JP2568214B2 - Goods supply equipment - Google Patents

Description

Detailed Description of the Invention

[Field of Industrial Application] The present invention temporarily stores an accommodation box accommodating articles replenished from the outside in a temporary storage means, and then replenishes the accommodation means as needed, and then supplies from the accommodation means. The present invention relates to an article supply device configured to supply a unit. [Prior Art] Conventionally, the inventors of the present application have automatically supplied an article such as a component unit of a product to an assembly station so that the robot can automatically assemble the article into the product. As for the supply device, Japanese Patent Application Nos. 61-200949 and 61
-It has already been proposed in 200950. In such a conventional article supply device, a non-line system is adopted, and by combining it with a multifunctional work mechanism such as a robot, the occupied area is small,
It is a convenient device because it can be shared by many types of items and can store multiple types of items together. [Problems to be Solved by the Invention] Here, in the conventional article supply apparatus as described above, the accommodation box in which the articles are accommodated is supplied to the assembly line or the assembly stage, and the robot is supplied with this. The article is taken out from the storage box and assembled. However, when the robots are supplied with articles and the articles in the storage box are exhausted, the robot assembly operation will stop unless the empty storage box is replaced with a storage box full of articles. Will be done. Moreover,
If the replacement operation is delayed, there is a problem that the robot assembling operation is stopped until the replacement operation is completed. Therefore, in order to continuously perform the assembly operation without stopping the robot assembling operation, the article supply device accommodates the accommodation box in which the articles are accommodated and, if necessary, supplies the accommodation box to the robot. A stocker as a storage means and a replacement mechanism for replacing the empty storage box of the stocker with the storage box containing the article are required. In addition, when a large number of storage boxes containing the above-mentioned articles are stacked and conveyed to a temporary storage means by an unmanned vehicle or the like for replenishment and supplied to a robot as an automatic assembly mechanism via the storage means, The plurality of storage boxes that are transported to the storage means and stacked are not always the same, and the robot may request any articles, so the storage means stores specific articles. In order to replenish the storage box to be temporarily stored, it is necessary to separate a specific storage box from the plurality of stacked storage boxes. That is, assuming that the separating operation is not performed, the articles used in one assembling device are unified into one type (that is, there is no difference between the storage boxes), or when many types of articles are allowed. On the assumption that the consumption of the articles will proceed in accordance with the pre-scheduled schedule, when a specific article is consumed as scheduled, for example, the uppermost storage box stacked on the temporary storage means (there is no need to separate). To supply to the storage means side. With the former method, it is difficult to handle multi-product articles with one assembly device, and with the latter method, if the consumption of the articles does not proceed as planned, the containers separated at the top are stored. May not be able to be replenished if necessary items are not stored. The present invention has been made in view of the above problems,
The purpose of the present invention is to provide an article supply device that enables supply of a wide variety of articles, can efficiently and reliably replace a storage box for a consumable article, and at the same time, replenishment of the storage box is not restricted by the progress of consumption of the article. Is to provide. [Means for Solving Problems and Actions Thereof] In order to solve the problems described above and achieve the object, a plurality of robots for supplying an article to a robot performing work such as processing or assembling according to the present invention is provided. An article supply device for transferring a storage box containing an article into the operation area of the robot is a storage means having a main body storing a plurality of storage boxes storing the articles, and the robot is provided in a specific storage box. The main body is moved up and down so that the specific storage box is moved to the fixed position so that the article can be taken out at a predetermined fixed position in the operation area of the robot,
Storage means for taking out the specific storage box to a predetermined supply position outside the main body, and then returning the specific storage box into the main body, and receiving the supplement of the storage box from the outside of the article supply device, and storing the storage box. Corresponding to the temporary storage means for temporarily storing the box, the detection means for detecting the remaining number of articles in the specific storage box returned to the storage means, and the specific storage box detected by the detection means Separation means for separating an arbitrary storage box containing the specific article from a plurality of storage boxes stored in the temporary storage means, and receiving the storage box separated by the separation means by the detection operation of the detection means It is characterized by comprising: the storage box and a replacement means for replacing the storage box with the specific storage box. [Embodiment] The configuration of an embodiment according to the present invention will be described in detail below with reference to the accompanying drawings. In the following description, the description will be given in the order shown in the following table of contents. Table of contents 《Schematic configuration》 《Explanation of unmanned vehicle》 《Pallet configuration》 Pallet configuration Pallet dimensions 《Description of buffer》 Configuration of buffer base Configuration of separation mechanism 《Buffer operation》 Basic separation operation Position correction operation 《Elevator description》 Elevator body configuration Replacement mechanism operation Replacement mechanism operation-Bucker take-in operation --- Empty pallet pull-in operation --- Pallet push-out operation --- Empty pallet carry-out operation- <Description of stocker> Stocker configuration Configuration Configuration of lid opening mechanism Operation of lid opening mechanism Operation of drawer <Explanation of robot> Robot configuration Robot operation <System operation><Control unit configuration><Assembly environment input><Part supply efficiency Factors of change in performance><Other display elements><Variables used for control><Corner module Vertical movement range><Outline of pallet changing operation><Detailed explanation of each module control>

[Control of robot and stocker]

 When the remaining number becomes 1 When the remaining number becomes 1

[Pallet replacement]

 * Pallet separation by buffer * * Elevator pallet pullout * * Elevator replacement standby position * * Move to standby position * * Detection of remaining number 0 * * Pallet replacement * * Empty pallet stacking * * Final shelf replacement *

[Cueing for replacement preparation instructions] [Initial operating status setting]

 << Explanation of Modification >> Explanation of First Modification * Configuration of Step Disassembling Mechanism * * Operation of Step Disassembling Mechanism * Description of Second Modification * Elevator Description * Description of Third Modification * Replacement Mechanism Description * * Control * Description of the fourth modification * Configuration * * Control * [Other embodiment] * Configuration * * Control * Modification of other embodiment [Others] <Locking of pallet in stocker> < Replenishment of parts for FAC> * Replenishment by unmanned vehicle * * Replenishment by man * [Effect of Example] << Outline of Configuration >> First, the flexible assembly of this Example
About the outline of the G. Center (hereinafter referred to as FAC) 10
A description will be given with reference to FIGS. 1 and 2. This FAC10 has multiple parts x₁, x₂, x₃… From a given product
Automatic assembly device for automatically assembling
Call it Tutt. ) 12 and this robot 12 depending on the assembly sequence.
Parts that will be needed x₁, x₂, x₃Parts that automatically supply ...
Supply system 14 and this robot 12 and parts supply system
Connected to the robot 14 for efficient assembly operation in the robot 12.
Control unit for driving and controlling both
Connected to the control unit 16 and the operator 16
I / O device 18 to which assembly information data is input
I am. This parts supply system 14 can be installed in an automated warehouse (not shown).
Various parts stored x₁, x₂, x₃…, Multiple unmanned vehicles
Configured to receive transport via 20 (shown in FIG. 1)
Has been done. That is, this parts supply system 14 is an unmanned vehicle.
20 x parts x₁, x₂, x₃One that receives… and stores it
Adjacent to the buffer 22 and the robot 12
The robot 12 is assembled with the parts required for assembly.
Stocker 24 as a storage means to supply sequentially according to the order
Is placed between the buffer 22 and the stocker 24,
Parts that have become insufficient in Totka 24 x₁, x₂, x₃...
One mode of transfer means for transferring from the tuffer 22 to the stocker 24
It is basically equipped with the elevator 26. << Explanation of unmanned vehicle >> This unmanned vehicle 20 is a large number of parts stored in an unmanned warehouse.
x₁, x₂, x₃From this list, use this robot 12 for assembly.
Parts x₁, x₂, x₃... is selectively transported to the buffer 22.
It is prepared for. That is, each unmanned vehicle 20 is shown in FIG.
As shown schematically, a casing 28 formed in a rectangular parallelepiped shape from the frame body
And the wheels 30 attached to the lower surface of the housing 28,
It is equipped with a pallet mounting table 32 mounted on the top surface of the housing 28.
I am. This wheel 30 is rotated by a drive mechanism (not shown).
It is configured to be rotationally driven. In addition, each unmanned vehicle 20 is installed between the unmanned warehouse and the buffer 22.
Of the wheels 30 along the traveling path previously provided on the road surface.
It is driven via drive, and this running state is
Optimally controlled by the production control computer
There is. Also, the parts x that are transported to the buffer 22₁, x₂, x₃…of
The selection and placement operation on each unmanned vehicle 20 are also controlled as described above.
It is optimally controlled by the unit 16. Also, on the above-mentioned pallet mounting table 32, a
Let p₁, p₂, p₃… But inside the part x₁, x₂, x₃House each ...
It is piled up in the state. Meanwhile, under the housing
On the surface, an empty pallet p₁′, P₂′, P₃’… Multiple
Empty pallets so that they can be placed in a stacked state
A table 34 is provided. In the following description,
To represent a lett representatively, simply add it without subscripts.
Indicated by "p", and when showing empty pallet as a representative
Also, it is simply represented by "p '" without a subscript. Here, on the pallet mounting table 32, the parts mounted here are mounted.
Product x₁, x₂, x₃... with pallet p₁, p₂, p₃To carry out ...
Further, a carry-out roller 32a is provided. Also empty pallets
The empty pallet p placed here is placed on the platform 34.₁′,
p₂′, P₃In order to carry in '..., a carry-in roller 34a is provided.
Have been. These carry-out roller 32a and carry-in roller 34a are
Configured to be rotated by a drive motor (not shown)
Has been done. << Explanation of pallet >> Composition of pallet Here, each part x₁, x₂, x₃... are the corresponding pallets
p₁, p₂, p₃… It is housed inside, and this p₁, p₂, p₃
… They are placed inside the unmanned vehicle 20 and stored in the
Once housed in Tufa 22, it will be stowed via elevator 26.
Housed in mosquito 24 and offered to robot 12
It is configured. That is, each pallet p₁, p₂, p₃... the same
One type of component x₁, x₂, x₃... are each housed
Then, as shown in FIG. 3, the corresponding parts x₁, x₂, x₃… Is above
It is housed so that it can be removed and inserted along the downward direction, and the top surface is open.
Pallet body 36 and the pallet of this pallet body 36
p₁, p₂, p₃At least on both side edges along the transport direction d of
And the flange 38 that is overmolded to the outside
Have. As is clear from the shape shown,
The actual shape of the flange 38 is that of the pallet body 36.
Is formed over the entire circumference of. In addition, each
The upper surface of the let body 36 is openably closed.
The lid 40 is placed. Each flange 38 is located on both ends as shown.
In this state, the first and second notches 38a, 38b are
Also, in the state of being located in the center, the third notch 38c
Have been formed. Where the first and second cuts on both sides
The notches 38a and 38b are formed on the pallet p as described later.₁, p₂, p₃
To remove the ... from the buffer 22 to the elevator 26,
From the stocker 24 to the robot 12 or elevator 26.
It is provided for pulling out / in. On the other hand, the third in the center
The notch 38c of the
Place the pallet body 36 that is stored in
With the robot open, take it out to the side of the robot 12 side.
So that the lifting body, which will be described later, can be inserted.
Have been killed. The first and second notches 38a, 38b are flat.
It is composed of a recess formed in a substantially isosceles trapezoidal shape,
The shorter side is formed to define the bottom of the recess.
You. That is, in the lid 40, the robot 12 is a component x₁, x₂, x₃…
The final stage of handling, in other words, pallets
p₁, p₂, p₃... is the drawer standby position in the stocker 24, which will be described later.
Until the corresponding pallet p is moved to₁, p₂, p₃The upper surface of
Covered over the opening, part x₁, x₂, x₃…
It is prevented from being soiled with dust or the like. Size of pallet p₁, p₂, p₃… As shown in Fig. 4
And its thickness, depending on the size of the components it houses.
Is set to three types of 25 mm, 50 mm, and 100 mm. here
In the following explanation, the part x₁Is 25
pallet p with a thickness of mm₁The maximum number is set to 54
Parts x₂Pallet p with a thickness of 50 mm₂To
With the maximum number set to 38, the parts x₃Is
Pallet p with a thickness of 100 mm₃Set the maximum number to 13
It is assumed that they are housed in the respective state. Also, each pallet p₁, p₂, p₃In, the flange part
The thickness of 38 is set to a common 12 mm. In addition, each pare
As shown in FIG.
The pallet body 36 (shown by a broken line in the figure) stacked on the
The bottoms of the two are mated to prevent lateral displacement of each other
A concave portion 36a for forming is formed over the entire circumference. This
Here, the depth of the recess 36a is set to 7 mm. This
, For example, three types of pallets p₁, p₂, p₃Is 1
The height of this stack when stacked one by one
Will be set to 25 + 50 + 100-7 x 2 = 161 mm. Each pallet p₁, p₂, p₃On the side of the flange 38
Are the respective p-values, as shown in FIG.₁, p₂, p₃…During
Parts housed in x₁, x₂, x₃Information about type and number of…
And a bar code B showing the height information of the pallet is drawn.
There is. << Explanation of buffer >> Next, a palette of the unmanned vehicle 20 configured as described above is mounted.
Parts 32 from Stand 32₁, x₂, x₃... with pallet p₁, p₂, p₃…
Receive, store, and empty p₁′, P₂′,
p₃The buffer 22 for sending the ‘…’ to the unmanned vehicle 20
This will be described with reference to the drawings. Structure of Buffer Base This buffer 22 is a base fixed on a base not shown.
The base 42 and the pillars 44a, 44 that are erected at the four corners of the base 42, respectively.
b, 44c, 44d and pallet p₁, p₂, p₃Along the conveyance direction d of
Standing state on the inner surface of each of the pair of columns 44a, 44b, 44c, 44d
The standing plates 46a and 46b that are suspended in the state are provided. each
The standing plates 46a, 46b are raised on the surfaces facing each other.
The guide member 48 is fixed along the side edge. Soshi
Slide on each guide member 48 so that it can move up and down.
The moving member 50 is attached. To these four sliding members 50
Attach the buffer table 52 with each of the four corners supported.
Have been. This buffer stand 52 is a component from the aforementioned unmanned vehicle 20.
x₁, x₂, x₃... with pallet p₁, p₂, p₃What is placed
And, on this buffer table 52, the parts placed here are
Product x₁, x₂, x₃... with pallet p₁, p₂, p₃… From the unmanned car 20
The receiving roller group 54 for receiving the roller guides 56 at both ends.
It is arranged so as to be rotatably supported. Incidentally, this
The carry-in roller 54 is rotated by a drive motor (not shown).
It is configured to be driven. On the other hand, on both sides of the upright plate 46b on the opposite side in FIG.
The part sandwiched between the id members 48 extends vertically.
In the state, the slit 58 is formed. In this slit 58
The protruding piece 52 on the buffer stand 52
52a is integrally formed. Here, this buffer 52 is a pallet placed on this.
Group p₁, p₂, p₃From the inside, as will be described later, Stocker 24
In pallet p, the number of remaining parts x is 1.
In order to replace it, replace it with the specified pallet.
It is configured to be movable up and down to separate p. That is, the pair of columns 4 to which the upright pieces 46b on the other side are attached.
Guide the above-mentioned buffer base 52 between the upper ends of 4c and 44d.
Servo motor M for moving up and down along member 48_BIs distributed
It is set up. This servo motor M_BAlong the vertical direction
It is equipped with a rotating shaft that extends from the
It is rotatably arranged between 44c and 44d and extends vertically.
Connected so as to drive the ball screw 60 that has come out.
There is. On the other hand, the middle part of the ball screw 60 is
It is screwed to the projecting piece 52a. In this way, the servo mode
Ta M_BThe ball screw 60 is driven to rotate by the rotation of the rotating shaft of
As a result, the buffer table 52 is moved up and down. This servo motor M_BThe rotation position of this
The encoder for detecting the height position of the buffer stand 52
Feeder 62 is attached. Separation mechanism configuration With the above configuration, the buffer base 52 can be
It can move up and down, but as mentioned above
And the pallet group p placed on this₁, p₂, p₃From…
This buffer 22 is used to separate the specific pallet p.
Includes a separating mechanism 64. This separating mechanism 64 is provided at the upper end of each standing plate 46a, 46b.
A pair of first separating claws 66 and the first separating claws 66.
And a pair of second separation claws that are arranged a predetermined distance downward.
It has 68 and. In addition, the first of the two standing plates 46a, 46b
And the second separating claws 66, 68 are set at the same height position.
There is. Here, each of the first and second separation claws 66, 68 is
Pallet group p stacked on the far stand 52₁, p₂, p₃
It is provided on the flange 38 of ... so that it can be hooked from both sides.
You. In other words, the first and second plates provided on the respective standing plates 46a and 46b.
And the second separating claws 66, 68 are stacked on the buffer table 52.
Raised pallet group p₁, p₂, p₃Flange 38 of… is downward
From the protruding position where the
It is installed so that it can reciprocate between the retracted position
There is. That is, each pair of first separating claws 66 has a corresponding rising plate 46a,
Providing a support rod 70 that protrudes 46b and reaches the back
There is. Both support rods 70 are located on the back side of the standing plates 46a, 46b.
As shown in FIG.
ing. Then, the first separating claw 66 is provided on the connecting plate 72.
First air cylinder C for reciprocating drive_B1Is connected
Have been. In this way, this first air cylinder
C_B1In response to the driving of the first separation claw 66,
The second separation claw 68 is driven to reciprocate between the driving position and the second position.
Air cylinder C_B2Except that the first separation claw 6 is provided.
