example, a plurality of plate-like structural members 200 used in an aircraft fuselage). It is good also as what formed the through-hole for window attachment formed in 1).
　次に、図４から図６を参照して、組立システム６００により、板状構造部材２００を組立用治具１００に位置決めする工程について説明する。
　図４に示すように、組立システム６００は、組立用治具１００と、板状構造部材２００と、板状構造部材２００を把持した状態で移動させる一対の把持装置３００，３０１と、板状構造部材２００を供給するために一時的に保持する供給台４００と、組立システム６００を制御する制御装置５００とを備える。 Next, with reference to FIGS. 4 to 6, a process of positioning the plate-like structural member 200 on the assembly jig 100 by the assembly system 600 will be described.
As shown in FIG. 4, the assembly system 600 includes an assembly jig 100, a plate-like structural member 200, a pair of gripping devices 300 and 301 that move while holding the plate-like structural member 200, and a plate-like structure. A supply base 400 for temporarily holding the member 200 and a control device 500 for controlling the assembly system 600 are provided.
　一対の把持装置３００，３０１は垂直多関節ロボットであり、先端に取り付けられる吸着ハンド部３００ａ，３０１ａを三次元空間上の任意の位置に任意の姿勢で位置決めすることが可能な装置である。
　吸着ハンド部３００ａ，３０１ａは、負圧の作用により板状構造部材２００の上面２００ｂ（第２面；図７参照）を吸着するものである。
　また、把持装置３００，３０１の先端側には、撮像装置３００ｂ，３０１ｂが取り付けられている。 The pair of gripping devices 300 and 301 are vertical articulated robots, and are devices that can position the suction hand portions 300a and 301a attached to the tip in an arbitrary position in an arbitrary position in the three-dimensional space.
The suction hand portions 300a and 301a suck the upper surface 200b (second surface; see FIG. 7) of the plate-like structural member 200 by the action of negative pressure.
In addition, imaging devices 300b and 301b are attached to the distal ends of the gripping devices 300 and 301.
　撮像装置３００ｂは、板状構造部材２００の突出部２１０を撮像して画像情報を取得し、制御装置５００へ送信する。制御装置５００は、撮像装置３００ｂから受信した画像情報と把持装置３００に取り付けられる撮像装置３００ｂの位置および姿勢とに基づいて、突出部２１０に形成される位置決め孔２２０の位置を算出する。
　同様に、撮像装置３０１ｂは、板状構造部材２００の突出部２１１を撮像して画像情報を取得し、制御装置５００へ送信する。制御装置５００は、撮像装置３０１ｂから受信した画像情報と把持装置３０１に取り付けられる撮像装置３０１ｂの位置および姿勢とに基づいて、突出部２１１に形成される位置決め孔２２１の位置を算出する。 The imaging device 300 b captures the protrusion 210 of the plate-like structural member 200 to acquire image information and transmits it to the control device 500. The control device 500 calculates the position of the positioning hole 220 formed in the protruding portion 210 based on the image information received from the imaging device 300b and the position and orientation of the imaging device 300b attached to the gripping device 300.
Similarly, the imaging device 301 b captures the protruding portion 211 of the plate-like structural member 200 to acquire image information, and transmits the image information to the control device 500. The control device 500 calculates the position of the positioning hole 221 formed in the protruding portion 211 based on the image information received from the imaging device 301b and the position and orientation of the imaging device 301b attached to the gripping device 301.
　一対の把持装置３００，３０１は、図４に実線で示す初期位置から、図４に破線で示す位置へ吸着ハンド部３００ａ，３０１ａを移動させ、負圧の作用により板状構造部材２００の上面２００ｂを吸着する。
　一対の把持装置３００，３０１は、図５に示すように、長尺状の板状構造部材２００の長辺方向の両端側を吸着ハンド部３００ａ，３０１ａが吸着した状態で、互いに協調しながら供給台４００に保持された板状構造部材２００を組立用治具１００へ向けて移動させる。 The pair of gripping devices 300 and 301 move the suction hand portions 300a and 301a from the initial position indicated by the solid line in FIG. 4 to the position indicated by the broken line in FIG. 4 and the upper surface 200b of the plate-like structural member 200 by the action of negative pressure. To adsorb.
As shown in FIG. 5, the pair of gripping devices 300 and 301 are supplied in cooperation with each other with the suction hand portions 300 a and 301 a sucking both ends in the long side direction of the long plate-like structural member 200. The plate-like structural member 200 held on the table 400 is moved toward the assembly jig 100.
　一対の把持装置３００，３０１は、図６に示すように、組立用治具１００の一対の位置決め部１２０，１２１の上方に一対の位置決め孔２２０，２２１が配置される配置状態となるように板状構造部材２００を移動させる。その後、一対の把持装置３００，３０１は、一対の位置決め部１２０，１２１に一対の位置決め孔２２０，２２１が位置決めされるように、板状構造部材２００を下方に向けて移動させる。 As shown in FIG. 6, the pair of gripping devices 300 and 301 are arranged so that the pair of positioning holes 220 and 221 are disposed above the pair of positioning portions 120 and 121 of the assembly jig 100. The structural member 200 is moved. Thereafter, the pair of gripping devices 300 and 301 moves the plate-like structural member 200 downward so that the pair of positioning holes 220 and 221 are positioned in the pair of positioning portions 120 and 121.
　次に、組立用治具１００が備える位置決め部１２０，１２１およびスライド機構１３０，１３１（移動機構）について図７および図８を参照して説明する。図７は図６に示す組立用治具１００のＡ－Ａ矢視縦断面図であり、位置決め孔２２０，２２１に位置決めピン１２０ａ，１２１ａが挿入されない状態を示す図である。図８は図６に示す組立用治具１００のＡ－Ａ矢視断面図であり、位置決め孔２２０，２２１に位置決めピン１２０ａ，１２１ａが挿入された状態を示す図である。
　図７に示すように、位置決め部１２０，１２１は、板状構造部材２００の位置決め孔２２０，２２１に挿入される位置決めピン１２０ａ，１２１ａ（位置決め突起部）と、位置決めピン１２０ａ，１２１ａを第２支持部材１１０ｂに取り付ける取付部材１２０ｂ，１２１ｂとを備える。 Next, positioning portions 120 and 121 and slide mechanisms 130 and 131 (moving mechanisms) included in the assembling jig 100 will be described with reference to FIGS. 7 and 8. FIG. 7 is a vertical cross-sectional view of the assembling jig 100 shown in FIG. 6 taken along the line AA, and shows a state where the positioning pins 120a and 121a are not inserted into the positioning holes 220 and 221. FIG. 8 is a cross-sectional view taken along the line AA of the assembling jig 100 shown in FIG. 6, and shows a state where the positioning pins 120a and 121a are inserted into the positioning holes 220 and 221. FIG.
As shown in FIG. 7, the positioning portions 120 and 121 secondly support the positioning pins 120 a and 121 a (positioning protrusions) inserted into the positioning holes 220 and 221 of the plate-like structural member 200 and the positioning pins 120 a and 121 a. Attachment members 120b and 121b attached to the member 110b are provided.
　以下では、図４から図６に示す３組の一対の位置決め部１２０，１２１のうちの１組についてのみ説明するが、他の２組の構造も同様であるものとし、説明を省略する。
　また、図４から図６に示す例は、１枚の板状構造部材２００を組立用治具１００に設置する例であるが、本実施形態の組立システム６００は、他の２枚の板状構造部材２００を他の２組の位置決め部１２０，１２１に連続的に供給台４００に供給可能であるものとし、説明を省略する。 Hereinafter, only one of the three pairs of positioning portions 120 and 121 shown in FIGS. 4 to 6 will be described, but the other two sets of structures are the same, and the description thereof is omitted.
The examples shown in FIGS. 4 to 6 are examples in which one plate-like structural member 200 is installed in the assembling jig 100. However, the assembly system 600 of this embodiment has two other plate-like members. It is assumed that the structural member 200 can be continuously supplied to the supply base 400 to the other two sets of positioning portions 120 and 121, and description thereof will be omitted.
　図７に示すように、一対の位置決め部１２０，１２１は、一対のスライド機構１３０，１３１を介して第２支持部材１１０ｂに取り付けられている。
　スライド機構１３０は、位置決めピン１２０ａが延びる軸線Ｚ１に沿って位置決めピン１２０ａを移動させる機構である。同様に、スライド機構１３１は、位置決めピン１２１ａが延びる軸線Ｚ２に沿って位置決めピン１２１ａを移動させる機構である。 As shown in FIG. 7, the pair of positioning portions 120 and 121 are attached to the second support member 110 b via a pair of slide mechanisms 130 and 131.
