+

WO2017018107A1 - Système de positionnement et procédé de positionnement - Google Patents

Système de positionnement et procédé de positionnement Download PDF

Info

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
English (en)
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/fr

Links

Images

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

Landscapes

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

Abstract

La présente invention concerne un système d'assemblage (600) équipé de dispositifs de préhension (300, 301) pour transporter un élément structurel en forme de feuille, un gabarit d'assemblage permettant de positionner l'élément structurel en forme de feuille, et un dispositif de commande (500). Le gabarit d'assemblage comprend des supports destinés à supporter l'élément structurel en forme de feuille, des broches de positionnement, et des mécanismes de coulissement (130, 131) permettant de déplacer les broches de positionnement. Le dispositif de commande (500) comprend : une première unité de commande (501) permettant de commander les dispositifs de préhension (300, 301) de sorte que l'élément structurel en forme de feuille est disposé de manière à être supporté sur les supports et les trous de positionnement sont disposés sur les lignes axiales sur lesquelles les broches de positionnement s'étendent ; et une seconde unité de commande (502) permettant de commander les mécanismes de coulissement (130, 131) de sorte que les broches de positionnement sont insérées dans les trous de positionnement de l'élément structurel en forme de feuille qui a été disposé par la première unité de commande (501).
PCT/JP2016/068699 2015-07-27 2016-06-23 Système de positionnement et procédé de positionnement WO2017018107A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015-147644 2015-07-27
JP2015147644A JP2017024140A (ja) 2015-07-27 2015-07-27 位置決めシステムおよび位置決め方法

Publications (1)

Publication Number Publication Date
WO2017018107A1 true WO2017018107A1 (fr) 2017-02-02

Family

ID=57885503

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2016/068699 WO2017018107A1 (fr) 2015-07-27 2016-06-23 Système de positionnement et procédé de positionnement

Country Status (2)

Country Link
JP (1) JP2017024140A (fr)
WO (1) WO2017018107A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115990892B (zh) * 2023-03-24 2023-06-20 中航西安飞机工业集团股份有限公司 一种面向大型翼面类骨架的双机器人协同装配系统及方法

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0516888A (ja) * 1991-07-11 1993-01-26 Mitsubishi Heavy Ind Ltd 航空機胴体外板の穴あけ方法
JPH07164872A (ja) * 1993-12-17 1995-06-27 Toyota Motor Corp 自動車のサンルーフガラスの建付け治具
JPH10223658A (ja) * 1997-02-06 1998-08-21 Toshiba Mechatronics Kk 半導体製造装置のピン挿入検出装置
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 (ja) * 2001-11-16 2003-05-21 Oht Inc 位置決め装置及び位置決め方法
JP2005313249A (ja) * 2004-04-27 2005-11-10 Shin Caterpillar Mitsubishi Ltd 位置決め装置
JP2007022310A (ja) * 2005-07-15 2007-02-01 Honda Motor Co Ltd ルーフガラス移載治具
JP2013212686A (ja) * 2012-03-30 2013-10-17 Alenia Aermacchi Spa 航空機胴体を製造するためのデバイスの扇状体を位置付けるシステム

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0516888A (ja) * 1991-07-11 1993-01-26 Mitsubishi Heavy Ind Ltd 航空機胴体外板の穴あけ方法
JPH07164872A (ja) * 1993-12-17 1995-06-27 Toyota Motor Corp 自動車のサンルーフガラスの建付け治具
JPH10223658A (ja) * 1997-02-06 1998-08-21 Toshiba Mechatronics Kk 半導体製造装置のピン挿入検出装置
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 (ja) * 2001-11-16 2003-05-21 Oht Inc 位置決め装置及び位置決め方法
JP2005313249A (ja) * 2004-04-27 2005-11-10 Shin Caterpillar Mitsubishi Ltd 位置決め装置
JP2007022310A (ja) * 2005-07-15 2007-02-01 Honda Motor Co Ltd ルーフガラス移載治具
JP2013212686A (ja) * 2012-03-30 2013-10-17 Alenia Aermacchi Spa 航空機胴体を製造するためのデバイスの扇状体を位置付けるシステム

Also Published As

Publication number Publication date
JP2017024140A (ja) 2017-02-02

Similar Documents

Publication Publication Date Title
JP6498568B2 (ja) 組立体製造装置及び組立体製造方法
JP6563271B2 (ja) 組立体製造装置及び組立体製造方法
EP2840597B1 (fr) Système et procédé de montage automatique
US9032603B2 (en) Automated assembly apparatus and method of assembling components by using automated assembly apparatus
WO2017022473A1 (fr) Dispositif de fabrication de corps d'assemblage et procédé de fabrication de corps d'assemblage
JP6498590B2 (ja) 組立体製造装置及び組立体製造方法
JP2005286019A (ja) 基板把持装置
US20210299861A1 (en) Control system and control method
US10189521B2 (en) Assembly platform
KR200338489Y1 (ko) 클립 자동 조립장치
WO2017018107A1 (fr) Système de positionnement et procédé de positionnement
CN107428012A (zh) 机械手、机械手的控制方法、工件的安装方法以及工件的搬运方法
WO2017006738A1 (fr) Dispositif de positionnement et procédé de positionnement
JP2017015622A (ja) 構造体
EP4494811A1 (fr) Dispositif de traitement d'élément coupé et système de coupe
JP2020175492A (ja) 加工装置及び加工方法
WO2021161458A1 (fr) Programme de montage de composant

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16830212

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16830212

Country of ref document: EP

Kind code of ref document: A1

点击 这是indexloc提供的php浏览器服务，不要输入任何密码和下载