JP2018153899A - Component supply system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a component supply system 1 capable of suppressing a delay of transfer of a returnable box 50 including components from a supply belt conveyor 3a toward a component take-out position 2a and a delay of feeding of an empty returnable box 50 from a detention position 2b toward a return belt conveyor 4a.SOLUTION: A returnable box 50 after taking out components is transferred from a detention position 2b up to a return belt conveyor 4a by operation of a robot 10, and the returnable box 50 on a supply belt conveyor 3a is transferred up to a component take-out position 2a by the operation of the robot 10. Namely, the robot 10 is caused to function as transfer means. By transferring a feeding box 50 using driving force of various kinds of motors, occurrence of a delay can be suppressed as compared with a configuration in which the transfer is performed by sliding using only gravity force on a downslope.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a component supply system that supplies components to an assembly process.

  Conventionally, the robot that takes out the parts in the transport box and supplies them to the assembly process, and the transport box on the box supply path are moved to the vicinity of the robot, and the transport box after the parts are removed is transported from the vicinity of the robot to the box return path. There is known a component supply system including a transfer means.

  For example, the component supply system described in Patent Literature 1 includes a robot that takes out components from a transport box placed near the component supply system and supplies them to the assembly process. Further, a supply line that is a box supply path extending in a predetermined direction and a recovery line that is a box return path extending in the same direction directly below the supply line are provided. In addition, a combination of a supply slope and a recovery slope is provided as a transfer means between the supply line and the recovery line arranged in the vertical direction and the robot. The supply slope has a downward slope from the supply line toward the robot. Further, the recovery slope has a downward slope from the robot toward the recovery line.

  In this component supply system, the transport box is transported by the supply slope and the transport box is transported by the recovery slope by sliding on the slope surface using only the gravity of the transport box. In such a configuration, if the surface friction resistance of the supply slope and the recovery slope is increased due to adhesion of dirt or the like, the transport of the transport box may be delayed by stopping the transport of the transport box on the slope surface. It was.

  In order to solve the above-described problems, a robot that takes out components in a transport box and supplies them to an assembly process, and transports the transport box on the box supply path to the vicinity of the robot, and the transport box after removing the components. And a transfer means for transferring the transport box from the vicinity of the robot to the box return path. The transport box after picking up the parts is transferred to the box return path by the robot, and the transport box on the box supply path Is transferred to the vicinity of the robot by the robot so that the robot functions as the transfer means.

  According to the present invention, it is possible to suppress the delay of transfer of the transport box from the box supply path to the vicinity of the robot and the delay of the transfer of the transport box from the vicinity of the robot to the box return path. There is an effect.

The perspective view which shows the returnable box used with the components supply system which concerns on embodiment. The top view which shows the same component supply system with an assembly process line. The perspective view which shows the robot of the said components supply system from the diagonally upper front. The front view which shows the hand attachment of the robot. The side view which shows the same tip attachment. The block diagram which shows the principal part of the electric circuit of the component supply system. The top view which shows the components supply system in the middle of taking out components from the return box placed in the components extraction position with the robot with an assembly process line. The top view which shows the same robot which is supplying components with respect to an assembly process line with the circumference | surroundings. The front view which shows the suction head of the component supply system with the holding part of the tip attachment. The side view which shows the suction head. The top view which shows the same robot which has taken out the suction head with the periphery. The top view which shows the same robot which is taking out the uppermost tray in the return box in a components picking-up position with suction | inhalation with the circumference | surroundings. The top view which shows the robot which is putting the tray which was attracting | sucking into the tray collection | recovery box with the periphery. The top view which shows the robot which is sending out the empty return box in an indwelling position to the return belt conveyor with the circumference | surroundings. The figure which shows the side surface of the hand attachment in the robot when sending the return box from the indwelling position to the return belt conveyor together with the longitudinal section of the return box. The top view which shows the return belt conveyor of the state in the midst of carrying out the normal rotation drive for the return of one box, and immediately before a drive stop with the periphery. The figure which shows the side surface of the hand attachment in the robot when pulling the return box from the supply belt conveyor to the parts picking position together with the longitudinal section of the return box. The top view which shows the robot which is performing the drawing together with the surroundings. The top view which shows the supply belt conveyor just before conveying a leading return box just before a components pick-up position and being stopped with the periphery. The flowchart which shows the processing flow of the control implemented by the control part of the component supply system. The perspective view which shows the same component supply system.

Hereinafter, an embodiment of a component supply system to which the present invention is applied will be described.
FIG. 1 is a perspective view showing a return box 50 as a transport box used in the component supply system according to the embodiment. The returnable box 50 is foldable, and in the assembled state, there is no upper surface plate as shown in the figure, and the upper surface is opened. Thus, even if the upper surface is opened, a plurality of return boxes 50 can be stacked by hooks provided at the upper and lower ends of the side plate.

  In a parts factory, trays on which many parts are placed are stored in a return box 50 in a state where a plurality of trays are stacked. The tray has a plurality of sections partitioned in a matrix on a horizontal virtual two-dimensional plane, and one component is placed in each section. The returnable box is shipped from the parts factory in such a state.