The slide mechanism 130 is a mechanism that moves the positioning pin 120a along the axis Z1 in which the positioning pin 120a extends. Similarly, the slide mechanism 131 is a mechanism that moves the positioning pin 121a along the axis Z2 in which the positioning pin 121a extends.
　図７に示すように、スライド機構１３０は、第２支持部材１１０ｂに固定された駆動モータ１３０ａと、駆動モータ１３０ａの駆動軸に連結される送りねじ１３０ｂと、送りねじ１３０ｂと係合する雌ねじが内周面に形成された移動部材１３０ｃと、移動部材１３０ｃを案内するガイド部材１３０ｄとを備える。移動部材１３０ｃは、位置決めピン１２０ａが取り付けられる取付部材１２０ｂに取り付けられている。 As shown in FIG. 7, the slide mechanism 130 has a drive motor 130a fixed to the second support member 110b, a feed screw 130b connected to the drive shaft of the drive motor 130a, and a female screw engaged with the feed screw 130b. A moving member 130c formed on the inner peripheral surface and a guide member 130d for guiding the moving member 130c are provided. The moving member 130c is attached to an attachment member 120b to which the positioning pin 120a is attached.
　また、図７に示すように、スライド機構１３１は、第２支持部材１１０ｂに固定された駆動モータ１３１ａと、駆動モータ１３１ａの駆動軸に連結される送りねじ１３１ｂと、送りねじ１３１ｂと係合する雌ねじが内周面に形成された移動部材１３１ｃと、移動部材１３１ｃを案内するガイド部材１３１ｄとを備える。移動部材１３１ｃは、位置決めピン１２１ａが取り付けられる取付部材１２１ｂに取り付けられている。 As shown in FIG. 7, the slide mechanism 131 engages with the drive motor 131a fixed to the second support member 110b, the feed screw 131b connected to the drive shaft of the drive motor 131a, and the feed screw 131b. A moving member 131c having a female screw formed on the inner peripheral surface and a guide member 131d for guiding the moving member 131c are provided. The moving member 131c is attached to an attachment member 121b to which the positioning pin 121a is attached.
　スライド機構１３０は、駆動モータ１３０ａを駆動して送りねじ１３０ｂを回転させることにより、移動部材１３０ｃおよびそれに連結される位置決め部１２０を位置決めピン１２０ａが延びる軸線Ｚ１に沿って移動させる機構である。スライド機構１３０は、位置決め部１２０を軸線Ｚ１に沿って移動させることにより、支持部１１０に下面２００ａが支持された板状構造部材２００の位置決め孔２２０に位置決めピン１２０ａを挿入し、板状構造部材２００が位置決め部１２０に位置決めされた状態とする。 The slide mechanism 130 is a mechanism that moves the moving member 130c and the positioning unit 120 connected thereto along the axis Z1 in which the positioning pin 120a extends by driving the drive motor 130a to rotate the feed screw 130b. The slide mechanism 130 moves the positioning portion 120 along the axis Z1, thereby inserting the positioning pin 120a into the positioning hole 220 of the plate-like structural member 200 in which the lower surface 200a is supported by the support portion 110. Assume that 200 is positioned by the positioning unit 120.
　また、スライド機構１３１は、駆動モータ１３１ａを駆動して送りねじ１３１ｂを回転させることにより、移動部材１３１ｃおよびそれに連結される位置決め部１２１を位置決めピン１２１ａが延びる軸線Ｚ２に沿って移動させる機構である。スライド機構１３１は、位置決め部１２１を軸線Ｚ２に沿って移動させることにより、支持部１１０に下面２００ａが支持された板状構造部材２００の位置決め孔２２１に位置決めピン１２１ａを挿入し、板状構造部材２００が位置決め部１２１に位置決めされた状態とする。 The slide mechanism 131 is a mechanism for moving the moving member 131c and the positioning portion 121 connected thereto along the axis Z2 in which the positioning pin 121a extends by driving the drive motor 131a to rotate the feed screw 131b. . The slide mechanism 131 moves the positioning portion 121 along the axis Z2, thereby inserting the positioning pin 121a into the positioning hole 221 of the plate-like structural member 200 whose lower surface 200a is supported by the support portion 110, and the plate-like structural member. Assume that 200 is positioned by the positioning unit 121.
　図７に示すように、位置決めピン１２０ａは、軸線Ｚ１に沿って延びる軸状に形成される部材であり、板状構造部材２００の下面２００ａから上面２００ｂへ向けて位置決め孔２２０に挿入されるものである。同様に、位置決めピン１２１ａは、軸線Ｚ２に沿って延びる軸状に形成される部材であり、板状構造部材２００の下面２００ａから上面２００ｂへ向けて位置決め孔２２１に挿入されるものである。 As shown in FIG. 7, the positioning pin 120a is a member formed in an axial shape extending along the axis Z1, and is inserted into the positioning hole 220 from the lower surface 200a to the upper surface 200b of the plate-like structural member 200. It is. Similarly, the positioning pin 121a is a member formed in an axial shape extending along the axis Z2, and is inserted into the positioning hole 221 from the lower surface 200a of the plate-like structural member 200 toward the upper surface 200b.
　図７に示すように、位置決めピン１２０ａ，１２１ａは、下方に位置する基端部１２０ｃ，１２１ｃから先端部１２０ｄ，１２１ｄへ向けて外径がＯＤから漸次小さくなるテーパ形状となっている。位置決めピン１２０ａ，１２１ａの基端部１２０ｃ，１２１ｃから先端部１２０ｄ，１２１ｄに至る部分は、断面が円形の円錐台形状となっている。 As shown in FIG. 7, the positioning pins 120a and 121a have a tapered shape in which the outer diameter gradually decreases from the OD from the lower base end portions 120c and 121c to the front end portions 120d and 121d. The portions from the base end portions 120c and 121c of the positioning pins 120a and 121a to the tip portions 120d and 121d have a truncated cone shape with a circular cross section.
　図７に示すように、板状構造部材２００は、下面２００ａが支持部１１０に支持され、かつ位置決め孔２２０，２２１が位置決めピン１２０ａ，１２１ａが延びる軸線Ｚ１，Ｚ２上に配置された配置状態となっている。
　組立システム６００の制御装置５００は、板状構造部材２００が把持装置３００，３０１により図７に示す配置状態となると、スライド機構１３０，１３１を制御し、位置決めピン１２０ａ，１２１ａを軸線Ｚ１，Ｚ２に沿って上方へ移動させる。
　なお、位置決めピン１２０ａ，１２１ａが延びる軸線Ｚ１，Ｚ２は、組立用治具１００が設置される設置面に対して直交する鉛直方向に延びる軸線である。 As shown in FIG. 7, the plate-like structural member 200 has an arrangement state in which the lower surface 200a is supported by the support portion 110 and the positioning holes 220 and 221 are arranged on the axes Z1 and Z2 from which the positioning pins 120a and 121a extend. It has become.
The control device 500 of the assembly system 600 controls the slide mechanisms 130 and 131 when the plate-like structural member 200 is in the arrangement state shown in FIG. 7 by the gripping devices 300 and 301, and the positioning pins 120a and 121a are moved to the axes Z1 and Z2. And move upward along.
Note that the axes Z1 and Z2 in which the positioning pins 120a and 121a extend are axes that extend in the vertical direction perpendicular to the installation surface on which the assembly jig 100 is installed.
　図７に示すように、基端部１２０ｃ，１２１ｃの外径ＯＤは、基端部１２０ｃ，１２１ｃが挿入される位置決め孔２２０，２２１の内径ＩＤよりも小さい。そのため、位置決めピン１２０ａ，１２１ａが軸線Ｚ１，Ｚ２に沿って上方へ移動すると、基端部１２０ｃ，１２１ｃが位置決め孔２２０，２２１に挿入された図８に示す状態となる。 As shown in FIG. 7, the outer diameter OD of the base end portions 120c, 121c is smaller than the inner diameter ID of the positioning holes 220, 221 into which the base end portions 120c, 121c are inserted. Therefore, when the positioning pins 120a and 121a move upward along the axes Z1 and Z2, the base end portions 120c and 121c are inserted into the positioning holes 220 and 221 as shown in FIG.
　内径ＩＤと外径ＯＤとの差分は、組立用治具１００が板状構造部材２００を位置決めする際に許容される位置決め誤差（例えば０．２ｍｍ）の２倍以下となっている。このようにすることで、基端部１２０ｃ，１２１ｃの外周面と位置決め孔２２０，２２１の内周面との間に形成される隙間が位置決め誤差以下に維持される。 The difference between the inner diameter ID and the outer diameter OD is not more than twice the positioning error (for example, 0.2 mm) allowed when the assembly jig 100 positions the plate-like structural member 200. By doing in this way, the clearance gap formed between the outer peripheral surface of the base end parts 120c and 121c and the inner peripheral surface of the positioning holes 220 and 221 is maintained below a positioning error.
