Parts supply system, assembly manufacturing method, bearing manufacturing method, machine manufacturing method, vehicle manufacturing method, and program

Abstract

The part supply system includes a control device (3), a mobile robot (4), a transfer device, and a measuring device (25). The mobile robot (4) moves without a track between the part storage area (1) and the assembly equipment (2) based on commands from the control device (3), and transports part cases that house parts. The transfer device transfers the part cases between the assembly equipment (2) and the mobile robot (4). The control device (3) measures the positional relationship between the assembly equipment (2) and the mobile robot (4) using the measuring device (25), and corrects the stopping position of the mobile robot (4) with respect to the assembly equipment (2).

Description

[Technical field]

[0001] The present disclosure relates to a parts supply system capable of transporting and supplying parts cases containing parts from a parts storage area to assembly equipment in a product production factory using a mobile robot. 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]

[0002] In a production factory for a product consisting of a plurality of parts, such as a bearing device, a ball screw device, or a linear guide, there is an assembly facility (assembly device) such as an assembly machine for assembling the parts and an assembly workbench. The assembly facility is usually located as part of the production line for the product. In a production factory equipped with such assembly facility, the work of transporting parts cases containing parts from a parts storage area to the assembly facility and supplying them is carried out at any time.

[0003] This work requires heavy labor and increases labor costs, so one possible solution to this problem is to use a mobile robot to transport the parts cases.

[0004] JP 2020-91571 A describes a mobile robot that can be used to perform the above-mentioned tasks. The mobile robot is a trackless mobile robot that moves in places where no tracks such as rails are laid, and is equipped with a transfer means such as a hand unit for transferring an object to be transported. The mobile robot is controlled to transfer the object to itself at a first point, move from the first point to a second point, and transfer the object to a counterpart object, facility, or device such as a vehicle at the second point. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2020-91571 A Summary of the Invention [Problem to be solved by the invention]

[0006] The mobile robot described in JP 2020-91571 A is equipped with a position detection sensor for moving along a predetermined route and stopping at a predetermined position. However, since the mobile robot moves without a trajectory, it is difficult to ensure sufficient accuracy in the stopping position, and the stopping position at the second point may deviate from the optimal position. If the stopping position of the mobile robot deviates, there is a problem that the transfer of the transport object to the other side cannot be performed with high positional accuracy.

[0007] In particular, in a manufacturing factory for products consisting of multiple parts, there are cases where the transfer of parts cases to assembly equipment is required to be performed with high positional accuracy. For example, if the transfer work is a setting work of inserting and fitting the parts cases into a setting unit provided in the assembly equipment, if a worker is present between the mobile robot and the assembly equipment, there is no particular problem with the worker performing the setting work. On the other hand, if a worker is not present, the mobile robot must perform the setting work with high positional accuracy in order to be able to set the parts cases in the setting unit, which may cause problems such as the parts cases dropping.

[0008] The present disclosure has an object to provide a parts supply system capable of transferring parts cases with high positional accuracy between a mobile robot and assembly equipment. Another object of the present disclosure is to provide a parts supply system, an assembly manufacturing method, a bearing manufacturing method, a machine manufacturing method, a vehicle manufacturing method, and a program, which are advantageous in reducing manufacturing costs and improving manufacturing quality. [Means for solving the problem]

[0009] A parts supply system according to one aspect of the present invention includes a control device, a mobile robot that moves without a track between a parts storage area and an assembly facility based on a command from the control device to transport a parts case that contains parts, a transfer device that transfers the parts case between the assembly facility and the mobile robot, and a measuring device that measures a positional relationship between the assembly facility and the mobile robot. The control device measures the positional relationship between the assembly facility and the mobile robot using the measuring device before transferring the parts case between the mobile robot and the assembly facility, and corrects a stopping position of the mobile robot with respect to the assembly facility based on a measurement result of the positional relationship.

[0010] A method for manufacturing an assembly according to one embodiment of the present invention includes moving an autonomous mobile robot equipped with a parts case containing a plurality of parts from a base device to in front of an assembly device, correcting a stopping position of the autonomous mobile robot relative to the assembly device based on the results of measuring the positional relationship between the assembly device and the autonomous mobile robot using a measuring device, transferring the parts case from the autonomous mobile robot whose stopping position has been corrected to the assembly device using a transfer device and setting the parts case in a predetermined setting section of the assembly device, and sequentially removing the plurality of parts from the parts case in the assembly device.

[0011] A method for manufacturing a bearing according to one aspect of the present invention manufactures a bearing using the above-described method for manufacturing an assembly.

[0012] A method for manufacturing a machine according to one aspect of the present invention manufactures a machine using the above-described method for manufacturing an assembly.

[0013] A vehicle manufacturing method according to one aspect of the present invention includes manufacturing a bearing using the above-described bearing manufacturing method, and assembling a vehicle using the bearing.

[0014] A method for manufacturing a vehicle according to one aspect of the present invention includes manufacturing a machine using the above-described machine manufacturing method, and assembling a vehicle using the machine.

[0015] A program according to one embodiment of the present invention causes a processor to perform the following steps: move an autonomous mobile robot equipped with a parts case containing a plurality of parts from a base device to in front of an assembly device; correct a stopping position of the autonomous mobile robot relative to the assembly device based on the results of measuring the positional relationship between the assembly device and the autonomous mobile robot using a measuring device; transfer the parts case from the autonomous mobile robot, whose stopping position has been corrected, to the assembly device using a transfer device and set the parts case in a predetermined setting section of the assembly device; and sequentially remove the plurality of parts from the parts case in the assembly device. Effect of the Invention

[0016] According to the part supply system of one aspect of the present invention, it is possible to transfer part cases between a mobile robot and an assembly facility with high positional accuracy.

