Part supply system, method for manufacturing assembly, method for manufacturing bearing, method for manufacturing machine, method for manufacturing vehicle, and program

Abstract

A parts supply system has a control device (3), a mobile robot (4), a transfer device, and a measuring device (25). The mobile robot (4) moves between a parts storage (1) and an assembly device (2) without a track based on instructions from the control device (3), and carries a parts container that houses parts. The transfer device performs transfer of the parts container between the assembly device (2) and the mobile robot (4). The control device (3) measures the positional relationship between the assembly device (2) and the mobile robot (4) using the measuring device (25), and corrects the stop position of the mobile robot (4) relative to the assembly device (2).

Description

Technical Field

[0001] This disclosure relates to a parts supply system in a product manufacturing plant that enables the use of mobile robots to move and supply parts containers containing parts from parts storage areas to assembly equipment.

[0002] This application claims priority based on Japanese Patent Application No. 2023-062856, filed on April 7, 2023, the contents of which are incorporated herein by reference. Background Technology

[0003] In manufacturing plants producing products composed of multiple parts, such as bearing assemblies, ball screw assemblies, and linear guides, there are assembly equipment (assembly units) such as assembly machines and assembly workbenches for assembling parts. Assembly equipment is typically located as part of the product production line. In manufacturing plants equipped with such assembly equipment, the operation of continuously transporting and supplying parts containers containing the parts from the parts storage area to the assembly equipment is ongoing.

[0004] The aforementioned tasks are labor-intensive, and there is also the problem of high labor costs. Therefore, in order to solve these problems, we are considering using mobile robots to transport the parts containers.

[0005] Japanese Patent Application Publication No. 2020-91571 discloses a mobile robot capable of performing the aforementioned tasks. This mobile robot is a trackless mobile robot that moves in locations without tracks or rails, and is equipped with a transfer structure such as a hand for transferring objects. The mobile robot is controlled to place the object to be transferred on itself at a first location, move from the first location to a second location, and then transfer the object to the opposite object, such as a vehicle, equipment, or device at the second location.

[0006] Existing technical documents

[0007] Patent documents

[0008] Patent Document 1: Japanese Patent Application Publication No. 2020-91571 Summary of the Invention

[0009] The mobile robot described in Japanese Patent Application Publication No. 2020-91571 is equipped with a position detection sensor for moving along a predetermined route and stopping at a predetermined location. However, since the mobile robot moves without tracks, it is difficult to ensure sufficient accuracy of the stopping position, and there is a possibility that the stopping position at a second location may deviate from the optimal position. In the event of a deviation in the stopping position of the mobile robot, there is a problem that it is impossible to transfer objects to the other side with high positional accuracy.

[0010] In particular, in manufacturing plants producing products composed of multiple parts, there are situations where high positional accuracy is required for transferring part containers to assembly equipment. For example, if the transfer operation involves inserting or fitting a part container into a mounting section of the assembly equipment, and the operator is positioned between the mobile robot and the assembly equipment, no particular problems arise because the operator performs the placement operation. On the other hand, if the operator is not positioned between the mobile robot and the assembly equipment, and the mobile robot does not perform the placement operation with high positional accuracy, problems may arise such as the part container failing to be placed into the mounting section or the part container falling off.

[0011] The purpose of this disclosure is to provide a parts supply system capable of transferring parts containers between a mobile robot and assembly equipment with high positional accuracy. Another purpose of this disclosure is to provide a parts supply system, an assembly manufacturing method, a bearing manufacturing method, a machinery manufacturing method, and a vehicle manufacturing method and procedure that are beneficial for reducing manufacturing costs and improving manufacturing quality.

[0012] One aspect of the parts supply system of the present invention includes: a control device; a mobile robot that moves without tracks between a parts storage area and an assembly equipment based on instructions from the control device to transport a parts container containing parts; a transfer device that transfers the parts container between the assembly equipment and the mobile robot; and a measuring device that measures the positional relationship between the assembly equipment and the mobile robot. Before transferring the parts container between the mobile robot and the assembly equipment, the control device uses the measuring device to measure the positional relationship between the assembly equipment and the mobile robot, and based on the measurement result, corrects the stopping position of the mobile robot relative to the assembly equipment.

[0013] One embodiment of the present invention provides a method for manufacturing an assembly comprising: moving a self-propelled robot, which carries a parts container containing a plurality of parts, from a base device to an assembly device; correcting the stopping position of the self-propelled robot relative to the assembly device based on a result obtained by measuring the positional relationship between the assembly device and the self-propelled robot using a measuring device; transferring the parts container from the self-propelled robot, whose stopping position has been corrected, to the assembly device using a transfer device, and placing the parts container in a predetermined placement portion in the assembly device; and sequentially removing the plurality of parts from the parts container in the assembly device.

[0014] One aspect of the present invention provides a bearing manufacturing method that uses the above-described assembly manufacturing method to manufacture the bearing.

[0015] One aspect of the present invention provides a method for manufacturing machinery using the aforementioned assembly manufacturing method.

[0016] One aspect of the present invention is a method for manufacturing a vehicle, comprising: manufacturing a bearing using the bearing manufacturing method described above; and assembling a vehicle using the bearing described above.

[0017] One aspect of the present invention is a method for manufacturing a vehicle, comprising: manufacturing machinery using the above-described machinery manufacturing method; and assembling a vehicle using the above-described machinery.

[0018] One aspect of the present invention provides a program that causes a processor to perform the following steps: moving a self-propelled robot carrying a parts container containing multiple parts from a base device to an assembly device; correcting the stopping position of the self-propelled robot relative to the assembly device based on the result obtained by measuring the positional relationship between the assembly device and the self-propelled robot using a measuring device; transferring the parts container from the self-propelled robot (with the corrected stopping position) to the assembly device using a transfer device, and placing the parts container in a predetermined placement section in the assembly device; and sequentially removing the multiple parts from the parts container in the assembly device.

[0019] Invention Effects

[0020] According to one aspect of the present invention, a parts supply system is capable of transferring parts containers between a mobile robot and an assembly device with high positional accuracy.

