Automatic assembly system, automatic assembly method, and automatic assembly program

Abstract

The present disclosure provides an automatic assembly system, an automatic assembly method, and an automatic assembly program that can automatically assemble vehicle components in accurate positions. [Solution] The automated assembly system 10 according to the present disclosure includes a speed sensor 11 that acquires the conveyance speed of the conveyor, and a line optical sensor 12 that acquires the deviation from the position where the robot holds a vehicle component with a holding means to the assembly position where the robot can assemble the vehicle component. The robot moves the holding means in synchronization with the conveyance speed acquired by the speed sensor 11, and corrects the vehicle component held by the holding means based on the deviation acquired by the line optical sensor 12 so that the vehicle component is in the assembly position.

Description

[Technical Field]

[0001] The present disclosure relates to an automatic assembly system, an automatic assembly method, and an automatic assembly program. [Background technology]

[0002] Patent document 1 discloses an automatic windshield application device in which a robot installed on a table that moves in sync with the vehicle applies windshield to a vehicle based on the vehicle window position and mounting position acquired by a camera. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2000-272562 Summary of the Invention [Problem to be solved by the invention]

[0004] The inventors have found the following problems. In the automatic window glass application device disclosed in Patent Document 1, there is a risk that the vehicle window position and mounting position acquired by the camera may be inaccurate due to gloss or the like.

[0005] The present disclosure has been made in consideration of the above circumstances, and provides an automatic assembly system, an automatic assembly method, and an automatic assembly program that are capable of automatically assembling vehicle components in accurate positions. [Means for solving the problem]

[0006] The automatic assembly system disclosed herein is an automatic assembly system in which a robot holds a vehicle component using a holding means and assembles the vehicle component to a predetermined assembly position on a vehicle being transported by a conveyor, and is equipped with a speed sensor that acquires the conveying speed of the conveyor, and a line light sensor that acquires the deviation from the position where the robot holds the vehicle component using the holding means to an assembly position where the robot can move to the assembly position and assemble the vehicle component, and the robot moves the holding means in synchronization with the conveying speed acquired by the speed sensor, and corrects the vehicle component held by the holding means to be in the assembly position based on the deviation acquired by the line light sensor.

[0007] In the automated assembly system according to the present disclosure, the vehicle component held by the holding means is corrected from the position where the vehicle component is held by the holding means to a position where assembly is possible. By adopting such a configuration, the automated assembly system according to the present disclosure can automatically assemble the vehicle component in an accurate position.

[0008] The robot may be a collaborative robot. By adopting such a configuration, it is not necessary to separate the collaborative robot from the person, and the production line can be shortened.

[0009] The line light sensors may be provided around the vehicle component in an L-shape, with at least one in the short side direction of the L-shape and at least two or more in the long side direction of the L-shape, and the robot may perform correction in the long side direction based on deviations detected by the line light sensors provided in the short side direction, and may perform correction in at least one of the short side direction, directions perpendicular to the short side direction and the long side direction, and an assembly angle based on deviations detected by the line light sensors provided in the long side direction. With this configuration, the automated assembly system according to the present disclosure performs corrections in each direction and angle, making it possible to automatically assemble vehicle components in accurate positions.

[0010] The automatic assembly method according to the present disclosure is an automatic assembly method for a robot that assembles a vehicle component held by a holding means to a predetermined assembly position on a vehicle being transported by a conveyor, and while moving the holding means in synchronization with the transport speed of the conveyor, corrects the vehicle component held by the holding means to the assembly position based on the deviation from the position where the vehicle component is held by the holding means to an assembly position where the vehicle component can be assembled by moving to the assembly position.

[0011] In the automatic assembly method according to the present disclosure, the vehicle component held by the holding means is corrected from the position where the vehicle component is held by the holding means to a position where assembly is possible. By adopting such a configuration, the automatic assembly method according to the present disclosure makes it possible to automatically assemble the vehicle component in an accurate position.