[0017] According to another aspect of the present invention, it is possible to provide a part supply system, an assembly manufacturing method, a bearing manufacturing method, a machine manufacturing method, a vehicle manufacturing method, and a program, which are advantageous for reducing manufacturing costs and improving manufacturing quality. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is a conceptual diagram of a component supply system according to the first embodiment. [Diagram 2] FIG. 2 is a perspective view of the mobile robot. [Diagram 3] FIG. 3 is a diagram showing a part supply procedure. [Figure 4] FIG. 4 is a diagram showing the procedure from start to finish of a part supply operation by a mobile robot to an assembly facility. [Diagram 5] FIG. 5 is a flow chart showing an example of a method for manufacturing an assembly. [Figure 6] FIG. 6 is a perspective view of a mobile robot constituting the part supply system in the second embodiment. [Figure 7] FIG. 7 is a conceptual diagram of a component supply system according to the third embodiment. [Figure 8] FIG. 8 is a perspective view, partly in section, of the rolling bearing. [Figure 9] FIG. 9 is a schematic cross-sectional view of a motor in which a rotating shaft is supported by a rolling bearing. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] [First embodiment] A first embodiment of the present invention will be described with reference to Figs.

[0020] In this embodiment, the parts supply system is a system installed in a production factory for a product (assembly) consisting of a plurality of parts. The production factory includes a parts storage area (base device, table device) 1 and assembly equipment (assembly device) 2. As shown in a conceptual diagram in Fig. 1, the parts supply system includes a control device 3 and a mobile robot (autonomous traveling transport robot, trackless robot) 4. The directions perpendicular to each other within a plane (XY plane) on which the mobile robot 4 moves along a floor surface or the like are defined as the X-axis direction and the Y-axis direction, and the direction perpendicular to the XY plane is defined as the Z-axis direction.

[0021] In one example, the product produced in the production factory is a product (assembly) consisting of a plurality of parts, such as a bearing device, a ball screw device, a linear guide, etc. In another example, a product (assembly) other than the above may be applicable.

[0022] In a production factory, the relative positions of the parts storage area (base device) 1, assembly equipment (assembly device) 2, and control device 3 are not limited to those shown in Fig. 1, and can be set arbitrarily. The same arbitrariness applies to the movement route of the mobile robot 4, which is shown by the dashed line in Fig. 1.

[0023] The parts storage area (base device) 1 is a place where parts cases 5 (see FIG. 2) containing parts are placed. In one example, the parts storage area 1 includes a table, shelf, etc. for placing the parts cases 5. In other examples, parts storage areas (base devices) having different configurations are applicable. In one example, the parts cases 5 have a tubular shape with a long axis, such as a cylindrical shape. In other examples, the parts cases 5 can have other shapes.

[0024] The assembly facility 2 includes an assembly device or a workbench for assembling parts. The assembly facility (assembly device) 2 is disposed in a location away from the parts storage area 1, for example, in a part of a product production line.

[0025] The assembly facility (assembly device) 2 includes a setting unit 21 capable of setting the parts cases 5 in an appropriate manner (e.g., cylindrical fitting) such as insertion (including fitting). In one example, the assembly facility 2 includes multiple setting units 21. In another example, the assembly facility 2 includes a single setting unit 21. For example, the parts in the parts cases 5 set in the setting unit 21 are sequentially removed from the parts cases 5 and assembled to other parts, or are transferred to a parts storage unit for each parts case 5 and then sequentially removed from the parts storage unit and assembled to other parts. The assembly work is performed in any of the following modes: automatic work by the assembly device, manual work by a worker, and collaborative work between the assembly device and the worker.

[0026] In one example, the component case 5 has a storage space (chamber) having a long axis. The component case 5 has an opening and a peripheral wall that extends along the long axis and surrounds the storage space. A component is inserted into or removed from the storage space of the component case 5 through the opening. A plurality of components are stacked along the long axis and stored in the storage space of the component case 5. For example, the component case 5 has a substantially columnar or cylindrical storage space including a space surrounded by a peripheral wall that extends along the long axis. The plurality of components have a substantially annular or cylindrical shape. The plurality of components are stacked along the long axis of the storage space and stored in the storage space with the center of the component substantially coinciding with the long axis of the storage space. The components stored in the component case 5 have an axial surface that is arranged along a plane perpendicular to the long axis of the storage space. The components are stacked in the component case 5 so that the axial surface of the first component faces the axial surface of the second component. In the assembly facility (assembly device) 2, a plurality of components are sequentially taken out of the component case 5 along the long axis of the storage space and assembled with another component. For example, multiple parts are taken out one by one or several at a time from part case 5. For example, in the storage space (storage chamber) of part case 5, when the length of the major axis is L1 and the length of the minor axis perpendicular to the major axis is L2, 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 10 or more.

[0027] In one example, the assembly equipment 2 has a function of monitoring the quantity of parts housed in the parts cases 5 set in each setting unit 21, or the quantity of parts housed in the parts storage units to which the parts are transferred from the parts cases 5. This function is realized by an appropriate method, for example, by counting the quantity of parts taken out of the parts cases 5 or the parts storage units, or by measuring the weight of the parts cases 5 or the parts storage units. For example, this function is used to time the assembly equipment 2 to request parts from the control device 3.

[0028] In one example, in the parts supply system, a wireless communication network is constructed to enable communication between the parts storage area 1, the assembly equipment 2, the control device 3, and the mobile robot 4, in order to enable parts supply control by the control device 3, including parts request commands from the assembly equipment 2 to the control device 3 and parts supply commands from the control device 3 to the mobile robot 4.

[0029] Based on instructions from the control device 3, the mobile robot (autonomous mobile robot) 4 moves without track between the parts storage area 1 and the assembly equipment 2, transporting parts cases 5 containing parts, and can stop in front of the assembly equipment 2 to transfer the parts cases 5 between the assembly equipment 2 and the assembly equipment 2.

[0030] In one example, the mobile robot 4 includes a dolly 8. The dolly 8 includes a platform 9 and a number of wheels 10 attached to the bottom end of the platform 9 to enable the mobile robot 4 to move in any direction without a track. For example, the platform 9 has a roughly rectangular parallelepiped outer shape and includes a case mounting section 11 on its upper surface on which a number of component cases 5 can be placed.