[0021] According to other aspects of the present invention, it is possible to provide parts supply systems, assembly manufacturing methods, bearing manufacturing methods, machinery manufacturing methods, and vehicle manufacturing methods and procedures that are beneficial to reducing manufacturing costs and improving manufacturing quality. Attached Figure Description

[0022] Figure 1 This is a conceptual diagram of the parts supply system in the first embodiment.

[0023] Figure 2 It is a 3D image of a mobile robot.

[0024] Figure 3 It is a diagram showing the sequence of parts supply.

[0025] Figure 4 It is a diagram showing the sequence from start to finish of the parts supply operation performed by a mobile robot to the assembly equipment.

[0026] Figure 5 This is a flowchart illustrating an example of a manufacturing method for an assembly.

[0027] Figure 6This is a perspective view of the mobile robot that constitutes the parts supply system in the second embodiment.

[0028] Figure 7 This is a conceptual diagram of the parts supply system in the third embodiment.

[0029] Figure 8 This is a partial cross-sectional perspective view of a rolling bearing.

[0030] Figure 9 This is a schematic cross-sectional view of a motor that uses rolling bearings to support a rotating shaft. Detailed Implementation

[0031] [First Embodiment] Using Figures 1-5 The first embodiment of the present invention will be described.

[0032] In this embodiment, the parts supply system is a system installed in a production plant that manufactures a product (assembly) composed of multiple parts. The production plant includes a parts storage area (base device, table device) 1 and assembly equipment (assembly device) 2. The parts supply system is as follows: Figure 1 As shown in the concept diagram, it includes a control device 3 and a mobile robot (self-propelled transport robot, trackless robot) 4. The mutually orthogonal directions within the plane (XY plane) along which the mobile robot 4 moves are defined as the X-axis and Y-axis directions, and the direction orthogonal to the XY plane is defined as the Z-axis direction.

[0033] In one example, the products manufactured in the factory are assemblies consisting of multiple parts, such as bearing assemblies, ball screw assemblies, and linear guides. In other examples, products (assemblies) other than those described above can also be applied.

[0034] In a manufacturing plant, the relative positions of the parts storage area (base device) 1, the assembly equipment (assembly device) 2, and the control device 3 are not limited to... Figure 1 The positional relationships shown can be arbitrarily set. The aforementioned arbitrariness relates to... Figure 1 The movement path of mobile robot 4, shown by the dashed line, is also the same.

[0035] Parts storage area (base device) 1 is a parts container 5 for holding parts (see reference). Figure 2 The storage location 1 is a place for placing the parts container 5. In one example, the parts storage location 1 has a platform, shelf, etc. for placing the parts container 5. In other examples, parts storage locations (base devices) with other structures can be used. In one example, the parts container 5 is a cylindrical shape or the like with a long axis. In other examples, the parts container 5 can have other shapes.

[0036] Assembly equipment 2 is equipped with assembly devices or workbenches for assembling parts. Assembly equipment (assembly devices) 2 is located in a place away from parts storage location 1, such as part of a product production line.

[0037] The assembly equipment (assembly apparatus) 2 includes a placement section 21 capable of arranging the parts container 5 in a suitable form (e.g., cylindrical fitting) such as insertion (including fitting). In one example, the assembly equipment 2 has multiple placement sections 21. In other examples, the assembly equipment 2 has a single placement section 21. For example, parts placed in the parts container 5 in the placement section 21 are sequentially removed from the parts container 5 and assembled into other parts, or after being moved to the parts receiving section of each parts container 5, parts are sequentially removed from the parts receiving section and assembled into other parts. The assembly operation is performed in any of the following ways: automated operation based on the assembly apparatus, manual operation based on the operator, and collaborative operation between the assembly apparatus and the operator.

[0038] In one example, the parts container 5 has a receiving chamber with a long axis. The parts container 5 has an opening and a peripheral wall extending along the long axis and surrounding the receiving chamber. Parts are taken out and placed relative to the receiving chamber of the parts container 5 through the opening. Multiple parts are stacked and received within the receiving chamber of the parts container 5 along the long axis. For example, the parts container 5 has a generally cylindrical or generally slightly cylindrical receiving chamber containing a space enclosed by a circumferential wall extending along the long axis. Multiple parts are generally annular or generally cylindrical. Multiple parts are stacked and received within the receiving chamber with the center of the parts approximately aligned with the long axis of the receiving chamber. The parts received in the parts container 5 have axial surfaces arranged along a surface orthogonal to the long axis of the receiving chamber. The parts are stacked within the parts container 5 with the axial surfaces of the first part facing each other. In the assembly equipment (assembly apparatus) 2, multiple parts are sequentially taken out from the parts container 5 along the long axis of the receiving chamber and assembled with other parts. For example, multiple parts can be removed from the parts container 5 one by one, or multiple parts can be removed at a time. For example, when the length of the major axis is set as L1 and the length of the minor axis orthogonal to the major axis is set as L2 in the receiving space (receiving chamber) of the parts container 5, L1 / L2 is 1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.5, 5.0, 5.5, 6.0, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5 or more.

[0039] In one example, the assembly equipment 2 has a function to monitor the number of parts contained in the parts containers 5 arranged in each placement section 21, or the number of parts contained in the parts receiving section from which parts have been removed. This function is achieved by appropriate methods, such as counting the number of parts removed from the parts containers 5 or the parts receiving section, or measuring the weight of the parts containers 5 or the parts receiving section. For example, this function is used to measure the moment when the assembly equipment 2 requests parts from the control device 3.

[0040] In one example, in a parts supply system, in order to enable parts supply control performed by the control device 3, which includes parts request instructions from assembly equipment 2 to control device 3 and parts supply instructions from control device 3 to mobile robot 4, a wireless communication network is constructed that enables communication between parts storage location 1, assembly equipment 2, control device 3 and mobile robot 4.

[0041] The mobile robot (autonomous driving robot) 4 is able to move without tracks between the parts storage area 1 and the assembly equipment 2 based on instructions from the control device 3, transport the parts container 5 that contains the parts, and stop in front of the assembly equipment 2 to transfer the parts container 5 between the parts storage area 1 and the assembly equipment 2.