[0012] The automatic assembly program of the present disclosure is an automatic assembly program for a robot that assembles a vehicle component held by a holding means to a predetermined assembly position on a vehicle being transported by a conveyor, and while moving the holding means in synchronization with the transport speed of the conveyor, corrects the vehicle component held by the holding means to the assembly position based on the deviation from the position where the vehicle component is held by the holding means to the assembly position where the vehicle component can be assembled by moving to the assembly position.

[0013] The automatic assembly program according to the present disclosure corrects the vehicle component held by the holding means from the position where the vehicle component is held by the holding means to a position where assembly is possible. By configuring in this way, the automatic assembly program according to the present disclosure makes it possible to automatically assemble the vehicle component in an accurate position. [Effects of the Invention]

[0014] The present disclosure provides an automatic assembly system, an automatic assembly method, and an automatic assembly program that can automatically assemble vehicle components in accurate positions. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a block diagram of an automatic assembly system according to a first embodiment. [Figure 2] FIG. 1 is a schematic diagram of an automatic assembly system according to a first embodiment. [Figure 3] FIG. 10 is a schematic diagram showing a preparation process for correcting a misalignment. [Figure 4] 10A to 10C are schematic diagrams illustrating a correction process for correcting a misalignment. [Figure 5] 4 is a flowchart showing an automatic assembly method according to the first embodiment. [Figure 6] FIG. 10 is a diagram showing an example of the arrangement of a line optical sensor. DETAILED DESCRIPTION OF THE INVENTION

[0016] The present disclosure will be described below through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential means for solving the problems. For clarity of explanation, the following description and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are given the same reference numerals, and repeated explanations are omitted as necessary. Naturally, the right-handed xyz Cartesian coordinate system shown in the drawings is for convenience in explaining the positional relationships of the components.

[0017] (Embodiment 1) <Automatic assembly system> An automatic assembly system will be described with reference to Figures 1 and 2. Figure 1 is a block diagram of the automatic assembly system according to the first embodiment. Figure 2 is a schematic diagram of the automatic assembly system according to the first embodiment. Figure 2 shows a window W1 as an example of a vehicle member. In Figure 2, the longitudinal direction of the window W1 is the x direction, and the lateral direction of the window W1 is the y direction. In Figure 2, the direction perpendicular to the xy plane of the window W1 is the z direction. The notations of the lateral direction, longitudinal direction, etc. in Figures 3 and 4, which will be described later, are the same as those in Figure 2.

[0018] An overview of the automatic assembly system 10 will be described. As shown in Fig. 1, the automatic assembly system 10 includes a speed sensor 11, a line optical sensor 12, and a robot 13. As shown in Fig. 2, in the automatic assembly system 10, the robot 13 holds the window W1 with a holding means 15 and assembles the window W1 at a predetermined assembly position SP3 (two-dot chain line in Fig. 2) of a vehicle C10 being transported by a conveyor C1. Each component of the automatic assembly system 10 will be described below.

[0019] <Speed ​​sensor> The speed sensor 11 shown in Fig. 1 acquires the conveying speed of the conveyor C1 (see Fig. 2) that conveys the vehicle C10. The speed sensor 11 is, for example, an encoder. Although not shown in Fig. 2, the speed sensor 11 is provided at a position where the conveying speed of the conveyor C1 can be measured, for example, on the side of the conveyor C1.

[0020] <Line optical sensor> The line optical sensor 12 will be described with reference to Figures 1 and 2. As shown in Figure 2, the line optical sensor 12 includes a right sensor 121, a left sensor 122, and a lateral sensor 123. As shown in Figure 2, the right sensor 121, the left sensor 122, and the lateral sensor 123 are provided on the robot 13 via a rod-shaped member B1. In the example shown in Figure 2, the right sensor 121 is located to the right of the vehicle C10. The same applies to the left sensor 122.

[0021] 2, the right sensor 121, the left sensor 122, and the lateral sensor 123 are provided to form an L-shape. The lateral sensor 123 is provided in the short direction (y-axis direction) of the L-shape, and the right sensor 121 and the left sensor 122 are provided in the long direction (x-axis direction) of the L-shape. Note that the right sensor 121, the left sensor 122, and the lateral sensor 123 are not limited to being provided via the rod-shaped member B1 shown in FIG. 2, as long as each sensor (right sensor 121, left sensor 122, lateral sensor 123) is provided at a position where it can acquire a deviation, which will be described later.