  FIG. 2 is a plan view showing the component supply system 1 according to the embodiment together with the assembly process line 45. The arrow x direction in the figure is the same as the front-rear direction of the robot 10. The arrow y direction is the same as the left-right direction of the robot 10. The z direction is the same as the height direction. In addition, in the same figure, the edge of the returnable box 50 is painted black in order to make each part easy to see.

  The parts supply system 1 includes a robot 10, an operation table 2, a box supply line 3 serving as a box supply path, a box return line 4 serving as a box return path, a top box detection sensor 6, a rear end box detection sensor 7, a transmission box detection sensor 8, and the like. It has.

  The operation console 2 is installed immediately before the robot 10. Of the platform surface of the operation table 2, an area on the right half of the robot 10 is a component extraction position 2 a for extracting the component 55 from the return box 50. Moreover, the area | region of about the left half is the detainment position 2b which temporarily holds the return box 50 after taking out components.

  In the assembly factory, the return box 50 filled with the parts sent from the parts factory is placed on the box supply line 3 of the parts supply system 1 by human or robot work. An assembly process line 45 extending in the left-right direction of the robot 10 is disposed behind the robot 10.

  The box supply line 3 is arranged in a posture in which the longitudinal direction thereof is along the front-rear direction (x direction) of the robot 10 with the tip thereof being close to the component extraction position 2 a of the operation table 2. On the box supply line 3, a supply belt conveyor 3a is disposed. On the supply belt conveyor 3a, a plurality of return boxes 50 are placed in a straight line along the longitudinal direction of the conveyor. These return boxes 50 are conveyed in the direction of arrow A in the figure by driving the supply belt conveyor 3a.

  The box return line 4 is arranged in a posture in which the longitudinal direction thereof is along the x direction in a state where the rear end thereof is brought close to the indwelling position 2 b of the operation table 2. A return belt conveyor 4 a is disposed on the box return line 4. On the return belt conveyor 4a, a plurality of return boxes 50 from which components have been taken out are placed in a straight line along the longitudinal direction of the conveyor. These return boxes 50 are conveyed in the direction B opposite to the direction of arrow A in the figure by driving the return belt conveyor 4a.

  As shown in the figure, the box supply line 3 and the box return line 4 are arranged in parallel so that their longitudinal directions are along the x direction. A return box 50 from which a part 55 is picked up by the robot 10 is placed at the part pickup position 2 a of the operation console 2. Further, an empty return box 50 from which all components 55 and trays have been taken out is temporarily placed at the detention position of the operation console 2. The box supply line 3 (surface of the supply belt conveyor 3a) and the box return line 4 (surface of the return belt conveyor 4a) are arranged at the same height. Furthermore, they and the surface of the operation console 2 described later have the same height.

  FIG. 3 is a perspective view showing the robot 10 from the front oblique upper side. The robot 10 includes a base portion 11, an arm support portion 12, an arm portion 13, a hand 14, a hand tip 15, and the like. The base portion 11 is fixed to the pedestal with bolts.

  The arm support portion 12 is supported by the base portion 11 so as to rotate 360 [°] in the horizontal direction (the direction of arrow C in the figure). Moreover, the arm part 13 has the upper arm part 13a and the forearm part 13b. The base side end portion of the upper arm portion 13a is supported by the distal end portion of the arm support portion 12 so as to rotate about a first shaft 13c extending in the horizontal direction. The forearm portion 13b is supported by the end portion on the distal end side of the upper arm portion 13a so as to rotate about a second shaft 13d extending in the horizontal direction.

  The hand 14 is supported at the tip of the forearm 13b so as to rotate in the direction of arrow D in the figure centering on an axis 14a passing through the cross-sectional center of the forearm 13b. The hand 15 is supported by the hand 14 so as to rotate around a third shaft 15a extending in the horizontal direction. Various types of hand attachments can be attached to and detached from the hand 15.

  FIG. 4 is a front view showing the hand attachment 17. FIG. 5 is a side view showing the hand attachment 17. In these drawings, the hand attachment 17 is attached to the hand 15 by engaging the engaging portion 17 a with the hand 15.

  In addition to the engaging portion 17a, the hand attachment 17 is also provided with two gripping portions 17b, a camera 17c, a hooking portion 17d, and the like. Each of the two gripping portions 17b includes two claws, and can move one of the claws in a direction to approach or move away from the other nail. By bringing one nail close to the other nail, it is possible to grasp the object to be grasped interposed between the nails. Moreover, it is also possible to separate the gripping object by moving one nail away from the other nail from the state where the gripping object is gripped. In FIG. 4, each of the two gripping portions 17 b grips the component 55.

  The camera 17c captures the state in the returnable box 50 and sends the image data to a control unit described later. The control unit controls driving of each unit of the robot 10 based on the imaging data. The role of the hook portion 17d of the hand attachment 17 will be described later.

  FIG. 6 is a block diagram illustrating a main part of an electric circuit of the component supply system 1. As shown in the figure, the component supply system 1 includes, as an electrical system, a leading box detection sensor 6, a rear end box detection sensor 7, a sending box detection sensor 8, a control unit 100, each electrical device of the robot 10, a supply bell-con switchboard, a return It has a Bercon switchboard.