[0042] In one example, the mobile robot 4 includes a trolley 8. The trolley 8 includes a platform 9 and multiple wheels 10 located at the lower end of the platform 9, enabling the mobile robot 4 to move in any direction without tracks. For example, the platform 9 has a generally cuboid shape, and its upper surface has a container holding section 11 capable of holding multiple parts containers 5.

[0043] In one example, the loading dock 9 is equipped with a wireless communication device constituting the aforementioned wireless communication network, a robot computer for causing the mobile robot 4 to move appropriately based on control commands from the control device 3, and a battery as a power source. For example, the mobile robot 4 can charge its battery while waiting at the parts storage area 1.

[0044] In this embodiment, the mobile robot (self-propelled robot) 4 has a transfer device (transfer mechanism) 6 for transferring the parts container 5.

[0045] In one example, the transfer device 6 includes a robotic arm 12, a portion of which is separated from the container placement section 11 and supported on the upper surface of the platform 9, and a hand 13 mounted on the front end of the robotic arm 12. The robotic arm 12 is capable of appropriately changing the three-dimensional position and orientation of its front end. The hand 13 is capable of grasping the parts container 5, specifically, capable of performing expansion and contraction movements for grasping and releasing the parts container 5.

[0046] In one example, the hand 13 is detachable from the front end of the robot arm 12 and can be replaced with a hand 13 that matches the shape and size of the parts container 5. Additionally, the parts supply system can also have the function of automatically changing the hand 13.

[0047] In this embodiment, the parts supply system includes a measuring device (positional relationship confirmation mechanism) 25, which is located between the assembly equipment 2 and the mobile robot 4, and is used to confirm the positional relationship between the assembly equipment 2 and the mobile robot 4.

[0048] In one example, the measuring device 25 includes: a correction mark 16 attached to a predetermined location on one of the assembly equipment 2 and the mobile robot 4; and a correction camera 7 disposed on the other of the assembly equipment 2 and the mobile robot 4.

[0049] In one example, a correction mark 16 is affixed to a predetermined location on the assembly equipment 2, and a correction camera 7 is provided on the mobile robot 4. In other examples, the assembly equipment 2 is equipped with a correction camera 7, and the mobile robot 4 is equipped with a correction mark 16.

[0050] The correction mark 16 is a mark used to confirm the positional relationship between the assembly device 2 and the mobile robot 4 by being read by the correction camera 7 of the mobile robot 4. It is composed of, for example, a QR code. The correction mark 16 can be attached to any part that can be read by the correction camera 7 of the mobile robot 4. For example, the correction mark 16 can be attached near the mounting part 21.

[0051] In one example, a correction camera 7 is mounted on the front end of the robot arm 12. The correction camera 7 is used to confirm the positional relationship between the assembly equipment 2 and the mobile robot 4 by reading the correction mark 16 on the assembly equipment 2. The correction camera 7 can be, for example, a 2D camera.

[0052] Alternatively and / or additionally, the measuring device 25 can also employ other optical, electromagnetic, or physical methods. For example, an optical method may utilize lasers to measure the positional relationship with various correction marks (reference marks) such as barcodes. An electromagnetic method may use millimeter-wave radar that irradiates a target object with millimeter waves and measures the positional relationship with the target object. A physical method may use guide rails that conform to the shape of the mobile robot, guides that gradually narrow from a wide opening, and reference blocks that the mobile robot contacts to measure the positional relationship.

[0053] In one embodiment, the mobile robot 4 also includes a force sensor 14 mounted on the front end of the robot arm 12. The force sensor 14 is capable of detecting the direction and magnitude of the external force acting on the hand 13. The force sensor 14 is used to correct the movement of the transfer device 6 when transferring the part container 5 between the mobile robot 4 and the other side.

[0054] In one example, in a parts supply system, the mobile robot 4 is equipped with safety sensors for detecting the approach or contact of workers or obstacles. The parts supply system has the function of reducing the speed of the mobile robot 4 or stopping its movement if the safety sensors detect the approach or contact of a person or obstacle.

[0055] For example, the aforementioned safety sensors are each composed of multiple sensors mounted on the platform 9. These multiple sensors include a distance sensor (not shown) for detecting the approach of a person or obstacle, an obstacle camera (not shown) for detecting the approach of an obstacle that has fallen to the ground, and a contact sensor 15 for detecting contact with a person or obstacle. The obstacle camera can be, for example, a 3D camera or a two-dimensional laser sensor. The contact sensor 15 is disposed over the entire circumference of the outer perimeter of the upper end of the platform 9.

[0056] In one example, the mobile robot 4 can reduce its speed or stop moving when it detects a person approaching to a predetermined distance using the aforementioned distance sensor, based on instructions from the control device 3.

[0057] In one example, the mobile robot 4 can change its movement route to avoid contact with the obstacle when it detects an obstacle approaching to a predetermined distance using the aforementioned distance sensor and / or obstacle camera, based on instructions from the control device 3.

[0058] In one example, when the mobile robot 4 is transferring the parts container 5 between itself and the other side that is stationary, it can reduce the speed of the transfer operation or stop the transfer operation if the distance sensor detects that a person is approaching to a predetermined distance or that a person has touched the contact sensor 15.

[0059] Additionally, the mobile robot 4 may be equipped with a voice generating device and / or a light-emitting device for making its presence known to those around it. The voice generating device is a device capable of emitting voice signals to the surroundings of the mobile robot 4. The light-emitting device is a device that generates light that can be visually recognized from the outside of the mobile robot 4. For example, when the mobile robot 4 is moving or performing a transfer operation of the parts container 5 between itself and another object that is stationary, it may use the aforementioned voice generating device and / or the aforementioned light-emitting device to alert the person when the distance sensor detects that a person is approaching to a predetermined distance.