　次に、本実施形態の制御装置５００が実行する処理について説明する。
　本実施形態の制御装置５００は、組立システム６００を構成する装置であり、把持装置３００，３０１および組立用治具１００のスライド機構１３０，１３１を制御する装置である。
　図９のブロック図に示すように、制御装置５００は、把持装置３００，３０１を制御する第１制御部５０１と、スライド機構１３０，１３１を制御する第２制御部５０２とを有する。 Next, processing executed by the control device 500 of this embodiment will be described.
The control device 500 of the present embodiment is a device that constitutes the assembly system 600 and is a device that controls the gripping devices 300 and 301 and the slide mechanisms 130 and 131 of the assembly jig 100.
As shown in the block diagram of FIG. 9, the control device 500 includes a first control unit 501 that controls the gripping devices 300 and 301 and a second control unit 502 that controls the slide mechanisms 130 and 131.
　図１０は、制御装置５００が実行する処理を示すフローチャートである。
　図１０に示す各処理は、制御装置５００が記憶部（図示略）に記憶される制御プログラムを読み出して実行することにより行われる処理である。
　以下、制御装置５００により実行される処理について説明する。 FIG. 10 is a flowchart illustrating processing executed by the control device 500.
Each process shown in FIG. 10 is a process performed by the control device 500 reading and executing a control program stored in a storage unit (not shown).
Hereinafter, processing executed by the control device 500 will be described.
　ステップＳ１００１で、制御装置５００は、組立システム６００の操作者から供給台４００に保持される板状構造部材２００を組立用治具１００まで搬送する搬送指示が入力されたかどうかを判断する。
　制御装置５００は、搬送指示が入力されたと判断した場合はステップＳ１００２へ処理を進める。 In step S <b> 1001, the control device 500 determines whether a transport instruction for transporting the plate-like structural member 200 held on the supply base 400 to the assembly jig 100 is input from the operator of the assembly system 600.
When it is determined that the conveyance instruction has been input, control device 500 advances the process to step S1002.
　ステップＳ１００２（第１制御工程）で、制御装置５００の第１制御部５０１は、供給台４００に保持される板状構造部材２００を組立用治具１００まで搬送する搬送指令信号を把持装置３００，３０１へ伝達する。
　搬送指令信号とは、以下の各工程を実行するように把持装置３００，３０１を制御するための信号である。 In step S1002 (first control step), the first control unit 501 of the control device 500 outputs a conveyance command signal for conveying the plate-like structural member 200 held on the supply base 400 to the assembly jig 100, the gripping device 300, 301.
The conveyance command signal is a signal for controlling the gripping devices 300 and 301 so as to execute the following steps.
　第１の工程は、把持装置３００，３０１の吸着ハンド部３００ａ，３０１ａを図４に破線で示す位置に移動させ、供給台４００に保持される板状構造部材２００に吸着ハンド部３００ａ，３０１ａを接触させて板状構造部材２００を吸着する工程である。
　第２の工程は、図５に示すように、吸着ハンド部３００ａ，３０１ａが吸着した状態の板状構造部材２００を、供給台４００から組立用治具１００へ向けて搬送する工程である。 In the first step, the suction hand portions 300a and 301a of the gripping devices 300 and 301 are moved to positions indicated by broken lines in FIG. 4 and the suction hand portions 300a and 301a are placed on the plate-like structural member 200 held by the supply base 400. This is a step of adsorbing the plate-like structural member 200 by bringing them into contact.
As shown in FIG. 5, the second step is a step of transporting the plate-like structural member 200 in a state where the suction hand portions 300 a and 301 a are sucked from the supply base 400 to the assembly jig 100.
　第３の工程は、図６に示すように、吸着ハンド部３００ａ，３０１ａが吸着した状態の板状構造部材２００を、板状構造部材２００の下面２００ａが支持部１１０に支持され、かつ位置決め孔２２０，２２１が位置決めピン１２０ａ，１２１ａが延びる軸線Ｚ１，Ｚ２上に配置された配置状態（図７に示す状態）となるように位置決めする工程である。 In the third step, as shown in FIG. 6, the plate-like structural member 200 in a state where the suction hand portions 300a and 301a are sucked, the lower surface 200a of the plate-like structural member 200 is supported by the support portion 110, and the positioning holes This is a step of positioning so that 220 and 221 are in an arrangement state (state shown in FIG. 7) arranged on the axes Z1 and Z2 from which the positioning pins 120a and 121a extend.
　以上の第１から第３の工程により、把持装置３００，３０１は、供給台４００に保持された板状構造部材２００を搬送し、組立用治具１００に支持された状態とする。なお、把持装置３００，３０１は、第１制御部５０１により、第３の工程を終了した後も吸着ハンド部３００ａ，３０１ａが板状構造部材２００を吸着した状態を維持するように制御される。
　これは、位置決め孔２２０，２２１に位置決めピン１２０ａ，１２１ａが挿入されない状態で板状構造部材２００を吸着した状態を解除することにより、板状構造部材２００の位置がずれることを防止するためである。 Through the above first to third steps, the gripping devices 300 and 301 convey the plate-like structural member 200 held on the supply base 400 and make it a state supported by the assembly jig 100. The gripping devices 300 and 301 are controlled by the first control unit 501 so that the suction hand units 300a and 301a maintain the state in which the plate-like structural member 200 is sucked even after the third step is finished.
This is to prevent the position of the plate-like structural member 200 from being shifted by releasing the state where the plate-like structural member 200 is attracted without the positioning pins 120a, 121a being inserted into the positioning holes 220, 221. .
　ステップＳ１００３で、制御装置５００は、板状構造部材２００が、下面２００ａが支持部１１０に支持され、かつ位置決め孔２２０，２２１が位置決めピン１２０ａ，１２１ａが延びる軸線Ｚ１，Ｚ２上に配置された配置状態であるかどうかを判断する。制御装置５００は、板状構造部材２００が前述した配置状態であると判断した場合は、ステップＳ１００４に処理を進める。 In step S1003, the control device 500 has an arrangement in which the plate-like structural member 200 is arranged on the axes Z1 and Z2 in which the lower surface 200a is supported by the support portion 110 and the positioning holes 220 and 221 extend from the positioning pins 120a and 121a. Determine if it is in a state. If the control device 500 determines that the plate-like structural member 200 is in the above-described arrangement state, the control device 500 advances the process to step S1004.
　制御装置５００は、例えば、ステップＳ１００２で把持装置３００，３０１へ伝達した搬送指令信号に対して、把持装置３００，３０１から搬送指令信号に対する動作の実行が完了した旨の完了信号を受信することにより、板状構造部材２００が前述した配置状態であると判断する。
　これは、把持装置３００，３０１に伝達する搬送指令信号が、板状構造部材２００が前述した配置状態となるように把持装置３００，３０１を制御する信号だからである。 For example, in response to the conveyance command signal transmitted to the gripping devices 300 and 301 in step S1002, the control device 500 receives a completion signal indicating that the operation for the conveyance command signal has been completed from the gripping devices 300 and 301. The plate-like structural member 200 is determined to be in the arrangement state described above.
This is because the conveyance command signal transmitted to the gripping devices 300 and 301 is a signal for controlling the gripping devices 300 and 301 so that the plate-like structural member 200 is in the above-described arrangement state.
　ステップＳ１００４（第２制御工程）で、制御装置５００の第２制御部５０２は、位置決めピン１２０ａ，１２１ａを位置決め孔２２０，２２１へ挿入するための挿入指令信号をスライド機構１３０，１３１へ伝達する。
　第２制御部５０２から挿入指令信号が伝達されたスライド機構１３０，１３１は、板状構造部材２００の位置決め孔２２０，２２１に位置決めピン１２０ａ，１２１ａを挿入し、図８に示す位置決め状態とする。 In step S1004 (second control step), the second control unit 502 of the control device 500 transmits an insertion command signal for inserting the positioning pins 120a and 121a into the positioning holes 220 and 221 to the slide mechanisms 130 and 131.
The slide mechanisms 130 and 131 to which the insertion command signal has been transmitted from the second control unit 502 insert the positioning pins 120a and 121a into the positioning holes 220 and 221 of the plate-like structural member 200 to be in the positioning state shown in FIG.