Since the configuration is the same as that for driving 6, the description thereof is omitted.
I will omit it. Between the first separating claw 66 and the second separating claw 68 described above.
The distance is pallet p₁, p₂, p₃Maximum height of 10 in
It is set to 110 mm, which is slightly longer than 0 mm. In addition, the above-mentioned first separation claw 66 is in a state of being locked by the pawl 66.
To the side of the bullet p, the barco drawn on this bullet p
A bar code reader 74 for reading the barcode B is installed.
Have been. This barcode reader 74 has a well-known configuration.
Therefore, the description thereof is omitted. Here, on the base 42, the lower position of the elevator 26 (immediately
Then, in the state of extending to the position adjacent to the stocker 24),
A carry-out mechanism 76 is provided. This unloading mechanism 76
Pallet p emptied at Tsuka 24₁′, P₂′, P₃’…
To the empty pallet mounting table 34 of the unmanned vehicle 20 described above.
It is provided for the purpose of being composed of a plurality of carry-out rollers 78.
Has been done. These carry-out rollers 78 are drive motors not shown.
It is configured to be rotationally driven by the motor. The height position of this carry-out mechanism 76 is
It is set to take the same height position as the table 34.
In addition, the standby position of the buffer 52 is
The height is set to be the same as the height position of the table 32. (Operation of buffer) Basic separating operation In the structure of the buffer 22 equipped with the separating mechanism 64 as described above.
In addition, the pallet group p placed on the buffer table 52₁, p₂,
p₃Based on the request from Robot 12, which will be described later,
The operation when separating a given pallet pa,
This will be described with reference to FIGS. 7A to 7D. First, as shown in FIG.
12 pallets are p from the bottom₁, p₂, p₃, p₁, p₂, p₃, p₁, p₂,
p₃, p₁, p₂, p₃It is assumed that they are placed in the order of.
It should be noted that on this buffer table 52, a pallet group p with a height of 800 mm
₁, p₂, p₃... is set to be placed, and
In some cases, a group of 12 pallets will have a height of (25 + 50 + 100) x 4-7 x 11 = 623 mm and 623 mm. And like this
The robot x, the part x₁Was housed
Pallet p₁When asked to separate the
A plurality of pallets p mounted on the buffer table 52₁Inside
The third from the top by applying the principle of first-in / first-out
Pallet p located at₁Instructions will be sent to separate
And In the following explanation, the third from the top
Pallet p₁, The symbol pa is added, and it is located immediately above this
Match the pallet, that is, the second pallet from the top_Pwith b
I will decide. Separate the pallet pa from the robot 12 as described above.
If a request is made to
Set the pallet pb placed directly above the pallet pa to the
As shown in FIG. 7B, it is hooked by the first separating claw 66.
Servo motor M until brought into position_BDriven to rotate
To move (in this case, lower) the buffer table 52.
The first and second separation claws 66, 68 are at the initial position.
And both have been moved to the retracted position. In the state shown in FIG. 7B, the first air cylinder
Da c_B1Starts and pulls the first separating claw 66 from the retracted position.
Push it to the hook position and push it out. This allows the pallet
The flange 38 of the pb can be hooked on the first separating claw 66 from below.
It becomes a noble state. After this, as shown in FIG._BIs the
From the state shown in Figure 7B, lower the buffer table 52 by 94 mm.
To rotate. As a result, the pallet pa is the second
When it comes to the position where it is hooked on the separation claw 68
At the same time, the pallet pb is hooked on the first separating claw 66.
become. That is, pallets_Ppallet located above b
Will be hooked on the first separating claw 66. In the state shown in FIG. 7C, the second air cylinder
Da c_B2Is activated and the second separating claw 68 is pulled from the retracted position.
Push it to the hook position and push it out. This allows the pallet
The flange 38 of pa can be hooked on the second separating claw 68 from below.
It becomes a noble state. After this, as shown in FIG._BIs the
From the state shown in Figure 7C, lower the buffer table 52 by 15 mm.
To rotate. As a result, only the palette pa
It is hooked on the second separating claw 68 and is positioned below this pallet pa.
The pallet to be placed is also at a position separated from the pallet pa.
I will be taken down. In this way, pallet pa
The second separation, with the only separated from the other pallets.
The position hooked on the claw 68 (hereinafter simply referred to as the separation position)
Bu ), It is set so that it can be taken out independently.
become. In addition, the pallet pa separated in this way is
After being taken out by the rebate 24, next
All pallets are bulky so that they may be separated.
It can be returned to the initial state when it is placed on the tour table 52.
Becomes That is, in this return operation, first, the second air shield
Linda C_B2Reverse to the last time, the second separation claw 68 is in the hooked position
It works like pulling from to the pulling position. After this,
Servo motor M_BIs driven to rotate and the buffer table 52 is 134 mm
(That is, the stroke that the buffer stand 52 descends 94+
15 = 109mm, 25mm which is the thickness of the pallet pa taken out
The value added. ) Only raise. Due to this rise,
The highest pallet among the pallets on the Hua stand 52.
Put the pallet pb on the first separating claw 66 upwards.
It will be placed and lifted. In this state, the first air cylinder C_B1Last time
Contrary to the above, the first separating claw 66 is pulled from the hooked position to the pulled-in position.
It works like pulling in. As a result, the first separating claw 66
The pallet group above the pallet pb that was hung on the
The upper side of the pallet group already placed on the buffer table 52.
The entire group of pallets was placed on the buffer table 52 after all.
Will be placed on top. Soshi
Then, at this position, the robot enters the standby state, and the next
Will wait for the separation instruction. Pallet position correction operation during separation operation The operation of the buffer 22 detailed above is a basic operation.
Therefore, the manufacturing error of each pallet is not taken into consideration.
You. In other words, each pallet allows a manufacturing error of ± 0.3mm.
It is what has been. Therefore, a large number of pallets are
This manufacturing error accumulates when stacked on the stand 52.
Then, the first of the palette pb in the basic operation described above
There is an error in the movement of the separation claw 66 to the hooking position.
Then, the pallet pb is accurately locked by the first separating claw 66.
Occasionally, it will not be moved to the storage. In detail, assuming the worst case, all placed
Pallet p with a minimum thickness of 25 mm₁so
Yes, the maximum mounting height is 800 mm as described above.
Then, the maximum cumulative error amount is 800 ÷ (25-7) × 0.3 = 13.3mm. With this maximum cumulative error amount, the height
If the position changes, the servo motor M_BBut as mentioned above
According to the basic operation, the predetermined pallet pb is transferred to the first separating claw 66.
As if it was driven to rotate so as to move to the
However, in reality, due to the above-mentioned error,
In some cases, it cannot be placed. Therefore, in this embodiment, as shown in FIG.
As shown in Fig.
Above) Placed adjacent to the side of the pallet body 36
The sensor 80 is provided. This sensor 80
It consists of a well-known reflective photocoupler.
Although detailed explanation is omitted, a pair of light emitting element and light receiving element
Adjacent to the peripheral surface of the flange 38 of the pallet.
When receiving light from the light emitting element, it turns on, and the pallet body
When it is adjacent to the side of 36, it receives light from the light emitting element.
It is configured to turn off without being able to. The location of the sensor 80 is shown in detail in FIG. 8A.
As shown, this is the upper end surface of the flange 38 of the pallet pa.
Has been detected, it is placed on this palette pa.
The pallet pb is brought to the hooked position by the first separating claw 66.
Is set to be done. With the sensor 80 as described above,
Of the pallet pb considering the manufacturing error of the pallet.
The contents of the movement control to the hooking position by the first separating claw 66 are
A description will be given with reference to FIGS. 8A to 8E. Here, the range where the side surface of the pallet body 36 appears is 8A.
As shown in the figure, the pallet p with a height of 25 mm₁In Case of,
The flange 38 has a thickness of 12 mm, and the
Consider the 7 mm that is the fitting allowance for the fitting main body 36 into the fitting recess 36a.
Considering this, 25-12-7 = 6mm. Therefore, consider the accumulation of the above-mentioned maximum manufacturing error.
Then, the servo motor M_BCalculated by
The relative relationship between the points pa and pb and the position of the sensor 80 is 8B.
As shown in Fig. 8, Fig. 8C, and Fig. 8D, there are three states.
Is assumed. That is, as shown in Figure 8B, the pallets to be separated are
pa (in other words, a pallet hooked on the second separating claw 68)
The peripheral surface of the flange portion 38 of pa) is the first surface facing the sensor 80.
As shown in FIG. 8C and the embodiment of FIG.
The peripheral surface of the flange 38 of the pallet pb to be
A second aspect opposite to, and as shown in FIG. 8D,
Pallet pb pallet to be hooked on the first separating claw 66
The side face of the main body 36 has a third aspect in which it faces the sensor 80.
To live. Here, the sensor 80 is attached to the flange portion 38 of the pallet.
When the peripheral surfaces of the
In the ON state, the first mode shown in FIG. 8B and the eighth mode
A second mode shown in the figure can be considered. Because of this,
As shown in Fig.8E, the base 52 has the sensor 80
In other words, the sensor 80 is turned on until the upper end face of 38 is detected.
It is lowered until it operates. Then, when the sensor 80 is turned off in this way, the upper end
Bar code B drawn on the pallet whose surface is detected
It is read via the code reader 74. As a result, read tied
From the barcode B that has been
If it is determined to be the let pa, as described above.
The pallet placed on this pallet to be separated.
pb is brought to the hooking position of the first separating claw 66.
Therefore, according to the basic operation described above, the first air
ー Cylinder C_B1Is activated and the first separating claw 66 is in the hooked position.
Will be pushed to. On the other hand, the upper end face is the bar drawn on the detected pallet.
-As a result of reading Code B, this pallet is separated.
If it is determined that it is not the right paletto pa, this
The pallet that has been read the bar code B will automatically
It is decided that it is a palatte pb on the upper side of the point pa.
Therefore, only the height of this pallet pb is the buffer 52.
Servo motor M_BIs driven to rotate
You. In this way, the sensor 80 can be used as shown in Figure 8E.
Then, the upper end surface of the flange portion 38 will be detected again.
However, the upper end surface of the pallet
The tut should be a pallet pa to be separated
After confirming this with the barcode reader 74,
Then, according to the basic operation described above, the first air cylinder
C_B1Is activated and the first separating claw 66 is pushed out to the latching position.
Will be done. In addition, the bar code B of the
As a result of reading, it is judged that it is not a palette pa to be separated.
If it is, a clear control error or requested
A pallet different from a lettuce is loaded onto the unmanned vehicle 20 from the unmanned warehouse.
However, the control action is taken at that point.
The operation is stopped and a predetermined warning operation is started. In addition, the sensor 80 has a side surface of the pallet body 36 next to it.
In the contact state, that is, the pallet moves according to the calculated value.
When it is moved, it turns off, but this off
In the state, only the third aspect shown in FIG. 8C is considered.
Will be done. Therefore, the buffer stand 52 is shown in Fig. 8E.
As shown, the sensor 80 detects the upper end surface of the flange portion 38.
Until the sensor 80 is turned on.
Be ascended. Then, when the sensor 80 is turned on in this way, the upper end
Bar code B drawn on the pallet whose surface is detected
It is read via the code reader 74. As a result, read tied
From the barcode B that has been
If it is confirmed to be a let pa, as described above.
The pallet placed on this pallet to be separated.
pb is leaning against the hooking position of the first separating claw 66.
Therefore, according to the basic operation described above, the first air
Cylinder C_B1Is activated and the first separating claw 66 is in the hooking position.
Will be pushed out. Perform the pallet position correction operation detailed above.
Therefore, if there is a manufacturing error in the pallet,
Even the pallet pa is separated regardless of this manufacturing error.
The pallet pb placed on the upper side is attached to the first separating claw 66.
A more reliable state of being hooked will be achieved. << Explanation of Elevator >> Next, the elevator installed between the buffer 22 and the stocker 24
The part x replaces an empty pallet p ′ in the Totka 24.
Eleve to replace the fully-loaded pallet p
Regarding the configuration of the data 26, refer to FIGS. 9 to 13G.
explain. Configuration of Elevator Main Body As shown in FIG. 9, this elevator 26 will be described later.
It is fixed on the common base 142 with the stocker 24.
Yes, on the part on the buffer 22 side of this base 142,
On the support columns 44a and 44c on the robot 12 side of the
While standing upright next to each other, the pair of columns 82a, 82b and the robot
It was installed upright with a certain distance to the boot 12 side.
A pair of columns 82c and 82d are provided. These four branches
The upper ends of the pillars 82a, 82b, 82c, 82d are connected to each other by a connecting member 84.
It is connected to Ii. In this way, the elevator 26
A basic frame is configured. This connecting member 84 is also
It is configured in common with the stocker 24 described above. Here, a pair of columns 82a and 82c along the transport direction d
The elevator body 86 moves vertically between the pair of columns 82b and 82d.
It is movably arranged. This elevator body 86 is₁, p₂, p₃Transport of…
Consists of a box body with a pair of surfaces orthogonal to the direction d open
Have been. This elevator body 86 is from the robot 12.
Request (when the remaining number of parts in a given pallet is "1")
The separation position, based on
The separated palette pa is received from the buffer 22 and
Hold it in the beta body 86 and then
Request from the customer (the remaining 1 part is used for assembly.
It is necessary to be issued when there is no part
In accordance with the request), the stored palette pa is stored in the stocker 24.
It is configured to be transferred. Where pallet
p₁, p₂, p₃Each pair of columns 82a, 82c; 82b, along the transport direction d of.
The faces of 82d that face each other run along the vertical direction.
The guide member 88 is fixed. And each guide
The member 88 can be moved up and down along with it, and
A pair of sliding members 90 are installed with a certain distance.
You. Here, the four sliding members 90 in the upper horizontal plane
The upper four corners are respectively supported, and the lower horizontal
The lower four corners are respectively supported by the four sliding members 90 in the plane.
Installed, the elevator body 86 described above is installed.
ing. On the other hand, a pair of columns 82b, 82d on the opposite side in FIG.
The part sandwiched between the
Is specified. With it protruding into this space,
The elevator main body 86 has a protruding piece (not shown)
Has been formed. In addition, the upper ends of the pair of columns 82b and 82d on the opposite side are connected to each other.
In the portion of the connecting member 84 that is connected, the above-mentioned elevator
A server for moving the main body 86 up and down along the guide member 88.
BOMOTOR M_E1Is provided. This servo motor M
_E1Has a rotating shaft extending along the vertical direction,
This rotating shaft is rotatably arranged between both columns 82b and 82d.
Drive the ball screw 92 that extends vertically.
To be connected. Meanwhile, this ball screw 92
The middle part is screwed to the above-mentioned protruding piece. like this
Servo motor M_E1By rotating the rotation axis of
The screw 92 is driven to rotate, and the elevator main body 86
It will be moved up and down. This servo motor M_E1The rotation position of this
Then, to detect the height position of the elevator body 86,
The encoder 94 is attached. With the above configuration,
The elevator body 86 can move up and down to any height.
Can be done. Configuration of replacement mechanism Elevator body that is vertically movable as described above
The 86 is filled with parts separated from the buffer 22.
Take in the pallet pa that was put on, and this pallet pa
From this to the stocker 24, and also stocker 24
The replacement mechanism 96 for pulling the empty pallet p ′ from
It is equipped. This replacement mechanism 96 uses a servo motor as a drive source.
M_E2On the upper surface of the elevator body 86 via the stay 98.
It is equipped as it is worn. This servo motor M_E2Drive
One end of the swing arm 100 is fixed to the drive shaft,
It is designed to be rockably driven according to the rotation of the driving shaft.
In the middle of the swing arm 100, along the longitudinal axis of the swing arm 100,
Then, the long groove 100a is formed. Also, this long groove 100a
Of the range of the
The beta body 86 has an upper surface along the transport direction d described above.
Then, the guide groove 102 is formed. This guide groove 102
Is distributed over almost the entire length of the elevator body 86 along the transport direction d.
Is formed. Here, the upper and lower sides are commonly used for the long groove 100a and the guide groove 102.
The guide pin 104 is installed with it being inserted along the direction.
Have been. The head of this guide pin 104 has a large diameter.
It is designed to prevent falling out of these grooves 100a, 102.
It has been stopped. With this configuration, the servo motor M
_E2The reciprocating rotation of the arm causes the rocking arm 100 to rock.
The guide pin 104 is driven in the guide groove 102.
Be reciprocally driven along, that is, along the conveyance direction d.
become. Also, as shown in FIGS. 10 to 12, this guide pin
Located at the bottom of elevator 104 inside elevator body 86
Thus, the slide plate 106 is fixed. This slide plate 1
06 extends along the direction orthogonal to the transport direction d.
It is attached to the guide pin 104. This slide plate 1
At the both ends of the side of the buffer 22 side of 06, the first hook 10
8 is a slide plate via the first hook slide member 110.
Along the longitudinal axis direction of 106, in other words, in the transport direction d.
Mounted slidably along orthogonal directions
You. The pair of first hooks 108 correspond to the aforementioned pallets.
P₁, p₂, p₃Elevator 26 formed on flange 38 of ...
Shape capable of engaging with the first notch portion 38a on both sides from both sides
Is formed in. That is, the tip of the first hook 108
The parts complementarily match the notched isosceles trapezoid
It is formed in an isosceles trapezoidal shape. On the other hand, on both ends of the slide plate 106,
The air cylinder support plates 112
It is worn. The buffer of this air cylinder support plate 112
To reciprocally drive the first hook 108 at the end on the side of 22
First air cylinder C_E1Is attached. This
First air cylinder C_E1Of the first piston 114 of
The above-mentioned first hook 108 is connected to the section. This
The first air cylinder C_E1Depending on the drive of
The first hook 108 is the first notch of the flange portion 38.