[0060] In one example, the parts supply system includes a robot position detection mechanism (robot position detection unit) for detecting the position of the mobile robot 4 within the production plant. The robot position detection mechanism can, for example, consist of position detection cameras installed at multiple locations within the production plant to determine the position of the mobile robot 4, position detection sensors mounted on the mobile robot 4 to detect position markers marked on the floor or other surfaces within the production plant, and a GPS receiver mounted on the mobile robot 4. The control unit 3 controls the movement of the mobile robot 4 while using the robot position detection mechanism to determine its position within the production plant.

[0061] Figure 3 This is a block diagram illustrating an example of the parts supply sequence in a parts supply system.

[0062] In one example, in the parts supply system, the assembly equipment 2 requests parts from the control device 3 at an appropriate time (step S1). Specifically, when the number of parts contained in the parts container 5 of a certain placement section 21, or the number of parts contained in the aforementioned parts placement section from which parts have been removed, is less than a predetermined amount or becomes zero, the assembly equipment 2 requests the control device 3 to retrieve the parts container 5 placed in the placement section 21 and place a new parts container 5 in the placement section 21. The control device 3 accepts the request (step S2) and issues a parts supply instruction to the mobile robot 4 (step S3).

[0063] The mobile robot 4 receives the supply instruction (step S4) and transfers the part container 5 to its own container placement section 11 at the part storage location 1 (step S5). Alternatively, the transfer operation of the part container 5 at the part storage location 1 can also be performed by an operator.

[0064] After the transfer operation of the part container 5 to the container placement section 11 of the mobile robot 4 is completed, the mobile robot 4 moves toward the commanded position located in front of the assembly equipment 2 (step S6) and reaches the commanded position (step S7). Specifically, the mobile robot 4 moves toward the commanded position and reaches the commanded position based on the commanded position reference utilizing the robot position detection mechanism.

[0065] Next, the arrival of the mobile robot 4 is confirmed in the assembly equipment 2 (step S8), and a supply operation instruction for the parts container 5 is issued to the mobile robot 4 (step S9).

[0066] The mobile robot 4 receives the supply operation instruction (step S10), begins the supply operation of the parts container 5 to the assembly equipment 2 (step S11), and completes the supply operation (step S12). The specific details of the above supply operation will be described later.

[0067] Next, the completion of the supply operation is confirmed in the assembly equipment 2 (step S13), and a return command to the parts storage location 1 is issued to the mobile robot 4 (step S14). The mobile robot 4 accepts the return command (step S15), moves towards the parts storage location 1 (step S16), arrives at the parts storage location 1, and waits (step S17).

[0068] Here, the parts supply system includes a robot position detection mechanism for detecting the position of the mobile robot 4 within the production plant. Because the mobile robot 4 moves without tracks, it is difficult to sufficiently ensure the accuracy of its stopping position. Figure 3 There is a possibility that the arrival position in step S7 may deviate from the optimal position. Assuming that the stopping position of the mobile robot 4 deviates from the target position, there is a possibility that the transfer of the part container 5 between the mobile robot 4 and the assembly equipment 2 cannot be performed with high positional accuracy without taking some measures.

[0069] The parts supply system is in operation Figure 3 During the supply operation in steps S11 to S12, specifically before the mobile robot 4 transfers the part container 5 between itself and the assembly equipment 2, the correction camera 7 reads the correction mark 16 and measures the positional relationship between the mobile robot 4 and the assembly equipment 2. Furthermore, the part supply system has a stop position correction function that corrects the stop position of the mobile robot 4 relative to the assembly equipment 2 based on the measured positional relationship. This correction is performed under the control of the control device 3. More specifically, it is performed by a robot computer that enables the mobile robot 4 to move appropriately based on control commands from the control device 3.

[0070] Furthermore, the parts supply system has a fine-tuning function. During the process... Figure 3 During the supply operation in steps S11 to S12, specifically, after correction based on the stop position correction function, fine-tuning is performed on the movement of the transfer device 6. The mobile robot 4 transfers the part container 5 between itself and the assembly equipment 2 while correcting the movement of the transfer device 6 based on the detection values ​​of the force sensor 14. This fine-tuning is performed under the control of the control device 3. More specifically, it is performed by a robot computer that enables the mobile robot 4 to move appropriately based on control commands from the control device 3.

[0071] To illustrate the stop position correction function and fine correction function described above in more detail, an example is used... Figure 4 Further details Figure 3 The supply operation in steps S11 to S12.

[0072] In one example, as described above, after the mobile robot 4 arrives at the commanded position that exists before the assembly equipment 2, it begins the supply operation of the parts container 5 containing the parts to the assembly equipment 2 (step S11).

[0073] After the start of the operation, the parts supply system first performs correction based on the aforementioned stop position correction function (step S11-1). Specifically, the control device 3 controls the mobile robot 4 and uses the correction camera 7 to correct the stop position deviation of the mobile robot 4, i.e., to correct large position deviations. The correction camera 7, mounted on the front end of the robot arm 12 of the mobile robot 4, reads the correction mark 16 attached to the assembly equipment 2 and measures the positional relationship between the mobile robot 4 and the assembly equipment 2. Then, based on the measurement results of the positional relationship, the deviation of the mobile robot 4 from the appropriate position relative to the assembly equipment 2 is determined, and a correction is performed to move the stop position of the mobile robot 4 to zero (step S11-2). For example, the corrected stop position accuracy (allowable deviation in a two-dimensional plane (moving plane, XY plane)) is 10, 9, 8, 7, 6, 5, 4, 3, or 2 mm or less. Preferably, the corrected stop position accuracy (allowable deviation) is a few mm or less, for example, 2 mm or less. The above values ​​are examples and are not limited thereto. With this modification, it becomes possible to transfer the parts container 5 with high positional accuracy between the trackless mobile robot 4 and the assembly equipment 2.

[0074] Next, a parts comparison is performed to prevent incorrect placement (steps S11-3). That is, information indicating the contained parts is attached to a part of the parts container 5 in an appropriate form, such as a barcode. Then, the information indicating the parts attached to the part container 5 placed on the container placement section 11 of the mobile robot 4, that is, the part to be transferred to the assembly equipment 2, is read using the correction camera 7 or a reading device separately installed at the front end of the robot arm 12, to confirm whether the parts to be supplied are correct.