  The control unit 100 that controls driving of each machine of the component supply system 1 and performs various arithmetic processes includes a CPU 100a, a RAM 100b, a ROM 100c, a nonvolatile memory 100d, and the like.

  The robot 10 includes electrical devices such as a motor driver unit 21, an arm rotation motor 22, an upper arm motor 23, a forearm motor 24, a wrist motor 25, a hand motor 26, a hydraulic motor 27, a suction unit 28, a camera 17c, and a height sensor 29. Have.

  The arm rotation motor 22 is a drive source for rotating the arm support portion 12 supported by the base portion 11 in the horizontal direction. The upper arm motor 23 is a drive source for rotating the upper arm portion 13a around the first shaft 13c. The forearm motor 24 is a drive source for rotating the forearm portion 13b around the second shaft 13d. The wrist motor 25 is a drive source for rotating the hand 14 about the axis 14a. The hand motor 26 is a drive source for rotating the hand 15 about the third shaft 15a. The control unit 100 can cause the robot 10 to perform complicated arm movements by controlling the driving of these motors via the motor driver unit 21.

  The movement of the claw of the gripping portion 17b in the hand attachment 17 shown in FIG. 4 is controlled by hydraulic pressure. The hydraulic pressure is adjusted by driving the hydraulic motor 27 shown in FIG. The control unit 100 can control the driving of the hydraulic motor 27 to cause the gripping unit 17b of the hand attachment 17 to perform a gripping operation or a release operation.

  The suction unit 28 generates a suction force at a suction port of a later-described suction head that is used by being held by the holding portion 17b of the hand attachment 17. The control unit 100 sends a control signal to the suction unit 28 to generate a suction force at the suction port of the suction head held by the holding unit 17b of the hand attachment 17 or to stop the suction by the suction head. Can be.

  The control unit 100 causes the camera 17c to take an image in a state where the arm unit 13, the hand 14, and the hand 15 of the robot 10 are in a predetermined posture, so that the control unit 100 moves to the component extraction position 2a of the operation console 2. A photographed image in the returnable box 50 can be acquired. In the above state, by receiving a signal sent from the height sensor 29 made of a laser displacement meter, the height of the uppermost component 55 in the return box 50 placed at the component removal position 2a. The position can be grasped. The height sensor 29 is fixed to the hand 14 of the robot 10.

  Hereinafter, in FIG. 2, the downstream end of the return box 50 placed on the supply belt conveyor 3 a in the direction of arrow A (box supply direction) in the drawing is referred to as the front end, and the upstream end is referred to as the rear end. On the other hand, the downstream end of the return box 50 placed on the return belt conveyor 4a in the direction of arrow B (box return direction) in the drawing is referred to as the front end, and the upstream end is referred to as the rear end. Since the direction of the arrow A and the direction of the arrow B are opposite to each other, the tip of the return box 50 fed and conveyed by the supply belt conveyor 3a and the tip of the return box 50 returned by the return belt conveyor 4a are opposite to each other. It becomes a relationship.

  The operator who puts the return box 50 containing parts on the supply belt conveyor 3a and collects the return box 50 from which the parts have been removed from the return belt conveyor 4a is opposite to the robot 10 via the two belt conveyors. Often work in the position. If necessary, the two belt conveyors may be manually rotated forward, reverse, and stopped. For this reason, the supply Belcon switchboard for controlling the drive of the supply belt conveyor 3a and the return Belcon switchboard for controlling the drive of the return belt conveyor 4a are located at positions opposite to the robot 10 via the belt conveyor. is set up.

  When the selection switch for the supply bell-con switchboard is set to automatic operation, the drive of the supply belt conveyor 3a is controlled by a control signal sent from the control unit 100 via the supply bell-con switchboard. Further, when the selection switch for the return Belcon switchboard is set to automatic operation, the drive of the return belt conveyor 4a is controlled by a control signal sent from the control unit 100 via the return Belcon switchboard.

  The leading box detection sensor 6 in FIG. 6 is fixed to the box supply line 3 as shown in FIG. When the passing box 50 located at the head in the direction of the arrow A among the plurality of passing boxes 50 placed on the supply belt conveyor 3a moves to a position immediately before the component pick-up position 2a, the tip of the passing box 50 Is detected. Then, the tip detection signal is transmitted to the control unit 100.

  The rear end box detection sensor 7 and the delivery box detection sensor 8 in FIG. 6 are fixed to the box return line 4 as shown in FIG. Then, when the return box 50 is placed at a predetermined pitch over the entire area in the length direction on the return belt conveyor 4a, the rear end box detection sensor 7 is the return box 50 located at the second position from the tail. It is arrange | positioned so that the front-end | tip may be detected. The delivery box detection sensor 8 is arranged so as to detect the tip of the last passing box 50. Each detection sensor (7, 8) transmits a detection signal to the control unit 100 when detecting the tip of the returnable box 50.