[0022] The line light sensor 12 detects the deviation from the position where the robot 13 holds the window W1 with the holding means 15 to the assembly possible position SP2 (the dashed line in FIG. 2). The assembly possible position SP2 is a position where the robot 13 can move to the assembly position SP3 and assemble a vehicle component, and details will be described later.

[0023] The deviations detected by each sensor will now be described. The lateral sensor 123 detects the deviation in the x-axis direction from the position where the robot 13 holds the window W1 with the holding means 15 to the possible assembly position. More specifically, it detects the deviation between the end T1 of the window W1 and the end T2 corresponding to the end T1 of the window W1 at the possible assembly position SP2 (the dashed dotted line in FIG. 2).

[0024] The right sensor 121 acquires deviations in the y-axis and z-axis directions from the position where the window W1 is held by the holding means 15 to the assembly possible position. The right sensor 121 acquires deviations on the right side of the window W1 (the right sensor 121 side). More specifically, it acquires deviations between the right side (the right sensor 121 side) of the end T3 of the window W1 and the right side (the right sensor 121 side) of the end T4 of the window W1 that corresponds to the end T3 at the assembly possible position SP2.

[0025] Similarly, the left sensor 122 acquires the deviation in the y-axis and z-axis directions from the position where the window W1 is held by the holding means 15 to the assembly possible position. The left sensor 122 acquires the deviation on the left side of the window W1 (the left sensor 122 side). More specifically, it acquires the deviation between the left side (the left sensor 122 side) of the end T3 of the window W1 and the left side (the left sensor 122 side) of the end T4 of the window W1 that corresponds to the end T3 at the assembly possible position SP2.

[0026] <Robot> The robot 13 obtains the transport speed of the conveyor C1 (see FIG. 2) from the speed sensor 11. The robot 13 obtains from the line optical sensor 12 the deviation from the position where the window W1 is held by the holding means 15 to the assembly possible position.

[0027] The robot 13 moves the holding means 15 in synchronization with the conveyance speed obtained by the speed sensor 11. The robot 13 also corrects the deviation obtained by the line light sensor 12 so that the window W1 is in an assembly-ready position. The robot 13 then moves the window W1 held by the holding means 15 from the assembly-ready position SP2 to the assembly position SP3, and assembles the window W1 at the assembly position SP3 on the vehicle. The method of correction based on the deviation obtained by the line light sensor 12 will be described later.

[0028] In the example shown in FIG. 2, the robot 13 is fixed to the ceiling CH1. The robot 13 assembles the window W1 to the vehicle C10 that has been transported. After assembling the window W1 to the vehicle C10, the robot 13 assembles the window W1 to a newly transported vehicle. In this way, the robot 13 continuously assembles the window W1. Note that the robot 13 is not limited to being fixed to the ceiling CH, and may be installed on the wall or floor of a building so that it can assemble the window W1.

[0029] <Correcting misalignment (preparation process)> A correction method based on the deviation detected by the line optical sensor 12 will be described in detail with reference to Fig. 3. Fig. 3 is a schematic diagram showing a preparation process for correcting the deviation. As shown in Fig. 3, in the preparation process, the robot 13 stores three positions: a synchronization start position SP1, an assembly possible position SP2, and an assembly position SP3.

[0030] The synchronization start position SP1 is a position where the robot 13 acquires the conveyor speed from the speed sensor 11 and synchronizes the movement speed of the holding means 15 with the conveyor speed. The synchronization start position SP1 is, for example, above the vehicle, where the window W1 held by the holding means 15 does not come into contact with the vehicle C1.

[0031] The assembly position SP3 is a position where the window W1 is assembled to the vehicle. The assembly possible position SP2 is a position that is a predetermined distance away from the assembly position SP3. At the assembly possible position SP2, a correction is performed so that the window W1 is at the assembly possible position SP2. Thereafter, while holding the window W1, the holding means 15 moves the predetermined distance from the assembly possible position SP2 to the assembly position SP3, and the window W1 can be assembled at the assembly position SP3.