[0075] Next, regarding the multiple aforementioned mounting sections of the assembly equipment 2, Figure 3 In step S1, the empty part container 5 placed in the part placement section 21 is required to be recycled (steps S11-4). Specifically, the empty part container 5 placed on the placement section 21 is held by the hand 13 installed at the front end of the robot arm 12, pulled out from the placement section 21 and transferred to the container placement section 11 of the mobile robot 4.

[0076] Next, the part container 5, which has undergone the above-mentioned part comparison, is transferred from the container placement section 11 of the mobile robot 4 to the assembly equipment 2 (steps S11-5). Specifically, the part container 5 is grasped and lifted by the hand 13 installed at the front end of the robot arm 12 and placed in the placement section 21 where the empty part container 5 has been removed.

[0077] During such placement operations, corrections based on fine-tuning functions are performed as needed (steps S11-6). Specifically, while performing the placement operations described above, the force sensor 14 detects the direction and magnitude of the external force acting on the hand 13. Here, an external force exceeding a predetermined value acting on the hand 13 indicates a possibility that the part container 5 may collide with the placement section 21 or its surrounding area. In one example, a guide portion, such as a conical section, is provided at the entrance of the placement section 21 to physically guide the part container 5 toward the inside of the placement section 21. In the event that the part container 5 collidees with the guide portion during the placement operation, the force sensor 14 detects the direction and magnitude of the external force acting on the hand 13. Based on the detection results, the operation of the transfer device 6 is corrected (steps S11-7). For example, the direction and magnitude of the detected external force are determined, and the operation of the transfer device 6 is corrected to the direction in which the determined external force disappears, i.e., the direction in which the part container 5 can be placed into the placement section 21. The corrected positional accuracy (allowable deviation in the two-dimensional plane (moving reference plane, XY plane)) is 1.0, 0.9, 0.8, 0.7, 0.6, 0.5, 0.4, 0.3, 0.2, or 0.1 mm or less. Preferably, the corrected positional accuracy (allowable XY deviation) is, for example, 0.1 mm or less. The above values ​​are examples and are not limited thereto. Furthermore, the correction of the movement of the transfer device 6 is not limited to the coordinate position in the XY plane, but can include the position and orientation / tilt along the Z-axis (e.g., θX, θY, θZ). By making such corrections, the positional accuracy when transferring the part container 5 is improved, and the above-mentioned placement operation can be performed properly.

[0078] By placing the parts container 5 in the placement section 21 as described above, the supply operation is completed (step S12).

[0079] As described above, the parts supply system of this example can utilize the aforementioned safety sensors to ensure safety during the movement of the mobile robot 4 and the transfer operation of the parts container 5.

[0080] By utilizing the stop position correction function of the control device 3, position deviations, i.e., deviations in the stop position of the mobile robot 4, can be corrected. Furthermore, by utilizing the fine-tuning function of the control device 3, the operation of the transfer device 6 can be precisely corrected. For example, it is possible to properly handle the placement of the parts container 5, which requires an accuracy of ±0.1 mm or less, without the assistance of an operator.

[0081] The action of placing the part container 5 into the placement section 21 includes the action of inserting the part container 5 into the placement section 21. The insertion action includes at least a linear movement of the part container 5 along the major axis of its receiving space by a predetermined distance. For example, if the major axis of the receiving space of the part container 5 is parallel to the Z-axis, the placement action includes the linear movement of the part container 5 along the Z-axis. The assembly operation includes the operation of sequentially removing multiple parts from the part container 5 and assembling them with other parts. The removal action includes at least a linear movement of the parts along the major axis of the receiving space of the part container 5 by a predetermined distance. For example, if the major axis of the receiving space of the part container 5 is parallel to the Z-axis, the removal action includes the linear movement of the parts along the Z-axis.

[0082] In one embodiment, the placement action in the transfer process and the removal action in the assembly process each involve linear movement along an axis parallel to the same reference axis (e.g., the Z-axis). The reference axis (e.g., the Z-axis) intersects or is orthogonal to the movement reference plane (XY plane) of the mobile robot 4. The placement action, which involves linear insertion, is performed with high precision by using corrections to the stopping position of the mobile robot 4 (position correction in the XY plane) via the measuring device 25 and corrections to the transfer action using the force sensor 14 (precise position correction + posture correction in the XY plane). By placing the part container 5 with high precision, the efficiency and accuracy of the assembly process are improved. This contributes to improved product quality and reduced product costs.

[0083] In one example, when the length of the major axis of the receiving space of the part container 5 is set as L1, and the distance of the linear movement of the part container 5 during the placement operation is set as L3, L3 / L1 can be 1 / 20, 1 / 15, 1 / 10, 1 / 9, 1 / 8, 1 / 7, 1 / 6, 1 / 5, 1 / 4, 1 / 3, 1 / 2, or 1 or more. These values ​​are examples and are not limited to them. High retention stability in the placement section 21 is beneficial for improving work efficiency and accuracy in the assembly process.

[0084] Figure 5This is a flowchart illustrating an example of a method for manufacturing an assembly. The method includes: moving a robot (mobile robot, self-propelled robot, trackless robot) 4, carrying a part container 5 containing multiple parts, from a part storage location (base device) 1 to an assembly equipment (assembly device) 2 (S21); correcting the stopping position of the robot 4 relative to the assembly equipment 2 based on the result of measuring the positional relationship between the assembly equipment 2 and the robot 4 using a measuring device 25 (S22); transferring the part container 5 from the robot 4 (with the corrected stopping position) to the assembly equipment 2 using a transfer device 6 and placing the part container 5 into a predetermined placement section 21 within the assembly equipment 2 (S23); and sequentially removing multiple parts from the part container 5 within the assembly equipment 2 and assembling them with other parts (S24). In one example, the part container 5 has a receiving space with a long axis. Multiple parts are stacked and received along the long axis of the part container 5. The correction of the stopping position is a correction related to the position on a plane coordinate intersecting the long axis of the part container 5. The transfer device 6 places the part container 5 into the placement portion 21 by inserting it along its long axis. The insertion action involves linear movement of the part container 5 along its long axis. The transfer device 6 places the part container 5 into the placement portion 21 while correcting the insertion action of the part container 5 relative to the placement portion 21 based on the detection value of the force sensor 14. The assembly device 2 assembles multiple parts together with other parts while sequentially removing them from the part container 5 along its long axis. The insertion action involves linear movement of the part container 5 along its long axis.