　ステップＳ１００５で、制御装置５００は、板状構造部材２００の位置決め孔２２０，２２１に位置決めピン１２０ａ，１２１ａが挿入された挿入状態であるかどうかを判断し、挿入状態であると判断した場合はステップＳ１００６に処理を進める。 In step S1005, the control device 500 determines whether or not the positioning pins 120a and 121a are inserted into the positioning holes 220 and 221 of the plate-like structural member 200, and if it is determined that they are in the inserted state, the step is performed. The process proceeds to S1006.
　制御装置５００は、例えば、ステップＳ１００４でスライド機構１３０，１３１へ伝達した挿入指令信号に対して、スライド機構１３０，１３１から挿入指令信号に対する動作の実行が完了した旨の完了信号を受信することにより、前述した挿入状態であると判断する。
　これは、スライド機構１３０，１３１に伝達する挿入指令信号が、板状構造部材２００が前述した挿入状態となるようにスライド機構１３０，１３１を制御する信号だからである。 For example, in response to the insertion command signal transmitted to the slide mechanisms 130 and 131 in step S1004, the control device 500 receives a completion signal indicating that the operation for the insertion command signal has been completed from the slide mechanisms 130 and 131. , It is determined that the state is the above-described insertion state.
This is because the insertion command signal transmitted to the slide mechanisms 130 and 131 is a signal for controlling the slide mechanisms 130 and 131 so that the plate-like structural member 200 is in the insertion state described above.
　ステップＳ１００６で、制御装置５００の第１制御部５０１は、吸着ハンド部３００ａ，３０１ａが板状構造部材２００を吸着した状態を解除するための把持解除信号を把持装置３００，３０１へ伝達する。把持解除信号が伝達された把持装置３００，３０１は、吸着ハンド部３００ａ，３０１ａが板状構造部材２００を吸着した状態を解除し、吸着ハンド部３００ａ，３０１ａを図４に実線で示す初期位置に移動させる。
　このように、第１制御部５０１は、スライド機構１３０，１３１により位置決めピン１２０ａ，１２１ａが位置決め孔２２０，２２１に挿入された後に、吸着ハンド部３００ａ，３０１ａが板状構造部材２００を把持した状態を解除するよう把持装置３００，３０１を制御する。 In step S <b> 1006, the first control unit 501 of the control device 500 transmits a grip release signal for releasing the state in which the suction hand units 300 a and 301 a have sucked the plate-like structural member 200 to the gripping devices 300 and 301. The gripping devices 300 and 301 to which the grip release signal is transmitted release the state in which the suction hand portions 300a and 301a suck the plate-like structural member 200, and the suction hand portions 300a and 301a are in the initial positions indicated by solid lines in FIG. Move.
Thus, the first control unit 501 is in a state in which the suction hand units 300a and 301a grip the plate-like structural member 200 after the positioning pins 120a and 121a are inserted into the positioning holes 220 and 221 by the slide mechanisms 130 and 131, respectively. The gripping devices 300 and 301 are controlled so as to release.
　以上の処理により、制御装置５００は、供給台４００に保持される板状構造部材２００を組立用治具１００まで搬送する搬送指示の実行を終了する。図１０に示す処理は、１枚の板状構造部材２００を搬送する搬送指示を示すものであるが、例えば、３枚の板状構造部材２００を組立用治具１００に位置決めする場合には、図１０に示す各処理が３回に渡って実行される。 Through the above processing, the control device 500 ends the execution of the conveyance instruction for conveying the plate-like structural member 200 held on the supply base 400 to the assembling jig 100. The process shown in FIG. 10 shows a conveyance instruction for conveying one plate-like structural member 200. For example, when positioning three plate-like structural members 200 on the assembly jig 100, Each process shown in FIG. 10 is executed three times.
　３枚の板状構造部材２００が３組の一対の位置決めピン１２０ａ，１２１ａによりそれぞれ位置決めされた後、これら３枚の板状構造部材２００は、鋲打ち（リベッティング）等の加工により組み立てられる。
　３枚の板状構造部材２００が組み立てられた後、３枚の板状構造部材２００が有する突出部２１０，２１１は、切断装置（図示略）により切断される。突出部２１０，２１１を切断するのは、これらが最終製品として不要な部分であるからである。 After the three plate-like structural members 200 are positioned by the three pairs of positioning pins 120a and 121a, the three plate-like structural members 200 are assembled by processing such as riveting.
After the three plate-like structural members 200 are assembled, the protrusions 210 and 211 included in the three plate-like structural members 200 are cut by a cutting device (not shown). The protrusions 210 and 211 are cut because they are unnecessary portions as the final product.
　このように、位置決め孔２２０，２２１は、最終製品として不要な部分であるために切断される突出部２１０，２１１に形成されている。そのため、最終製品として利用されない突出部２１０，２１１を活用して、組立を精度良く行うための位置決めに用いることができる。 Thus, the positioning holes 220 and 221 are formed in the protruding portions 210 and 211 that are cut because they are unnecessary portions as the final product. Therefore, the protrusions 210 and 211 that are not used as a final product can be used for positioning for accurate assembly.
　なお、本実施形態では、位置決めピン１２０ａ、１２１ａの移動のために駆動モータ１３０ａ、１３１ａ及び送りねじ１３０ｂ、１３１ｂを用いたが、直動型のアクチュエータにより位置決めピン１２０ａ、１２１ａを移動させてもよい。直動型のアクチュエータは、例えば、油圧シリンダ、空気圧シリンダ、ソレノイド（電磁アクチュエータ）である。 In this embodiment, the drive motors 130a and 131a and the feed screws 130b and 131b are used to move the positioning pins 120a and 121a. However, the positioning pins 120a and 121a may be moved by a direct acting actuator. . The direct acting actuator is, for example, a hydraulic cylinder, a pneumatic cylinder, or a solenoid (electromagnetic actuator).
　以上説明した本実施形態の組立システム６００が奏する作用および効果について説明する。
　本実施形態の組立システム６００によれば、板状構造部材２００の下面２００ａが支持部１１０に支持され、かつ位置決め孔２２０，２２１が位置決めピン１２０ａ，１２１ａが延びる軸線Ｚ１，Ｚ２上に配置された配置状態となるように把持装置３００，３０１が制御される。板状構造部材２００が配置状態となるように把持装置３００，３０１により搬送される際には、位置決めピン１２０ａ，１２１ａのスライド機構１３０，１３１による移動が行われていないため、把持装置３００，３０１による搬送により板状構造部材２００が位置決めピン１２０ａ，１２１ａに接触して損傷することはない。 The operation and effect of the assembly system 600 of the present embodiment described above will be described.
According to the assembly system 600 of this embodiment, the lower surface 200a of the plate-like structural member 200 is supported by the support portion 110, and the positioning holes 220 and 221 are disposed on the axes Z1 and Z2 from which the positioning pins 120a and 121a extend. The gripping devices 300 and 301 are controlled so as to be in the arrangement state. When the plate-like structural member 200 is transported by the gripping devices 300 and 301 so as to be placed, the gripping devices 300 and 301 are not moved by the slide mechanisms 130 and 131 of the positioning pins 120a and 121a. The plate-like structural member 200 does not come into contact with the positioning pins 120a and 121a and is not damaged by the conveyance by the above.
　位置決めピン１２０ａ，１２１ａは、スライド機構１３０，１３１により、把持装置３００，３０１が板状構造部材２００を前述の配置状態に配置した後に板状構造部材２００の位置決め孔２２０，２２１に挿入するように移動する。そのため、板状構造部材２００の下面２００ａが支持部１１０に支持された状態の板状構造部材２００が、組立用治具１００に確実に位置決めされる。
　このように、本実施形態の組立システム６００によれば、把持装置３００，３０１により把持した状態で搬送される板状構造部材２００を損傷させることなく組立用治具１００に確実に位置決めすることが可能となる。 The positioning pins 120a and 121a are inserted by the slide mechanisms 130 and 131 into the positioning holes 220 and 221 of the plate-like structural member 200 after the gripping devices 300 and 301 place the plate-like structural member 200 in the aforementioned arrangement state. Moving. Therefore, the plate-like structural member 200 in a state where the lower surface 200 a of the plate-like structural member 200 is supported by the support portion 110 is reliably positioned on the assembly jig 100.
As described above, according to the assembly system 600 of the present embodiment, the plate-like structural member 200 conveyed while being held by the holding devices 300 and 301 can be reliably positioned on the assembly jig 100 without being damaged. It becomes possible.
