Part support apparatus, control method, and manufacturing method

Patent metadata

Field	Value
Publication number	US-2018079080-A1
Application number	US-201715687582-A
Country	US
Kind code	A1
Filing date	Aug 28, 2017
Priority date	Sep 20, 2016
Publication date	Mar 22, 2018
Grant date	—

Abstract

A part support apparatus for supporting a plurality of parts which form a product by being connected to each other includes a plurality of support robots arranged in a work space and supporting the plurality of parts, a control unit controlling the plurality of support robots, and a storage unit storing a form pattern of each support robot corresponding to a type of a product. Each of the plurality of support robots includes a support unit supporting a part, and a multiaxial robot to which the support unit is attached, and which changes the posture and position of the support unit. The control unit controls the posture and position of each support unit by the multiaxial robot based on the form pattern, such that the plurality of parts are arranged to be connectable to each other.

First claim

What is claimed is:

1 . A part support apparatus for supporting a plurality of parts which form a product by being connected to each other, comprising:
a plurality of support robots arranged in a work space and configured to support the plurality of parts; a control unit configured to control the plurality of support robots; and a storage unit configured to store a form pattern of each support robot corresponding to a type of a product, wherein each of the plurality of support robots includes: a support unit configured to support a part; and a multiaxial robot to which the support unit is attached, and which changes a posture and position of the support unit, and the control unit controls the posture and position of each support unit by the multiaxial robot based on the form pattern, such that the plurality of parts are arranged to be connectable to each other in the work space.

2 . The apparatus according to claim 1 , wherein the plurality of support robots include:
first support robots arrayed on one side of the work space; and second support robots arrayed on the other side of the work space.

3 . The apparatus according to claim 1 , further comprising a fixing unit configured to fix the plurality of parts arranged in the work space to each other.

4 . The apparatus according to claim 3 , wherein the fixing unit is a welding unit configured to weld the parts to each other.

5 . The apparatus according to claim 1 , further comprising a frame configured to define the work space,
wherein the frame defines an opening through which the plurality of parts or the product can move between an inside and outside of the work space.

6 . The apparatus according to claim 5 , wherein the frame includes a support portion configured to array all or some of the plurality of support robots in a predetermined direction.

7 . The apparatus according to claim 2 , further comprising a frame configured to define the work space,
wherein the one side is an upper portion of the work space, the other side is a lower portion of the work space, and the frame includes: an upper frame configured to support the first support robots; and a lower frame configured to support the second support robots.

8 . The apparatus according to claim 1 , wherein the support unit includes a support portion in which a part can be set,
each multiaxial robot includes an attaching portion to which the support unit is detachably attached, and the attaching portion includes: a positioning portion configured to position the support unit; and a lock mechanism configured to lock the positioned support unit to the multiaxial robot.

9 . A part support apparatus for supporting a plurality of parts which form a product by being connected to each other, comprising:
a frame configured to define a work space in which the plurality of parts are arranged; and a plurality of support robots arranged in the work space and configured to support the plurality of parts, wherein each of the plurality of support robots includes: a support unit configured to support a part; and a multiaxial robot to which the support unit is attached, and which changes a posture and position of the support unit, and the frame defines an opening through which the plurality of parts or the product can move between an inside and outside of the work space, and includes a support portion configured to support the plurality of support robots such that the plurality of support robots are arrayed in a widthwise direction of the opening.

10 . A method of controlling a part support apparatus for supporting a plurality of parts which form a product by being connected to each other,
wherein the part support apparatus includes a plurality of support robots arranged in a work space and configured to support the plurality of parts, each of the plurality of support robots includes: a support unit configured to support a part; and a multiaxial robot to which the support unit is attached, and which changes a posture and position of the support unit, and the method comprises: setting information of the plurality of parts and information of the product; and controlling the posture and position of each multiaxial robot based on the information, such that the plurality of parts are arranged to be connectable to each other in the work space.

11 . A method of manufacturing a product formed by connecting a plurality of parts to each other, comprising:
arranging the plurality of parts by a plurality of support robots in positions where the plurality of parts are connectable to each other in a work space; connecting the plurality of parts arranged in the arranging to each other; and setting information of the plurality of parts and information of the product, wherein each of the plurality of support robots includes: a support unit configured to support a part; and a multiaxial robot to which the support unit is attached, and which changes a posture and position of the support unit, and the arranging includes controlling the posture and position of each support unit by the multiaxial robot based on the information, such that each of the plurality of parts is placed in the position.

12 . The method according to claim 11 , wherein
the work space is defined by a frame, and the method further comprises: setting each of the plurality of parts in the support unit before or after the controlling; loading the plurality of parts from outside the work space to inside the work space through an opening defined by the frame; and unloading the product from inside the work space to outside the work space through the opening.

13 . The method according to claim 11 , wherein the arranging includes initially controlling the posture and position of the support unit for supporting a reference part of the plurality of parts.

14 . The method according to claim 11 , further comprising replacing the support unit based on the information.

15 . The method according to claim 11 , wherein
the product is a piping product, and each of the plurality of parts is a cylindrical part forming a portion of the piping product.

Assignees

• Hirata Spinning

Inventors

• Kozaki Masaru

Classifications

• B25J9/0084 Primary

  comprising a plurality of manipulators · CPC title

• B23P21/00

  Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with program control · CPC title

• B25J21/00

  Chambers provided with manipulation devices (constructional features of the mounting of the manipulator in the wall B25J1/08 {; glove-boxes for nuclear applications G21F7/04}) · CPC title

• B25J18/007

  the end effector rotating around a fixed point · CPC title

• B25J9/1682 Primary

  Dual arm manipulator; Coordination of several manipulators · CPC title