[0032] For example, the possible assembly position SP2 is a position that is a predetermined distance away from the assembly position SP3 in the y-axis direction and that is translated a predetermined distance in the z-axis direction. At the possible assembly position SP2, the right sensor 121, the left sensor 122, and the lateral sensor 123 are set as zero references. In this way, the robot 13 stores three positions shown in FIG. 3: the synchronization start position SP1, the possible assembly position SP2, and the assembly position SP3. However, this is not limited thereto, and the robot 13 may store other positions in addition to the synchronization start position SP1, the possible assembly position SP2, and the assembly position SP3. This further reduces contact between the robot 13 and the vehicle C10.

[0033] Here, the robot 13 holds the window W1 for each vehicle C10 transported by the conveyor and assembles the window W1 at the assembly position on the vehicle. Therefore, when the robot 13 assembles the window W1 for a new vehicle transported by the conveyor, there is a risk that the position where the holding means 15 of the robot 13 holds the window W1 may be misaligned. If this occurs, the robot 13 will not be able to assemble the window W1 at the assembly position on the new vehicle. In order to properly assemble the window W1 at the assembly position on the vehicle, it is necessary to correct the deviation from the position where the window W1 is held by the holding means 15 to the assembly possible position SP2. The correction process will be described below.

[0034] <Correction of misalignment (correction process)> FIG. 4 is a schematic diagram showing the correction process when correcting misalignment. The upper part of FIG. 4 is a diagram showing the state of the window W1 before correction. The middle part of FIG. 4 is a diagram showing the state of the window W1 after correction. The lower part of FIG. 4 is a diagram showing the state after the position of the window W1 has been remeasured. The following description will be made with reference to FIGS. 3 and 4 as appropriate.

[0035] As shown in Figure 3, the robot 13 holds the window W1 at the synchronization start position SP1 (STEP 1). The robot 13 moves the holding means 15 toward the assembly possible position SP2 while holding the window W1 with the holding means 15 in synchronization with the conveyor transport speed. As a result, the holding means 15 moves to the vicinity of the assembly possible position SP2. The vicinity of the assembly possible position SP2 is a position shifted from the assembly possible position SP2, where the holding means 15 holds the window W1. As described above, this is because the position where the holding means 15 of the robot 13 holds the window W1 shifts each time.

[0036] Next, as shown in FIG. 3, when the robot 13 moves to the vicinity of the possible assembly position SP2, it corrects the deviation so that the robot 13 is at the possible assembly position SP2 (STEP 2). Near the possible assembly position SP2, the right sensor 121, the left sensor 122, and the lateral sensor 123 indicate constant values ​​rather than zero. Therefore, the robot 13 makes corrections based on the values ​​of the right sensor 121, the left sensor 122, and the lateral sensor 123 so that the right sensor 121, the left sensor 122, and the lateral sensor 123 indicate a value of zero. In this way, the robot 13 corrects the position of the window W1 from the vicinity of the possible assembly position SP2 to the possible assembly position SP2. Note that the robot is not limited to correcting the position of the window W1 so that the values ​​of each sensor indicate zero, and may correct the position of the window W1 so that each sensor indicates a value of zero within a predetermined range from zero.

[0037] In the above example, the robot moves to the vicinity of the possible assembly position SP2 and corrects the deviation between the vicinity of the possible assembly position SP2 and the possible assembly position SP2. However, the present invention is not limited to this example, and any configuration may be used as long as the robot corrects the deviation from the current position where the window W1 is held by the holding means 15 to the possible assembly position SP2, and the window W1 is positioned at the possible assembly position SP2.

[0038] The correction in step ST2 will be described in detail with reference to FIG. 4. First, as shown in the upper part of FIG. 4, each sensor acquires the deviation from the position where the window W1 is held by the holding means 15 to the possible assembly position SP2 (STEP 221). More specifically, the lateral sensor 123 acquires the deviation in the x-axis direction from the position where the window W1 is held by the holding means 15 to the possible assembly position SP2. The right sensor 121 acquires the deviation in the y-axis direction and the z-axis direction from the position where the window W1 is held by the holding means 15 to the possible assembly position SP2. The left sensor 122 acquires the deviation in the y-axis direction and the z-axis direction from the position where the window W1 is held by the holding means 15 to the possible assembly position SP2. The right sensor 121 acquires the deviation on the right side of the window W1 (the right sensor 121 side). The left sensor 122 acquires the deviation on the left side of the window W1 (the left sensor 122 side).