　また、本実施形態の組立システム６００は、第１制御部５０１が、スライド機構１３０，１３１により位置決めピン１２０ａ，１２１ａが位置決め孔２２０，２２１に挿入された後に、板状構造部材２００を把持した状態を解除するよう把持装置３００，３０１を制御する。
　このようにすることで、位置決めピン１２０ａ，１２１ａが位置決め孔２２０，２２１に挿入されて板状構造部材２００が組立用治具１００に確実に位置決めされるまでの間に、板状構造部材２００の配置状態が変化してしまう不具合を抑制することができる。 In the assembly system 600 of the present embodiment, the first control unit 501 holds the plate-like structural member 200 after the positioning pins 120a and 121a are inserted into the positioning holes 220 and 221 by the slide mechanisms 130 and 131, respectively. The gripping devices 300 and 301 are controlled so as to release.
By doing so, the positioning pins 120a and 121a are inserted into the positioning holes 220 and 221 and the plate-like structural member 200 is reliably positioned by the assembly jig 100. A problem that the arrangement state changes can be suppressed.
〔第２実施形態〕
　次に、本発明の第２実施形態について説明する。本実施形態は第１実施形態の変形例であり、以下で特に説明する場合を除き、第１実施形態と同様であるものとする。
　第１実施形態の組立システム６００は、組立用治具１００のスライド機構１３０，１３１が鉛直方向に延びる軸線Ｚ１，Ｚ２に沿って位置決めピン１２０ａ，１２１ａを移動させるものであった。 [Second Embodiment]
Next, a second embodiment of the present invention will be described. The present embodiment is a modification of the first embodiment, and is the same as the first embodiment unless otherwise described below.
In the assembly system 600 of the first embodiment, the slide mechanisms 130 and 131 of the assembly jig 100 move the positioning pins 120a and 121a along the axes Z1 and Z2 extending in the vertical direction.
　それに対して本実施形態の組立システムは、組立用治具のスライド機構１３０’，１３１’が鉛直方向から傾斜した方向に延びる軸線Ｚ１’，Ｚ２’に沿って位置決めピン１２０ａ，１２１ａを移動させるものである。なお、本実施形態の位置決め部１２０，１２１は、組立用治具１００の設置面に対する配置が異なるものの、各部の機能は第１実施形態の位置決め部１２０，１２１と同様である。本実施形態の位置決め部１２０，１２１が備える各部の機能は、第１実施形態の位置決め部１２０，１２１が備える各部の機能と同様であるため、同一の符号を付して以下での説明を省略する。 On the other hand, in the assembly system of the present embodiment, the positioning pins 120a and 121a are moved along the axes Z1 ′ and Z2 ′ in which the slide mechanisms 130 ′ and 131 ′ of the assembly jig extend in a direction inclined from the vertical direction. It is. In addition, although the positioning parts 120 and 121 of this embodiment differ in arrangement | positioning with respect to the installation surface of the assembly jig | tool 100, the function of each part is the same as that of the positioning parts 120 and 121 of 1st Embodiment. Since the functions of the respective parts included in the positioning units 120 and 121 according to the present embodiment are the same as the functions of the respective parts included in the positioning parts 120 and 121 according to the first embodiment, the same reference numerals are given and the following description is omitted. To do.
　本実施形態の組立システムは、組立用治具１００に配置される板状構造部材２００’が短辺方向（図３のＹ方向）に曲率を有するとともに長辺方向（図３のＸ方向；所定方向）に沿って曲率を有する場合に特に有利である。
　図１２に示すように、長辺方向（Ｘ方向）に沿って曲率を有する板状構造部材２００’は、先端部１２０ｄと先端部１２１ｄとの間の長辺方向の距離Ｄ１が、位置決め孔２２０’の下面２００ａ’における中心の位置と位置決め孔２２１’の下面２００ａ’における中心の位置との間の長辺方向の距離Ｄ２よりも長い。 In the assembly system of the present embodiment, the plate-like structural member 200 ′ disposed on the assembly jig 100 has a curvature in the short side direction (Y direction in FIG. 3) and the long side direction (X direction in FIG. 3; predetermined). It is particularly advantageous if it has a curvature along the direction).
As shown in FIG. 12, the plate-like structural member 200 ′ having a curvature along the long side direction (X direction) has a distance D1 in the long side direction between the tip part 120 d and the tip part 121 d so that the positioning hole 220 is positioned. It is longer than the distance D2 in the long side direction between the center position on the lower surface 200a 'and the center position on the lower surface 200a' of the positioning hole 221 '.
　位置決めピン１２０ａおよび位置決めピン１２１ａを図１２に示す位置に固定したままでは、把持装置により板状構造部材２００’の位置決め孔２２０’，２２１’を位置決めピン１２０ａ，１２１ａに向けて下降させた場合に、板状構造部材２００’が位置決めピン１２０ａ，１２１ａに接触してしまう。
　本実施形態では、板状構造部材２００’が支持部１１０に支持される状態となってから位置決めピン１２０ａ，１２１ａを位置決め孔２２０’，２２１’へ挿入することにより、板状構造部材２００’が位置決めピン１２０ａ，１２１ａに接触する不具合を抑制することができる。 When the positioning pins 120a and 121a are fixed at the positions shown in FIG. 12, when the positioning holes 220 ′ and 221 ′ of the plate-like structural member 200 ′ are lowered toward the positioning pins 120a and 121a by the gripping device. The plate-like structural member 200 'comes into contact with the positioning pins 120a and 121a.
In the present embodiment, the plate-like structural member 200 ′ is inserted into the positioning holes 220 ′ and 221 ′ after the plate-like structural member 200 ′ is supported by the support portion 110. Problems that come into contact with the positioning pins 120a and 121a can be suppressed.
　本実施形態の組立システムは、スライド機構１３０’，１３１’が第１実施形態のスライド機構１３０，１３１とは異なっている。
　なお、スライド機構１３０’が備える駆動モータ１３０ａ’，送りねじ１３０ｂ’，移動部材１３０ｃ’，ガイド部材１３０ｄ’の機能自体は第１実施形態のスライド機構１３０が備える駆動モータ１３０ａ，送りねじ１３０ｂ，移動部材１３０ｃ，ガイド部材１３０ｄと同様である。また、スライド機構１３１’が備える駆動モータ１３１ａ’，送りねじ１３１ｂ’，移動部材１３１ｃ’，ガイド部材１３１ｄ’の機能自体は第１実施形態のスライド機構１３１が備える駆動モータ１３１ａ，送りねじ１３１ｂ，移動部材１３１ｃ，ガイド部材１３１ｄと同様である。 In the assembly system of this embodiment, slide mechanisms 130 ′ and 131 ′ are different from the slide mechanisms 130 and 131 of the first embodiment.
The functions of the drive motor 130a ′, the feed screw 130b ′, the moving member 130c ′, and the guide member 130d ′ included in the slide mechanism 130 ′ are the same as those of the drive motor 130a, the feed screw 130b, and the movement included in the slide mechanism 130 of the first embodiment. It is the same as the member 130c and the guide member 130d. The functions of the drive motor 131a ′, the feed screw 131b ′, the moving member 131c ′, and the guide member 131d ′ included in the slide mechanism 131 ′ are the same as those of the drive motor 131a, the feed screw 131b, and the movement included in the slide mechanism 131 of the first embodiment. It is the same as the member 131c and the guide member 131d.
　本実施形態のスライド機構１３０’は、第２支持部材１１０ｂが延びる鉛直方向から傾斜した方向に送りねじ１３０ｂ’が延びるように、第２支持部材１１０ｂに取り付けられている点が第１実施形態のスライド機構１３０と異なっている。同様に、本実施形態のスライド機構１３１’は、第２支持部材１１０ｂが延びる鉛直方向から傾斜した方向に送りねじ１３１ｂ’が延びるように、第２支持部材１１０ｂに取り付けられている点が第１実施形態のスライド機構１３１と異なっている。 The slide mechanism 130 ′ of this embodiment is attached to the second support member 110b such that the feed screw 130b ′ extends in a direction inclined from the vertical direction in which the second support member 110b extends. Different from the slide mechanism 130. Similarly, the slide mechanism 131 ′ of the present embodiment is first attached to the second support member 110b such that the feed screw 131b ′ extends in a direction inclined from the vertical direction in which the second support member 110b extends. This is different from the slide mechanism 131 of the embodiment.