It will be reciprocally driven to disengage from the portion 38a. In addition, both sides of the slide plate 106 on the side of the stocker 24
At the end, the second hook 116 has a second hook slide portion.
Through the material 118, along the longitudinal axis direction of the slide plate 106,
In other words, the slide along the direction orthogonal to the transport direction d
It is installed so that it can be installed. This pair of second hooks
116 is each of the above-mentioned pallets p₁, p₂, p₃Flange part 38 of
The second notch 38b on the side of the unmanned vehicle 20 formed on the
It is formed in a shape that can be engaged from the side. On the other hand, the air cylinders fixed to both ends of the slide plate 106
At the end of the holder support plate 112 on the side of the stocker 24, the second hook 1
Second air cylinder C for reciprocating 16_E2Gatori
It is attached. This second air cylinder C_E2The first
At the tip of the second piston 120, the second hook 116
Are connected. In this way, the second air
C_E2The second hook 116 is driven by the flange
It is reciprocally driven to engage with and disengage from the second notch 38b of 38.
Will be. Here, on the lower surface of the elevator main body 86, the first or the first
Servo motor M is engaged with the two hooks 108 and 116._E2Rotation of
Slide the pallet p that is pulled in / pushed out according to the drive.
A pair of fixed slide guides 122 for movably supporting are provided.
Has been done. That is, both fixed slide guides 122 are pulled.
Of the flanges 38 on both sides of the pallet p to be inserted / extruded
It is set to be slidable on the bottom surface. The height of the upper edge of both fixed slide guides 122 is
Pallet p with a height of 100 mm, which is a large height₃Sliding itself
It is set to a height high enough to support
The stand-by position of the elevator main body 86 is set on both fixed slide guides 12
The upper end surface of 2 receives the pallet p in the separated position horizontally.
It is set to a height position where you can kick. In addition, each of the air cylinder support plates 112 described above
At the bottom, along the same direction as the slide plate 106 extends.
And the third hook mounting plate 124 is fixed.
It is worn. Here, the stocker 2 of this mounting plate 124
At both ends of the side surface on the 4 side, a third hook 126 is provided.
Through the slide member 128, the longitudinal direction of the slide plate 106
Along the direction, in other words, in the direction orthogonal to the transport direction d.
It is mounted so that it can slide along it. This pair of
The third hook 126 was emptied in Stocker 24
Each empty pallet p₁′, P₂′, P₃It is formed on the flange part 38 of '...
A shape capable of engaging the second cutout portion 38b formed from both sides
Is formed in. On the other hand, the air cylinders fixed to both ends of the slide plate 106
A third hook 126 is reciprocated at the lower end of the binder support plate 112.
Third air cylinder C for driving_E3Installed
Have been. This third air cylinder C_E3The third piss of
The third hook 126 described above is connected to the tip of the tongue 130.
Have been. In this way, the third air cylinder C_E3
In response to the driving of the third hook 126, the third hook 126
To be reciprocally driven to engage and disengage with the second notch 38b
Become. The third hooks 126 are the lower surface of the elevator body 86.
In the guide groove 132 (the ninth groove) formed along the transport direction d.
Shown in the figure. ) Via the lower part of the elevator main body 86
Has been issued. Here, under the lower surface of the elevator body 86
Is removed from the stocker 24 by this third hook 126.
For receiving slidably received pallet p '.
A moving slide guide 134 is provided. Here, both movable slide guides 134 received here
The empty pallet p ′ is transferred to the carry-out roller 78 of the carry-out mechanism 76 described above.
In order to place it on the group, it is placed along the direction orthogonal to the transport direction d.
In other words, in other words, keep away from the empty pallet p'received here.
It is set to be slidable so that it can be removed. That is, the tenth
As shown in FIG. 11 and FIG. 11, both movable slide guides 134
The elevator main body 86 through the slide members 136, respectively.
It is slidably mounted under the lower surface of the. On the other hand, d
For air cylinders, on both sides under the lower surface of the elevator main body 86
The support plates 138 are fixed to each other. Each air cylinder support
A movable slide guide 134 is reciprocally driven on the holding plate 138.
4th air cylinder C for_E4Is attached.
This fourth air cylinder C_E44th piston 140 tip
The movable slide guide 134 described above is connected to the end.
There is. In this way, the fourth air cylinder C_E4Drive
In response to the movement, the movable slide guide 134 causes the empty pallet p '.
It will be reciprocally driven to disengage from the flange 38 of the
You. Operation of the exchange mechanism In the exchange mechanism 96 configured as described above,
Regarding the exchange operation of the letter p and the letter p ',
This will be described with reference to FIGS. 13A to 13G. First, in the initial state, the elevator main body 86
The height position of this is the upper end surface of the fixed slide guide 122,
The upper surface of the second separating claw 68 of the buffer 22 should have the same height.
Is set to. In addition, the replacement mechanism 96
As shown in FIG. 9, the swing arm 100 of the
Set the initial state so that it is in the middle position of the guide groove 102.
Is set. Also, each air cylinder C_E1, C_E2, C_E3,
C_E4The high pressure air is not supplied to the
Pull the 108, 116, 126 and movable slide guide 134, respectively.
It is set to the retracted position. -Capture operation from buffer-When such an initial state is set,
From the Robot 12, as described above, the key from the Robot 12
That is, at the predetermined pallet p in the stocker 24
If the remaining number of items x reaches 1, replace it
Based on the request for preparation, the buffer 22
When the operation of separating the let pa starts,
Even in beta 26, the power separated in buffer 22
The let pa is taken into the elevator body 86 and the operation is performed.
Be done. That is, when the above-mentioned request is issued from the robot 12,
In the elevator 26, first, the state shown in FIG. 13A is shown.
From the servo motor M_E2Is indicated by arrow A in FIG.
Rotate in the direction to push the replacement mechanism 96 to the buffer 22 side.
To move. By this movement, as shown in FIG. 13B,
The first hook 108 on the buffer 22 side of the exchange mechanism 96 is
Pallets separated in separation position at buffer 22
First on the elevator 26 side formed on the flange portion 38 of the pa
The notch 38a is set so that it can be engaged from the side.
Will be done. It should be noted that this first hook 108 can be engaged
In this condition, the first hook 108 is
Is set so as not to hinder the separation operation in
You. In this state, the operation of the elevator 26 is in the standby state for taking in.
Until the separation operation is completed at the buffer 22.
The waiting state for loading is continued. And the separation operation is completed
When the separation completion signal is output from the buffer 22,
In response to the output of this separation completion signal, the replacement mechanism 96
The operation of taking in the separated palette pa is started. That is, first, the first air cylinder C_E1High pressure air
Of the pallet pa which was fed and the first hook 108 was separated
Lateral to the first cutout 38a formed in the flange 38
Engage from. After this, the servo motor M_E2But in Fig. 9
It is driven to rotate as shown by arrow B, and the replacement mechanism 96 is carried.
It is taken into the elevator main body 86 along the sending direction d. So
Then, as shown in Fig. 13C, lift the pallet pa to the elevator.
Servo mode when fully loaded in the main unit 86.
Ta M_E2Drive is stopped, and after this, the first air cylinder
Da C_E1The first hook 108 is the first notch of the pallet pa.
It operates so as to be separated from the opening 38. In this way, pallet pa separated by buffer 22
Are taken into the elevator 26. In this capture state
In the replacement mechanism 96, a part of the replacement mechanism 96
It is brought out from the body 86 to the side of the stocker 24.
You. Therefore, servo motor M_E2Turns in the direction indicated by arrow A
When it is rotated, as shown in FIG.
Operates to completely house 6 in elevator body 86.
Be done. -Pull-in operation of empty pallet-_E1Is driven to rotate,
In the pallet p stored in the stocker 24 with the main body 86,
A pallet that becomes empty when the parts x stored in it are lost
Lower p'to the retracted position, and pull it in
And replace the empty pallet p'from the stocker 24.
I will wait for the request. This retracted position should be set on the stocker 24 described later.
From the supply position of the pallet p to the robot 12,
When the supply of parts to 12 is completed, the pallet is placed at the position one box above.
It is fixed. Here, as mentioned above, this palette
Since there are 3 types of p heights,
There are three types of positions, depending on the difference in height.
become. Also, the elevator body 86 facing this retracted position
The standby position is the flag of the pallet p'at the retracted position.
The second cutout portion 38b of the insertion portion 38 is provided with the replacement mechanism 96.
Set the third hook 126 so that it can be engaged.
It is fixed. Thus, in the elevator 26
The retracting standby position of the empty pallet p'is defined. On the other hand, the elevator brought to this pull-in standby position
The replacement mechanism 96 in the main body 86 has been described above.
So that the part x is full inside the elevator body 86
The pallet pa stored in is a pair of fixed slide guides 12
Holds on two. At such a retracted standby position, the stocker 24
The empty pallet p'is moved to the retracted position in
Then, depending on the completion of movement to this retracted position, the servo
Motor M_E2Is driven to rotate in the direction indicated by arrow B, and
As shown, the third hook 126 of the replacement mechanism 96
On the flange 38 of the empty pallet p'at the retracted position.
Moved to a position where it can be engaged with the formed second notch 38b
Is done. After this, the third and fourth air cylinders C_E3, C
_E4High-pressure air is supplied to each, and the third hook 126 is empty.
Simultaneously with engaging the second cutout 38b of the let p '.
The movable slide guide 134 is attached to the empty pallet.
To be able to support the bottom p'under the elevator body 86.
Is pushed out. After this, the servo motor M_E2Rotates in the direction indicated by arrow A
Being driven, the empty pallet p'is placed below the elevator body 86.
Pull in. In this way, the empty pallet p'is movable.
As shown in Fig. 13F, it is supported by the slide guy 134.
The bottom of the elevator body 86,
The p'pull-in operation is completed. And the third air
Cylinder C_E3However, the third hook 126 is the first in the empty pallet p '.
It is operated so as to be separated from the second cutout portion 38b. -Pallet pushing-out operation-Here, the empty pallet p'is in the retracted state.
The second hook 116 of the replacement mechanism 96 is a fixed slide.
Second notch of pallet pa supported on guide 122
It is brought into a state in which it can be engaged with the opening 38b. Follow
Then, from this state, the second cylinder C_E2Supply high pressure air to
The second hook 116 is the second notch of the pallet pa.
It is operated so as to be engaged with the opening 38b. On the other hand, in parallel with the engaging operation of the second hook described above,
In elevator 26, servo motor M_E1Is rotationally driven
Then, lower the elevator main body 86, and
Set pa to the position facing the drawer position on the stocker 24.
Bring. And the servo motor M_E2Is indicated by arrow B
Driven to rotate in the direction of the elevator, as shown in Fig. 13G.
Collect the pallet pa from the inside of the main body 86 to the empty space of the stocker 24.
Push it to a good position. After this, the second air cylinder C_E2
The second hook 116 is the second notch 3 of the pallet p.
Operated away from 8b. And the servo mode
Ta M_E2Is rotated in the direction shown by arrow A, and
The mechanism 96 is retracted into the elevator body 86. Like this
And the pushing operation of the pallet p to the stocker 24 is completed.
You. -Empty pallet unloading operation-As described above, the empty pallet p'and the part x are fully loaded.
At the time when the replacement operation with the pallet pa
The lower part of the elevator body 86 is
A pallet p'is supported. Therefore, this empty pallet
Top p'to place it on the carry-out roller 78 of the carry-out mechanism 76.
Ruth motor M_E1Is driven to rotate and lowers the elevator body 86.
Then, the empty pallet p ′ is emptied onto the carry-out roller 78.
If the let p'is not placed, this carry-out load
The empty pallet has already been placed directly above the la 78 and on the carry-out roller 78.
If p'is placed, this already
It is moved right above the empty pallet p '. And this
And then the fourth air cylinder C_E4But movable slide guy
It operates to pull in the door 134 and supports it on the elevator main body 86.
The empty pallet p ′ that was held is stacked on the carry-out roller 78.
Will be raised. In this way, the empty space stacked on the carry-out roller 78
When the number of pallets p ′ reaches the specified number,
La 78 is rotationally driven, and a stack of these empty pallets p '.
Is transported to the bottom of the buffer 52, and then the unmanned vehicle
It is carried out on 20 empty pallet mounting tables 34. Like this
Then, a series of empty pallet carry-out operation is completed. On the other hand, after the empty pallet p'is released to the carry-out mechanism 76,
Servo motor M_E1Is rotating and rolling
Then, the elevator main body 86 is raised and the above-mentioned initial position,
That is, to the position opposite to the separation position on the buffer 22.
Then, it will be moved and waited here. << Explanation of Stocker >> Next, this robot is provided adjacent to the robot 12.
12 required parts for assembly x₁, x₂, x₃... according to the assembly order
Regarding the structure of the stocker 24 to be supplied next, Figs. 14 to 16
This will be described with reference to the drawings. Structure of Stocker The stocker 24 is not shown in FIG. 14, as shown in FIG.
A base fixed to the base and common to the elevator 26 described above
142 and the pillars 144a, 1 that are erected at the four corners of the base 142, respectively.
44b, 144c, 144d and above these columns 144a, 144b, 144c, 144d
And a connecting frame 84 for connecting the ends to each other. here,
Elevator 26 side and robot 12 side pair of stanchions 144a, 144
b; 144c, 144d, to face each other,
The guide member 148 is fixed in the state that it extends along the direction.
ing. In addition, each guide member 148
A sliding member 150 is attached so as to be vertically movable. These 4
A rectangular parallelepiped with four corners supported by one sliding member 150.
An elevating frame 152 having a shape is attached. The elevating frame 152 is pushed out from the elevator 26 described above.
The robot 12 and the post-operation to be assembled in the robot 12.
Collect the pallets p drawn out to the feeding section 154 in a plurality of stages.
Each one from the drawer standby position described later.
It can be pulled out. others
Therefore, on the inner surface of the elevating frame 152 along the transport direction d, the pallet
A plurality of shelf boards 156 to which the flange portion 38 of the shoe p is hooked
Approximately 30 along the vertical direction with each of them extending horizontally.
It is fixed in a state that it is arranged at equal intervals every mm. Here, each shelf 156 has a central portion as shown in the drawing.
(In other words, the flaps of the palette p placed on each shelf 156 are
In the third notch portion 38C formed in the center of the lunge portion 38
A notch portion 158 is formed in the facing portion).
That is, the cutout portion 158 is pulled out to the drawer portion 154.
Opening mechanism to be described later for opening the lid 40 of the pallet p
The lifting arm 160 of 170 (shown in FIG. 15) is inserted.
Is formed for. On the other hand, the pair of columns 144b and 144d on the opposite side in FIG.
The part that is sandwiched between
In, the space is defined. State protruding into this space
The protruding piece 162 is integrally formed with the elevating frame 152 described above.
Have been. In addition, the upper ends of the pair of columns 144c;
At the portion of the connecting frame 84 that is connected, the above-described lifting frame 152
Servo motor for moving up and down along the guide member 148.
Data M_S1Is provided. This servo motor M_S1Is on
It is equipped with a rotating shaft that extends downwards.
The shaft is rotatably arranged between both columns 144c and 144d,
The ball screw 164 extending along the direction is driven to rotate.
Yes, it is connected. Meanwhile, inside this ball screw 164
The intermediate portion is screwed into the above-mentioned protruding piece 162. like this
Servo motor M_S1By rotating the rotation axis of
The screw 164 is driven to rotate and the lifting frame 152 moves up and down.
Will be done. It should be noted that the vertical movement of this lifting platform 152
Feed by an integer multiple of 30 mm, which is the pitch of the shelf board 156 described above.
The amount is set to be set. This servo motor M_S1The rotation position of this
The encoder 9 for detecting the height position of the lifting frame 152
4 is installed. The elevating frame 152 with the above configuration
Is a device that can move up and down to any height.
You. Structure of Drawer Section Next, with reference to FIG.
The configuration will be described. This drawer part 154 is used for assembly in the robot 12.
The pallet p containing the parts x to be received is received from the elevating frame 152.
It is provided for holding and is basically not shown
Drawer 168 fixed at a predetermined height from the base
And a lid opening mechanism 170, which will be described later, on the drawer 168.
The pallet from which the lid 40 has been removed (see FIG. 15).
A loading / unloading mechanism 172 for loading / unloading
Have. This drawer base 168 is formed by supporting columns 144a, 144c on the robot 12 side.
Through a pair of support stays 174 that are fixed to the
It is fixed in the state. Robot of this drawer 168
The tip of the pulled-out pallet p is located at the end on the
It is abutted to define the pull-out position of this pallet p.
Stopper 176 is attached. Also, this drawer 1
On both sides of 68, a pair of slats are placed along the conveyance direction d.
An id guide 178 is provided. These slides
The upper end surface of the guide 178, that is, the slide support surface, is intermittently fed.
Each shelf 156 of the lifting frame 152 in the stopped state
And are set to be aligned in the horizontal direction. still,
Thus aligned horizontally with slide guide 178
The pallet p supported by the shelf board 156 in the ready state
It is defined as a pallet at the machine position. In addition, the above-mentioned loading / unloading mechanism 172 is provided in the drawer base 168.
The drawers 168 are arranged symmetrically on both sides.