[0031] In one example, the loading platform 9 is equipped with a wireless communication device that constitutes the wireless communication network, a robot computer for appropriately operating the mobile robot 4 based on control commands from the control device 3, a battery as a power source, etc. For example, the mobile robot 4 is capable of charging its battery while waiting in the parts storage area 1.

[0032] In this embodiment, the mobile robot (autonomous running robot) 4 has a transfer device (transfer means) 6 for transferring the parts case 5.

[0033] In one example, the transfer device 6 includes a robot arm 12 supported on a portion of the upper surface of the platform 9 that is separate from the case placement unit 11, and a hand 13 attached to the tip of the robot arm 12. The robot arm 12 is capable of appropriately changing the three-dimensional position and orientation of its tip. The hand 13 is capable of grasping the parts case 5, and specifically, is capable of expanding and contracting to grasp and release the parts case 5.

[0034] In one example, the hand 13 is detachable from the tip of the robot arm 12, and can be replaced with a hand 13 that matches the shape and size of the target parts case 5. Additionally, the parts supply system can be provided with a function for automatically performing the hand 13 replacement operation.

[0035] In this embodiment, the part supply system is provided between the assembly facility 2 and the mobile robot 4, and includes a measuring device (positional relationship confirmation means) 25 for confirming the positional relationship between the assembly facility 2 and the mobile robot 4.

[0036] 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 provided on the other of the assembly equipment 2 and the mobile robot 4.

[0037] In one example, a correction mark 16 is provided at a predetermined location of the assembly equipment 2, and a correction camera 7 is provided on the mobile robot 4. In another example, a correction camera 7 is provided on the assembly equipment 2, and a correction mark 16 is provided on the mobile robot 4.

[0038] The correction mark 16 is a mark that is read by the correction camera 7 of the mobile robot 4 to enable confirmation of the positional relationship between the assembly equipment 2 and the mobile robot 4, and is configured, for example, as a two-dimensional code. The correction mark 16 can be attached to any location as long as it can be read by the correction camera 7 of the mobile robot 4. For example, the correction mark 16 is attached near the setting unit 21.

[0039] In one example, the correction camera 7 is attached to the tip of the robot arm 12. The correction camera 7 is used to check the positional relationship between the assembly equipment 2 and the mobile robot 4 by reading the correction mark 16 of the assembly equipment 2. The correction camera 7 can be configured by, for example, a 2D camera.

[0040] Alternatively and / or additionally, the measuring device 25 may employ another optical method, an electromagnetic method, a physical method, or the like. An example of another optical method is a method of measuring the positional relationship with various correction marks (reference marks) such as barcodes using a laser. An example of an electromagnetic method is a method of using a millimeter wave radar that irradiates a target object with millimeter waves to measure the positional relationship with the target object. An example of a physical method is a method of measuring the positional relationship using a guide rail that matches the shape of the mobile robot, a guide that gradually narrows from a wide opening, a reference block with which the mobile robot comes into contact, or the like.

[0041] In one embodiment, the mobile robot 4 further includes a force sensor 14 attached to the tip of the robot arm 12. The force sensor 14 is capable of detecting the direction and magnitude of an external force acting on the hand 13. The force sensor 14 is used to correct the movement of the transfer device 6 when the mobile robot 4 transfers a parts case 5 between itself and a counterpart.

[0042] In one example, in the part supply system, the mobile robot 4 includes a safety sensor for detecting the approach or contact of a person such as a worker or an obstacle. The part supply system has a function of slowing down or stopping the movement of the mobile robot 4 when the safety sensor detects the approach or contact of a person or an obstacle.

[0043] For example, the safety sensor is composed of a plurality of sensors each mounted on the loading platform 9. The plurality of sensors include a distance sensor (not shown) that detects the approach of a person or an obstacle, an obstacle camera (not shown) that detects the approach of an obstacle lying on the floor, and a contact sensor 15 that detects contact by a person or an obstacle. The obstacle camera can be composed of, for example, a 3D camera or a two-dimensional laser sensor. The contact sensor 15 is installed around the entire outer periphery of the upper end of the loading platform 9.

[0044] In one example, when the mobile robot 4 detects using the distance sensor that a person has approached within a predetermined distance while moving, the mobile robot 4 can slow down its moving speed or stop moving based on a command from the control device 3.

[0045] In one example, when the mobile robot 4 detects that an obstacle has approached to a predetermined distance using the distance sensor or the obstacle camera while moving, the mobile robot 4 can change its movement route based on instructions from the control device 3 to avoid contact with the obstacle.

[0046] In one example, when the mobile robot 4 is transferring a parts case 5 between itself and another side that is stopped from moving, if the distance sensor detects that a person has approached to a predetermined distance or if the contact sensor 15 detects that a person has come into contact with the contact sensor 15, the mobile robot 4 can slow down the speed of the transfer operation or stop the transfer operation.

[0047] Additionally, the mobile robot 4 may be equipped with a sound generating device and / or a light emitting device for making people in the vicinity aware of its presence. The sound generating device is a device that emits sound around the mobile robot 4. The light emitting device is a device that generates light that is visible from outside the mobile robot 4. For example, when the mobile robot 4 is moving or when transferring a parts case 5 between the mobile robot 4 and a partner side while the mobile robot 4 is stopped, if the distance sensor detects that a person has approached within a predetermined distance, the mobile robot 4 can use the sound generating device or the light emitting device to alert the person.

[0048] In one example, the parts supply system includes a robot position detection means (robot position detection device) for detecting the position of the mobile robot 4 in the production factory. The robot position detection means can be composed of, for example, position detection cameras installed at multiple locations in the production factory for checking the position of the mobile robot 4, a position detection sensor mounted on the mobile robot 4 for detecting position markers marked on the floor of the production factory, and a GPS receiver mounted on the mobile robot 4. The control device 3 controls the movement of the mobile robot 4 while checking the position of the mobile robot 4 in the production factory using the robot position detection means.

[0049] FIG. 3 is a block diagram showing an example of a part supply procedure in the part supply system.