[0085] Control device 3 has a processor and memory, and performs information processing based on programs. Control device 3 includes devices such as CPU, GPU, FPGA, and ASIC, as well as memory such as ROM and RAM. Control device 3 reads and executes programs stored in memory to control various parts of the system. Control device 3 can also be referred to as a signal processing unit that performs signal processing. Control device 3 is capable of bidirectional communication with the server and other devices via a communication unit. In addition, control device 3 has a storage unit. The storage unit is composed of non-volatile storage media and stores (records) programs and data. The storage unit is a storage device such as ROM, flash memory, hard disk, or SSD, storing various types of information.

[0086] [Second Implementation] Using Figure 6 The second embodiment of the present invention will be described. Figure 6 This is a perspective view of the mobile robot 4a that constitutes the parts supply system in this embodiment.

[0087] In this embodiment, the transfer device 6 of the mobile robot 4a includes a conveyor. In one example, the transfer device 6 includes two conveyors 17a and 17b. The two conveyors 17a and 17b are arranged adjacent to each other in the horizontal direction on the upper surface of the platform 9. Each conveyor 17a and 17b is capable of horizontally transporting a container of parts loaded on its own upper surface. The transport direction α of the container of parts based on each conveyor 17a and 17b is set to a direction perpendicular to the adjacent direction β of the two conveyors 17a and 17b. The transfer of the container of parts between each conveyor 17a and 17b and the other side starts from one side of the transport direction α ( Figure 6 (Proceeding to the anterior side of the middle)

[0088] In one example, the correction camera (not shown) of the mobile robot 4a is mounted on a part of the loading dock 9. For example, assembly equipment 2 (see...) Figure 1 The correction mark 16 is attached to a part of the assembly equipment 2 that can be read by the correction camera of the mobile robot 4a. In other examples, the correction mark can also be attached to the mobile robot 4a, so that the assembly equipment 2 is equipped with a correction camera. As a positional relationship confirmation mechanism, different methods such as optical methods, electromagnetic methods, and physical methods can also be used.

[0089] In one example, the empty parts container placed in the placement section of the assembly equipment 2 is retrieved by one of the conveyors 17a and 17b, while the parts container containing parts is supplied to the placement section of the assembly equipment 2 by the other of the conveyors 17a and 17b.

[0090] With the mobile robot 4a moved to a position adjacent to one of the conveyors and the placement unit, the empty parts container is retrieved using one of the conveyors. Then, with the mobile robot 4a moved to a position adjacent to another conveyor and the placement unit, the parts container containing the parts is supplied using the other conveyor.

[0091] After the mobile robot 4a is moved to a position adjacent to the conveyor and placement unit on the other side, the control device corrects the stopping position of the mobile robot 4a before supplying the parts container containing the parts. In this embodiment, other structures and effects are the same as in the first example.

[0092] Furthermore, the transfer device 6 of the mobile robot 4a can also adopt a structure with only one conveyor.

[0093] [Third Implementation] Figure 7 The parts supply system of the third embodiment of the present invention is shown.

[0094] In this embodiment, the parts supply system comprises multiple (two in the example) parts storage locations 1a and 1b. The assembly equipment comprises multiple (three in the example) assembly devices 2a, 2b, and 2c grouped into each of multiple (three in the example) production lines 18. The mobile robots comprise multiple (two in the example) mobile robots 4 and 4a.

[0095] In one example, under the control of the control device 3, the mobile robot 4 transports part containers between the part storage area 1a and each assembly equipment 2a, and performs transfer of part containers between the parts storage area 1a and each assembly equipment 2a. Additionally, the mobile robot 4a transports part containers between the part storage area 1b and each assembly equipment 2b and 2c, and performs transfer of part containers between the parts storage area 1b and each assembly equipment 2b and 2c.

[0096] In one example, there is one unit of each of the mobile robots 4 and 4a. In other examples, there can be multiple units of each of the mobile robots 4 and 4a (e.g., more than two). In this embodiment, other structures and effects are the same as in the embodiments described above.

[0097] The first, second and third embodiments described above can be appropriately combined and implemented without causing contradictions.

[0098] The manufacturing methods for the parts supply system and / or assembly described above are suitable for use in the manufacturing process of bearings (bearing assemblies).

[0099] As a bearing (bearing assembly), it is suitable for various bearings such as rolling bearings and sliding bearings. For example, as parts of a bearing, examples include the outer ring, inner ring, and cage of a radial rolling bearing; the outer ring, inner ring, and cage of a radial cylindrical roller bearing that uses cylindrical rollers (including needle rollers); and the outer ring, inner ring, and cage of a radial tapered roller bearing that uses tapered rollers.

[0100] Figure 8 This is a partial cross-sectional perspective view of a rolling bearing 71. The rolling bearing 71 includes an inner ring 73 serving as a raceway ring, an outer ring 75 serving as a raceway ring, a plurality of rolling elements (balls) 77 disposed between the inner ring 73 and the outer ring 75, and a cage 79 that holds the rolling elements 77 in a rolling manner. The inner ring 73 is an annular body made of steel or other metal with raceway grooves 73a on its outer circumferential surface for guiding the rolling elements 77. The outer ring 75 is an annular body made of steel or other metal with raceway grooves 75a on its inner circumferential surface for guiding the rolling elements 77.