On the side edge of the sheet, extending along the transport direction d.
Guide members 180 and slidably attached to each guide member 180.
Attached to the sliding member 182 and the upper surface of each sliding member 182.
And a support plate 184 attached thereto. On each support plate 184
Of the pallet p at the pull-out standby position of the elevating frame 152.
Engages with the first notch 38a formed in the flange 38
One where the hook 186 made possible is orthogonal to the transport direction d
It is provided so that it can move back and forth along the direction. On the other hand, on the support plate 184, it is positioned outside the hook 186.
The air to drive the hook 186 back and forth in the installed state.
Cylinder Cs₁Is attached. This air silin
Da Cs₁Pistons are connected to the corresponding hooks 186.
Air cylinder Cs₁By supplying high pressure air to
It will be pushed out to the position where it engages with the notch 38a.
It is set. Also, the end of each side edge of the drawer base 168 on the robot 12 side.
A drive roller 188 is rotatably attached to the
At the end of the elevator 26 side, idle roller 190
The shaft is rotatably fixed. Drive roller 18 at each side edge
8 and idle roller 190, endless belt 192
It is wound and driven by the rotation of the drive roller 188.
The endless belt 192 is driven to travel.
The drive rollers 188 on both side edges are connected via a connecting shaft 194.
Are connected to each other so as to rotate integrally. Here, the support plate 184 at each side edge is
It is fastened to the dress belt 192 and is an endless belt 1
According to the traveling of 92, on the drawer base 168 in the conveyance direction d.
It will be reciprocated along the way. In addition, the drive roller 188
A follower roller 196 coaxial with this is fixed to the.
On the other hand, below the center of the side edge of the drawer 168
Servo motor M via stay 198_S2Is attached
ing. This servo motor M_S2The drive shaft of the
LA 202 is fixed coaxially. And this drive low
The endless belt is placed between the roller 202 and the driven roller 196 described above.
Rult 204 is wound. With the above configuration, this servo motor M_S2No
By driving the rotation, the driving rollers 188 and 202 are driven to rotate.
The endless belt 192 is driven to travel.
As a result, the hook 186 reciprocates along the transport direction d.
Will be done. Configuration of Lid Opening Mechanism Next, referring to FIGS. 15 and 16, the lid opening mechanism 17 will be described.
0 will be described. This lid opening mechanism 170 is used for the lifting frame 15
In 2, the pallet p at the drawer standby position is
Pulled out to the pull-out position via the withdrawal mechanism 172
Prior to the operation, the lid 40 put on the pallet p is moved upward.
To the drawer position on the drawer base 194.
Only the pallet p, in other words, the interior by the robot 12
The part x stored in the
A let p is provided to allow it to be pulled out
There is. Here, as shown in FIG. 15, this lid opening mechanism 170
Is the elevator of the pair of columns 144a, 144c on the robot 12 side.
Air cylinder C attached to the side of the_S2When,
This air cylinder C_S2Attached to the tip of piston 206 of
And a lifting arm 160. This Air Siri
C_S2Is the sliding direction of the piston 206,
In the plane orthogonal to d, only 45 degrees from the horizontal direction
Mounted with a tilt so that it rises toward the lifting frame 152
Have been. In addition, the lift attached to the tip of this piston 206
The arm 160 is fixed to the piston 206,
The main body 160a extending along the extending direction and the main body 16a
If it has a horizontal upper surface 160b that is integrally formed at the tip of 0a,
Together, on the outer portion of the upper surface 160b, a protrusion protruding upward.
It is composed of a part 160c. Where this air cylinder C_S2Is two pieces of high pressure air
Has two input terminals 208a and 208b, and one of the input terminals 208a has a high voltage.
When air is supplied, the piston 206 is pulled in and driven.
Then, the tip of the lifting arm 160 is separated from the lid 40.
It is biased to the retracted position and the other input end 208b
When pressurized air is supplied, push the piston 206 out
Move, the tip of the lifting arm 160 engages with the lid 40.
It is configured to be biased to the push position. The air cylinder C configured in this way_S2Arrangement of
The position, or height position, is in the push position
The upper surface 160b of the tip of the arm 160 is at the pullout standby position.
The third notch 38c of the flange 38 of the pallet p
Passes through and engages with the lid 40 that is covered by this from below
It is set so that you can Operation of Lid Opening Mechanism In the lid opening mechanism 170 thus configured,
Bring to the drawer standby position according to the vertical movement of the lifting frame 152.
The pallet p that has been
When it is detected that the let p has reached, the lid opening mechanism
170 operation is started. That is, air cylinders C on both sides
_S2High pressure air is supplied to the second input end of the
206 is pushed diagonally upward. As a result, the holders connected to the tips of the pistons 206 respectively
Make sure that the tip of the lifting arm 160 is
The third formed in the center of the corresponding flange portion 38 of the shoe p
Pass through the notches 38c of the
The upper surface 160b of the tip of the holder holds both side edges of the lid 40 from below.
It will be lifted. In this way, as shown in Figure 16.
As you can see, the lid 40 is not a pallet p at the drawer standby position.
, They are biased to a state of being separated upwards.
The dot p is ready to be drawn to the drawing position. On the other hand, the smell of the pallet p pulled out to the pull-out position
Then, the operation of taking out the part x by the robot 12 is completed.
And this pallet p is again in this drawer standby position.
It will be returned, but at the time of this return, the air cylinder
C_S2The high pressure air is supplied to the first input end.
Be done. In this way, the lifting arm 160
It is pushed down to one side, and in the middle of this pushing down operation,
The lid 40 is placed on the pallet p returned to the drawer standby position.
The pallet p will be covered so as to cover the surface.
In this way, a series of lid opening operations is completed. Operation of the drawer part As described above, the lid 40 is removed by the lid opening mechanism 170.
Pull out the let p from the pull-out standby position to the pull-out position.
Then pull it back to its original drawer standby position.
The operation of taking in and out in the bending portion 154 will be described below. First, in the initial state, the hook 186 is the servo mode.
Data M_S2Drive to move in the direction opposite to the transport direction d.
Of the p-pallet p in the drawer standby position
To the position where it can be engaged with the first notch 38a
Have been. In this state, air cylinder C
_S1Is set so that the hook 186 is retracted. From such an initial state, the lifting operation of the lid 40 is started.
At the same time as starting, air cylinder C_S1Is working,
The rack 186 is the first of the pallets p in the drawer standby position.
It engages with the cutout portion 38a. After this, push up the lid 40
Servo motor M_S2Is the opposite of the last time
The hook 185 is driven to rotate in the conveying direction d.
Move along. That is, the hook 186 is engaged.
The pallet p at the drawer standby position is
Will be pulled out on the drawer 168. In addition, this
The pallet p that has been pulled out is a pair of slide guides 17
8 will slide on. In this way, while sliding on the slide guide 178,
The pallet p pulled out along the transport direction d is
Stops by contacting topper 176, and servo motor M
_S2Is also stopped. In this way, the palette p
Are held in the withdrawn position. After this, the robot 12 described later
Work for taking out the part x from the pallet p
Received, and as the removal work was completed,
Robot motor M_S2Is rotated in the opposite direction again, hook 1
86 is moved in the direction opposite to the transport direction d. in this way
Then, the pallet p is returned to the lifting frame 152 again.
Will be able to. And the pallet p goes up and down completely.
When it is returned to the frame 152, the servo motor M_S2Drive stops
Be stopped and the pallet p should be held in the elevating frame 152.
become. After this, the lid 40 of the lid opening mechanism 170 described above
The covering operation is executed, and a series of withdrawal / removal operations are completed. << Explanation of Robot >> Next, referring to FIG. 1 and FIG.
Parts supply system equipped with a 22, elevator 26, and stocker 24
Assemble the specified product by receiving the part x from the system 14.
The configuration of the robot 12 will be schematically described. Structure of Robot As shown in FIG. 2, this robot 12 has a stocker 24
Including the part located below the drawer part 154 of the
Thus, the assembly stage 210 arranged horizontally is provided.
A pair of pedestals 212 are erected on one side of the assembly stage 210.
The robot 12 has an X-axis (carrying
X-axis robot that defines the axis extending in the feeding direction d)
A tut arm 214 is bridged. Also, this X-axis
On the robot arm 214, the Y-axis of the robot 12 (transport direction)
Y-axis robot that defines the axis extending in the direction orthogonal to d)
One end of the arm 216 is movably supported along the X-axis direction.
Is held. Also, the supply system side of this Y-axis robot arm 216
On the side of the robot 12 Z-axis (extends along the vertical direction
Equipped with a robot arm 218 that defines the axis
You. The robot arm 218 moves vertically.
It is possible to move along the Y-axis and rotate.
It is configured to be transferable. That is, on the X-axis robot arm 214, the Y-axis robot
Move the arm 216 along the X-axis direction (transport direction d).
Servo motor M for_R1Is provided. Also, Y
The robot hand 218 is mounted on the axis robot arm 216 in the Y-axis.
Move along the direction (direction orthogonal to the transport direction d)
Servo motor for M_R2Along the Z-axis (up and down)
Servo motor M for moving_R3Robotbot
Servo motor M for rotating arm 218_R4And arranged
Have been. Here, on the bottom surface of this robot hand 218,
Part x₁, x₂, x₃The finger 220 corresponding to the ...
It is attached. This finger 220 has corresponding parts
x is configured to grip x and the remaining parts x₁, x₂,
x₃The other finger 220 that supports ... is the X-axis robot
It is taken out to the fine gas station 222 provided in the mu 214.
It is freely accommodated. The assembly stage 210 described above
Above to assemble the part x gripped by the finger 220
An assembling table 224 is provided. In addition, the input device described above
The table 18 is adjacent to the side of one of the mounts 212. Robot operation The component x in the robot 12 configured as above is
The assembly operation of the product used will be described. First, in the initial state, the robot hand 218 is pulled
It is positioned above the protruding portion 154. This state
The required parts x according to the specified assembly sequence.
Pulled pallet p from stocker 24 to pulling position
As it is taken out, the pallet p is positioned at the pull-out position.
Servo motor M_R3
Is driven to rotate, lowers the robot hand 218, and
The gripping operation of the component x by the ganger 220 is executed. Soshi
Then, when the gripping operation of the part x is completed, the servo motor M_R3
Drives the robot hand in the opposite direction to raise the robot hand 218.
Let the servo motor M_R1, M_R2Rotate and drive as needed to assemble
It is moved to the table 224. And again the servo motor M_R3To rotate the
Lower the botton hand 218 and place it on the assembly stand 224.
The assembling operation of the item x is executed. This assembly operation ends
And the gripping state of the part x by the robot finger 220 is
Servo motor M_R3Rotates in the opposite direction,
Raise the bottom hand 218. After this, the servo motor M
_R1, M_R2Is driven to rotate, and the robot moves to the initial position described above.
To hand 218 is moved back. In this way, one
A series of assembly operation is completed when paying attention to the part x of
I do. It should be noted that while such a series of assembly operations is being executed
The robot hand 218 grips component x at
Supply the digitized pellet p, that is, the part x to the robot 12.
The robot hand 218 pallets the finished pallet p.
From the position above p to the assembly position,
Before returning to the upper position of p, the next assembly process
The output of the pallet p containing the necessary parts x
The insert operation is executed. Here, the one part x in the robot 12 described above is
The time required for assembling is the descending operation to the pallet p.
0.3 seconds, 0.2 seconds for gripping part x, up from pallet p
0.3 seconds for ascending operation, 0.5 seconds for moving operation above the assembly table 224,
0.3 seconds to descend to the assembly table 224, assembly operation on the assembly table 224
0.2 seconds to work, 0.3 seconds to move up from assembly stand 224,
Therefore, it takes 0.5 seconds to move the pallet p upward.
Therefore, in total, it is set to 2.6 seconds. In addition, the operation of putting in and out the pallet p is performed by the robot described above.
The robot hand 218 pallets during 12 operating hours.
Is it the upper position of the pallet p after being lifted from p?
, It must be done before it is returned to this upper position again
No. In other words, the robot hand 218 is a palette p.
Down from the standby position above the pallet and onto the pallet p.
Grip the part x and move up to the position above the pallet p.
Until this is done, the operation of putting in and out the pallet p is prohibited.
At any other time, the pallet p is put in and taken out.
There must be. For this reason, the pallet is taken in and out.
The maximum allowable time is defined as 0.5 + 0.3 + 0.2 + 0.3 + 0.5 = 1.8 seconds. In other words, this
The operation of putting in and out the pallet p is completed within 1.8 seconds.
For example, without stopping the assembly operation in the robot 12,
The supply operation of the component x of 1 will be achieved. others
Therefore, the stocker 24 described above has a
The movement of the letter p is performed so that the movement of the letter p is executed.
The time is set. << System Operation >> How to control the operation of the FAC system of this embodiment
Will be explained. <Structure of control unit> Fig. 18 shows the control unit for controlling the FAC system of the embodiment.
The module structure of the tool 16 (Fig. 2) is shown. I mentioned above
The sea urchin FAC system uses robots, stockers and elevators.
The main components are data and buffers. Above these structures
The components are mechanically modularized as described above.
It is also modularized in terms of control. Immediately
The control unit 16 has a microphone for controlling the robot.
Microprocessor board, microprocessor that controls stocker
Microprocessor board for controlling the board and elevator
A microprocessor board that controls the controller and buffer
I have four microprocessor boards,
The icroprocessor board is a well-known multi-bus interface.
It is connected by the source. 4 microprocessor boards
Is a high-level management microprocessor board
By this, system management is performed. Management micro above
The input / output device 18 shown in FIG.
This common personal computer
From the input / output device 18 that uses the NAL computer,
System assembly environment (eg, parts contained within a pallet)
Enter the product specification, process order, etc.). The inside of the control unit 16 is as shown in FIG.
The fact that each control target is modularized means that this FAC
The system sets the conditions of the installation location, such as the environment and constraints.
Considering the above, you may select the above module as an option.
In addition, the above-mentioned assembly environment can be used as an input / output device.
It is possible to change the settings such as processes by inputting from 18
As the name implies, this FAC system is
A reorganization of a "rich" system environment
Is. This is the basic configuration of the FAC system described above.
Of the control unit program, and
Modifications of various device configurations that evolved from the main configuration,
It will be obvious from the explanation of the modified ram.
Will. <Input of assembly environment> The technical idea of this FAC system is not limited to manufacturing.
Ultimately, multiple items prepared in advance
From the group (each article group includes only articles of the same means),
One by one according to the predetermined order that was previously decided
Select an item and then select the selected item.
It is a good idea to "supply" toward one point. And
From the group of articles prepared in advance,
When you supply goods to one point, the goods themselves in the group of goods
Run short. So, what is the technical idea of this FAC system?
In addition to this product group,
To supply new products without stopping the supply to
It is summarized in the point of "salary". Technology of this FAC system
What applies the idea to product assembly will be described in detail below.
Robotic automatic assembly in the narrow sense of FAC
Yes, in this narrowly defined FAC system, "supply of goods" is
Equivalent to "supplying goods" to robots by Stotka,
"Supply of goods" is not limited to buffers, elevators (and
New to stockcars (including trolleys, unmanned warehouses, etc.)
It corresponds to the supply of parts. So, this FAC in a narrow sense
The "assembly environment" in the system will be described below. The display screen of the input / output device 18 is shown in FIGS. 19A to 19C.
You. This display screen is displayed by the operator using the attached keyboard.
A screen for entering and changing various assembly environments.
To display the current control status as the control changes.
It is also a screen for me. The assembly environment of this FAC system is, for example, pallet information.
Etc. That is, for a certain part, its part name, its
Placement rack position S in the stocker of the pallet that stores the parts,
The total number T of the parts that can be stored in the pallet, the pallet
Thickness H of the robot, the parts are assembled by the robot and finished into a product.
Program number P to go to the designated place on the pallet
Bar code B attached to the place, to be used for its parts
Number F etc. of the finger attached to the hand of the robot
Is. In this FAC system, the rules shown in Fig. 3 are used.
The case size pallet is used. Therefore, the parts are decided
If so, the assembly program P of the part (for example, screw tightening
Etc.), the standard of the pallet that houses the parts has been decided.
I will The number of pallets that can be accommodated in the pallet
T, thickness H of the pallet existing at the height of the parts, etc. are determined
That is. The used parts table in FIG. 19A is independent of the process order.
While the operator looks at the CRT display screen of the I / O device 18,
Name, total number of pallets T containing the parts,
The thickness H of the let, the bar code B of the part, the part
Robot Finger number F and professional required for assembly
The gram number P is entered. Other, process
The sequence number G and the stocker shelf position S are the process sequence table described later.
Program of management module at the time of input (Fig. 18)
Will be automatically displayed on behalf of the operator, and the remaining number Z
Changes as the process progresses,
For Z, the above management module program replaces the operator.
The latest updated remaining number is displayed. Parts TE
The index number IDX is assigned to each part during the cable input process.
Assigned. Once assigned to IDX, this FAC system
In the process order input process (Fig. 19B),
Since it is possible to specify the item, it is easier than entering the part name directly
Become. In the specific example shown in FIG. 19A, the component index IDX is
For the "1" pallet, the part name is "Bis" and the pallet is
38 storages, pallet thickness 50mm, program number
Is entered as "100" and the part index IDX is "2"
For the pallet, the part name is "Nutto"
Delivered 13 pieces, pallet thickness 25 mm, program number "20"
"0" is entered and the part index IDX is "3".