[0050] In one example, in a parts supply system, the assembly equipment 2 requests parts from the control device 3 at an appropriate timing (step S1). Specifically, when the quantity of parts housed in a parts case 5 set in any of the setting units 21, or the quantity of parts housed in the part storage unit to which parts are transferred from the parts case 5, falls below a predetermined quantity or becomes zero, the assembly equipment 2 requests the control device 3 to retrieve the parts case 5 set in the setting unit 21 and set a new parts case 5 in the setting unit 21. The control device 3 accepts the request (step S2) and issues a parts supply command to the mobile robot 4 (step S3).

[0051] The mobile robot 4 receives the supply command (step S4), and transfers the parts case 5 to its own case placement section 11 in the parts storage area 1 (step S5). Note that the work of transferring the parts case 5 in the parts storage area 1 can also be performed by a worker.

[0052] After the part case 5 has been transferred to the case placement unit 11 of the mobile robot 4, the mobile robot 4 moves toward a commanded position in front of the assembly equipment 2 (step S6) and arrives at the commanded position (step S7). Specifically, the mobile robot 4 moves toward and arrives at the commanded position based on control of a commanded position reference using the robot position detection means.

[0053] Next, the arrival of the mobile robot 4 is confirmed at the assembly facility 2 (step S8), and a task command to supply the parts case 5 is issued to the mobile robot 4 (step S9).

[0054] The mobile robot 4 receives the supply operation command (step S10), starts the operation of supplying the parts cases 5 to the assembly equipment 2 (step S11), and completes the supply operation (step S12). The specific content of the supply operation will be described later.

[0055] Next, the assembly facility 2 confirms that the supply work has been completed (step S13), and issues a command to the mobile robot 4 to return to the parts storage area 1 (step S14). The mobile robot 4 receives the command to return (step S15), moves toward the parts storage area 1 (step S16), and waits at the parts storage area 1 (step S17).

[0056] Here, the parts supply system includes a robot position detection means for detecting the position of the mobile robot 4 in the production factory. Since the mobile robot 4 moves without a trajectory, it is difficult to ensure sufficient accuracy in the stopping position. There is a possibility that the arrival position in step S7 in FIG. 3 may deviate from the optimal position. If no measures are taken when the stopping position of the mobile robot 4 deviates from the target position, there is a possibility that the transfer of the parts cases 5 between the mobile robot 4 and the assembly equipment 2 cannot be performed with high positional accuracy.

[0057] 3, specifically before the mobile robot 4 transfers the parts case 5 between itself and the assembly facility 2, the parts supply system measures the positional relationship between the mobile robot 4 and the assembly facility 2 by reading the correction mark 16 with the correction camera 7. The parts supply system also has a stop position correction function that corrects the stop position of the mobile robot 4 with respect to the assembly facility 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 for appropriately operating the mobile robot 4 based on a control command from the control device 3.

[0058] Furthermore, the parts supply system has a fine correction function. When performing the supply work from step S11 to step S12 in Fig. 3, specifically, after correction by the stop position correction function, fine correction is performed on the movement of the transfer device 6. The mobile robot 4 transfers the parts cases 5 between itself and the assembly equipment 2 while correcting the movement of the transfer device 6 based on the detection value of the force sensor 14. This fine correction is performed under the control of the control device 3. More specifically, it is performed by a robot computer for appropriately operating the mobile robot 4 based on a control command from the control device 3.

[0059] In order to more specifically explain an example of the above-mentioned stop position correction function and fine correction function, the supply work from step S11 to step S12 in FIG. 3 will be explained in more detail with reference to FIG.

[0060] In one example, as described above, after the mobile robot 4 arrives at a command position in front of the assembly equipment 2, it starts the task of supplying the parts case 5 containing parts to the assembly equipment 2 (step S11).

[0061] After starting this work, the parts supply system first performs correction by the stop position correction function (step S11-1). Specifically, the control device 3 controls the moving robot 4, and the correction camera 7 corrects the stop position deviation of the moving robot 4, that is, the large position deviation. The correction camera 7 attached to the tip of the robot arm 12 of the moving robot 4 reads the correction mark 16 attached to the assembly equipment 2, and measures the positional relationship between the moving robot 4 and the assembly equipment 2. Next, based on the measurement result of the positional relationship, the amount of deviation of the moving robot 4 from the appropriate position with respect to the assembly equipment 2 is determined, and the stop position of the moving robot 4 is moved to correct the amount of deviation to zero (step S11-2). For example, the stop position accuracy after correction (allowable deviation in a two-dimensional plane (movement plane, XY plane)) is 10, 9, 8, 7, 6, 5, 4, 3, or 2 mm or less. Preferably, the stop position accuracy after correction (allowable deviation) is several mm or less, for example, 2 mm or less. The above values ​​are merely examples, and are not limited thereto. By such correction, it becomes possible to transfer the component case 5 between the moving robot 4, which is capable of moving without a trajectory, and the assembly equipment 2 with high positional accuracy.

[0062] Next, parts verification is performed to prevent setting errors (step S11-3). That is, information representing the parts contained in a suitable format such as a barcode is attached to a part of the parts case 5. Therefore, the information representing the parts attached to the parts case 5 placed on the case placement section 11 of the mobile robot 4, that is, the part of the parts case 5 that is about to be transferred to the assembly equipment 2, is read using the correction camera 7 or a reading device separately attached to the tip of the robot arm 12, and it is confirmed that it is the correct part to be supplied.

[0063] Next, among the multiple setting units equipped in the assembly equipment 2, the empty parts case 5 set in the setting unit 21 for which parts were requested in step S1 in Fig. 3 is collected (step S11-4). Specifically, the empty parts case 5 set in the setting unit 21 is grasped by the hand 13 attached to the tip of the robot arm 12, removed from the setting unit 21, and transferred to the case placement unit 11 of the mobile robot 4.

[0064] Next, the parts case 5 that has been subjected to the parts matching and that is placed on the case placement unit 11 of the mobile robot 4 is transferred to the assembly equipment 2 (step S11-5). Specifically, the parts case 5 is grasped and lifted by the hand 13 attached to the tip of the robot arm 12, and set in the setting unit 21 from which the empty parts case 5 was removed.