　スライド機構１３０’，１３１’は、図１１に示す配置状態とされた板状構造部材２００’の長辺方向（Ｘ方向）の両端部のそれぞれにおいて、下面２００ａ’および上面２００ｂ’と直交する軸線Ｚ１’，Ｚ２’方向に位置決めピン１２０ａ，１２１ａを移動させるものである。図１１に示す配置状態とされた板状構造部材２００’の位置決め孔２２０’，２２１’に位置決めピン１２０ａ，１２１ａを挿入することにより、図１２に示す挿入状態となる。 The slide mechanisms 130 ′ and 131 ′ are axes orthogonal to the lower surface 200 a ′ and the upper surface 200 b ′ at both ends in the long side direction (X direction) of the plate-like structural member 200 ′ arranged as shown in FIG. The positioning pins 120a and 121a are moved in the Z1 ′ and Z2 ′ directions. By inserting the positioning pins 120a and 121a into the positioning holes 220 'and 221' of the plate-like structural member 200 'in the arrangement state shown in FIG. 11, the insertion state shown in FIG. 12 is obtained.
　以上説明した本実施形態の組立システムが奏する作用および効果について説明する。
　板状構造部材２００が長辺方向に曲率を有するとともに長辺方向の両端部に一対の位置決め孔２２０’，２２１’が形成されている場合、一対の位置決めピン１２０ａ，１２１ａの先端部１２０ｄ，１２１ｄの中心同士の間隔Ｄ１と一対の位置決めピン１２０ａ，１２１ａの基端部１２０ｃ，１２１ｃの中心同士の間隔Ｄ２とは異なったものとなる。これは、長辺方向に曲率を有する板状構造部材２００の形状に沿って一対の位置決めピン１２０ａ，１２１ａが挿入されるため、位置決めピン１２０ａ，１２１ａが延びる軸線Ｚ１’，Ｚ２’方向が、鉛直方向から異なった方向に傾斜しているためである。 The operation and effect of the assembly system of the present embodiment described above will be described.
When the plate-like structural member 200 has a curvature in the long side direction and a pair of positioning holes 220 ′ and 221 ′ are formed at both ends in the long side direction, the tip portions 120d and 121d of the pair of positioning pins 120a and 121a The distance D1 between the centers and the distance D2 between the centers of the base ends 120c, 121c of the pair of positioning pins 120a, 121a are different. This is because the pair of positioning pins 120a and 121a are inserted along the shape of the plate-like structural member 200 having a curvature in the long side direction, so that the directions of the axes Z1 ′ and Z2 ′ in which the positioning pins 120a and 121a extend are vertical. This is because it is inclined in a different direction from the direction.
　そのため、一対の位置決めピン１２０ａ，１２１ａを固定したままとする場合、一対の位置決めピン１２０ａ，１２１ａの先端部１２０ｄ，１２１ｄ同士の間隔Ｄ１と一対の位置決めピン１２０ａ，１２１ａの基端部１２０ｃ，１２１ｃ同士の間隔Ｄ２とが異なるため、一対の位置決め孔２２０’，２２１’を一対の位置決めピン１２０ａ，１２１ａの先端部１２０ｄ，１２１ｄに挿入することは困難である。 Therefore, when the pair of positioning pins 120a and 121a is kept fixed, the distance D1 between the tip portions 120d and 121d of the pair of positioning pins 120a and 121a and the base end portions 120c and 121c of the pair of positioning pins 120a and 121a Therefore, it is difficult to insert the pair of positioning holes 220 ′ and 221 ′ into the tip portions 120d and 121d of the pair of positioning pins 120a and 121a.
　本実施形態の組立システムによれば、スライド機構１３０’，１３１’が配置状態とされた板状構造部材２００’の長辺方向の両端部のそれぞれにおいて下面２００ａ’と直交する方向に一対の位置決めピン１２０ａ，１２１ａを移動させるため、板状構造部材２００’を配置状態とするまでは一対の位置決めピン１２０ａ，１２１ａの先端部１２０ｄ，１２１ｄが突出した状態とならない。よって、把持装置３００，３０１により把持した状態で搬送される板状構造部材２００’を損傷させることなく前述した配置状態とし、その後に組立用治具に確実に位置決めすることが可能となる。 According to the assembly system of the present embodiment, a pair of positioning members in the direction perpendicular to the lower surface 200a ′ at each of the both ends in the long side direction of the plate-like structural member 200 ′ in which the slide mechanisms 130 ′ and 131 ′ are arranged. Since the pins 120a and 121a are moved, the tip portions 120d and 121d of the pair of positioning pins 120a and 121a do not protrude until the plate-like structural member 200 ′ is placed. Therefore, the plate-like structural member 200 ′ conveyed in the state of being gripped by the gripping devices 300 and 301 can be brought into the above-described arrangement state without being damaged, and thereafter can be reliably positioned on the assembly jig.
〔第３実施形態〕
　次に、本発明の第３実施形態について説明する。本実施形態は第１実施形態の変形例であり、以下で特に説明する場合を除き、第１実施形態と同様であるものとする。 [Third Embodiment]
Next, a third embodiment of the present invention will be described. The present embodiment is a modification of the first embodiment, and is the same as the first embodiment unless otherwise described below.
　第１実施形態の制御装置５００は、把持装置３００，３０１から搬送指令信号に対する動作の実行が完了した旨の完了信号を受信した場合に、板状構造部材２００が所望の配置状態にあると判断するものであった。ここで、所望の配置状態とは、板状構造部材２００が、下面２００ａが支持部１１０に支持され、かつ位置決め孔２２０，２２１が位置決めピン１２０ａ，１２１ａが延びる軸線Ｚ１，Ｚ２上に配置された配置状態をいう。
　それに対して、本実施形態の制御装置５００は、レーザセンサ１２０ｅ（検出装置）または撮像装置７００（検出装置）の検出結果が所望の検出結果である場合に、板状構造部材２００が所望の配置状態にあると判断するものである。 The control device 500 according to the first embodiment determines that the plate-like structural member 200 is in a desired arrangement state when receiving a completion signal indicating that the operation for the conveyance command signal has been completed from the gripping devices 300 and 301. It was something to do. Here, the desired arrangement state means that the plate-like structural member 200 is arranged on the axes Z1 and Z2 in which the lower surface 200a is supported by the support portion 110 and the positioning holes 220 and 221 extend from the positioning pins 120a and 121a. The arrangement state.
On the other hand, in the control device 500 of the present embodiment, when the detection result of the laser sensor 120e (detection device) or the imaging device 700 (detection device) is a desired detection result, the plate-like structural member 200 is in a desired arrangement. It is judged that it is in a state.
　本実施形態の制御装置５００は、レーザセンサ１２０ｅまたは撮像装置７００から位置決め孔２２０が位置決めピン１２０ａが延びる軸線Ｚ１上に配置されていることを検出する検出信号を受信した場合に、板状構造部材２００が所望の配置状態にあると判断する。 When the control device 500 of the present embodiment receives a detection signal for detecting that the positioning hole 220 is disposed on the axis Z1 from which the positioning pin 120a extends from the laser sensor 120e or the imaging device 700, the plate-like structural member 200 is determined to be in a desired arrangement state.
　第１実施形態では、把持装置３００，３０１が板状構造部材２００を誤差なく正確に搬送することを前提としたものである。しかしながら、位置決め誤差や外部からの要因（例えば、板状構造部材２００の障害物への接触）により、板状構造部材２００を誤差なく正確に搬送できない場合もある。
　本実施形態では、板状構造部材２００を誤差なく正確に搬送できない場合に、位置決めピン１２０ａ，１２１ａが板状構造部材２００に接触等する不具合を抑制することができる。 In the first embodiment, it is assumed that the gripping devices 300 and 301 accurately convey the plate-like structural member 200 without error. However, the plate-like structural member 200 may not be accurately conveyed without error due to positioning errors or external factors (for example, contact of the plate-like structural member 200 with an obstacle).
In the present embodiment, when the plate-like structural member 200 cannot be accurately conveyed without error, it is possible to suppress problems such as the positioning pins 120a and 121a coming into contact with the plate-like structural member 200.
