Automated assembly method using automated assembly apparatus

Patent metadata

Field	Value
Publication number	US-10414050-B2
Application number	US-201816155635-A
Country	US
Kind code	B2
Filing date	Oct 9, 2018
Priority date	Mar 31, 2015
Publication date	Sep 17, 2019
Grant date	Sep 17, 2019

Abstract

An automated assembly apparatus includes an assembly robot, which has a plurality of hands of different heights and an XY-axis moving unit movable in a horizontal direction, and a plurality of operation base units which have operation bases and Z-axis moving unit capable of moving the operation bases in a vertical direction. The automated assembly apparatus further includes a control unit which raises in advance, before the assembly robot reaches above the operation bases, the operation bases by the Z-axis moving unit to positions where the operation bases do not interfere with the plurality of hands.

First claim

What is claimed is:

1. A method for manufacturing an assembly using an assembly apparatus, the assembly apparatus comprising:
an assembly robot having a hand and an XY-axis moving unit arranged to move the hand in a horizontal direction; and
a first operation base unit having a first operation base and a first Z-axis moving unit capable of moving the first operation base in a vertical direction,
the method comprising:
raising the first operation base on which a first part is placed in the vertical direction by the first Z-axis moving unit to grip the first part by the hand; and
lowering the first operation base by the first Z-axis moving unit to a position in which the hand does not interfere with the first operation base after the gripping the first part by the hand.

2. The method according to claim 1 , wherein the assembly apparatus further comprises a detecting unit configured to detect a clearance between the hand and the first operation base, and
wherein, in the method, the lowering the first operation base includes lowering the first operation base by the first Z-axis moving unit until the clearance detected by the detecting unit becomes equal to or greater than a predetermined value.

3. The method according to claim 2 , wherein the detecting unit is an encoder provided in the first Z-axis moving unit.

4. The method according to claim 2 , wherein the detecting unit detects the clearance by a sensor or by image processing.

5. The method according to claim 1 , further comprising moving the hand gripping the first part in the horizontal direction after the lowering the first operation base by the first Z-axis moving unit to the position in which the hand does not interfere with the first operation base.

6. The method according to claim 1 , wherein the assembly apparatus further comprises a second operation base unit having a second operation base and a second Z-axis moving unit capable of moving the second operation base in the vertical direction, the second operation base capable of moving in the vertical direction independently of the first operation base, and
the method further comprises:
moving the hand gripping the first part in horizontal direction after the lowering the first operation base to the position in which the hand does not interfere with the first operation base; and
raising the second operation base by the second Z-axis moving unit to a position in which the hand does not interfere with the second operation base before the hand reaches above the second operation base.

7. The method according to claim 6 , wherein the assembly apparatus further comprises a detecting unit configured to detect a clearance between the hand and the second operation base, and
wherein, in the method, the raising the second operation base includes raising the second operation base by the second Z-axis moving unit until the clearance detected by the detecting unit becomes equal to or less than a predetermined value.

8. The method according to claim 7 , wherein the assembly apparatus further comprises another detecting unit configured to detect a clearance between the hand and the first operation base,
wherein, in the method, the lowering the first operation base includes lowering the first operation base by the first Z-axis moving unit until the detected clearance between the hand and the first operation base becomes equal to or greater than a predetermined value, and
wherein the predetermined value for the clearance between the hand and the first operation base and the predetermined value for the clearance between the hand and the second operation base are different from each other.

9. The method according to claim 7 , wherein the assembly apparatus further comprises another detecting unit configured to detect a clearance between the hand and the first operation base,
wherein, in the method, the lowering the first operation base includes lowering the first operation base by the first Z-axis moving unit until the detected clearance between the hand and the first operation base becomes equal to or greater than a predetermined value, and
wherein the predetermined value for the clearance between the hand and the first operation base and the predetermined value for the clearance between the hand and the second operation base are equal to each other.

10. The method according to claim 6 , further comprising, after a second part is held by the second operation base and the hand reaches above the second operation base, raising the second operation base by the second Z-axis moving unit to assemble the first part and the second part.

11. The method according to claim 10 , further comprising lowering the second operation base by the second Z-axis moving unit at a position in which the hand does not interfere with the second operation base after the first part and the second part are assembled.

12. The method according to claim 10 , wherein the assembly apparatus further comprises a detecting unit configured to detect a clearance between the hand and the second operation base, and
wherein, in the method, the lowering the second operation base includes lowering the second operation base by the second Z-axis moving unit until the clearance detected by the detecting unit becomes equal to or greater than a predetermined value.

13. The method according to claim 1 ,
wherein the assembly robot has a plurality of hands of different heights, and
wherein the position is a position in which the first operation base does not interfere with a hand having a lowermost height among the plurality of hands.

Assignees

• Canon Kk

Inventors

• Hashimoto Yuki
• Uehara Kensuke

Classifications

• B23P19/04

  for assembling or disassembling parts · CPC title

• B25J9/023 Primary

  Cartesian coordinate type · CPC title

• B23P21/004

  the units passing two or more work-stations whilst being composed · CPC title

• B23P19/105

  using sensing means · CPC title

• Y10T29/49902

  by manipulating aligning means · CPC title