Assembling apparatus and production system
To enable positioning a robot arm and a workpiece with high accuracy while reducing vibrations of a camera. According to the claimed invention for this purpose, a robot station 100 includes a pedestal 103 to which robot arms 101 and 102 are fixed, a camera 106 which images an area including a working area 209 of the pedestal 103 , and a booth 104 to which the camera 106 is fixed. The pedestal 103 is fixed to a floor surface, and the booth 104 is fixed to the floor surface without contacting the pedestal 103 . The booth 104 is formed in the shape of a rectangular parallelepiped having a short side parallel to a workpiece conveying direction T and a long side perpendicular to the workpiece conveying direction T in a plan view. In the booth 104 , the length of the long side y of the booth 104 is set to not less than the sum of a maximum length by which the robot arms 101 and 102 protrude from the pedestal 103 in a direction perpendicular to the workpiece conveying direction T and the length in the direction perpendicular to the workpiece conveying direction T of the pedestal 103 in a plan view.
1. An assembling apparatus including a robot arm and a pedestal to which the robot arm is fixed, comprising:
a frame which is arranged to surround the pedestal; and
a camera which is fixed at an upper portion of the frame and can image an area including a working area for the robot arm,
wherein the pedestal and frame are fixed to a floor surface independently and out of contact with each other, such that vibrations caused by the movements of the robot arm are not directly transmitted to the frame, whereby the vibration of the camera can be reduced, and
the frame is formed in a shape of a rectangular parallelepiped having a short side along a workpiece conveying direction in the assembling apparatus and a long side intersecting the workpiece conveying direction, length of the long side of the frame being set to be not less than the sum of a maximum length by which the robot arm protrudes from the pedestal in a direction perpendicular to the workpiece conveying direction and length in the direction perpendicular to the workpiece conveying direction of the pedestal.
2. The assembling apparatus according to claim 1 , wherein a top board is provided above the camera at the upper portion of the frame.
3. The assembling apparatus according to claim 2 , wherein a side board having an opening portion for carrying in and carrying out a workpiece is provided at a frame side surface of the frame.
4. The assembling apparatus according to claim 3 , wherein a duct for feeding clean air into a space surrounded by the frame is provided at the top board.
5. The assembling apparatus according to claim 4 , wherein a workbench on which a workpiece is to be mounted is fixed to the frame while being out of contact with the pedestal.
6. An assembling apparatus including a robot arm and a pedestal to which the robot arm is fixed, comprising:
a frame which includes an inner frame and an outer frame for preventing application of external force to the inner frame, and which is arranged to surround the pedestal; and
a camera which is fixed at an upper portion of the inner frame and can image an area including a working area for the robot arm,
wherein the pedestal and frame are fixed to a floor surface independently and out of contact with each other, such that vibrations caused by the movements of the robot arm are not directly transmitted to the frame, whereby the vibration of the camera can reduced, and the outer frame is formed in a shape of a rectangular parallelepiped having a short side along a workpiece conveying direction in the assembling apparatus and a long side intersecting the workpiece conveying direction, a length of the long side of the outer frame being set to be not less than the sum of a maximum length by which the robot arm protrudes from the pedestal in a direction perpendicular to the workpiece conveying direction and a length in the direction perpendicular to the workpiece conveying direction of the pedestal, a length of the inner frame being set to be smaller than that of the outer frame by an amount corresponding to a clearance for prevention of transmission of vibration.
7. The assembling apparatus according to claim 6 , wherein a top board is provided above the camera at the upper portion of the outer frame.
8. The assembling apparatus according to claim 7 , wherein a side board having an opening portion for carrying in and carrying out a workpiece is provided at a frame side surface of the outer frame.
9. The assembling apparatus according to claim 8 , wherein a duct for feeding clean air into a space surrounded by the outer frame is provided at the top board.
10. The assembling apparatus according to claim 9 , wherein a workbench on which a workpiece is to be mounted is fixed to one of the outer frame and the inner frame while being out of contact with the pedestal.
11. A production system comprising a plurality of assembling apparatuses according to claim 1 , wherein the plurality of assembling apparatuses are arranged side-by-side along the workpiece conveying direction.
12. A production system comprising a plurality of assembling apparatuses according to claim 6 , wherein the plurality of assembling apparatuses are arranged side-by-side along the workpiece conveying direction.