[0065] When performing such a setting operation, correction is performed by the fine correction function as necessary (step S11-6). Specifically, while performing the setting operation as described above, the force sensor 14 detects the direction and magnitude of the external force acting on the hand 13. Here, the fact that an external force of a predetermined value or more is acting on the hand 13 means that there is a possibility that the component case 5 is hitting the setting unit 21 or its surroundings. In one example, a guide portion such as a tapered portion is provided at the entrance of the setting unit 21 to physically guide the component case 5 toward the inside of the setting unit 21. When the component case 5 hits the guide portion during the setting operation, the force sensor 14 detects the direction and magnitude of the external force acting on the hand 13. Based on the detection result, the movement of the transfer device 6 is corrected (step S11-7). For example, the direction and magnitude of the detected external force are determined, and the movement of the transfer device 6 is corrected in a direction in which the determined external force disappears, that is, in a direction in which the component case 5 can be set in the setting unit 21. The positional accuracy after correction (allowable deviation in a two-dimensional plane (movement 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 positional accuracy after correction (allowable XY deviation) is, for example, 0.1 mm or less. The above values ​​are merely examples and are not limited to these. Note that correction of the movement of the transfer device 6 is not limited to the coordinate position on the XY plane, but can also include the position along the Z axis and the attitude / tilt (e.g., θX, θY, θZ). Such correction improves the positional accuracy when transferring the component case 5, and allows the above-mentioned setting work to be performed appropriately.

[0066] The supply operation is completed when the component case 5 is set in the setting unit 21 as described above (step S12).

[0067] As described above, according to the component supply system of this embodiment, the safety sensor can be used to ensure safety during the movement of the mobile robot 4 and during the transfer operation of the component case 5.

[0068] The control device 3 performs the stop position correction function, thereby correcting positional deviation, i.e., correcting deviation in the stop position of the mobile robot 4. Furthermore, the control device 3 performs the fine correction function, thereby enabling fine correction of the movement of the transfer device 6. For example, it is possible to appropriately handle the setting work of the parts cases 5, which requires accuracy on the order of ±0.1 mm or less, without the intervention of an operator.

[0069] The operation of setting the component case 5 in the setting unit 21 includes an operation of inserting the component case 5 into the setting unit 21. The inserting operation includes linear motion of the component case 5 moving a predetermined distance along at least the long axis of the storage space of the component case 5. For example, the long axis of the storage space of the component case 5 is parallel to the Z axis, and the setting operation includes linear motion of the component case 5 along the Z axis. The assembly operation includes an operation of sequentially removing multiple components from the component case 5 and combining them with other components. The removing operation includes linear motion of the components moving a predetermined distance along at least the long axis of the storage space of the component case 5. For example, the long axis of the storage space of the component case 5 is parallel to the Z axis, and the removing operation includes linear motion of the components along the Z axis.

[0070] In one embodiment, the setting operation in the transfer process and the removal operation in the assembly process each include linear motion along an axis parallel to the same reference axis (e.g., Z axis). The reference axis (e.g., Z axis) intersects or is perpendicular to the movement reference plane (XY plane) of the mobile robot 4. The setting operation including the linear insertion operation is performed with high accuracy by correcting the stop position of the mobile robot 4 using the measuring device 25 (position correction in the XY plane) and correcting the transfer operation using the force sensor 14 (fine position correction + attitude correction in the XY plane). Setting the component case 5 with high accuracy improves the work efficiency and work accuracy in the assembly process. This is advantageous for improving product quality and reducing product costs.

[0071] In one example, when the length of the major axis of the storage space of the component case 5 is L1 and the distance of the linear movement of the component case 5 during the setting operation is L3, L3 / L1 is 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. The above numerical values ​​are only examples and are not limited to these. High holding stability in the setting unit 21 is advantageous for improving the work efficiency and work accuracy in the assembly process.

[0072] FIG. 5 is a flow chart showing an example of a method for manufacturing an assembly. The method for manufacturing an assembly includes moving a robot (mobile robot, autonomous robot, or trackless robot) 4, on which a parts case 5 containing a plurality of parts is mounted, from a parts storage area (base device) 1 to the front of an assembly facility (assembly device) 2 (S21); correcting the stop position of the robot 4 with respect to the assembly facility 2 based on the result of measuring the positional relationship between the assembly facility 2 and the robot 4 using a measuring device 25 (S22); transferring the parts case 5 from the robot 4 whose stop position has been corrected to the assembly facility 2 using a transfer device 6 and setting the parts case 5 in a predetermined setting unit 21 in the assembly facility 2 (S23); and sequentially taking out a plurality of parts from the parts case 5 in the assembly facility 2 and assembling them with other parts (S24). In one example, the parts case 5 has a storage space having a long axis. A plurality of parts are stored stacked along the long axis of the parts case 5. The correction of the stop position is a correction regarding the position on a plane coordinate intersecting the long axis of the parts case 5. The transfer device 6 sets the component case 5 in the setting unit 21 by inserting the component case 5 into the setting unit 21 along the long axis of the component case 5. The inserting operation includes linear motion of the component case 5 along the long axis. The transfer device 6 sets the component case 5 in the setting unit 21 while correcting the inserting operation of the component case 5 into the setting unit 21 based on the detection value of the force sensor 14. The assembly equipment 2 sequentially takes out multiple components from the component case 5 along the long axis of the component case 5 and assembles them with other components. The inserting operation includes linear motion of the component case 5 along the long axis.

[0073] The control device 3 has a processor and a memory, and performs information processing based on a program. The control device 3 has devices such as a CPU, a GPU, an FPGA, an ASIC, and memories such as a ROM and a RAM. The control device 3 reads and executes programs stored in the memory, and controls each part of the system. The control device 3 can also be said to be a signal processing part that performs signal processing. The control device 3 can communicate with a server and other devices via the communication part to send and receive information in both directions. The control device 3 also has a storage part. The storage part is composed of a non-volatile storage medium, etc., and stores (records) programs and data. The storage part is a memory such as a ROM or a flash memory, or a storage device such as a hard disk or SSD, and stores various information.