[0039] 4, the robot 13 corrects the deviation from the position where the window W1 is held by the holding means 15 to the assembly possible position SP2 (STEP 222). More specifically, the robot 13 adjusts the position in the x-axis direction based on the value of the lateral sensor 123. For example, if the value of the lateral sensor 123 indicates 4 mm, the robot 13 corrects the deviation in the x-axis direction by −4 mm.

[0040] Furthermore, the robot 13 corrects the position of the right side of the window W1 (the right sensor 121 side) in the y-axis direction and the z-axis direction based on the value of the right sensor 121. For example, if the value of the right sensor 121 indicates 2 mm in the y-axis direction and 3 mm in the z-axis direction, the robot 13 corrects the position by −2 mm in the y-axis direction and −3 mm in the z-axis direction.

[0041] Furthermore, the robot 13 corrects the position of the left side of the window W1 (the left sensor 122 side) in the y-axis direction and the z-axis direction based on the values ​​of the right sensor 121 and the left sensor 122. More specifically, the robot 13 corrects the position of the left side of the window W1 (the left sensor 122 side) in the y-axis direction and the z-axis direction by correcting deviations in the roll angle and the yaw angle.

[0042] Correction of the roll angle deviation will now be described. The robot 13 calculates the roll angle deviation using Equation 1. The robot 13 corrects the roll angle deviation by rotating the window W1 in the roll direction by the calculated roll angle, with the intersection of the line light of the right sensor 121 and the window W1 as the rotation center point. By using the intersection of the line light of the right sensor 121 and the window W1 as the rotation center point, the translation amount of correction due to rotation can be reduced.

[0043]

number

[0044] where Ry is the roll angle, rz is the value of the right sensor in the z-axis direction, lz is the value of the left sensor in the z-axis direction, and S is the distance between the right and left sensors.

[0045] Correction of the deviation in the yaw angle will now be described. The robot 13 calculates the deviation in the yaw angle using Equation 2. The robot 13 corrects the deviation in the yaw angle by rotating the window W1 in the yaw direction by the calculated yaw angle, with the intersection of the line of light from the right sensor 121 and the window W1 as the rotation center point. In this way, the robot 13 adjusts the angle based on the values ​​of the right sensor 121 and the left sensor 122.

[0046]

number

[0047] where Ry is the yaw angle, ry is the value of the right sensor in the y-axis direction, ly is the value of the left sensor in the y-axis direction, and S is the distance between the right and left sensors.

[0048] In this way, the sensors are arranged to form an L-shape, with the lateral sensor 123 arranged in the short-side direction (y-axis direction) of the L-shape, and the right sensor 121 and left sensor 122 arranged in the long-side direction (x-axis direction) of the L-shape. The robot corrects misalignment in the long-side direction (x-axis direction) based on the misalignment detected by the lateral sensor 123 arranged in the short-side direction (y-axis direction). The robot corrects the following misalignments based on the right sensor 121 and left sensor 122 arranged in the long-side direction (x-axis direction). The robot corrects misalignment in the short-side direction (y-axis direction), misalignment in the direction perpendicular to the short-side direction (y-axis direction) and long-side direction (x-axis direction) of the window W1 (z-axis direction), and misalignment in the assembly angle. The assembly angle indicates the angle at which the window W1 is assembled to the vehicle C10. The assembly angle is corrected using the roll angle and yaw angle described above. In this way, the robot 13 corrects the position where the window W1 is held by the holding means 15 to the assembly possible position SP2.