　図１３に示すように、本実施形態のレーザセンサ１２０ｅは、位置決めピン１２０ａの先端部１２０ｄに取り付けられるものである。レーザセンサ１２０ｅは、軸線Ｚ１に沿って上方に向けてレーザ光を照射する発光部と、光源により照射されたレーザ光の反射光を検出するための受光部を有する。レーザセンサ１２０ｅは、板状構造部材２００が支持部１１０に支持された状態で受光部が受光する光量が所定量以下となる場合に、位置決め孔２２０が位置決めピン１２０ａが延びる軸線Ｚ１上に配置されていることを検出する。 As shown in FIG. 13, the laser sensor 120e of this embodiment is attached to the tip 120d of the positioning pin 120a. The laser sensor 120e includes a light emitting unit that emits laser light upward along the axis Z1 and a light receiving unit that detects reflected light of the laser light emitted from the light source. In the laser sensor 120e, the positioning hole 220 is disposed on the axis Z1 from which the positioning pin 120a extends when the amount of light received by the light receiving unit is equal to or less than a predetermined amount with the plate-like structural member 200 supported by the support unit 110. Detect that
　図１３に示すように、本実施形態の撮像装置７００は、支持部１１０に配置された板状構造部材２００の位置決め孔２２０を含む撮像領域を撮像するように配置される。撮像装置７００は、位置決め孔２２０が位置決めピン１２０ａが延びる軸線Ｚ１上に配置されていることを示す教示画像を予め記憶しておき、実際に撮像した画像と教示画像とが一致する場合に、位置決め孔２２０が位置決めピン１２０ａが延びる軸線Ｚ１上に配置されていることを検出する。 As shown in FIG. 13, the imaging apparatus 700 according to the present embodiment is arranged to take an image of an imaging area including the positioning hole 220 of the plate-like structural member 200 arranged in the support part 110. The imaging apparatus 700 stores in advance a teaching image indicating that the positioning hole 220 is disposed on the axis Z1 in which the positioning pin 120a extends, and the positioning is performed when the actually captured image matches the teaching image. It is detected that the hole 220 is disposed on the axis Z1 from which the positioning pin 120a extends.
　なお、本実施形態では、レーザセンサ１２０ｅおよび撮像装置７００の双方を備える組立システムを示したが、レーザセンサ１２０ｅのみを備える組立システムや、撮像装置７００のみを備える組立システムとしてもよい。 In the present embodiment, an assembly system including both the laser sensor 120e and the imaging device 700 is shown. However, an assembly system including only the laser sensor 120e or an assembly system including only the imaging device 700 may be used.
　本実施形態の組立システムによれば、位置決め孔２２０が位置決めピン１２０ａが延びる軸線Ｚ１上に配置されていることがレーザセンサ１２０ｅまたは撮像装置７００により検出された場合に位置決めピン１２０ａがスライド機構１３０により移動する。そのため、位置決め孔２２０が位置決めピン１２０ａが延びる軸線Ｚ１上に配置されていない場合（例えば、位置決め誤差や何らかの不具合が発生した場合）に、誤って位置決めピン１２０ａを移動させて板状構造部材２００を損傷させてしまう不具合を抑制することができる。 According to the assembly system of the present embodiment, the positioning pin 120a is moved by the slide mechanism 130 when the laser sensor 120e or the imaging device 700 detects that the positioning hole 220 is disposed on the axis Z1 from which the positioning pin 120a extends. Moving. Therefore, when the positioning hole 220 is not arranged on the axis Z1 from which the positioning pin 120a extends (for example, when a positioning error or some trouble occurs), the positioning pin 120a is moved by mistake, and the plate-like structural member 200 is moved. It is possible to suppress problems that cause damage.
〔他の実施形態〕
　以上の説明において、スライド機構１３０，１３１は位置決めピン１２０ａ，１２１ａを移動させるのに要する荷重を計測する荷重計測センサ（荷重計測部）を備えるものであってもよい。この場合、スライド機構１３０，１３１は、荷重計測センサが計測する荷重が所定の制限荷重となる場合に位置決めピン１２０ａの移動を停止させる。
　なお、位置決めピン１２０ａの移動を停止させる場合、制御装置５００の第１制御部５０１は、板状構造部材２００の位置決めに誤差が生じていることから、板状構造部材２００の位置決めを再度行うように把持装置３００，３０１を制御するようにしてもよい。 [Other Embodiments]
In the above description, the slide mechanisms 130 and 131 may include a load measurement sensor (load measurement unit) that measures a load required to move the positioning pins 120a and 121a. In this case, the slide mechanisms 130 and 131 stop the movement of the positioning pin 120a when the load measured by the load measurement sensor becomes a predetermined limit load.
When stopping the movement of the positioning pin 120a, the first control unit 501 of the control device 500 causes an error in the positioning of the plate-like structural member 200, so that the positioning of the plate-like structural member 200 is performed again. Alternatively, the gripping devices 300 and 301 may be controlled.
　このようにすることで、例えば、位置決め孔２２０，２２１が位置決めピン１２０ａ，１２１ａが延びる軸線Ｚ１，Ｚ２上に配置されていない場合（例えば、位置決め誤差や何らかの不具合が発生した場合）に、誤って位置決めピン１２０ａ，１２１ａを板状構造部材２００へ接触する方向に移動させたとしても、板状構造部材２００を損傷させてしまう不具合を抑制することができる。 By doing so, for example, when the positioning holes 220 and 221 are not arranged on the axes Z1 and Z2 from which the positioning pins 120a and 121a extend (for example, when a positioning error or some trouble occurs), it is erroneously performed. Even if the positioning pins 120a and 121a are moved in a direction in which the positioning pins 120a and 121a are brought into contact with the plate-like structural member 200, it is possible to suppress a problem that damages the plate-like structural member 200.
　また、以上の説明において、第１制御部５０１は、スライド機構１３０，１３１により位置決めピン１２０ａ，１２１ａが位置決め孔２２０，２２１に挿入された後に、吸着ハンド部３００ａ，３０１ａが板状構造部材２００を把持した状態を解除するよう把持装置３００，３０１を制御するものとしたが、更に以下のようにしてもよい。 In the above description, the first control unit 501 is configured such that the suction hand units 300 a and 301 a move the plate-like structural member 200 after the positioning pins 120 a and 121 a are inserted into the positioning holes 220 and 221 by the slide mechanisms 130 and 131. Although the gripping devices 300 and 301 are controlled to release the gripped state, the following may be performed.
　例えば、組み立てられた板状構造部材２００を組立用治具１００から搬送する場合、第１制御部５０１は、スライド機構１３０，１３１により位置決めピン１２０ａ，１２１ａが位置決め孔２２０，２２１から引き抜かれる前に、支持部１１０に下面２００ａが支持された板状構造部材２００を把持するよう把持装置３００，３０１を制御してもよい。
　このようにすることで、位置決めピン１２０ａ，１２１ａが位置決め孔２２０，２２１から引き抜かれて位置決めが解除される際に、板状構造部材２００の配置状態が変化してしまう不具合を抑制することができる。 For example, when the assembled plate-like structural member 200 is transported from the assembling jig 100, the first control unit 501 before the positioning pins 120 a and 121 a are pulled out from the positioning holes 220 and 221 by the slide mechanisms 130 and 131. The gripping devices 300 and 301 may be controlled so as to grip the plate-like structural member 200 having the lower surface 200a supported by the support portion 110.
By doing in this way, when positioning pin 120a, 121a is pulled out from positioning hole 220, 221 and positioning is cancelled | released, the malfunction which the arrangement | positioning state of the plate-shaped structural member 200 changes can be suppressed. .