[0101] Furthermore, the manufacturing method of the aforementioned parts supply system and / or assembly can also be applied to the manufacture of various machines (including manually powered machines such as instruments). For example, it can be applied to direct-acting guide devices such as guide rails and sliders, ball screw devices such as lead screw shafts and nuts, lead screw devices, devices combining direct-acting guide bearings and ball screws, actuators for XY tables, and other direct-acting devices. Additionally, it can be applied to bearings used in the rotating parts of steering gears such as steering columns, universal joints, intermediate gears, rack and pinion gears, electric steering systems, worm gear reducers, and torque sensors. Moreover, the manufacturing method of the aforementioned parts supply system and / or assembly can be widely applied to machinery, vehicles including steering gears, machine tools, and residential machinery. The resulting machinery and vehicles can achieve a lower cost and higher quality structure compared to the past.

[0102] In one example, a rolling bearing is used as a component to support the rotating shaft of a motor (assembly). Figure 9 This is a schematic cross-sectional view of a motor 81 whose rotating shaft 83 is supported by rolling bearings 71A and 71B. The motor 81 is a brushless motor, having a cylindrical intermediate housing 85 and a generally plate-shaped front housing 87 that closes one open end of the intermediate housing 85. Inside the intermediate housing 85, along its axis, the freely rotating shaft 83 is supported by rolling bearings 71A and 71B disposed inside the front housing 87 and the intermediate housing 85. A rotor 89 for driving the motor is provided around the rotating shaft 83, and a stator 91 is fixed to the inner circumferential surface of the intermediate housing 85. Motors 81 with this structure are typically mounted in machinery and vehicles to drive the rotation of the rotating shaft 83 supported by rolling bearings 71A and 71B.

[0103] The above example is just one instance, serving as an example of the applicability of the bearing. As long as the parts are rotating relative to each other, the bearing with this structure can be used.

[0104] The technical solution of the present invention is not limited to the scope described in the embodiments. Various changes or improvements can be made to the embodiments. Such changes or improvements can also be included in the technical solution of the present invention. Furthermore, it is not limited to the described embodiments, but can be any combination of these structures.

[0105] This disclosure includes combinations such as the following.

[0106] (1) In one embodiment, the parts supply system includes: a control device; a mobile robot that moves without tracks between a parts storage area and an assembly equipment based on instructions from the control device to transport a parts container containing parts; a transfer device that transfers the parts container between the assembly equipment and the mobile robot; and a measuring device that measures the positional relationship between the assembly equipment and the mobile robot. Before transferring the parts container between the mobile robot and the assembly equipment, the control device uses the measuring device to measure the positional relationship between the assembly equipment and the mobile robot, and corrects the stopping position of the mobile robot relative to the assembly equipment based on the measurement result of the positional relationship.

[0107] (2) In the parts supply system described in (1) above, the measuring device includes a correction mark attached to a predetermined part of one of the assembly equipment and the mobile robot, and a correction camera provided on the other of the assembly equipment and the mobile robot. The control device uses the correction camera to read the correction mark and measure the positional relationship between the assembly equipment and the mobile robot.

[0108] (3) In the parts supply system described in (1) or (2) above, the transfer device has a robot arm and a hand mounted on the front end of the robot arm that is capable of holding the parts container.

[0109] (4) In the parts supply system described in (1) or (2) above, the transfer device has a robot arm and a hand mounted on the front end of the robot arm that is capable of holding the parts container, the correction mark is attached to the predetermined part of the assembly equipment, and the correction camera is mounted on the front end of the robot arm.

[0110] (5) In any of the parts supply systems described in (1) to (4) above, the transfer device has a force sensor mounted on the front end of the robot arm, and the control device corrects the transfer action of the transfer device based on the detection value of the force sensor after correcting the stopping position of the mobile robot relative to the assembly equipment.

[0111] (6) In any of the parts supply systems described in (1) to (4) above, the parts container has a receiving space with a long axis, the receiving space receiving multiple parts stacked along the long axis, the transfer device inserts the parts container into the receiving part in the assembly equipment along the long axis, places the parts container into the receiving part, and sequentially removes the multiple parts from the parts container along the long axis in the assembly equipment.

[0112] (7) In the parts supply system described in (6) above, the transfer device has a force sensor, and while correcting the insertion action of the parts container relative to the placement part based on the detection value of the force sensor, the parts container is placed in the placement part.

[0113] (8) In any of the parts supply systems described in (1) to (7) above, the mobile robot has a conveyor for the transfer.

[0114] (9) In the parts supply system described in (8) above, the conveyor includes two conveyors.

[0115] (10) In one embodiment, the method of manufacturing an assembly includes: moving a self-propelled robot carrying a part container containing a plurality of parts from a part storage location to an assembly device; correcting the stopping position of the self-propelled robot relative to the assembly device based on a result obtained by measuring the positional relationship between the assembly device and the self-propelled robot using a measuring device; transferring the part container from the self-propelled robot with the corrected stopping position to the assembly device using a transfer device and placing the part container in a predetermined placement section in the assembly device; and sequentially removing the plurality of parts from the part container in the assembly device.

[0116] (11) In the manufacturing method described in (10) above, the part container has a receiving space having a long axis, and the receiving space houses the plurality of parts stacked along the long axis. The transfer device places the part container into the placement portion by inserting it along the long axis. The assembly device sequentially removes the plurality of parts from the part container along the long axis.

[0117] (12) In the manufacturing method described in (10) or (11) above, the transfer device has a force sensor, and while correcting the insertion action of the part container relative to the placement part based on the detection value of the force sensor, the part container is placed in the placement part.

[0118] (13) In one embodiment, the bearing is manufactured using the parts supply system described in any one of (1) to (9) above or the assembly manufacturing method described in any one of (10) to (12) above.

[0119] (14) In one embodiment, the machine manufacturing method uses the parts supply system described in any one of (1) to (9) above or the assembly manufacturing method described in any one of (10) to (12) above to manufacture the machine.

[0120] (15) In one embodiment, the method of manufacturing a vehicle includes: manufacturing a bearing using the manufacturing method described in (13) above; and assembling a vehicle using the bearing described above.

[0121] (16) In one embodiment, the method of manufacturing the machinery includes: manufacturing the machinery using the manufacturing method described in (14) above; and assembling a vehicle using the machinery described above.