  FIG. 7 is a plan view showing the component supply system 1 while the component 55 is being taken out from the return box 50 placed at the component extraction position 2 a by the robot 10 together with the assembly process line 45. When the first part 55 is taken out from the return box 50 placed at the part extraction position 2a, the control unit 100 moves the robot 10 so that the hand (14) of the robot 10 is moved directly above the return box 50. Control the drive. The posture of the robot 10 at this time is a reference posture, and the control unit 100 can cause the robot 10 to quickly take the reference posture according to a pre-program.

  Next, the control unit 100 that has caused the robot 10 to take the reference posture, next, based on the detection result of the height sensor (29) fixed to the hand (14), the uppermost component 55 in the return box 50. To grasp the height of. Further, based on the result of photographing the inside of the returnable box 50 by the camera (17c), the part 55 on the port side farthest from the robot 10 on the xy plane is identified among the top parts 55. Then, the robot 10 is driven so that the hand (15) is positioned directly above the component.

  Hereinafter, among the two-dimensional arrangement of the parts 55 on the xy plane, the arrangement in the y direction is referred to as “row”. Further, the arrangement in the y direction is referred to as a “column”. That is, when the control unit 100 takes out the first part 55 from the return box 50, it is the “row” on the farthest side in the parts line-up of the pass 50 and the leftmost side. The robot 10 is controlled so as to be moved directly above the component 55 located in the “row”.

  Of the plurality of parts arranged in a matrix on the two-dimensional coordinates of the xy plane, the first one to be taken out is the “row” on the farthest side and the “column” on the leftmost side. It is a part to do. The “row” from which the part is taken out is moved in order from the back side to the near side. In the case of the same “row”, the components are sequentially extracted from the “column” on the left side toward the “column” on the right side. A program for causing the robot 10 to take out the parts in the two-dimensional matrix and to move the parts 55 in that order is stored in the ROM 100c in advance. However, an appropriate operation cannot be performed even in accordance with the stored program itself. This is because the number of trays (step heights) and differences between the trays on which the components 55 to be taken out are placed, and there are subtle height errors even at the same level.

  Therefore, the control unit 100 detects the height position of the component 55 by the height sensor 29, and corrects the program so that an appropriate component can be picked up at the height position. If the trays are at the same level, the height position is detected prior to the removal of the first component 55, and the second height of the component 55 is handled as the same height position.

  When the part 55 is taken out from the return box 50, the control unit 100 drives each part of the robot 10 so that the hand (15) is completely pulled out of the return box 50, and then, shown in FIG. As shown, the arm support portion (12) of the robot 10 is rotated about 180 °. As a result, the hand (15) of the robot 10 is moved directly above the assembly process line 45. The component 55 is supplied to the assembly process line 45 by causing the component 55 to be released at a predetermined position on the assembly process line 45.

  As shown in the figure, a jig table 9 and a tray collection box 30 are installed on the side of the robot 10 and between the operation table 2 and the assembly process line 45. A suction head is placed at a predetermined position in the xy coordinates on the jig base 9.

  FIG. 9 is a front view showing the suction head 18 together with the grip portion 17 b of the hand attachment 17. FIG. 10 is a side view showing the suction head 18. The suction head 18 includes four suction nozzles 18a, and each suction nozzle 18a has a suction port directed vertically downward. The suction head 18 includes two grip portions 18b.

  The hand attachment 17 can grip the suction head 18 as follows. That is, one of the two grip portions 18b of the suction head 18 is gripped by one of its two grip portions 17b. Further, the other grip portion 18b of the suction head 18 is gripped by the other grip portion 17b. By such gripping, the robot 10 can grip and lift the suction head 18 placed at a predetermined position on the jig base 9.

  The control unit 100 that has taken out all the parts of the uppermost tray in the return box 50 and supplied it to the assembly process line 45 then operates the robot 10 as shown in FIG. Lift the suction head (18). Then, as shown in FIG. 12, the robot 10 is operated so that the tray 56 in the uppermost position in the return box 50 at the part extraction position 2a and on which no parts are placed is attached to the suction head ( It is lifted from the return box 50 by the suction force of 18). At this time, a control signal is transmitted to the suction unit 28 shown in FIG. 6 to drive the suction pump of the suction unit 28. By this driving, a suction force is generated in the suction nozzle (18a) of the suction bed (18), and the tray 56 is adsorbed by the suction nozzle (18a) by this suction force. Thereafter, as shown in FIG. 13, the robot 10 is operated to put the tray 56 that has been sucked into the tray collection box 30. At this time, the suction force of the tray 56 to the suction nozzle (18a) is lost by transmitting a control signal to the suction unit (28) and stopping the drive of the suction pump. Further, the robot 10 is operated to return the suction head (18) to a predetermined position on the jig base 9.

  Instead of collecting the tray 56 in the tray collection box 30, the tray 56 may be collected in the return box 50 at the detention position 2b.