[0074] Second Embodiment A second embodiment of the present invention will be described with reference to Fig. 6. Fig. 6 is a perspective view of a mobile robot 4a that constitutes a part supply system in this embodiment.

[0075] 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, 17b. The two conveyors 17a, 17b are installed adjacent to each other in the horizontal direction on the upper surface of the loading platform 9. Each of the conveyors 17a, 17b can horizontally transport a component case placed on its upper surface. The transport direction α of the component cases by each of the conveyors 17a, 17b is set to a direction perpendicular to the adjacent direction β of the two conveyors 17a, 17b. The transfer of component cases between each of the conveyors 17a, 17b and the other side is performed from one side of the transport direction α (the front side in FIG. 6).

[0076] In one example, the correction camera (not shown) of the mobile robot 4a is attached to a part of the platform 9. For example, the correction mark 16 of the assembly equipment 2 (see FIG. 1) is attached to a part of the assembly equipment 2 that can be read by the correction camera of the mobile robot 4a. In another example, the correction mark can be attached to the mobile robot 4a, and the assembly equipment 2 can be equipped with a correction camera. As an embodiment of the positional relationship confirmation means, an embodiment using an optical method, an electromagnetic method, a physical method, or the like different from the above can also be adopted.

[0077] In one example, empty parts cases set in the setting section of the assembly equipment 2 are collected by one of the conveyors 17a, 17b, and parts cases containing parts are supplied to the setting section of the assembly equipment 2 by the other of the conveyors 17a, 17b.

[0078] When one of the conveyors has moved the mobile robot 4a to a position adjacent to the setting unit, the one conveyor collects the empty parts cases, and then when the other conveyor has moved the mobile robot 4a to a position adjacent to the setting unit, the other conveyor supplies parts cases containing parts.

[0079] After the other conveyor moves the mobile robot 4a to a position adjacent to the setting unit, the control device corrects the stopping position of the mobile robot 4a before supplying the parts cases containing the parts. In this embodiment, the other configurations and effects are the same as those of the first example.

[0080] It should be noted that the transfer device 6 of the mobile robot 4a may also be configured to have only one conveyor.

[0081] Third Embodiment FIG. 7 shows a component supply system according to a third embodiment of the present invention.

[0082] In this embodiment, in the parts supply system, the parts storage area is composed of a plurality of parts storage areas 1a, 1b (two in the illustrated example). The assembly equipment is composed of a plurality of assembly equipment 2a, 2b, 2c (three in the illustrated example) incorporated in each of a plurality of production lines 18 (three in the illustrated example). The mobile robot is composed of a plurality of mobile robots 4, 4a (two in the illustrated example).

[0083] In one example, under the control of the control device 3, the mobile robot 4 transports parts cases between the parts storage location 1a and each of the assembly facilities 2a, and transfers parts cases between the parts storage location 1a and each of the assembly facilities 2a. Also, the mobile robot 4a transports parts cases between the parts storage location 1b and each of the assembly facilities 2b, 2c, and transfers parts cases between the parts storage location 1b and each of the assembly facilities 2b, 2c.

[0084] In one example, the number of each of the mobile robots 4, 4a is one. In another example, the number of each of the mobile robots 4, 4a can be multiple (for example, two or more). In this embodiment, the other configurations and effects are the same as those of the above embodiment.

[0085] The above-described first, second, and third embodiments can be implemented in any suitable combination as long as no contradiction occurs.

[0086] The part supply system and / or the method for manufacturing an assembly described above can be suitably applied to a manufacturing process for a bearing (bearing device).

[0087] As the bearing (bearing device), various types of bearings can be suitably applied, such as rolling bearings, sliding bearings, etc. For example, components of a bearing 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 using cylindrical rollers (including needles), and the outer ring, inner ring, and cage of a radial tapered roller bearing using tapered rollers.

[0088] 8 is a partially sectional perspective view of rolling bearing 71. Rolling bearing 71 includes inner ring 73 which is a bearing raceway, outer ring 75 which is a bearing raceway, a plurality of rolling elements (balls) 77 provided between inner ring 73 and outer ring 75, and cage 79 which holds rolling elements 77 so that they can roll freely. Inner ring 73 is an annular body made of metal such as steel having raceway grooves 73a on its outer circumferential surface for guiding rolling elements 77. Outer ring 75 is an annular body made of metal such as steel having raceway grooves 75a on its inner circumferential surface for guiding rolling elements 77.

[0089] The above-mentioned parts supply system and / or the manufacturing method of the assembly can also be applied to the manufacture of various machines (including those that are manually powered by instruments, etc.). For example, the invention can be applied to linear guide devices such as rails and sliders, ball screw devices and screw devices such as screw shafts and nuts, devices that combine linear guide bearings and ball screws, and actuators such as XY tables. The invention can also be applied to bearings used in the rotating parts of steering devices such as steering columns, universal joints, intermediate gears, rack and pinions, electric power steering devices, worm reduction gears, and torque sensors. The above-mentioned parts supply system and / or the manufacturing method of the assembly can be widely applied to vehicles, machine tools, household appliances, etc. that include machines and steering devices, etc. The machines, vehicles, etc. obtained thereby can be configured at a lower cost and with higher quality than before.

[0090] In one example, the rolling bearing is used as a part that supports the rotating shaft of a motor (assembly). FIG. 9 is a schematic cross-sectional view of a motor 81 in which a rotating shaft 83 is supported by rolling bearings 71A and 71B. The motor 81 is a brushless motor, and has a cylindrical center housing 85 and a substantially disk-shaped front housing 87 that closes one open end of the center housing 85. Inside the center housing 85, a rotatable rotating shaft 83 is supported along its axis via rolling bearings 71A and 71B arranged inside the front housing 87 and the center 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 peripheral surface of the center housing 85. The motor 81 configured as described above is generally mounted on a machine or a vehicle, and drives the rotating shaft 83 supported by the rolling bearings 71A and 71B.