[0049] Next, as shown in the lower part of Fig. 4, the robot 13 again obtains the deviation from the position where the window W1 is held by the holding means 15 to the assembly possible position SP2 using each sensor (STEP 223). Steps ST221 to ST223 are repeated until the value of each sensor becomes zero, thereby correcting the deviation from the position where the window W1 is held by the holding means 15 to the assembly possible position SP2. Note that STEP 221 to STEP 223 may be repeated so that the value of each sensor falls within a predetermined range from zero.

[0050] 3, the robot 13 holds and moves the window W1 from the synchronization start position SP2 toward the assembly position SP3 (STEP 3). More specifically, the robot 13 moves the window W1 a predetermined distance from the assembly possible position SP2 toward the assembly position SP3. Then, the robot 13 assembles the window W1 to the vehicle C10 at the assembly position SP3.

[0051] In this way, in the automatic assembly system according to embodiment 1, the position where the window is held by the holding means is corrected to a position where assembly is possible. With this configuration, the automatic assembly system according to embodiment 1 can reliably automatically assemble the window in the correct position even if the position where the holding means of the robot holds the window is misaligned with respect to the vehicle transported by the conveyor.

[0052] Furthermore, the automatic assembly system according to the first embodiment includes a speed sensor and a line light sensor. Therefore, the automatic assembly system according to the first embodiment does not require a large-scale facility configuration, and can reliably automatically assemble vehicle components in accurate positions with a simple configuration.

[0053] However, the production line may suddenly stop due to unforeseen timing. In the automatic assembly system according to the first embodiment, the robot is provided with a light-weight line optical sensor, so even if the production line suddenly stops, it is possible to prevent the robot from overshooting and coming into contact with the vehicle.

[0054] <Automatic assembly method> The automatic assembly method according to embodiment 1 will be described with reference to Fig. 5. Fig. 5 is a flowchart showing the automatic assembly method according to embodiment 1. Note that the description will also refer to Figs. 3 and 4 as appropriate.

[0055] First, the robot moves to a synchronization start position SP1 (see FIG. 3) (step ST101). Next, the robot determines whether or not it has received a synchronization start signal from the speed sensor (step ST102). The synchronization start signal includes the transport speed of the conveyor that transports the vehicle.

[0056] If the robot receives a synchronization start signal from the speed sensor (YES in step ST102), the robot moves from the synchronization start position SP1 (see FIG. 3) to the assembly possible position SP2 (see FIG. 3) (step ST103). On the other hand, if the robot does not receive a synchronization start signal (NO in step ST102), the robot repeats the process from step ST1.

[0057] Next, the robot obtains the deviation from the position where the window is held by the holding means to the assembly possible position SP2 (see FIG. 3) from the line optical sensors (step ST104). Next, the robot determines whether the value of each line optical sensor is within a predetermined range from zero (step ST105).

[0058] If the value of each line light sensor 12 is within a predetermined range from zero (YES in step ST105), the robot moves from the possible installation position SP2 (see FIG. 3) to the installation position SP3 (see FIG. 3) (step ST107). Then, at the installation position SP3 (see FIG. 3), the robot installs the window in a predetermined installation position on the vehicle (step ST108).

[0059] On the other hand, if the value of each line optical sensor is not within a predetermined range from zero (NO in step ST105), the robot corrects the deviation from the position where the vehicle component is held by the holding means to the assembly possible position based on the value of the line optical sensor (step ST106). Details of the correction method are the same as those described above, so a description thereof will be omitted here (step ST106). Then, the robot repeats the process from step ST103 until the value of each line optical sensor 12 is within a predetermined range from zero.

[0060] In this way, the automatic method according to embodiment 1 corrects any deviation from the position where the window is held by the holding means to the position where it can be assembled. With this configuration, the automatic assembly system according to embodiment 1 can automatically assemble the window in the correct position even if the position where the robot's holding means holds the window is slightly off relative to the vehicle transported by the conveyor.

[0061] <Line optical sensor placement> An example of the arrangement of the line light sensor will be described with reference to Fig. 6. Fig. 6 is a diagram showing an example of the arrangement of the line light sensor. The upper part of Fig. 6 shows an example of the arrangement of the line light sensor when assembling the panoramic roof R1. The middle part of Fig. 6 shows an example of the arrangement of the line light sensor when assembling the front window FW1 or the rear window RW1. The lower part of Fig. 6 shows an example of the arrangement of the line light sensor when assembling the quarter window QW1.