The part name is "Washashia", and the storage item inside the pallet
Number 54, pallet thickness 100mm, program number is "300"
Input ... The above-mentioned assembly environment information entered by the operator is
If decided, all will be decided uniquely. Ah
The parts needed to assemble the product are usually
Therefore, it accommodates those necessary parts.
Unique palettes, programs, fingers, etc.
You. Therefore, manage multiple FAC systems simultaneously.
Computer system for central production control (Fig. 18)
The above information may be given. Assembling parts to products requires only information about parts
Is not enough, it is important which parts are assembled in which order.
You. Therefore, the operator of this FAC system has various products.
After assembling, restore all parts required for each process.
Entered in the process sequence table (Fig. 19B) on the CRT.
Ku. In the input process, the process order is 1,2,
3 ... is assigned, and the number is set as a variable G. each
The input to instruct which part to use in the process is the operation
By entering the part index IDX
You. In addition, the process order table contains the parts that contain the parts.
Which shelf position S [G] of the stocker to place the let
Enter and enter. The need to enter this S [G] is
Required for points. That is, even if the process is different,
It may be used, and the same parts are the same
Since it is stored in the
This is because a letter may be requested. Like this
Figure 19B shows a concrete example of the process sequence table input by
You. Figure 19B shows a specific product assembled from multiple parts.
Input to enter the parts required to process and the process sequence
Is displayed. As for the process sequence, 64 processes from 1 to 64 are performed by this FAC system.
It can be defined by the stem. The operator follows the process order,
While looking at the display of the parts table in Fig. 19A,
The shelf position S [G] is input one after another. Process order table
The management program is inserted for the program number P and the part name inside.
It is something to do. In this process order table, the process number
When G and the part index IDX are associated, the part
The table (Fig. 19A) shows the process number G and its process.
The pallet used is associated. In addition, the input of S [G] of the process order table input is one part.
/ 1 process / 1 shelf, that is, different parts of the same type
If you use it for a long time, change the shelf on which the pallet is placed.
In the case of doing, the process order is the shelf order S [G] of the pallet.
Once the parts are decided, the pallet thickness H is managed.
The program is known from the parts table, so the operator can
The management program will switch to the operator without entering [G].
Can calculate the shelf position S [G] and enter it in the table.
it can. Even if the same parts are intentionally used in different processes, the same
When arranging the process order so that it is taken out from the pallet on the same shelf
Then, the operator considers the pallet thickness H while
You will need to enter. Enter parts table
As with force, the process sequence is
Because it is decided in advance by the production plan,
Centralized production management computer
Input from the system to the FAC system via a communication line.
Good. <Fluctuating Factors in Efficiency of Parts Supply> In the FAC system, the order of "supply of goods" (that is,
The order of assembly, which is the order of assembling, is extremely important for improving the efficiency of "supplying goods."
Have a great impact. Of the assembly environment of this FAC system
The premise is 1 part / 1 process. Supply of parts, supply of parts
The factor that affects the efficiency of the pallet is the pallet thickness H [G].
And which pallet should be placed on which shelf position S [G]
Is. The pallet thickness H is the total number of pallets in the stocker.
Let's limit whether the let can be stored. Book FAC
The system is a pallet that can be stored in the maximum number of shelves in the stocker.
Assemble a product from parts within a range of numbers. Therefore,
Limit on the number of pallets depending on the thickness H
If you assemble one part, the same
If parts are used, are the same parts the same pallet?
It is necessary to suppress the total number of pallets by taking them out.
The point is to be pressed. Parts in the same pallet in multiple different processes
When you take out the item, the vertical movement of the stocker
Becomes a dam, and slows down the supply rate of the stock robot to the robot
Line up. In this way, the process sequence G, the pallet thickness H,
The shelf position S [G] has a great relation to efficiency improvement.
Therefore, consider these requirements when creating the process order table.
It needs to be carefully planned. Also, the number T accommodated
Since it is also decided for each part in [G], follow the assembly
The frequency and order of occurrence of empty pallets,
Switch, that is, the effect of elevator and buffer operation.
This is because it also affects the rationalization. Figures 17A to 17E assume the same pallet thickness H.
And how efficiently the total number T [G] of storage and the shelf position S [G] are
It will explain how it affects. Figure 17A shows
This is the simplest example, even if the parts are different, the pallet for each process
Have the same T [G], and
Placed on a shelf in process order (ie S [G]
It is the case). In this case, the pallet empties the parts.
It is the order of the process sequence and the movement of the stocker.
Kimo moves evenly upward. Next, A parts and B parts are required for assembly, and the assembly order
Also needs to be AAB, and the A part is 10 on the pallet.
When 0 can be stored and 50 B parts can be stored
Assume FIG. 17B shows the process 123 from each pallet in order.
This is a case where the component AAB is taken out. In this case,
The movement of Totka moves orderly upward, and the pallet is exchanged.
Infrequently, the problem of requiring many pallets
Occurrence occurs. Fig. 17C shows parts A on the same pallet in steps 1 and 2.
Is to use. In this case, move the stocker
Are neat, pallets are changed less often, and
There is no waste of necessary pallets. Assembly specificity, process order G,
It is an ideal one that takes into consideration the component storage capacity T of the let.
You. If the assembly order is ABA, specify the process order and shelf position.
If you do as shown in Figure 17D, the number of shelves will be wasted,
The movement of the stocker is tidy. As shown in Figure 17E
In this case, there is no waste in the number of pallets, and the pallets can be exchanged continuously.
It occurs continuously, but the movement of the stocker causes severe vertical movement.
Jijiru As mentioned above, specific examples are given, and the order of assembly, the order of processes G, and the number of parts
The number T [G] and the shelf position S [G] are effective for supplying and replenishing parts.
Explained how it affects the rate. This FAC system
Analyzes the factors that affect the efficiency of these above factors.
In order to provide an optimal assembly order and parts supply plan,
There is no such assembly plan, the process sequence is once, the operator
Or, if it is decided by the production control computer,
It can be flexibly adapted to any process sequence and plan, and
Within the range of, the parts are most efficiently supplied to the robot, and
One is to supply parts to the stocker. Immediately
Then, the process sequence G, the shelf position S [G], etc. are as shown in FIG. 21A.
In addition, it is to make it variable and deal with it flexibly. For example, as shown in Fig. 17A, the pallet inside the stocker
Enter the process order table so that the placement order is the process order
The purpose of this is that the FAC system is "flexible" to change.
And how to prevent the robot from assembling.
To ensure that parts are efficiently supplied to the robot.
This is because the focus is on it. That is, the pallets in the stocker
The mounting order of the trays does not have to be in the order of the steps, for example, in the pallet.
Even if they are arranged in the order in which the parts of
good. However, the robot operation that is the main focus of this system
Control for supplying parts to the robot without disturbing the robot
The number of storage parts in the pallet varies depending on the parts.
Therefore, it is not always necessary to replace the pallet.
It is difficult to predict without following the placement order in the robot.
Flexibly respond to changes in the number of remaining parts due to component picking errors.
And the process sequence as shown in Fig. 19B.
Considering that the input is ergonomically suitable, etc.
In the embodiment, the mounting order of the pallets is the process order.
Therefore, the mounting order of the pallets in the stocker is arranged in the order of process.
Even if it is not, robots, stockers, electric
Program to ensure proper control of beta, etc.
It is easy to modify the basic configuration example and its
It is apparent from the description of the control of the modified configuration embodiment of
Will Stocker shelf 156 shown in Fig. 14 of the FAC system.
In this example, 20 stages are prepared in total, and
1st stage, 2nd stage ... 20th stage in order. Figures 14 and 20
As shown in, each shelf is installed at equal intervals (about 30 mm)
There is. Therefore, there are three types of thickness (25mm, 50mm, 100mm)
When storing a let in a stocker, for example, 100 mm thick
Pallets occupy four shelves. In Figure 19A
In the example shown, the IDX “1” of the first process
The pallet with "s" is placed on the first shelf.
"Washiya" which is IDX "3" of the 2nd process has entered
The pallet is placed on the third shelf and the
The pallet containing "Nutto", which is IDX "2", is the 7th.
It will be placed on the second shelf. A pallet
On which shelf (ie, stocker position number S in Figure 19A)
Whether it is placed on the
Whether the management program considers the thickness and calculates it,
The operator decides and inputs it in consideration of efficiency, and
Table in turn. In this way, the operator can
Enter the minimum required information in the management program
Is the order of the process in the parts table, and the stocker mounting number S
Etc. are calculated and displayed, so a complicated and huge assembly ring
The boundary can be set with extremely good operability, and the change is
Since only the input information is changed, the process change
Can flexibly respond to product changes. <Other display elements> Figure 19C shows icons (pictures on the display screen of the input / output device).
Character key). "Continuous" means normal continuous assembly / part
It is a key to instruct the product supply operation mode,
When a key is pressed, inside the management microprocessor (Fig. 18)
The SINGLE flag in the memory (not shown) is set to "0". Communicating
The continuous operation mode is set, and then the "Start" key
When pressed, the "stop" key is pressed or an error occurs.
System continuously until it stops and the system stops
Works. "Single" is a single operation mode,
When this key is pressed, the SINGLE flag is set to "1".
Each time you press the Start key, a single action (each
Depending on the module, the range of its single motion is different)
Is executed. <Variables used for control> In Fig. 21A, the microprocessor of each module
Commonly used (accessible) common variables (glow
Variable). These variables are arranged in a two-dimensional array.
They are arranged and indexed by the argument G (process number)
You. The interchange flag I [G] indicates a process order G (that is, a strike).
The pallet of the Gth shelf from the top in the tsuka is empty.
It is a flag indicating and. Many of the other common variables are
The description is omitted because it is the same as that shown in FIGS. 19A and 19B.
You. Figure 21B shows from robot to elevator and buffer.
Preparation instructions for the replacement pallet to be sent (remaining pieces in the pallet)
When the number Z reaches one, the elevator and buffer are
To be queued)
The process number (E₁, E₂, D₁, D₂) Is the evacuation area. No. 2
As you can see from Figure 1B, the number of queuing is two. Two
Is the model of each module used in this example.
Considering machine speed (for example, motor speed) etc., at worst
This is because three or more queuing does not occur. of course,
Does the speed actually change depending on the device used?
The number of queuing may be increased to three or more. In addition, this
How the queue is used in this embodiment will be described later.
You. <Up-and-down movement range of each module> The range in which each module can move up and down using Fig. 22A.
I will explain the enclosure. For the buffer, from the unmanned car at a position 900 mm above the floor
The buffer table 52 receives the stacked pallets. First
The separating claw of No. 1 is the one above the separating target pallet.
The hanging position (called "temporary storage position") is 1410 on the floor.
mm, position where the second separating claw hooks the pallet to be separated
(Called "separation position") is 1300 mm above the floor. However,
The above temporary storage position and separation position are nominal positions,
As mentioned above, there is a tolerance in the thickness of the pallet.
The vertical movement amount control of the buffer considering the error of
(Fig. 25B). Down of the buffer stand 52
The maximum descent position is 500 mm above the floor.
It is the starting point of teaching for movement control. Buffer stand
The maximum number of pallets that can be loaded is multiple pallets.
With it raised, the buffer stand 52 is raised to the temporary storage position.
The uppermost pallet should not exceed 2225mm above the floor when it rises.
Therefore, it is set in consideration of the thickness of each pallet. The installation position of the carry-out mechanism 76 is 350 mm above the floor. Mentioned above
As shown, the buffer table 52 is at the lowest position,
Although it can be dropped, this buffer will cause an empty pallet in the transport mechanism 76.
Do not block the transport of empty pallets when they are full of
As you can see, the buffer table rises during transportation. The vertical movement range of the elevator will be described. Elevé
The highest lifting position of the
A pallet full of elephant parts and a slide guide 122
Is the position where is aligned ("pallet take-out position"),
This pallet take-out position is the elevator control
The origin of the ring. With this setting, the straw of the elevator
The range is 800 mm. The movement range of the stocker will be described. Stotka is in front
As mentioned above, there are 20 shelves with 30mm intervals, so
The top and bottom width of the tsuka is 600 (= 30 x 20) mm. First stage
When the pallet on the shelf is pulled out to the drawer 154
The 20th shelf position is the lowest descent position.
As the starting point for teaching, set 300 mm above the floor. The origin of vertical movement of robot teaching is on the floor 12
25 (900 + 175 + 150) mm, robot hand
From the pallet on the drawer 154.
Grip it, move it upwards, and then level it to the assembly position.
Move and descend. <Outline of pallet replacement operation> Here, referring to Fig. 22B, one pallet full of parts is loaded.
The let is removed from the buffer by the elevator.
And replace it with an empty pallet inside the stocker.
Explain the child. If the number of parts in the pallet is reduced to one, the robot will
The tufa is prepared for palletizing and separation and the elevator is
Instruct to move to the separated position. Then, Buffer
Separated by a separation position (this position is fixed)
The pallet waits for removal by the elevator.
The elevator moves to the separation position (take-out position).
Take the pallet from the buffer into the elevator body.
In this elevator, its slide guide 134
Will be empty in the stocker (or already empty)
Utta) Pallet (usually on the drawer 154 to the robot)
Located one above the pallet being pulled out)
It descends to the position that matches with and waits. This waiting position
Differs depending on the order of steps and the shelf position S [G].
If the switches are arranged in order from the top, the standby position is
As shown in FIG. 22B, the position is represented by the solid line 230. Or
After that, the preparation for replacing the empty pallet of the elevator is completed.
I do. The pallet with the remaining number of parts is 1 from inside the stocker
It is pulled out to the drawer section 154, and this last one is robot
When the grip is held, the remaining number in the pallet becomes "0".
Then, put the pallet between the stocker and the elevator.
The replacement starts. That is, the elevator is in the standby position
At 230, first pull the empty pallet into the lower part of the elevator.
Mu. After that, the elevator is lowered by one step, and a part-packed part is installed.
Extrude the lettuce into an empty stocker shelf. This extruded state
The position is shown by the dashed line 232 in FIG. 22B. After that, the elevator was
And the empty pallets are piled up on the transport mechanism 76.
Thus, the replacement of empty pallets is completed. <Detailed explanation of control of each module> Thus, the outline operation of each module of the FAC system is described.
Now that you have grasped, the detailed control movements of each module are described below.
The work is illustrated by FIG. 23A and below. As mentioned above
In addition, this control program
It has a structure that allows you to deal flexibly with
It's miscellaneous. Therefore, the explanation of each module operation described below
In general, the general structure (assembly order, process order,
(The order in which the tools are placed)
Yule starts from a specific initial state and then
The process in which the state changes under the control of each module
Will be explained later. The initial state is: All the shelves in the stocker (that is, all 20 shelves) are the same.
A thick pallet is placed on the inside of the pallet.
The number of items varies. : Processes also follow this shelf order, one process is one
Use only one part in the pallet. That is, the total number of processes
M is 20 steps, which is equal to the total number of shelves in Stocker. : In addition, there is a necessary spare pallet on the buffer stand 52.
It is also piled up in advance. For the sake of convenience, the configuration with such an initial state is
An example of a modified configuration ”. This "simplified configuration example"
The expected behavior of the module starting from is: The robot is a set of one part / process from each pallet.
Attaching work: ： The stocker is in order from the 1st shelf to the 20th shelf
While pulling up, pull out the pallet to the drawer section 154.
Then pull out the 20th pallet and the whole stock
Hangs down and pulls out the first shelf pallet again
You. : For elevators and buffers,
The number of pallets is 1 or 0.
Therefore, it is not always necessary to put empty pallets in the stocker shelf order.
A request for replacement does not occur, and so on. Now, from the start of the robot assembly work, we will explain
To start.

[Control of robots and stockers]

The robot is controlled according to the program shown in the flow chart of FIGS. 23A and 23B until the remaining number becomes 1. The control of the stocker is performed according to the program shown in the flow chart of FIGS. 24A and 24B. These two modules are explained together with the elevator until the remaining number Z of parts of any pallet in the stocker reaches "1",
This is because buffers and the like do not work. As described above, the management microprocessor program activates the program of each module when the "start" button of the input / output device 18 is pressed. The microprocessor of the robot module initializes the process number argument G to "1" at step S8. The fact that the process number G is "1" means that the robot requests the part of the process number 1, that is, the stocker's S [1] of the stocker is requested.
Means to request the second shelf pallet. At step S10, the state of the aforementioned SINGLE flag (Fig. 19C) is checked. If in SINGLE mode, step S10 to step S
Proceed to step 12 and execute the following control to perform a single operation only when the "start" key is pressed. In the following description, continuous operation will be mainly described. Start the stocker at step S14. Commands for such other modules are issued via the above-mentioned multi-bus. After activating the stocker, the robot waits at step S16 for the stocker with the number S [G] of the pallet to be pulled out to the drawer portion 154 (that is, the pallet order is completed). On the other hand, in the stocker waiting for the activation from the robot at step S60, when this activation is performed, the process proceeds to step S62 to check whether any pallet has already been pulled out onto the drawer portion 154. This confirmation is confirmed by a sensor (not shown) on the drawer portion 154. Such confirmation is for confirmation when the stocker is restarted after being stopped for some reason, and for the case of the SINGLE mode. Therefore, the pallet is already in the drawer 154.