[0091] The above example is just one example, and the bearing of this configuration can be suitably applied to any location where there is relative rotation.

[0092] The technical scope of the present invention is not limited to the scope described in the embodiments. Various modifications or improvements can be made to the embodiments. Such modifications or improvements can also be included in the technical scope of the present invention. In addition, the present invention is not limited to the described embodiments, and any combination of these configurations may be used.

[0093] The present disclosure includes the following combinations: (1) In one embodiment, a parts supply system includes a control device, a mobile robot that moves without a track between a parts storage area and an assembly facility based on a command from the control device to transport a parts case that contains parts, a transfer device that transfers the parts case between the assembly facility and the mobile robot, and a measuring device that measures a positional relationship between the assembly facility and the mobile robot. Before transferring the parts case between the mobile robot and the assembly facility, the control device measures the positional relationship between the assembly facility and the mobile robot using the measuring device, and corrects a stopping position of the mobile robot with respect to the assembly facility based on a measurement result of the positional relationship. (2) In the part supply system described in (1) above, the measuring device includes a correction mark affixed to a predetermined location on one of the assembly equipment or the mobile robot, and a correction camera provided on the other of the assembly equipment or the mobile robot, and the control device reads the correction mark using the correction camera to measure the positional relationship between the assembly equipment and the mobile robot. (3) In the component supply system described in (1) or (2) above, the transfer device includes a robot arm and a hand attached to a tip of the robot arm and capable of holding the component case. (4) In the part supply system described in (1) or (2) above, the transfer device has a robot arm and a hand attached to the tip of the robot arm and capable of holding the part case, the correction mark is affixed to the specified location of the assembly equipment, and the correction camera is attached to the tip of the robot arm. (5) In the part supply system described in any one of (1) to (4) above, the transfer device has a force sensor attached to the tip of the robot arm, and the control device corrects the stopping position of the mobile robot relative to the assembly equipment and then corrects the transfer operation of the transfer device based on the detection value of the force sensor. (6) In the parts supply system described in any one of (1) to (4) above, the parts case is a storage space having a long axis, and the storage space has a plurality of parts stacked and stored along the long axis, and the transfer device sets the parts case in a setting section of the assembly equipment by inserting the parts case along the long axis, and the plurality of parts are sequentially removed from the parts case along the long axis in the assembly equipment. (7) In the component supply system described in (6) above, the transfer device has a force sensor and sets the component case in the setting section while correcting the insertion operation of the component case into the setting section based on a detection value of the force sensor. (8) In the part supply system described in any one of (1) to (7) above, the mobile robot has a conveyor for the transfer. (9) In the component supply system described in (8) above, the conveyor includes two conveyors. (10) In one embodiment, a method for manufacturing an assembly includes moving an autonomous mobile robot equipped with a parts case containing a plurality of parts from a parts storage area to in front of an assembly device; correcting a stopping position of the autonomous mobile robot with respect to the assembly device based on the results of measuring a positional relationship between the assembly device and the autonomous mobile robot using a measuring device; transferring the parts case from the autonomous mobile robot whose stopping position has been corrected to the assembly device using a transfer device and setting the parts case in a predetermined setting section of the assembly device; and sequentially removing the plurality of parts from the parts case in the assembly device. (11) In the manufacturing method described in (10) above, the parts case has a storage space having a long axis, and the storage space has the storage space in which the multiple parts are stored stacked along the long axis. The transfer device sets the parts case in the setting section by inserting the parts case along the long axis. The assembly device sequentially removes the multiple parts from the parts case along the long axis. (12) In the manufacturing method described in (10) or (11) above, the transfer device has a force sensor, and sets the part case in the setting section while correcting the insertion operation of the part case into the setting section based on a detection value of the force sensor. (13) In one embodiment, a bearing manufacturing method produces a bearing using the part 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. (14) In one embodiment, a method for manufacturing a machine manufactures a machine using the part supply system described in any one of (1) to (9) above, or the method for manufacturing an assembly described in any one of (10) to (12) above. (15) In one embodiment, a method for manufacturing a vehicle includes manufacturing a bearing using the manufacturing method described in (13) above, and assembling a vehicle using the bearing. (16) In one embodiment, a method for manufacturing a machine includes manufacturing a machine using the manufacturing method described in (14) above, and assembling a vehicle using the machine. (17) In one embodiment, the program causes a processor to perform the following actions: move an autonomous mobile robot equipped with a parts case containing a plurality of parts from a parts storage area to in front of an assembly device; correct a stopping position of the autonomous mobile robot relative to the assembly device based on the results of measuring a positional relationship between the assembly device and the autonomous mobile robot using a measuring device; transfer the parts case from the autonomous mobile robot whose stopping position has been corrected to the assembly device and set the parts case in a predetermined setting section of the assembly device using a transfer device; and sequentially remove the plurality of parts from the parts case in the assembly device. [Explanation of symbols]

[0094] 1, 1a, 1b Parts storage area (base device, table device) 2, 2a, 2b, 2c Assembly facilities (assembly equipment) 3. Control device 4, 4a Mobile robots (autonomous transport robots, trackless robots) 5 Parts Case 6 Transfer device (transfer means) 7 Correction Camera 8 Carts 9 Cargo Bed 10 wheels 11 Case placement section 12 Robot Arm 13 Hands 14 Force sensor 15 Contact Sensor 16 Correction Mark 17a, 17b Conveyor 18 Production Lines 21 Set section

Claims

1. A control device; a mobile robot that moves in a non-track manner between a parts storage area and an assembly facility based on a command from the control device to transport a parts case that contains parts; a transfer device that transfers the part case between the assembly facility and the mobile robot; a measuring device for measuring a positional relationship between the assembly facility and the mobile robot; Equipped with the control device measures a positional relationship between the assembly facility and the mobile robot using the measuring device before transferring the part case between the mobile robot and the assembly facility, and corrects a stop position of the mobile robot with respect to the assembly facility based on a measurement result of the positional relationship; the transfer device has a force sensor, and sets the part case in a predetermined setting unit in the assembly equipment while correcting an insertion operation of the part case into the setting unit based on a detection value of the force sensor. Parts supply system.