  Hereinafter, in order to clearly distinguish the transfer of the passing box 50 from the detention position 2b to the return belt conveyor 4a from the transfer of the passing box 50 from the supply belt conveyor 3a to the parts picking position 2a, the former transfer is referred to as sending out. . When all the parts 55 and the tray 56 are taken out from the return box 50 at the part take-out position 2a, the control unit 100 sends out the return box 50. Specifically, as shown in FIG. 14, the empty returnable box 50 at the detention position 2b is moved from the detention position 2b to the return belt conveyor 4a on the box return line 4 by the movement of the arm (13) of the robot 10. To send. At this time, as shown in FIG. 15, the return box 50 is directed toward the return belt conveyor 4a by the claw tip of the gripping portion 17b of the hand attachment 17 of the robot 10 that abuts against the outer wall of the rear plate of the return box 50. Push in. The sending-out of the passing box 50 by this pushing is continued until the tip of the passing box 50 being sent out (transferred) is detected by the sending box detection sensor 8 shown in FIG.

  The robot 10 that feeds the empty returnable box 50 from the detention position 2b onto the return belt conveyor 4a functions as a transfer unit that transfers the transport box from the detention position to the box return path. And since the return box 50 is sent out using the driving force exhibited by various motors, it is sent out by sliding on the downward slope using only gravity as in the invention described in Patent Document 1. Unlike things, you can: That is, even if the surface of the indwelling position 2b and the surface of the return belt conveyor 4a have increased frictional resistance due to the adhesion of dirt, a strong sliding force is applied to the return box 50 using the driving force exhibited by various motors. Give. Thereby, the stagnation of delivery can be suppressed by reliably sending the returnable box 50 onto the return belt conveyor 4a.

  When the delivery of the return box 50 from the indwelling position 2b onto the return belt conveyor 4a is completed as described above, the control unit 100 causes the robot 10 to transfer the empty return box 50 at the part extraction position 2a. Specifically, as shown in FIG. 16, the return box 50 is moved from the right side to the left side by the movement of the arm (13) of the robot 10 by moving the position of the return box 50 at the parts extraction position 2 a after taking out the parts. 50 is transferred from the part extraction position 2a to the detention position 2b.

  A guide rail extending in a straight line across both positions is fixed to the end of the part extraction position 2a and the detention position 2b on the robot 10 side. As described above, the return box 50 whose position is shifted from the right side to the left side by the movement of the arm (13) of the robot 10 is straightened by the guide rail from the right part extraction position 2a to the left placement position 2b. Guided. At this time, the robot 10 pushes the passing box 50 from the right side to the left side by the hand attachment 17 pressed against the outer side wall of the passing box 50.

  The control unit 100 that has finished the transfer of the return box 50 from the component take-out position 2a to the detention position 2b transmits a forward drive signal for the return belt conveyor 4a to the return bell-con switchboard described above. As a result, the return belt conveyor 4a is driven to rotate forward, and a plurality of empty returnable boxes 50 placed on the surface thereof are conveyed in the return direction (the direction of arrow B in FIG. 2). Then, as shown in FIG. 16, the second passing box 50 from the tail, the last passing box 50, and the rear end box detection sensor 7 fixed to the box return line 4, The space between them enters for a moment, and the trailing edge box detection sensor 7 does not pass through the box 50. Immediately thereafter, the rear end box detection sensor 7 detects the front end of the last passing box 50. At this detection timing, the control unit 100 transmits a drive stop signal for the return belt conveyor 4a to the return Belcon switchboard to stop the return belt conveyor 4a.

  The control unit 100 that has stopped the return belt conveyor 4a in this way causes the robot 10 to transfer the leading through box 50 on the supply belt conveyor 3a to the component extraction position 2a. Specifically, as shown in FIG. 17, the hook portion 17 d of the hand attachment 17 of the robot 10 is hooked on the inner wall of the front plate of the leading return box 50. In this state, by pulling the return box 50 toward the front side of the robot 10 by the movement of the arm portion (13) of the robot 10, the leading return box 50 is removed from the supply belt conveyor 3a as shown in FIG. It is transferred to the part take-out position 2a. At this time, the transfer of the returnable box 50 that is drawn toward the robot 10 by the movement of the arm portion (13) of the robot 10 reaches the position where the tip is abutted against the above-described guide rail. A piezoelectric sensor may be provided on the guide rail, and the pulling of the return box 50 by the robot 10 may be terminated when the piezoelectric sensor detects pressure.

  The robot 10 that transfers the return box 50 from the supply belt conveyor 3a to the component pick-up position 2a functions as transfer means for transferring the transport box on the box supply path to the vicinity of the robot 10. Since the passing box 50 is transferred using the driving force exhibited by the various motors, the transfer is performed by sliding on the downward slope using only gravity as in the invention described in Patent Document 1. Unlike things, you can: In other words, even if the surface of the supply belt conveyor 3a and the surface of the component pick-up position 2a have increased frictional resistance due to the adhesion of dirt, a strong sliding force against the return box 50 using the driving force exhibited by various motors. Is granted. Thereby, the stagnation of the transfer can be suppressed by reliably transferring the returnable box 50 onto the component extraction position 2a.