If it was pulled out to, go to step S64,
The process G = which the robot requested for the pallet being drawn out (which pallet is known by the variable L)
It is determined whether the pallet is 1. If it is a robot requesting pallet, it is not necessary to pull out the pallet, so the process proceeds to step S84 and the robot is
Sends a notification that the pallet is ready via multibus. At step S64, if the pallet that has already been pulled out is not the pallet of the robot request process G (shelf S [G] th), the pallet is returned to the stocker at step S66. Since how the air cylinder C _S4 and the motor M _S2 operate to return to the stocker has been described above, the description thereof will be omitted. It is determined in step S62 that the pallet has not been pulled out, or the pallet that has already been pulled out is in step S6.
If it is returned in step S6, the process proceeds to step S68 to store in the variable L which pallet the robot is requesting. The variable G, which indicates the pallet requested by the robot, is stored in L by the stocker so that the robot and the stocker in this FAC system can basically perform independent parallel operations while sometimes synchronizing with each other. This is because. Go to step S70, move the stocker up and down,
The amount of rotation of the motor M _S1 required for aligning the pallet requested by the robot with the drawer portion 154 is calculated. As shown in Fig. 20, the position from the origin (300 mm above the floor in Fig. 22A) of each stocker of the stocker is taught as shown in Fig. 20. Therefore, the process G (= L =
Since the pallet of 1) is contained in the stocker shelf number S [L] indexed by the number of L, the variable S shown in FIG.
From [L], index S [L] with L = 1, find the teaching position TP [S [L]] with that value as an argument from the teaching point in FIG. 20, and find that value in the servo motor. The transfer amount is STP. That is, STP = TP [S [L]]. Then, in step S72, stocker movement is performed according to the movement amount. When the servo motor M _S1 is rotated to the STP position, the rack containing the pallet requested by the robot reaches the pull-out position. The CH flag in step S74 is a flag indicating that the replacement request from the robot has already been made. In the case of G = L = 1, it is reset because the replacement required state has not yet occurred. S78
Proceed to. At steps S78 and S80, the lid of the pallet is opened, and at step S82, the pallet with the lid opened is pulled out to the drawer portion 154 by the control described above. When the pallet comes into contact with the stopper 176 of the drawer portion 154, the pallet is pulled out of the drawer portion 154 with respect to the robot at step S84.
Notify you are ready above. Then, the stocker waits for a predetermined notification by the robot. Now, when the robot waiting for the completion of preparations from the stocker at step S16 (Fig. 23A) receives the completion notice, the robot proceeds to step S18 to pick up the parts in the pallet placed on the drawer 154. First, move over the part and then descend to try to pick the part. next,
In step S20, the remaining number Z of parts of the process number G
Decrement [G] by one. At step S22, it is checked whether the remaining number Z has become one. If the remaining quantity Z [G] is still 1 or more, in step S28 it is checked whether the robot finger can pick the part. The case where the component cannot be normally picked includes the case where the finger fails to grip the component and the case where the component is not inserted into the relevant place in the pallet. In such a case, the pick is retried in step S18 until the component can be properly gripped or the remaining number becomes one. When it is confirmed that the parts are picked normally, in step S32,
A notification of the completion of picking is returned to the stocker. Upon receiving the notification that the robot is in operation and the completion of picking, respectively, the stocker proceeds from step S86 to step S88 to step S90 to return the pallet on the drawer portion 154 into the stocker. Further, the CH flag is checked in step S92. Since this flag is still reset, the process goes to step S100. I [L] at step S100 is a flag indicating that the replacement request is issued from the robot because the remaining number Z of the L-th pallet detected by the robot as described above becomes zero. Has reset this flag. Therefore, the process proceeds to step S118 and L is incremented by 1, that is, L = L + 1. From step S118 to step S126, while the robot is assembling the parts picked up at step S18 (Fig. 23A), the stocker pulls out the next pallet (part).
This is for preparing on 154. That is, step S120
Then, it is checked whether or not the current step is the final step. If it is not the final step (in the above-mentioned "simplified configuration example, the total number of steps is 20, when L = 20"), the process proceeds to step S126. Then, the robot calculates the amount by which the robot moves the rack of the next pallet next to the pallet on which the parts are picked up (L has already been incremented by 1 in step S118) to the pull-out portion 154 position. Steps S128 and S130 are
This control is to move the stocker each time the "start key" is pressed. From step S130, returning to step S72 in FIG. 24A, the STP calculated in step S126 is sent to the motor M _S1 to align the next shelf with the position of the drawer portion 154. The following control repeats the control described above. The above control is repeated until the remaining number Z [G] of any pallet becomes one. The stocker control program shown in FIG. 24B is based on the assumption of assembly that requires parts in all steps. But in practice, for example,
There may be a process that does not require parts, such as a finger replacement, and in such a case, the stocker rack movement (step
S126) is not necessary. Therefore, the control variables in the description (21A
(Fig.) Sets a flag to determine whether the process requires a part (or sets the part index to an alphabet) and checks the value of this flag before step S126. If the process does not require
Instead of proceeding to step S126, the process may be returned to step S118 to advance one step. When the remaining number becomes one, the remaining number Z [G] of the pallets on the shelf S [G] soon becomes
It becomes 1 in a certain process G. That is, if one component is picked at step S18 from a pallet having two remaining components, the remaining number will be one.
To step S24, the process number G is saved in the process number variables E and D so that it can be used in the elevator and buffer control programs. Then, in step S26, the buffer and elevator are instructed to start preparations for the alternative pallet, as soon as an empty pallet will be available. This replacement preparation instruction is stored in the above-mentioned queuing area, and if the elevator and buffer are
If the previous replacement preparation operation is not busy, the elevator and buffer take out this queue and start the replacement preparation operation. Even after instructing the buffer and elevator to replace, the robot continues the picking operation as long as it is notified in step S16 that the palette has been pulled out from the stocker to the pull-out portion 154 position. On the other hand, in the control of the present embodiment, the stocker stops its movement because the robot detects that the remaining number Z of pallets has become zero in a certain process G (= L), and that fact (I (By [L]) Stotka is notified,
The pallet for the next step G + 1 (= L + 1) is pulled out 15
When the robot picks up the G + 1 pallet component and the robot picks up the G + 1 pallet and the remaining number of pallets found in the previous process G is zero (step S9
4). That is, the stocker waits until the replacement operation is completed. This is because there are parts left in the pallet of the step G + 1 following the step G in which the remaining quantity Z [G] becomes zero. This is because the empty pallets can be replaced in parallel.

[Pallet replacement]

 * Pallet separation by buffer * Figure 25A shows the variables used in the buffer control program.
Indicates a number. That is, these variables are in the current buffer platform.
The number and bar code of the highest-level pallet tray placed
Read data storage area B by the reader and each stage
The height information of each pallet, the part name, and the like. Best
The number of the pallet stage is
Followed by elevator from the buffer
The information of the read pallet is deleted.
And to show which part of these variables are currently valid
is there. This information does not require human intervention, as described below.
In this way, this FAC system does not operate via the production control computer.
Request a required pallet from the warehouse and the pallet will be unattended
If it is passed from the car to the buffer, the system (see Fig. 18)
Program of management microprocessor) given to buffer
To get it. On the other hand, it is manually stacked on the buffer 52.
To look up, enter the above information from the input / output device 18.
You. Now, the robot will start the key operation at step S26 (Fig. 23A).
Instructing Bathua to replace it via You
You. Process number corresponding to the pallet required for this replacement preparation
No. is saved to variable D in the queue at step S24.
You. The buffer receives this replacement preparation instruction at step S150.
If so, go to step S152 to change the pattern
Enter the part name (or part index IDX) of the let,
According to the process number D notified from the robot,
Search from the variable table. And this part name (part
IDX) in the table of Figure 25A,
The pallet with the largest number of pallets to be replaced.
To know Then, in step S154, this pallet
Find the distance from the buffer table 52 (let's call it l). this
Is the thickness of all pallets up to this stage pallet (first
(Known from the table in Figure 25A)
Know the distance (m) from the floor at the bottom of the current position of platform 52
From these m and l, the pallet to be replaced is
The moving distance until it is moved to the separation position is
Then, it is calculated from {1410- (m + 1)} mm. In Step S158, this is the calculated travel distance.
Move the vertical buffer base 52 up and down. This travel distance is shown in Figure 7A.
Refer to to replace the pallet with the third one from the top.
It is well understood. In step S160, the sense state of the sensor 80 is checked.
If sensor 80 is off, use step S162 to
Raise the buffer stand 52 until 80 turns on. Stets
If sensor 80 is on at step S160, then at step S164
Lower until this sensor turns off. Such control
Is done in relation to the pallet thickness tolerance,
Since it has already been described in detail with reference to FIGS. 8A to 8E, its re-explained
The description is omitted. When the desired pallet reaches the separation position, it is confirmed.
Attached to the pallet by the bar code reader 74
Read the bar code. This reading data can be read with step S168.
R and B [D] in the variable table (Fig. 21A) are compared.
I do. If this comparison does not match, move to the separation position.
The received pallet is the one above the pallet to be replaced.
Since it's a let, go to step S170 and go up one step.
Obtain the thickness of the pallet from the table in Fig. 25A and
Use the S172 to raise the buffer stand 52 by that amount
Move the pallet to the separation position. Step S174,
Retry bar code reading with step S176 to confirm.
You. From step S168 or step S176,
Proceeding to S178, the first separating claw 66 is urged, and step S1
80, predetermined distance L₁(Distance over the maximum thickness of the pallet,
In the example of Fig. 22A, lower the buffer table by 94 mm)
In the state shown in Fig. C, press the second separation claw 68 at step S182.
And step S184 for a further predetermined distance L₂Just descended
The buffer is separated as shown in FIG. 7D. And
Step S186 completes the buffer separation for the elevator.
Notify that, at step S188, the elevator
Pulling the separated pallet into the elevator body
wait. * Palette pull-out by elevator * Elevator replaces empty pallets in stocker
You don't have to work when you don't need to. And this
Be sure to replace the parts that are separated by the buffer.
Take a pallet full of items into the elevator frame
First, some work is needed. Therefore, elevator lift
Align the normal stand-by position of the frame with the separating position by the buffer
Position (the origin position of the elevator shown in Fig. 22A)
Then, in the meantime, the robot to prepare a new pallet
Instructed by, and immediately separated on the buffer side.
If the work seems to be completed, you can directly
Later, it is possible to start loading the pallet into the lifting frame.
There is a merit. Therefore, the elevator control of this embodiment
As shown in step S200 of Figure 26A, the elevator
Match the lifting frame standby position of the
ing. Now, independently of the movement of the buffer, the robot
Use the Stop S26 (Fig. 23A) to
Instructing the replacement preparation through You (Fig. 21B)
You. Process number corresponding to the pallet required for this replacement preparation
No. G is saved to the variable E in the queue at step S24.
Have been. The elevator receives this replacement preparation instruction
Then, proceed from step S204 to step S206 and get to buffer.
Wait for notification of the completion of pallet separation at the separation position. As mentioned earlier, on the buffer side, step S186
Issued a separation completion notification to the elevator side and issued that notification.
In step S188, the elevator takes in the pallet.
I'm waiting for you to come out. Therefore, the elevator that receives this notification is
At 08, the pallet is pulled out. This withdrawal action
First, as detailed in connection with FIGS. 13A-13D,
Elevator motor M_E2Rotate in the A direction to
Move the hook 108 to the hooking position with the pallet, then
Air cylinder C_E1Drive the hook on the pallet 1
08, then the motor M_E2Rotate in the B direction
The pallet from the buffer side into the elevator lift frame.
It is something to slip in. Withdrawal of pallets from the buffer
When the above is completed, a notification to that effect will be issued on step S210.
Return to. Then, the process proceeds to step S212 and the subsequent steps. * Union of upper and lower pallets by buffer * The notified buffer is from step S188 to step S1
At 90, release the second separating claw 68, and at step S192, L₁＋ L₂Raised the buffer stand 52 by + H [D], and was separated up and down.
Combine the pallets and use step S196 to separate the first separation claw 66.
To the next step from the robot by returning to step S150.
Wait for let preparation instructions. In addition, the robot in this step S150
Set the command waiting position from the₁＋ L₂
+ H [D]) is not the raised position, but the origin position (No.
It may be 500 mm above the floor in Figure 22A). this is,
As in this example, the number of parts in the pallet depends on the pallet.
If it is disjointed, the time when the remaining number becomes 1 (preliminary
This is because the measurements are random (if possible). * Elevator replacement standby position * Before explaining the movement control to the replacement position, replace
Explain how the position should be determined.
This FAC system does not stop the operation of the robot.
Supply new parts and change assembly procedure
The focus is on how to easily deal with. this
From such a point of view, how to change the replacement position
The decision will be a big factor. Now, in the above-mentioned “simplified configuration example”, the robot
The pallet with the parts picked by the
You. Considering that the stock feeding of the stocker is always performed upward.
Considering that while the robot is using another pallet,
Then, by replacing the pallet with the remaining number Z of zero, the effect is
When trying to rationalize, in FIG. 27A, the drawer portion 1
When it is pulled out to 54, when the remaining number is 1,
Beta, issued a buffer replacement preparation instruction to the buffer
Every time, the remaining 1 pallet becomes 0.
Since it was when it was pulled out to the feeding section 154, 0 of that
The pallet that has become
Is being pulled out to the drawer section 154, a new
The most efficient way is to replace the let with an empty one.
Target. That is, in FIG. 27A, the number of remaining pallets is 0.
While the is in the position shown, the elevator will
You just need to change it. So the elevator
How much distance should you move and descend?
Consider whether to reach the position. In FIG. 27A, the second separation claw 68 on the buffer side and the
The height position is aligned with the slide 122 of the Levator.
This enables smooth withdrawal. 134 is the sky
Remove the pallet from the stocker's shelf and slide it.
It is a plate for moving the slide plate, and the distance between both slide plates is fixed
Is. Therefore, the elevator will remove the separated pallets.
The position of the slide plate 134 when retracted in the frame is on the floor
A fixed distance from (see Figure 22A). There,
Place the empty pallet on the slide plate 134.
To move so that the
The number S of the shelf on which the tray is placed is easily known.
Elevator movement is the distance to the teaching position on the shelf
It is a distance. It should be noted that in FIG.
The pallet that Ta is trying to pull out and the pallet with 0 remaining
Drawn as if the lett and the lettuce were about to be swapped
This is left as it is for convenience of explanation
So, in the "Simplified configuration example", the palette is changed from the buffer.
When you are about to be pulled out to the rebate, the remaining number is 0
One pallet is usually the residue that caused the replacement preparation instruction.
It should be one pallet. If the process order and the shelf position of the pallet are different,
Do you? In such a case, the process G is supposed to be 1,2,3 ....
When moved, the stacker moves up and down according to S [G].
You. In FIG. 27B, in such a general example, process L
The case where the pallet of (= G) is Z [G] = 1
You. Then, the elevator prepares to replace it with the buffer.
Start a new pallet at the separation position from the buffer.
And try to move to the elevator standby position
You. At this time, the robot is already in the next step (L + 1).
I'm requesting a pallet, so the stocker drawer
At 154, the pallet for process L + 1 is drawn out.
At this time, the process L-shaped pallet is the position shown in Fig. 27C.
It has moved to the storage. The point to note here is the process
When G goes from 1 to its maximum value, the order is the same again.
Start from 1 and follow the same sequence to change. That is,
A pallet with only 1 remaining in process L of a certain cycle
(Placed on S [L]) is S [L] in the next process L + 1.
+1] pallet is pulled out to the drawer 154.
When there is a position, the process goes around the next cycle
Then, the process L is cycled again, and the remaining number is 1.
The number of remaining pallets becomes zero, and in process L + 1
The S [L + 1] pallet is pulled out to the drawer 154.
Is equal to the position of the pallet in process L when Follow
The remaining number becomes 0 when the remaining number becomes 1.
Predicting the replacement standby position in case of
It does not shield. From this point of view, the calculation of the replacement standby position
It will be described with reference to the drawings. On the left side of Figure 27D,
Indicates the initial position. That is, the first shelf is at the drawer position
At some time, the distance t from the floor of the 20th shelf₀Is the 22nd
It is 300 mm from the figure. Parcel of shelf S [L] in a certain process L
When the number of remaining dots is one, S [L
+1] pallet is pulled out to the drawer 154.
At this time, the pallet on the shelf that is in process L is as shown in Fig. 27D.
Have moved to a position. See this from the elevator side
For example, as shown in FIG. 27D, the shelf of shelf S [E + 1] is pulled.
The position of the pallet on the shelf S [E] when it is in the extended position
It is equivalent to calculating. That is, from FIG. 27D,
At the replacement standby position, the distance between shelves is 30 mm and the total number of shelves is 20.
Considering that, 30 × {20 + S [E + 1] −S [E]} + t₀ Is. Thus, the standby position for replacement by the elevator
Is determined. Incidentally, in FIG. 27C, the pallet of the process L + 1 is the drawer 1
54, and the remaining number Z [L + 1] is detected as 1.
Then, the second replacement preparation instruction is the robot control switch.
Issued from step S26 and queuing this
Is as described above. * Move to standby position * Now, step S212 of the elevator control program
In the stocker of the pallet of the process E where the remaining number is one
The shelf position S [E] is filled with pallets inside the stocker.
It is determined whether it is the final shelf. 20 shelves in this embodiment
If all the shelves of the stacker are stacked with pallets,
The final stage is the 20th stage. The necessity of this judgment is the final
There are no shelves below the steps, or even if shelves are
Shelves where the shoes are not incorporated in the process (hence the palette
Because there may be no). That is, this embodiment
Then, change the pallet depending on whether it is the last stage or not.
The position determination algorithm has been changed. Is this the last stage?