１００　　組立用治具（位置決め装置）
１１０　　支持部
１１０ａ　第１支持部材
１１０ｂ　第２支持部材
１２０，１２１　位置決め部
１２０ａ，１２１ａ　位置決めピン（位置決め突起部）
１２０ｂ，１２１ｂ　取付部材
１２０ｃ，１２１ｃ　基端部
１２０ｄ，１２１ｄ　先端部
１２０ｅ　レーザセンサ（検出装置）
１３０，１３０’，１３１，１３１’　スライド機構（移動機構）
１３０ａ，１３０ａ’，１３１ａ，１３１ａ’　駆動モータ
１３０ｂ，１３０ｂ’，１３１ｂ，１３１ｂ’　送りねじ
１３０ｃ，１３０ｃ’，１３１ｃ，１３１ｃ’　移動部材
１３０ｄ，１３０ｄ’，１３１ｄ，１３１ｄ’　ガイド部材
２００，２００’　板状構造部材（板状部材）
２００ａ，２００ａ’　下面（第１面）
２００ｂ，２００ｂ’　上面（第２面）
２１０，２１１　突出部
２２０，２２０’，２２１，２２１’　位置決め孔
３００，３０１　把持装置
３００ａ，３０１ａ　吸着ハンド部
３００ｂ，３０１ｂ　撮像装置
４００　　供給台
５００　　制御装置
５０１　　第１制御部
５０２　　第２制御部
６００　　組立システム（位置決めシステム）
７００　　撮像装置（検出装置）
ＯＤ　　　外径
ＩＤ　　　内径
Ｘ，Ｙ，Ｚ１，Ｚ１’，Ｚ２，Ｚ２’　軸線 100 Assembly jig (positioning device)
110 support part 110a first support member 110b second support member 120, 121 positioning part 120a, 121a positioning pin (positioning projection part)
120b, 121b Mounting member 120c, 121c Base end 120d, 121d Tip 120e Laser sensor (detection device)
130, 130 ', 131, 131' slide mechanism (moving mechanism)
130a, 130a ', 131a, 131a' Drive motors 130b, 130b ', 131b, 131b' Lead screws 130c, 130c ', 131c, 131c' Moving members 130d, 130d ', 131d, 131d' Guide members 200, 200 'Plate shape Structural member (plate-like member)
200a, 200a ′ lower surface (first surface)
200b, 200b ′ upper surface (second surface)
210, 211 Protruding portion 220, 220 ′, 221, 221 ′ Positioning hole 300, 301 Grasping device 300a, 301a Suction hand portion 300b, 301b Imaging device 400 Supply base 500 Controller 501 First controller 502 Second controller 600 Assembly System (positioning system)
700 Imaging device (detection device)
OD outer diameter ID inner diameter X, Y, Z1, Z1 ', Z2, Z2' axis

Claims (7)

  1. 　位置決め孔が形成された板状部材を把持した状態で搬送する把持装置と、
    　前記板状部材を位置決めする位置決め装置と、
    　前記把持装置および前記位置決め装置を制御する制御装置とを備え、
    　前記位置決め装置は、
    　前記板状部材の第１面を支持する支持部と、
    　前記板状部材の前記第１面から第２面へ向けて前記位置決め孔に挿入される位置決め突起部と、
    　該位置決め突起部が延びる軸線に沿って該位置決め突起部を移動させる移動機構とを有し、
    　前記制御装置は、
    　前記板状部材の前記第１面が前記支持部に支持され、かつ前記位置決め孔が前記位置決め突起部が延びる前記軸線上に配置された配置状態となるように前記把持装置を制御する第１制御部と、
    　該第１制御部により前記配置状態とされた前記板状部材の前記位置決め孔に前記位置決め突起部を挿入するよう前記移動機構を制御する第２制御部とを有する位置決めシステム。     A gripping device that transports the plate-shaped member in which the positioning hole is formed;
    A positioning device for positioning the plate-like member;
    A control device for controlling the gripping device and the positioning device;
    The positioning device includes:
    A support portion for supporting the first surface of the plate-like member;
    A positioning protrusion that is inserted into the positioning hole from the first surface to the second surface of the plate-shaped member;
    A moving mechanism for moving the positioning protrusion along an axis along which the positioning protrusion extends.
    The control device includes:
    A first control for controlling the gripping device so that the first surface of the plate-like member is supported by the support portion and the positioning hole is placed on the axis line on which the positioning projection extends. And
    A positioning system comprising: a second control unit that controls the moving mechanism to insert the positioning projection into the positioning hole of the plate-like member placed in the arrangement state by the first control unit.
  2. 　前記板状部材は、少なくとも所定方向に沿って曲率を有するとともに該所定方向の両端部に一対の前記位置決め孔が形成されており、
    　前記位置決め装置は、前記一対の位置決め孔に挿入される一対の前記位置決め突起部を有し、
    　前記配置状態とされた前記板状部材の前記所定方向の前記両端部のそれぞれにおいて前記位置決め突起部が延びる前記軸線と前記第１面とが直交する請求項１に記載の位置決めシステム。     The plate-like member has a curvature along at least a predetermined direction, and a pair of positioning holes are formed at both ends of the predetermined direction,
    The positioning device has a pair of positioning projections inserted into the pair of positioning holes,
    2. The positioning system according to claim 1, wherein the axis extending from the positioning protrusion and the first surface are orthogonal to each other at both end portions in the predetermined direction of the plate-like member in the arrangement state.
  3. 　前記第１制御部は、前記移動機構により前記位置決め突起部が前記位置決め孔に挿入された後に、前記板状部材を把持した状態を解除するよう前記把持装置を制御する請求項１または請求項２に記載の位置決めシステム。 The said 1st control part controls the said holding | grip apparatus so that the state which hold | gripped the said plate-shaped member may be cancelled | released after the said positioning protrusion part is inserted in the said positioning hole by the said moving mechanism. The positioning system described in.
  4. 　前記第１制御部は、前記移動機構により前記位置決め突起部が前記位置決め孔から引き抜かれる前に、前記支持部に前記第１面が支持された前記板状部材を把持するよう前記把持装置を制御する請求項１から請求項３のいずれか１項に記載の位置決めシステム。 The first control unit controls the gripping device to grip the plate-like member having the first surface supported by the support portion before the positioning projection is pulled out of the positioning hole by the moving mechanism. The positioning system according to any one of claims 1 to 3.
  5. 　前記位置決め孔が前記位置決め突起部が延びる前記軸線上に配置されていることを検出する検出装置を備え、
    　前記第２制御部は、前記検出装置により前記位置決め孔が前記位置決め突起部が延びる前記軸線上に配置されていることが検出された場合に、前記位置決め孔に前記位置決め突起部を挿入するよう前記移動機構を制御する請求項１から請求項４のいずれか１項に記載の位置決めシステム。     A detection device for detecting that the positioning hole is disposed on the axis line from which the positioning protrusion extends;
    The second control unit is configured to insert the positioning protrusion into the positioning hole when the detecting device detects that the positioning hole is disposed on the axis line from which the positioning protrusion extends. The positioning system according to claim 1, wherein the moving mechanism is controlled.
  6. 　前記移動機構が前記位置決め突起部を移動させるのに要する荷重を計測する荷重計測部を備え、
    　前記移動機構は、前記荷重計測部が計測する荷重が所定の制限荷重以上となる場合に前記位置決め突起部の移動を停止させる請求項１から請求項５のいずれか１項に記載の位置決めシステム。     A load measuring unit that measures a load required for the moving mechanism to move the positioning protrusion,
    The positioning system according to any one of claims 1 to 5, wherein the moving mechanism stops the movement of the positioning protrusion when the load measured by the load measuring unit is equal to or greater than a predetermined limit load.
  7. 　位置決め孔が形成された板状部材を把持した状態で搬送する把持装置と、前記板状部材を位置決めする位置決め装置とを備える位置決めシステムにより実行される位置決め方法であって、
    　前記位置決め装置は、
    　前記板状部材の第１面を支持する支持部と、
    　前記板状部材の前記第１面から第２面へ向けて前記位置決め孔に挿入される位置決め突起部と、
    　該位置決め突起部が延びる軸線に沿って該位置決め突起部を移動させる移動機構とを有し、
    　前記板状部材の前記第１面が前記支持部に支持され、かつ前記位置決め孔が前記位置決め突起部が延びる前記軸線上に配置された配置状態となるように前記把持装置を制御する第１制御工程と、
    　該第１制御工程により前記配置状態とされた前記板状部材の前記位置決め孔に前記位置決め突起部を挿入するよう前記移動機構を制御する第２制御工程とを備える位置決め方法。     A positioning method that is executed by a positioning system that includes a gripping device that transports a plate-like member in which a positioning hole is formed and a positioning device that positions the plate-like member,
    The positioning device includes:
    A support portion for supporting the first surface of the plate-like member;
    A positioning protrusion that is inserted into the positioning hole from the first surface to the second surface of the plate-shaped member;
    A moving mechanism for moving the positioning protrusion along an axis along which the positioning protrusion extends.
    A first control for controlling the gripping device so that the first surface of the plate-like member is supported by the support portion and the positioning hole is placed on the axis line on which the positioning projection extends. Process,
    A positioning method comprising: a second control step of controlling the moving mechanism so as to insert the positioning protrusion into the positioning hole of the plate-like member placed in the arrangement state by the first control step.
PCT/JP2016/068699 2015-07-27 2016-06-23 Positioning system and positioning method WO2017018107A1 (en)

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JPH0516888A (en) * 1991-07-11 1993-01-26 Mitsubishi Heavy Ind Ltd Drilling method of fuselage shell
JPH07164872A (en) * 1993-12-17 1995-06-27 Toyota Motor Corp Fitting jig for sun roof glass of automobile
JPH10223658A (en) * 1997-02-06 1998-08-21 Toshiba Mechatronics Kk Insertion detecting equipment of semiconductor manufacturing equipment
US6551428B1 (en) * 1999-07-09 2003-04-22 Sonaca S.A. Process for assembly of a flexible panel on an open structure and installation for use of this process
JP2003149299A (en) * 2001-11-16 2003-05-21 Oht Inc Device and method for positioning
JP2005313249A (en) * 2004-04-27 2005-11-10 Shin Caterpillar Mitsubishi Ltd Positioning device
JP2007022310A (en) * 2005-07-15 2007-02-01 Honda Motor Co Ltd Roof glass transfer fixture
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