  As described above, the control unit 100 that has transferred the return box 50 on the supply belt conveyor 3a to the component pick-up position 2a transmits a normal rotation drive signal of the supply belt conveyor 3a to the supply bell-con switchboard, The supply belt conveyor 3a is driven to rotate forward. Thereafter, at the timing when the detection signal is sent by the leading box detection sensor 6 fixed to the box supply line 3, a stop command signal is transmitted to the supply Belcon switchboard to stop the supply belt conveyor 3a. Accordingly, as shown in FIG. 19, the driving of the supply belt conveyor 3 a is stopped in a state where the leading return box 50 is moved to just before the operation console 2.

  FIG. 20 is a flowchart illustrating a control processing flow executed by the control unit 100. The control unit 100 that has started this flow first performs a box pulling process (step 1: hereinafter, step is denoted as S). This box pulling process is a process in which the leading return box 50 placed on the supply belt conveyor 3 a is pulled to the robot 10 side by the robot 10 and transferred to the component extraction position 2 a of the operation console 2.

  After completing the box pulling process (S1), the control unit 100 then performs a supply Belcon driving process (S2). In this supply bell-con drive process, the leading box 50 newly transferred on the supply belt conveyor 3a as a result of the transfer of the leading box 50 by the box pulling process (S1) is rotated forward of the supply belt conveyor 3a. Is a process of moving to the position immediately before the part extraction position 2a.

  Thereafter, the control unit 100 performs the robot basic posture process (S3) and causes the robot 10 to take the basic posture described above. Then, the height sensor 29 measures the height of the part 55 at the highest height in the return box 50 at the part take-out position 2a (S4), and then the inside of the return box 50 is photographed by the camera 17c. Based on the image data obtained in this way, the plane position of the first component 55 is grasped (S5). The plane position is a coordinate position on the xy plane. Further, as described above, the first component 55 is a component located on the innermost “row” and on the rightmost “column” on the tray 56.

  The control unit 100 that has grasped the planar position of the first component 55 then grasps the orientation of the component based on the above-described image data (S6). When the returnable box 50 is placed on the supply belt conveyor 3a in a reverse posture, the component 55 is in a reverse posture rotated 180 [deg.] From the normal posture on the xy plane. Or whether it is a reverse posture. If the posture is normal, the component 55 may be supplied to the assembly process line 45 by a normal supply method. However, if the posture is reverse, the component is rotated 180 [°] in the horizontal direction when supplied. Instead of causing the orientation of the component 55 to be grasped by the image captured by the camera 17c, an orientation detection sensor for detecting the orientation of the component 55 may be provided on the hand attachment 17 or the like.

  The controller 100 that has grasped the orientation of the component 55 corrects the program stored in the ROM 100c based on the height and orientation of the component 55 (S7). After that, the part extraction process is performed based on the corrected program (S8), and after taking out the part from the returnable box 50, the part 55 is supplied to the assembly process line 45 (S9).

  The controller 100 that has finished supplying the component 55 next determines whether or not the final component in the uppermost tray 56 of the return box 50 at the component extraction position 2a has been extracted (S10). The final part is the frontmost “row” and the leftmost “column” part 55 on the tray 56. If the final part has not been taken out (N in S10), the part 55 still remains in the uppermost tray 56, so the control flow is looped to S8, and the next part 55 is taken out and supplied. On the other hand, when the final part has been taken out (Y in S10), the part 55 is not left on the uppermost tray 56. For this reason, a tray removal process is performed (S11), and the uppermost tray 56 is taken out from the box 50. At this time, the suction head 18 described above is gripped by the grip portion 17 b of the hand attachment 17 for suction of the tray 56. The removed tray 56 is put into the tray collection box 30 by performing the tray collection process (S12).

  The control unit 100 that has finished inserting the tray 56 next determines whether or not the first-stage tray 56 has been removed from the return box 50 at the component removal position 2a (S13). If not removed (S13N), in the returnable box 50, the parts 56 are fully loaded on the tray 56 that is newly placed at the top by the previous tray removal. For this reason, the control unit 100 loops the processing flow to S3 described above, and starts preparation for taking out the first component 55 in the tray 56 which is newly placed at the highest level. On the other hand, when the first-stage tray 56 has been removed (Y in S13), the return box 50 at the component extraction position 2a is empty without the components 55 and the tray 56. Therefore, the control unit 100 performs processing from S14 to S17 described later.

  In step S14, the control unit 100 performs indwelling box sending processing. This indwelling box sending process is a process for sending an empty return box 50 in the indwelling position 2b of the operation table 2 from the indwelling position 2b onto the return belt conveyor 4a by the operation of the robot 10.

  After completing the indwelling box sending process, the control unit 100 then performs a return Belcon driving process (S15). This return Belcon driving process is a process of sending a plurality of return boxes 50 on the return belt conveyor 4a one box at a time in the return direction by forward rotation of the return belt conveyor 4a. By this return Belcon driving process, an empty space for one return box 50 is created at the end of the return belt conveyor 4a on the robot 10 side in the longitudinal direction. A new empty return box 50 is sent out to the empty space by a subsequent indwelling sending process (S14).