[0122] (17) In one embodiment, the program causes the processor to perform the following steps: moving an autonomous driving robot carrying a parts container containing multiple parts from a parts storage location to an assembly device; correcting the stopping position of the autonomous driving robot relative to the assembly device based on the result obtained by measuring the positional relationship between the assembly device and the autonomous driving robot using a measuring device; transferring the parts container from the autonomous driving robot with the corrected stopping position to the assembly device using a transfer device, and placing the parts container in a predetermined placement section in the assembly device; and sequentially removing the multiple parts from the parts container in the assembly device.

[0123] Explanation of reference numerals in the attached figures

[0124] 1. Storage location for parts 1a and 1b (base assembly, platform assembly)

[0125] 2. Assembly equipment (assembly devices) of types 2a, 2b, and 2c.

[0126] 3 Control devices

[0127] 4. 4a Mobile Robot (Autonomous Traveling and Transporting Robot, Trackless Robot)

[0128] 5 parts container

[0129] 6. Transfer device (transfer mechanism)

[0130] 7. Modify the camera

[0131] 8 cars

[0132] 9. Cargo Platform

[0133] 10 wheels

[0134] 11 Container placement section

[0135] 12 robotic arms

[0136] 13. Hands

[0137] 14 Force Sensors

[0138] 15 Contact Sensors

[0139] 16 Correction Marks

[0140] 17a and 17b conveyors

[0141] 18 production lines

[0142] 21. Resettlement Department.

Claims

1. A parts supply system comprising: a control device; a mobile robot that moves on the ground without a track between a parts storage location and an assembly device based on an instruction from the control device, and that carries a parts container that stores parts; a transfer device that transfers the parts container between the assembly device and the mobile robot; and a measurement device that measures a positional relationship between the assembly device and the mobile robot, wherein the transfer device has a force sensor, the parts container has a cylindrical shape with a long axis, and has a storage space with the long axis that stores a plurality of parts stacked along the long axis, the control device measures the positional relationship between the assembly device and the mobile robot using the measurement device before the transfer of the parts container between the mobile robot and the assembly device, and corrects a stop position of the mobile robot relative to the assembly device based on a result of the measurement of the positional relationship, the transfer device corrects an insertion action of the parts container relative to a predetermined placement portion in the assembly device based on a detection value of the force sensor while placing the parts container in the placement portion, the plurality of parts are sequentially taken out from the parts container in the assembly device, the insertion action of the parts container relative to the placement portion includes a straight movement of the parts container along the long axis of the parts container by a predetermined distance, and includes a straight movement of the parts container along a reference axis that intersects a movement reference plane along the ground while correcting the insertion action of the parts container relative to the placement portion based on the detection value of the force sensor, the taking out action of the parts from the parts container includes a straight movement of the parts along the reference axis, the correction of the stop position includes a position correction of the parts container in the movement reference plane, and the correction of the insertion action includes a fine position correction of the parts container and a posture correction of the parts container in the movement reference plane.

2. The parts supply system according to claim 1, wherein the measurement device includes a correction mark attached to a predetermined portion of one of the assembly device and the mobile robot, and a correction camera provided to the other of the assembly device and the mobile robot, and the control device measures the positional relationship between the assembly device and the mobile robot by reading the correction mark with the correction camera.

3. The parts supply system according to claim 1 or 2, wherein the transfer device has a robot arm and a hand mounted to a front end portion of the robot arm and capable of holding the parts container.

4. The parts supply system according to claim 2, wherein the transfer device has a robot arm and a hand mounted to a front end portion of the robot arm and capable of holding the parts container, the correction mark is attached to the predetermined portion of the assembly device, and the correction camera is mounted to the front end portion of the robot arm. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 5. The component supply system according to claim 3, wherein the control device corrects the transfer operation of the transfer device based on the detection value of the force sensor after the correction of the stop position of the mobile robot relative to the assembly device is performed.

6. The component supply system according to claim 1 or 2, wherein the mobile robot has a conveyer for the transfer.

7. The component supply system according to claim 6, wherein the conveyer includes two conveyers.

8. A manufacturing method of an assembly, comprising: moving a self-propelled robot on which a component container that houses a plurality of components is mounted from a base device on a floor to an assembly device; correcting a stop position of the self-propelled robot relative to the assembly device based on a result obtained by measuring a positional relationship between the assembly device and the self-propelled robot using a measuring device; transferring the component container from the self-propelled robot whose stop position is corrected to the assembly device using a transfer device, and placing the component container to a predetermined placement portion in the assembly device; and sequentially taking out the plurality of components from the component container in the assembly device, the transfer device has a force sensor, the component container is a cylindrical shape having a long axis, and has a housing space having the long axis, the housing space housing a plurality of components stacked along the long axis, the transfer device places the component container to the placement portion while correcting an insertion operation of the component container relative to the placement portion in the assembly device based on a detection value of the force sensor, the insertion operation of the component container relative to the placement portion includes a straight movement of the component container by a predetermined distance along the long axis of the component container, and includes a straight movement of the component container along a reference axis that intersects a movement reference plane along the floor while correcting the insertion operation of the component container relative to the placement portion based on the detection value of the force sensor, the taking out operation of the components from the component container includes a straight movement of the components along the reference axis, the correction of the stop position includes a position correction of the component container in the movement reference plane, the correction of the insertion operation includes a fine position correction of the component container and a posture correction of the component container in the movement reference plane. manufacturing a bearing using the manufacturing method of claim 8.

9. A method of manufacturing a bearing, wherein, manufacturing a machine using the manufacturing method of claim 8.

10. A method of manufacturing a machine, wherein, 11. A manufacturing method of a vehicle, comprising: manufacturing a bearing using the manufacturing method of claim 9; and assembling a vehicle using the bearing.

12. A manufacturing method of a vehicle, comprising: manufacturing a machine using the manufacturing method of claim 10; and assembling a vehicle using the machine.

13. A computer program product comprising a computer program which, when executed by a processor, implements the steps of the manufacturing method of claim 8. ​

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