Whether or not it is determined by the value of S [E] and the variable table
Compare all values in the shelf position information S (Fig. 21A), and
Not by judging whether [E] is the maximum
Be done. The explanation of the control when reaching the final stage will be given later,
If it is determined that S [E] is not in the final stage,
Proceeding to step S214, the above-mentioned exchange position, 30 × {20 + S [E + 1] −S [E]} + t₀ To calculate. The replacement position is determined as described above.
Then, the elevator is moved at step S216. And
At this replacement standby position, the replacement instruction from the stocker
Wait for In other words, the robot detects a pallet with only one remaining
And switch to buffer and elevator according to the detection.
A preparatory instruction is issued, and the elevator is
Receiving a new pallet from Tuhua,
Hold the let and the elevator will move to the replacement standby position.
It has moved. 《Detection of remaining quantity 0》 On the robot side, the remaining quantity is 1 in the pallet of the continuous process.
Up to two replacement preparation instructions when consecutively found
Is as described in connection with FIG. 21B.
You. That is, until then, robots were
Independent of the operation of the
Put it out and continue the assembly work. In other words, newly
By the time you find the third remaining 1-pallet,
At the very beginning, the first pallet to reach 1 is zero.
It is supposed to be. The finding of the remaining number 0 is performed in step S34 (Fig. 23A).
You. If this is detected, the flag I is detected in step S36.
[G] is set to 1 and the next control is continued. That is, Robots
The pallet was emptied after one cycle of the entire process.
By the time the process requires the same parts as the
The lettuce can be replaced by the elevator in the stocker.
I am expecting. And at least replaced
If not, use Step S16 to complete the preparations from the stocker.
Waiting for completion, the robot will stop. * Replace the pallet * On the stocker side, set I [G] = 1 set by the robot
It will detect when you come to step S100 (Fig. 24B).
is there. When this flag is detected, the above-mentioned
In the case of “example”
Whether or not it will be described with reference to FIG. 24C. Figure 24C shows each of the five-stage pallets of the stocker,
Initially, it was supposed to contain 3,2,3,4,5 parts from the top
You. In this state, the assembly by robot (all processes) completes one cycle.
Then, the number of parts becomes (2,1,2,3,5). From above
When pulling out the second-stage pallet to the drawer 154,
Send pallet replacement instruction to elevator and buffer
It goes without saying that there is this. Now, in the next cycle,
If you take out the parts from the first-stage pallet,
Since there is only one eye pallet left, this pallet preparation finger
The indication is queuing. Next, is it the second-stage pallet?
If you take out parts from it, it will be 0, so at this point, the second
The I [G] flag of the stage is set to 1. To explain this point in detail, this second-stage pallet
In order to remove the last part from the
The step S82 (No.
Figure 24A). Then, with step S82 step S84
Proceed to notify the robot that the pallet has been withdrawn
You. The robot that received this notification will use the Step S16 switch.
Step S18 ............... In Step S36, set the I [G] flag.
Set. On the stocker side, step S84 step S86 step
Step S88 Step S90 Step S92 Step S92 Step S100
Then, I [L] = 1 is detected. In other words, stock
On the side, the pallet with only one remaining piece is placed in the drawer 154.
Pull it out, the robot will pick it up, and the stocker will
When the pallet with 0 remaining is returned to the inside,
[L] = 1 is detected. If I [L] = 1 is detected in step S100, step
In step S102, the CH flag is set to "1". Set CH flag
Just do not perform the replacement operation immediately.
Is in the pull-out position to the robot side at this point
There is a pallet with zero Z remaining on the stocker shelf.
On the other hand, because there are parts in the next process pallet,
For the time being, make sure that the stocker is at the position where it will be pulled out to the robot.
The robot in the next process is advanced to prevent the robot from operating.
Don't do that and at that point issue a replacement request
Because it is. Go from step S102 to step S104
For the same reason as the elevator step S212 described above, S
If [L] is the maximum value, that is, if the remaining number is zero,
Whether the shelf of the lettuce is the last shelf in the stocker
Find out. If it is not the final shelf, proceed to step S106, the remaining number
The process number L which has become 0 is temporarily saved in the register P.
Keep it. The reason for this is that the stocking
Pulling out to the robot so as not to interfere with the operation of the bot
In order to advance the next step (L + 1) pallet to the position,
This is because the original process number L that has become zero is retained.
Then, in steps S118 to S130 described above,
Move forward the number, and in step S72, the shelf level of the next process
Move the stocker to the table. In step S74, CH
Since the rug has been set, you can use the S76 in the elevator.
Request to replace empty pallet with new pallet
send. If at this point, the elevator is already a new pallet
If you have reached the replacement standby position by holding
Immediately palletized by elevator, independent of control of
The replacement should be started. As mentioned above,
The preparation for exchanging the lett is done when the remaining number becomes one.
Since it has started, enter the elevator at step S76.
When issuing a replacement request, the elevator has already been replaced.
Where we are highly expected to have arrived at Oki
You. See Figure 27E in this regard. After sending this replacement request to the elevator,
Power control is performed in steps S78 to S82 with zero remaining
Pull the pallet for the next step of the let on the drawer 154.
Start, step S84 ~ step S92 step S94,
Assemble the pallet parts for the next process of the bot.
Then, at step S94, wait for the pallet to be replaced.
One. In this way, do not disturb the operation of the robot as much as possible?
The empty pallets will be replaced. Return to elevator control program. Step S218
Then, Elevée was waiting for a replacement request from Stockka
Upon receiving the above request, the server confirms the pallet in step S220.
Perform the replacement operation. The specific control of Step S220 is
As shown in steps S240 to S256 of FIG. 26B,
The sequence of operations under that control is according to FIGS. 13A to 13G.
Therefore, the description will not be repeated. Figures 27E and 27F
By associating the control of FIG. 26B with that of FIG.
Corresponding to step S240 ~ step S246, Figure 27F is step S24
Corresponds to 8 to step S256. Also, β is shown in FIG.
The thickness of the pallet is 38 mm, which is 12 mm in this embodiment.
You. When the elevator has finished replacing the pallets, the strike
A replacement completion notification is sent to the player (step S222). This
The stocker side who received the notification from step S94
Proceed to step S96, and the remaining pallets for process P to be replaced
Put back the numbers. Then, in step S98, the CH flag is reset.
Set, and also reset I [P]. And
Go to step S100 and step S118 to proceed to the next step L = L +
Go to step 1, step S120 ... step S130 step
Return to step S72 and repeat the above operation. * Stacked empty pallets * On the other hand, on the elevator side, it was held at the bottom of the elevator.
The operation control for stacking empty pallets on the transport mechanism 76 is performed.
U That is, in step S226, the empty pallets are stacked until the last time.
Raise the height Q to the pallet height H [E]
Add the value obtained by subtracting the edge β of the elevator to lower the elevator.
Find the position. That is, the descending position is Q + H [E] -β. This is understood with reference to FIG. This
Move the elevator to the lower position of the air cylinder C_E4
Unlock and stack empty pallets. And pile up
If you pull it, the pallet will be as much as the accumulated cost α (= 7 mm).
Since it is below, the updated stacking position Q is Q = Q + H [E] −α. Next, in step S234, the stacked empty pallets are
However, a sensor that detects whether it will interfere with the movement of the elevator
S_FourReach the position (shown at the bottom of the elevator in Figure 1)
Find out If yes, transport with step S236
Drive the mechanism 76 to transport the empty pallet to the unmanned vehicle position.
You. Thus, the replacement of empty pallets is completed, and the robot
Parts supply to the robot without stopping the operation of
The parts are constantly supplied to the stocker.
You. The basic form of operation control of this FAC system has been described above.
However, this control program pursues efficiency improvement in various respects.
I have devised it. * Replacement of the last shelf * One way to improve efficiency is to replace the last shelf
This is a change in the control procedure. The stock of this FAC system is
There are 20 shelves. Therefore, pallets are arranged from top to bottom in process order.
When the tray is placed on the shelf, the
There is no lett. In addition, all the pallets used in all processes are
If you do not fill the stocker even if you put it on the shelf
However, there is no pallet under the shelf at the bottom. like this
, The pallets are placed on the shelf from top to bottom in the order of process
In the case of
When the shelves are replaced, the shelves in the next process will not have pallets.
Despite that, pull out the shelf without the pallet
Move it up to the 154th position and replace it on it.
Will replace empty pallets. But with this
Until the robot has finished replacing the pallet.
Assemble while waiting for the completion of pulling out at step S16.
You have to stop the work. To eliminate this inconvenience, step S10 in FIG. 24B is used.
4 to step S116 and steps S212 and S of FIG. 26A
There are 224. That is, it is necessary to change the pallet at the final stage.
If not, change the replacement position to the stocker pull-out position.
Since it is performed at the position of the slide plate 178 of the drawer 154,
is there. The replacement standby position in this case is shown in Fig. 27G.
, 30 × S [E] + t₀ Is. Therefore, on the elevator side, step S212
Proceed to step S224 and play the standby position according to the above formula.
Calculate, move to the pull-out position, and press S218 to stop.
Wait for the replacement request from the mosquito. On the other hand, on the stocker side, step S100
If it detects that lag I [L] is set,
At step S102, set the CH flag, and at step S104
Go to step S108 and request the stocker to replace it.
put out. Subsequent control is the same as the normal shelf position replacement operation.
Therefore, the description thereof will be omitted. In this way, if the replacement pallet is final
At the position where the stocker is pulled out to the robot side,
The robots are swapped, so there is no need to wait for robots.
Disappears. Especially, the pallets are placed on the shelf from top to bottom in the order of process.
Effective when placed. * Queuing for replacement preparation instructions * Another way to improve efficiency is queuing. this
Queuing is necessary because of the following backgrounds.
That is, the time and energy required for separating the pallet with the buffer.
How long it took to move the reta to the standby position, etc.
The total time required to prepare for replacement is 1 for the robot assembly.
Each mode should be shorter than the time required for the process.
Set the operating speed of the tool (for example, the rotation speed of the motor).
If you can determine, from robot to buffer, elevator
Multiple replacement preparation instructions (step S26) are issued.
Never. However, the former case may be long
Be done. In such cases, multiple instructions should be issued.
Thought, and that finger to deal with such cases
You need to query the indication. For example,
If the total number in the pallet is the same in the two successive processes
If the parts are worn in the same way, replace them continuously.
There is a possibility that a preparatory instruction will be issued. Especially, the continuous 2
Steps (these two steps are stolen, L and L + 1)
If the shelf positions S [L] and S [L + 1] are not continuous
Causes the stocker to move up and down, changing the pallet.
Takes time. In such a case, Fig. 21B
Queue replacement preparation instructions as shown in
Therefore, the operation of the robot will not be stopped. Buffer
Then, in order to prepare one replacement,
Take off and pass the separated pallets to the elevator.
The next replacement that has been queued immediately after
Take the instruction from the queue and start the next pallet separation operation.
Because it can be done. In this example, the key
The number of you is two, but you can increase it if necessary
Good. * Initial operating state setting * In the above control, the pallet was placed on the stocker.
It was explained on the assumption that. So in this stock
The initialization control for inserting a pallet will be explained with reference to FIG.
You. Robots and stockers do not work in this initial setting.
Then, the buffer and elevator stop the stocker.
Insert the pallet into the shelf. First of all, in step S300, the buffer is stacked from the unmanned vehicle.
Received the pallet. In step S302, the counter n
Set to 1. Step S304, n-th stage pallet
To the separating position, and at step S306, remove the pallet.
To separate. In step S308, the elevator completes the separation.
Notify and, in step S310, elevator pallet
Wait for the withdrawal to complete. On the other hand, on the elevator side, the same as the start of the program.
Sometimes, in step S352, move to the separation position and
In S354, it waits for the separation completion notification from the buffer. This
Is notified, the counter set by Buffer will
Calculate the stock position of the stocker from STP = TP [n] and move to that position. At step S358,
Push this pallet into the shelf. And step S360
To notify the buffer of the completion of movement, and at step S352,
Wait for the pallet. Upon receiving this notification, the buffer will be notified by step S312.
Update unta n. This update is unattended with Step S300
From the thickness information of the pallet received from the car, now to the stock
Calculate the required number of shelves for the moved pallets and move to the next pallet.
Make sure to calculate the shelf number to insert. Step S314
Then, determine whether there are remaining pallets on the buffer stand.
And if there are any leftovers, to separate the next pallet,
Return to step S300. In this way, the initial operating state setting is completed. << Explanation of Modifications >> The present invention is configured according to the above-described embodiment.
Without being limited to the above, the scope of the present invention is not deviated.
It goes without saying that various modifications can be made in the enclosure. Below, various modifications of the above-described embodiment will be described.
Will be described in detail. In the following description,
The same reference numerals are given to the same parts as those of the embodiment described above.
Is attached and its description is omitted. Description of First Modification First, in the buffer 22 of the above-described one embodiment,
The number of remaining parts x in the pallet p is 1 due to the bot 12.
It was recognized that it was made individually, and then this part x was assembled.
When the pallet is emptied by being used for standing motion,
Empty pallet p'of the pallet p full of parts x
The operation of swapping may interfere with the operation of the robot 12.
In order to be able to execute without delay, the remaining number is 1
At the time of recognition, the part x with the remaining number of 1
Use the pallet p packed with the same parts x with the buffer 22
Via the separation mechanism 64 so that it can be taken in from
To separate from other pallets p at buffer 22
I am configuring. However, the invention is even limited to the configurations described above.
This buffer 22 is equipped with a separating mechanism 64
Instead, as shown in FIGS. 31 to 34 as a first modification.
, A plurality of pallets p stacked on the buffer table 52₁, p
₂, p₃Equipped with a step-out mechanism 250 that separates ...
You may comprise so that it may be obtained. * Structure of the step-out mechanism * That is, as shown in FIG. 31, this step-out mechanism 250
Above the buffer table 52, the
Extends along the transport direction d on the inner surfaces facing each other
A plurality of separated claw mounting plates 252 are arranged along the vertical direction.
It is arranged. Here, a pair of separation claws facing each other
The mounting plate 252 is vertically attached to the flange portion 38 of each pallet p.
It is configured so that it is not hooked with respect to the direction. still,
In the first modification, the buffer table 52 described above is used.
Is different from the one in the embodiment, and the unmanned vehicle 20 is mounted on a pallet.
It is fixed at the same height as the table 32. Here, attach all separation claws on each standing plate 46a, 46b.
The plate 252 has both ends extending vertically.
Guide shafts 254a fixed to the upright plates 46a, 46b corresponding to
It is supported so as to be movable in the vertical direction along 254b.
In addition, the upper ends of the guide shafts 254a and 254b are fixed with fixtures 256a and 256b.
Fixed to the upper ends of the corresponding upright plates 46a and 46b, respectively.
The lower end is fixed to the buffer table 52. Also, as shown in FIG. 32, the inside of each separation claw mounting plate 252
Air cylinder C in the center_D1Attached together
Cage, this air cylinder C_D1Piston 258 faces downward
It is configured to extend. This piston 258
The lower end of the is attached to the separation claw mounting plate 252 located immediately below.
Worn air cylinder C_D1It is fixed to the upper end of.
Where each air cylinder C_D1Is the two input terminals 260a, 26
0b and one input end 260a is the piston 258.
Communication to the cylinder chamber above, and the other input end 260b
It communicates with the cylinder chamber below the stone 258. Meanwhile, all air cylinders C_D1One input end 260a
Of the switching valve 264 via one of the introduction pipes 262a.
One output end 264a is connected to the other input end 260b
One of the switching valves 264 described above is introduced through the introduction pipe 262b.
Is connected to the other output terminal 264b. Where this cut
The input end 264c of the exchange valve 264 is connected via the introduction pipe 262c.
And is connected to a compressor (not shown). With the above configuration, for example, the switching valve 264
So that high pressure air comes out from one output end 264a,
If this switching valve 264 is switched, this
The high-pressure air of each is supplied to each air through one introduction pipe 262a.
ー Cylinder C_D1Guide to the cylinder chamber above the piston 258.
And each piston 258 is forced downward.
You. In other words, this high pressure air is the air cylinder C._D1of
As shown in FIG. 32, by being supplied to one input end 260a.
The space between the separation claw mounting plates 252 adjacent to each other.
Will be done. On the other hand, in the switching valve 264, the other output end 264b
This switching valve 264 switches so that pressurized air is emitted from
If present, this high pressure air will
Each air cylinder C via Ip 262b_D1The piston 258
It is introduced into the lower cylinder chamber and each piston 258 is
Will be urged by the other side. In other words, this high pressure air
Is an air cylinder C_D1Is supplied to the other input end 260b of
As a result, as shown in FIG.
The space between the claw mounting plates 252 is narrowed. Here, in the narrowed state shown in FIG. 33, an example
For example, all the pallets p are 25 mm thick.₁so
In some cases, the pitch of the separation claw mounting plate 252 is 25-
It is set to 7 = 18 mm. In addition, the spread shown in Fig. 32
The 7mm mating allowance,
The separation pitch of the separation claw mounting plate 252 is
Longer than 25mm mentioned above, for example, set to 30mm
Become. In other words, from the state shown in FIG.
C_D1High pressure air is supplied to one input end 260a
The piston 258 is pushed downward by 12 mm,
The arrangement pitch of the separation pawl mounting plate 252 is expanded. In addition, as shown in FIG.
Is attached to the lower surface of each separation claw mounting plate 252 at right angles to the transport direction d.
The separation claws 266 that can be moved back and forth along the direction
Have. That is, a pair of separation claws 266 facing each other.