  The control unit 100 that has finished the return Belcon driving process then performs an empty box indwelling process (S16). This empty box indwelling process is a process in which an empty return box 50 at the part extraction position 2 a of the operation table 2 is transferred to the indwelling position 2 b by the operation of the robot 10.

  After completing the empty box indwelling process, the control unit 100 next determines whether or not the assembly end switch of the control panel in which the control unit 100 is accommodated is ON (17). When finishing the assembly in the assembly process line 45, the operator turns on the assembly end switch.

  When the assembly end switch is ON (Y in S17), the control unit 100 ends a series of processing flows. On the other hand, when the assembly end switch is not turned on (N in S17), the control unit 100 loops a series of processing flows to S1 and transfers the new return box 50 to the component extraction position 2a. Start.

  FIG. 21 is a perspective view showing the component supply system 1 according to the embodiment. As shown in the figure, the parts supply system 1 includes a robot 10, an operation table 2 (part take-out position 2a, detention position 2b), a box supply line 3 (supply belt conveyor 3a), and a box return line 4 (return belt conveyor 4a). A plurality of combinations are provided. Each combination is arranged in a direction orthogonal to the longitudinal direction of the box supply line 3 and the box return line 4. And the process which supplies the component 55 of a mutually different kind to the assembly process line 45 is performed in parallel.

  In such a configuration, as compared with a configuration in which a plurality of different types of components are taken out from the box at different timings by a single robot and supplied to the assembly process as in the invention described in Patent Document 1, the speed of supplying a plurality of types of components is increased. Can speed up.

What was demonstrated above is an example, and there exists an effect peculiar for every following aspect.
[Aspect A]
The aspect A includes a robot (for example, the robot 10) that takes out a part (for example, the part 55) in the transport box (for example, the return box 50) and supplies the part (for example, the assembly process line 45), and a box supply path (for example, a box). Transporting means for transporting the transport box on the supply line 3) to the vicinity of the robot and transporting the transport box after taking out the parts from the vicinity of the robot to a box return path (for example, the box return line 4). In a component supply system (for example, the component supply system 1), the transport box after removing the parts is transferred to the box return path by the robot, and the transport box on the box supply path is transferred to the vicinity of the robot by the robot. By doing so, the robot is made to function as the transfer means.

  In aspect A, using the driving force exerted by driving sources such as various motors of the robot, the transport box on the box supply path is transported to the vicinity of the robot or transported empty from the vicinity of the robot to the box return path. Or transport boxes. In such a configuration, by transporting the transport box in a lifted state, it is possible to avoid a stagnation of transport due to the fact that the transport box does not slide well on the frictional resistance road surface. Alternatively, even if the transport box is configured to slide on the road surface, it is possible to surely perform the sliding. Specifically, even when the frictional resistance of the road surface is increased due to adhesion of dirt, the robot uses a driving force exerted by various driving sources to exert a strong sliding force against the shipping box, Surely transport. Therefore, it is possible to suppress the delay of the transport of the transport box from the box supply path to the vicinity of the robot and the delay of the transport of the transport box from the vicinity of the robot to the box return path.

[Aspect B]
Aspect B is characterized in that, in aspect A, the road surface of the box supply path and the road surface of the box return path have the same height. In such a configuration, the path from the box supply path through the vicinity of the robot to the box return path can be made a smooth stroke without any step, and smooth transfer and delivery of the transport box can be realized.

[Aspect C]
Aspect C includes a part extraction position (for example, part extraction position 2a), which is a box position for taking out parts from the carrying box, and a box position for temporarily holding the carrying box after taking out the parts. A certain indwelling position (for example, indwelling position 2b) is arranged in the left-right direction in front of the robot, and the box supply path with the front end directed to the component extraction position and the rear end directed toward the indwelling position. The box return path extends in a direction along the longitudinal direction of the robot and is arranged in parallel. In such a configuration, the box supply path and the box return path are reasonably arranged at the same height, and the supply work place of the transport box containing parts to the box supply path and the collection of empty transport boxes from the box return path It is possible to increase work efficiency by setting the work places close to each other.

[Aspect D]
Aspect D is the aspect in which, in aspect C, the robot and the drive of the robot are moved so that the transport box on the box supply path is transferred to the component extraction position by an operation of pulling the transport box toward the front side of the robot by the movement of the arm of the robot. It is characterized by comprising a control means for controlling the above. In such a configuration, the transport box can be transferred from the box supply path to the component pick-up position by the movement of the arm portion of the robot that hooks the hand on the transport box on the box supply path.

[Aspect E]
Aspect E is the aspect D according to aspect D, wherein the transporting box is moved from the part picking position to the detained position by shifting the position of the transporting box after picking up the part at the part picking position by the movement of the arm of the robot. The robot and the control means are configured so as to be transferred to the vehicle. In such a configuration, it is possible to alleviate congestion of the transport box at the box return destination by temporarily holding the transport box immediately after taking out all the parts near the robot.

[Aspect F]
Aspect F is the aspect according to aspect E, in which the robot and the control means are transferred to the box return path by an operation of pushing the transport box in the indwelling position from the near side to the back side by the movement of the arm of the robot. It is characterized by comprising. In such a configuration, the transport box can be transferred from the detention position to the box return path by the movement of the arm of the robot with the hand pressed against the transport box on the box supply path.