2. the measuring device includes a correction mark provided at a predetermined position on 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, 2. The parts supply system according to claim 1, wherein the control device measures a positional relationship between the assembly facility and the mobile robot by reading the correction mark with the correction camera.

3. 3. The component supply system according to claim 1, wherein the transfer device comprises a robot arm and a hand attached to a tip of the robot arm and capable of holding the component case.

4. the transfer device includes a robot arm and a hand attached to a tip end of the robot arm and capable of holding the component case; the correction mark is attached to the predetermined location of the assembly equipment, 3. The component supply system according to claim 2, wherein the correction camera is attached to a tip of the robot arm.

5. the transfer device has a force sensor attached to a tip end of the robot arm, 4. The component supply system according to claim 3, wherein the control device corrects a stop position of the mobile robot with respect to the assembly facility, and then corrects a transfer operation of the transfer device based on a detection value of the force sensor.

6. the component case has an accommodation space having a long axis, and the accommodation space has a plurality of components accommodated in a stacked manner along the long axis, the transfer device sets the component case in the setting section by inserting the component case into the setting section along an axis parallel to the long axis; the plurality of parts are sequentially removed from the part case along the longitudinal axis in the assembly facility; 3. A parts supply system according to claim 1 or 2.

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

8. The component feeding system of claim 7 , wherein the conveyor includes two conveyors.

9. A control device, a mobile robot that moves in a non-track manner between a parts storage area and an assembly facility based on a command from the control device to transport a parts case that contains parts; a transfer device that transfers the part case between the assembly facility and the mobile robot; a measuring device for measuring a positional relationship between the assembly facility and the mobile robot; Equipped with the control device measures a positional relationship between the assembly facility and the mobile robot using the measuring device before transferring the part case between the mobile robot and the assembly facility, and corrects a stop position of the mobile robot with respect to the assembly facility based on a measurement result of the positional relationship; the component case has an accommodation space having a long axis, and the accommodation space has a plurality of components accommodated in a stacked manner along the long axis, the transfer device inserts the parts case into a setting unit of the assembly equipment along an axis parallel to the long axis, thereby setting the parts case in the setting unit; the plurality of parts are sequentially removed from the part case along the longitudinal axis in the assembly facility; Parts supply system.

10. moving an autonomous mobile robot having a parts case containing a plurality of parts mounted therein from a base device to in front of an assembly device; correcting a stop position of the autonomous traveling robot with respect to the assembly device based on a result of measuring a positional relationship between the assembly device and the autonomous traveling robot using a measuring device; using a transfer device, transferring the parts case from the autonomous traveling robot whose stop position has been corrected to the assembly device, and setting the parts case in a predetermined setting unit of the assembly device; sequentially removing the plurality of parts from the parts case in the assembly device; Equipped with the transfer device has a force sensor, and sets the part case in the setting unit while correcting an insertion operation of the part case into the setting unit based on a detection value of the force sensor. A method for manufacturing an assembly.

11. the component case has an accommodation space having a long axis, the accommodation space having the plurality of components accommodated therein in a stacked manner along the long axis, the transfer device inserts the component case into the setting section along the longitudinal axis to set the component case in the setting section; the assembly device sequentially removes the plurality of components from the component case along the longitudinal axis; The method of claim 10.

12. Moving an autonomous mobile robot having a parts case in which a plurality of parts are housed, from a base device to in front of an assembly device; correcting a stop position of the autonomous traveling robot with respect to the assembly device based on a result of measuring a positional relationship between the assembly device and the autonomous traveling robot using a measuring device; using a transfer device, transferring the parts case from the autonomous traveling robot whose stop position has been corrected to the assembly device, and setting the parts case in a predetermined setting unit of the assembly device; sequentially removing the plurality of parts from the parts case in the assembly device; Equipped with the component case has an accommodation space having a long axis, the accommodation space having the plurality of components accommodated therein in a stacked manner along the long axis, the transfer device inserts the component case into the setting section along the longitudinal axis to set the component case in the setting section; the assembly device sequentially removes the plurality of components from the component case along the longitudinal axis; A method for manufacturing an assembly.

13. A method for manufacturing a bearing, comprising the step of manufacturing a bearing by using the manufacturing method according to claim 10 or 12.

14. A method for manufacturing a machine, comprising the steps of: manufacturing a machine using the manufacturing method according to claim 10 or 12.

15. Manufacturing a bearing using the manufacturing method according to claim 13; Assembling a vehicle using the bearing; and A method for manufacturing a vehicle comprising:

16. Producing a machine using the method of claim 14; assembling a vehicle using said machine; A method for manufacturing a vehicle comprising:

17. moving an autonomous mobile robot having a parts case containing a plurality of parts mounted therein from a base device to in front of an assembly device; correcting a stop position of the autonomous traveling robot with respect to the assembly device based on a result of measuring a positional relationship between the assembly device and the autonomous traveling robot using a measuring device; using a transfer device, transferring the parts case from the autonomous traveling robot whose stop position has been corrected to the assembly device, and setting the parts case in a predetermined setting unit of the assembly device; when the component case is set in the setting section, correcting an insertion operation of the component case into the setting section based on a detection value of a force sensor provided in the transfer device; sequentially removing the plurality of parts from the parts case in the assembly device; A program that causes a processor to execute the following:

18. Moving an autonomous mobile robot equipped with a parts case having a storage space with a long axis, the storage space in which a plurality of parts are stored by being stacked along the long axis, from a base device to in front of an assembly device; correcting a stop position of the autonomous traveling robot with respect to the assembly device based on a result of measuring a positional relationship between the assembly device and the autonomous traveling robot using a measuring device; using a transfer device, transferring the parts case from the autonomous traveling robot whose stop position has been corrected to the assembly device, and setting the parts case in a predetermined setting unit of the assembly device; When setting the component case in the setting section, inserting the component case into the setting section along the major axis in the transfer device; sequentially removing the plurality of components from the component case along the longitudinal axis in the assembly device; A program that causes a processor to execute the following:

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