[0062] As shown in the upper part of Fig. 6, a horizontal sensor 123 is provided in the short side direction (y-axis direction) of the L-shape around the panoramic roof R1, and a right sensor 121 and a left sensor 122 are provided in the long side direction (x-axis direction) of the L-shape to form an L-shape. The middle and lower parts of Fig. 6 have similar arrangements, so their explanations will be omitted. Note that the arrangement of each sensor may be such that one or more sensors are provided in the short side direction (y-axis direction) of the L-shape, and at least two or more sensors are provided in the long side direction (x-axis direction).

[0063] <Collaborative robot> The robots described above may be collaborative robots. This configuration eliminates the need for a distance between the collaborative robot and humans. This eliminates the need for safety measures to ensure a distance, allowing for shorter production lines.

[0064] Here, the vehicle component is described as a window, but the vehicle component is not limited to a window and may be a component that can be assembled to a predetermined assembly position using a robot, such as a hood, door, rear hatch, or trunk.

[0065] Furthermore, some or all of the processing in the robot described above can be implemented as a computer program. Such a program can be stored and provided to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible recording media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). The program may also be provided to a computer by various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable media can provide the program to a computer via a wired communication path such as an electric wire or optical fiber, or via a wireless communication path.

[0066] The present disclosure is not limited to the above-described embodiments, and can be modified as appropriate within the scope of the present disclosure. [Explanation of symbols]

[0067] 10 Automatic assembly system 11 Speed ​​sensor 12 Line Optical Sensor 13. Robot 15 Retention means 121 Right Sensor 122 Left sensor 123 Horizontal sensor C1 Conveyor C10 vehicle CH Ceiling QW1 Quarter Wind R1 panoramic roof FW1 front window RW1 rear window SP1 Synchronization start position SP2 Assembly possible position SP3 Assembly position T1, T2, T3, T4 ends W1 Wind

Claims

1. An automatic assembling system in which a robot holds a vehicle component by a holding means and assembles the vehicle component at a predetermined assembly position on a vehicle being transported by a conveyor, a speed sensor for acquiring the conveying speed of the conveyor; a line optical sensor that detects a deviation from a position where the robot holds the vehicle component by the holding means to an assembly position where the robot can move to the assembly position and assemble the vehicle component, The robot moving the holding means in synchronization with the conveying speed obtained by the speed sensor; correcting the vehicle member held by the holding means to the assembling position based on the deviation obtained by the line light sensor; Automatic assembly system.

2. The robot is a collaborative robot. The automated assembly system according to claim 1 .

3. The line optical sensor At least one of the L-shaped support members is provided in the short direction of the L-shaped support member and at least two of the L-shaped support members are provided in the long direction of the L-shaped support member around the vehicle member, so as to form an L-shaped support member; The robot performing a correction in the longitudinal direction based on the deviation acquired by the line optical sensor provided in the lateral direction; and correcting at least one of the short-side direction, the direction perpendicular to the short-side direction and the long-side direction, and the assembly angle based on the deviation acquired by the line light sensor provided in the long-side direction. The automated assembly system according to claim 1 .

4. 1. An automatic assembling method for a robot that assembles a vehicle component held by a holding means to a predetermined assembly position on a vehicle being transported by a conveyor, comprising: While moving the holding means in synchronization with the conveying speed of the conveyor, correcting the vehicle component held by the holding means to the assembling position based on a deviation from the position where the vehicle component is held by the holding means to the assembling position where the vehicle component can be moved to the assembling position and assembled; Automatic assembly method.

5. An automatic assembling program for a robot that assembles a vehicle component held by a holding means to a predetermined assembly position on a vehicle being transported by a conveyor, the program comprising: While moving the holding means in synchronization with the conveying speed of the conveyor, correcting the vehicle component held by the holding means to the assembling position based on a deviation from the position where the vehicle component is held by the holding means to the assembling position where the vehicle component can be moved to the assembling position and assembled; Automatic assembly program.

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