[Aspect G]
Aspect G includes a plurality of stacks of trays (for example, trays 56) containing the parts so as to hold the parts at different positions in their own virtual two-dimensional plane in any of aspects D to F. The robot and the control means are configured to supply the assembly process while taking out components from the uppermost tray in the transport box at the component extraction position in the enclosed state. . In such a configuration, the parts accommodated in multiple stages in the transport box can be taken out in order.

[Aspect H]
In the aspect H, in the aspect G, an empty tray in which all the parts are taken out at the uppermost position in the carrying box at the parts taking out position and empty is taken out from the carrying box and moved to a predetermined position. The robot and the control means are configured. In such a configuration, after all the parts of the uppermost tray are taken out, the parts in the lower tray can be taken out.

[Aspect I]
Aspect I provides a height position detection means (for example, a height sensor 29) for detecting the height position of the uppermost component in the transport box at the component removal position in aspect H, and the height Based on the detection result by the position detection means and a control program for sequentially removing parts in accordance with a predetermined position order on the virtual two-dimensional plane, a process of sequentially removing a plurality of parts from the uppermost tray is performed. As described above, the control means is configured. In such a configuration, it is possible to take out and supply components at each stage only by correcting a standard control program stored in advance based on the height detection result.

[Aspect J]
Aspect J is any one of the aspects C to I, wherein the combination of the robot, the parts extraction position, the detention position, the box supply path, and the box return path is an extension of the box supply path and the box return path. A plurality of the sensors are arranged in a direction orthogonal to the current direction. In such a configuration, as compared with a configuration in which a plurality of different types of components are taken out from the box at different timings by a single robot and supplied to the assembly process as in the invention described in Patent Document 1, the speed of supplying a plurality of types of components is increased. Can speed up.

1: parts supply system 2: operation console 2a: parts take-out position 2b: detention position 3: box supply line (box supply path)
3a: Supply belt conveyor 4: Box return line (box return path)
10: Robot 13: Arm 29: Height sensor (height position detecting means)
45: Assembly process line 50: Returnable box (transport box)
55: Parts 56: Tray

Japanese Patent Laid-Open No. 10-15865

Claims (10)

A robot that takes out the parts in the transport box and supplies them to the assembling process, transports the transport box on the box supply path to the vicinity of the robot, and transports the transport box after taking out the parts from the vicinity of the robot to the box return path. In a component supply system comprising transfer means for transferring to
The robot after the parts are taken out is transferred to the box return path by the robot, and the robot on the box supply path is transferred to the vicinity of the robot by the robot, so that the robot functions as the transfer means. A component supply system characterized in that The component supply system according to claim 1,
The parts supply system characterized in that the road surface of the box supply path and the road surface of the box return path have the same height. The component supply system according to claim 2,
A part extraction position, which is a box position for taking out parts from the transport box, and a detention position, which is a box position for temporarily holding the transport box after part removal, are arranged side by side in the left-right direction in front of the robot. Set up
In addition, the box supply path whose front end is directed to the component extraction position and the box return path whose rear end is directed to the placement position are arranged in parallel so as to extend in a direction along the front-rear direction of the robot. A component supply system characterized by that. The component supply system according to claim 3, wherein
The robot and the control means for controlling the drive of the robot are configured to transfer the transport box on the box supply path to the component picking position by an operation of pulling the transport box toward the front side of the robot by the movement of the arm of the robot. A component supply system characterized by that. The component supply system according to claim 4, wherein
The robot is moved from the component take-out position to the detention position by an operation of shifting the position of the carrying box after taking out the component at the parts take-out position in the left-right direction by the movement of the arm of the robot. And a component supply system comprising the control means. In the component supply system of claim 5,
The robot and the control unit are configured to transfer the transport box at the detention position to the box return path by an operation of pushing the transport box from the near side to the back side by movement of the arm of the robot. Parts supply system. The component supply system according to any one of claims 4 to 6,
In the state where the parts are taken out in a state where a plurality of trays containing the parts are included so as to hold the parts at different positions in their own virtual two-dimensional plane, A component supply system, wherein the robot and the control means are configured to supply the assembly process while removing components from a tray. The component supply system according to claim 7, wherein
The robot and the control means are arranged to take out an empty tray from which all parts are taken out at the uppermost position in the carrying box at the parts taking-out position and empty and move to a predetermined position. A component supply system characterized by comprising. The component supply system according to claim 8, wherein
A height position detecting means for detecting the height position of the uppermost component in the transport box at the component takeout position;
Processing for sequentially extracting a plurality of components from the uppermost tray based on the detection result by the height position detection means and a control program for sequentially extracting components according to a predetermined position order on the virtual two-dimensional plane The component supply system, wherein the control means is configured to implement In the component supply system according to any one of claims 3 to 9,
A plurality of combinations of the robot, the parts extraction position, the detention position, the box supply path, and the box return path are arranged side by side in a direction orthogonal to the extending direction of the box supply path and the box return path. Parts supply system characterized by.

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