Is attached to the flange 38 of each pallet p from below.
And the retracted position away from the flange 38
It is configured to move back and forth between the table and the table. Also, each separation claw
The lower surface of the mounting plate 252, which is outward from the corresponding separation claw 266.
In order to drive this separation claw 266 forward and backward while it is located at
Air cylinder C_D2Has been attached. This air
Linda C_D2The piston 268 is in a direction orthogonal to the transport direction d.
It is reciprocally driven along the
It is connected to the corresponding separating claw 266. With the above configuration, the air cylinder C_D2To high pressure
When air is not supplied, the piston 168
It is biased to the retracted position, and all separation claws 266 are
Corresponding pallet p₁Away from the flange 38 of
Is set. Where air cylinder C_D2High pressure sky
By supplying the air, the separation claw 266 moves to the retracted position.
From the stand to the protruding position, each separation claw 266
Pallet p₁The state where it can be hooked onto the flange 38 of the
Becomes * Operation of the disassembling mechanism * In the disassembling mechanism 250 configured as above,
Hereinafter, the collective disassembling operation will be described. First, a plurality of pallets p are placed on the buffer table 52.₁Stacked
At the time of being transported in the
Linda C_D2High pressure air is supplied to the separation claw 266,
Offset from the protruding position to the protruding position, and the corresponding pallet p₁
The flange part 38 of the
You. After this, air cylinder C_D1High voltage at the first input end of
Air is supplied, and each separation claw 266 has its own pitch.
It is biased upward so that it can be spread. In this way
Each separation claw 266 is hooked on the flange portion 38 from below,
Pallet p₁Is the pallet p located directly below₁From side to side
It will be set to be separated so that it can be pulled out.
You. As described in detail above, according to the first modification,
A plurality of pallets p mounted on the tour table 52.₁This stage
By using the disengagement mechanism 250, all of the
Pallet p₁Separated from each other and can be pulled out to the side
It becomes possible to set the state. Therefore, the above
In this way, from the robot 12, the remaining number is 1
A pallet containing the same parts as those recognized as
Tut p₁No matter what height position it is on the buffer stand 52,
Even from that position, pallet p₁Pull out to elevator 26
Separator of which the operating time is one example
Compared with the case of using Structure 64, it is shortened satisfactorily
Become. In addition, the control of the FAC system equipped with such a buffer
But the palettted eleva separated by buffers
The position to pull out to the data is fixed on each pallet.
Has been done. Therefore, the elevator pallet replacement
The standby position in Bibi pulls which pallet from the buffer.
It depends on what you start with. For that, the elevator side
As with the buffer side, the information shown in Figure 25A
If you also have it, there will be a replacement preparation instruction from the robot.
What position does the stocker need?
It can be known from this information. Description of Second Modification Next, in the elevator 26 of the above-described embodiment,
The three hooks 108, 116, 126 of the changing mechanism 96 are fed in the conveying direction d.
A common servo as a drive source for moving along
Motor M_E2However, this invention is
35 to 39 without being limited to such a configuration.
As shown in the second modified example, the parts x are fully loaded.
In order to move the pallet p along the transport direction d
Drive motor for driving the cylinders 108 and 116 and an empty pallet.
In order to move p ′ along the transport direction d, the hook 126
Separate drive motor for driving
It may be configured. * Explanation of elevator * That is, as shown in FIG.
The elevator 300 has guide grooves 102,1 on its upper and lower surfaces.
Except for the fact that 32 are not formed in each case, the
Equipped with an elevator body 86 similar to the elevator body 86
You. Also, the replacement mechanism 96 is an upper plate of the elevator main body 86.
A pallet full of parts x attached to the underside of 86a
An actual pallet changing mechanism 96a for changing the top p
An empty pad attached to the bottom surface of the lower plate 86b of the relevator body 86.
Empty pallet changing mechanism 96b for changing the letter p '
It consists of and. This actual pallet changing mechanism 96a is shown in FIGS.
As shown in the figure, the lower surface of the upper plate 86a of the elevator body 86
The pair of first guide members 302a and 302b in the transport direction d.
It is provided in a state of extending along it. And both first moths
The first slide plate 304 is conveyed to the id members 302a and 302b.
It is supported so as to be able to reciprocate along the direction d. Here, in the central part of the first slide plate 304,
The protruding portion 308 into which the first ball screw 306 described below is screwed is integrated.
Is formed in. This first ball screw 306 is
A pair of first rotations whose front and rear ends are fixed to the lower surface of the upper plate 86a.
It is rotatably supported via the rolling support members 310a and 310b.
You. Also, this first ball screw 306 is
Motor M₁Is configured to be rotationally driven by. This
, The first servomotor M₁To rotate the rotation axis of
As a result, the first ball screw 306 is rotationally driven, and
The first slide plate 304 is reciprocated along the transport direction d.
Will be. The first slide plate 304 is orthogonal to the carrying direction d.
It is formed so as to extend along the direction.
Both ends of the slide plate 304 of the same as the one embodiment described above
First, attach the first hook 108 to the buffer 22 side with an air cylinder.
Da C_E1It is possible to move back and forth via the
Install the hook 116 of the air cylinder C_E2Freely move back and forth through
It is equipped with each. This pair of first and second
The hooks 108 and 116 are the above-mentioned pallets p.₁, p₂, p₃... of
First notch on the elevator 26 side formed in the lunge portion 38
The husband 38a and the second notch 38b on the unmanned vehicle 20 side.
Each is formed in a shape that can be engaged from both sides. Here, on the lower surface of the upper plate 86a of the elevator main body 86,
The first servo is engaged with the first or second hook 108, 116,
Motor M₁Is pulled in / pushed out according to the rotation drive of
A pair of fixed slide girders that slidably support the pallet p.
The id 316 is disposed. That is, both fixed slide guys
Dots 316 are on both sides of the pallet p that is pulled in / pushed out.
The lower surface of the flange portion 38 is set to be slidable. In addition, the elevator of the upper edge of both fixed slide guides 316
The height from the lower plate 86b of the main body 86 is 100 mm, which is the maximum height.
Pallet p with height₃Enough to support slidably
It is set to a high height. On the other hand, the empty pallet changing mechanism 96b described above is
On the lower surface of the lower plate 86b of the beta body 86, a pair of second guides
The members 322a and 322b are provided in a state of extending along the transport direction d.
I am. Then, on both second guide members 322a and 322b,
Means that the second slide plate 324 reciprocates along the transport direction d.
Supported as possible. Here, at the center of the second slide plate 324,
The protruding portion 328 into which the second ball screw 326 described below is screwed is integrated.
Is formed in. This second ball screw 326
A pair of second rotation members whose front and rear ends are fixed to the lower surface of the lower plate 86b.
It is rotatably supported via the rolling support members 330a and 330b.
You. Also, this second ball screw 326 is used for the second servo.
Motor M₂Is configured to be rotationally driven by. This
And the second servomotor M₂To rotate the rotation axis of
As a result, the second ball screw 326 is rotationally driven, and
The second slide plate 324 is reciprocated along the transport direction d.
Will be. The second slide plate 324 is orthogonal to the transport direction d.
It is formed so as to extend along the direction.
At both ends of the bottom surface of the slide plate 324 of the
The hook member 332 integrally provided with the hook 126 of
Mounted slidably along the direction orthogonal to direction d
Have been killed. This third hook 126 is used for each of the aforementioned parts.
Let p₁, p₂, p₃The unmanned vehicle 20 formed on the flange portion 38 of the ...
Shape capable of engaging with the second notch portion 38b on both sides from both sides
Is formed in. On the other hand, both ends of the slide plate 324 are orthogonal to the transport direction d.
The second air cylinder in the state of extending along the direction
Da C₂Is attached. This second air cylinder
C₂At the tip of the second piston 334 of the
Material 332 is connected. In this way, the second air
ー Cylinder C₂In response to the drive of the third hook 126, the third hook 126
Reciprocating drive to engage and disengage the second notch 38b of the lunge 38
Will be moved. In addition, the lower plate 86b of the elevator body 86 has the third
Empty pallet taken out from the stocker 24 by the hook 126 of
A pair of movable slides for receiving the slide p's slidably
A guide 336 is provided. Where both movable slides
The guide 336 has previously described the empty pallet p ′ received here.
In order to place it on the unloading rollers 78 of the unloading mechanism 76,
Along the direction orthogonal to the sending direction d, in other words, here
Sliding so as to separate from the received empty pallet p '
Is set. That is, as shown in FIGS. 38 and 39.
In addition, both movable slide guides 336 support the slide member 338.
Through the lower surface of the lower plate 86b of the elevator body 86
It is possible to install. On the other hand, both of the lower surface of the lower plate 86b
On the side, for moving the movable slide guide 336 back and forth
Third air cylinder C₃Is attached. This first
3 air cylinder C₃Tip of the third piston 340 of
Is connected to the movable slide guide 336 described above.
You. In this way, the third air cylinder C₃To drive
Accordingly, the movable slide guide 336 is mounted on the empty pallet p '.
It is reciprocally driven to engage and disengage from the lunge portion 38. The actual pallet changing mechanism 96a configured as described above
And the empty pallet changing mechanism 96b.
6, the exchange movement of pallet p and pallet p '
In the operation, the first and second hooks 108 and 116 are driven simultaneously.
Except for this, the replacement mechanism in the above-described embodiment
Since it is the same as the replacement operation of 96, its description is omitted.
You. As described above in detail, in the second modification,
Drive source and empty pallet when replacing the real pallet p
And the drive source for replacing p '
Motor M₁, M₂Even if it is configured from
The same effect as the structure of the embodiment can be obtained.
You. The control according to the second modification is similar to that of the above-described embodiment.
In addition, three hooks are driven by one motor of the elevator.
What was driving was driven by two motors
Since it is merely a description, its explanation is omitted. Description of Third Modification In the elevator 26 of the above-described embodiment, the
The replacement mechanism 96 is provided with three hooks 108, 116, 126, and
The first and second for loading and extruding the let p
The hooks 108 and 116 are placed in the upper stage and the empty pallet p'is pulled.
The third hook 126 should be installed in the lower section for the purpose of setting.
However, the present invention is not limited to such a configuration.
As a third modified example shown in FIGS. 40 and 41,
As shown, this replacement mechanism 350 has a third hook.
In the removed state, only the first and second hooks 108 and 116
You may comprise so that it may be equipped. * Explanation of replacement mechanism * That is, as shown in FIG.
In the beta main body 86, the central portion of the lower plate 86b is in the transport direction.
A cutout portion 86c is formed along the line d.
The pallet P passes through the catching portion 86c along the transport direction.
It is formed so that it can pass. Here, at the both ends of the slide plate 106 described above,
The air cylinder support plate 11 is extended in the direction d.
Two are fixed respectively. This air cylinder support plate 112
The first hook 108 is reciprocally driven at the end of the buffer 22 side.
First air cylinder C for_E1Is attached
There is. This first air cylinder C_E1The first piston 1
The first hook 108 is connected to the tip of 14
There is. In this way, the first air cylinder C_E1Drive
In response to the movement, the first hook 108 moves the first hook 108 of the flange portion 38.
It will be reciprocally driven to engage and disengage the notch 38a.
You. In addition, both sides of the slide plate 106 on the side of the stocker 24
At the end, the second hook 116 has a second hook slide portion.
Through the material 118, along the longitudinal axis direction of the slide plate 106,
In other words, the slide along the direction orthogonal to the transport direction d
It is installed so that it can be installed. This pair of second hooks
116 is each of the above-mentioned pallets p₁, p₂, p₃Flange part 38 of
The second notch 38b on the side of the unmanned vehicle 20 formed on the
It is formed in a shape that can be engaged from the side. On the other hand, the air cylinders fixed to both ends of the slide plate 106
At the end of the holder support plate 112 on the side of the stocker 24, the second hook 1
Second air cylinder C for reciprocating 16_E2Gatori
It is attached. This second air cylinder C_E2The first
At the tip of the second piston 120, the second hook 116
Are connected. In this way, the second air
C_E2The second hook 116 is driven by the flange
It is reciprocally driven to engage with and disengage from the second notch 38b of 38.
Will be. Here, on the lower plate 86b of the elevator body 86, the first
Actual pallets taken from buffer 22 by hook 108
From stocker 24 by second hook 116 of top p and
For slidingly receiving the retracted empty pallet p '
A pair of movable slide guides 352 are arranged. Here, both movable slide guides 352 received here
The empty pallet p ′ is transferred to the carry-out roller 78 of the carry-out mechanism 76 described above.
In order to place it on the group, it is placed along the direction orthogonal to the transport direction d.
In other words, in other words, keep away from the empty pallet p'received here.
It is set to be slidable so that it can be removed. That is,
On the lower plate 86b of the beta body 86, it is orthogonal to the transport direction d.
Support the movable slide guide 352 along the direction.
Therefore, the slide member 354 is attached. Further, on the lower plate 86b, in the transport direction d of the cutout portion 86c.
The movable slide girder is
Fourth air cylinder C for reciprocating id 352_E4
Is attached. This fourth air cylinder C_E4
At the tip of the fourth piston 256 of the
Guide 352 is connected. In this way, the fourth
Air cylinder C_E4Depending on the drive of
The id 352 is to be disengaged from the flange portion 38 of the empty pallet p '.
It will be driven back and forth. As described above, the replacement mechanism 35 according to the third modified example.
By configuring 0, the movable slide guide 352
After pulling the empty pallet p'from the stocker 24,
At this time, this empty pallet p ′ is once placed on the carry-out mechanism 76.
Place it on the bottom and remove it from the replacement mechanism 350.
Give up. And, like this, this replacement mechanism 350
Away from the empty pallet p'and the inside of the elevator main body 86
This time it was emptied and now separated at Buffer 22
To receive the real pallet p,
Move to a height position adjacent to the position. This separation position
At this point, the actual pallet p was received from the buffer 22, and
Pull in the real pallet p, this time the empty pallet p '.
To push out to the predetermined position of the stocker 24 that became empty with
Become. In this way, a series of pallet replacement operations are completed.
Complete. * Control * This control is related to the third modification with reference to FIGS. 42A to 42H.
The operation of the elevator will be described together with the movement of the stocker. This
About the control of the modified example of, robot, stocker, buffer
As for A, the robot is step S26,
Since the control of the example does not require modification, the robot is No. 23A.
Fig. 23B, and the stocker is shown in Figs. 24A, 24B.
Hua cites Figures 25B and 25C. And the elevator
See Fig. 42A to Fig. 42H for the control operation system.
Explain the Kens. The elevator of this modification is basically
The lower empty pallet pull-out mechanism of the embodiment is removed.
Therefore, for that purpose, the sky pa
Drawout of pallets Stack of empty pallets New pallets
Take the sequence of insertion. In Figure 42A, process number L₀Pallet (shelf S
[L₀]) Is the remaining number Z [L₀] = 1
Robot at this point,
Then give an instruction to prepare the pallet replacement. This preparation instruction
The received buffer is the buffer control of the basic embodiment described above.
Therefore, process L₀(= D₀) Parts name, etc.
Check the number of columns on the buffer 52 on which the
(See Fig. A), separate the pallet at the separation position.
You. On the other hand, a modified elevator that received a replacement preparation instruction
Moves to the replacement standby position. Its waiting position and
Is the process L₀STOKKA S [L₀] Position. This
When the elevator arrives at the standby position of
As shown, the stocker process has moved to another process L '.
Will The process is completed and the shelf S [L₀] Pallets
When the robot comes to the robot drawer 154, the remaining
Number Z [L₀] Is zero. Then, here, empty Palais
Pull out the boot from the stocker side to the elevator side.
It is made (Figs. 42C to 42D). Elevate empty pallets
Once the elevator has taken in, the elevator descends and the transport mechanism 76
Stack empty pallets on top (Fig. 42E). In this state
, The elevator does not hold any pallets. After that, the elevator rises to the separation position of the buffer.
Then, the new separated pallet is taken in. This take
After finishing the installation, the elevator
A notification of completion of this capture is sent and the movement is stopped.
S [L₀] Position
(Fig. 42F). The descent to the standby position of this stocker
Levator pushed a new pallet into the stocker
(Fig. 42G, AH), notification of replacement completion to stocker
To send. The stocker that received this notification is the part to the robot side.
Resume product supply. As described above, in the third modification, the empty
The exchange operation between the letter p'and the actual pallet p is described above.
It takes some time compared to the case of one embodiment
, The structure of the replacement mechanism 350 is simplified and the cost is low.
It becomes possible to reduce. Description of Fourth Modification Example * Structure * In the carry-out mechanism 76 of the above-described embodiment,
Stacking empty pallets p'away from elevator 26
The stacked number
When the set value is reached, drive the carry-out mechanism 76 to
Below the tour table 52, that is, the empty pallet mounting table for the unmanned vehicle 20.
It is configured to be carried out to the adjacent position to,
The carry-out mechanism 76 is fixed in the lower position (no vertical movement is possible).
Noh), but this invention is
Without being limited to such a configuration, as shown in FIG. 43 to FIG.
As shown as a modification of FIG. 4, below the elevator 26.
The part of the carry-out mechanism 76 located at
Therefore, a so-called lift mechanism may be provided. That is, as shown in FIG. 43, according to the fourth modification,
The unloading mechanism 76 is a fixed unloader located below the buffer table 52.
The feeding mechanism 400 and a lift machine located below the elevator 26
Structure 402 and. Here, the fixed transport mechanism 400 is
It has the same configuration as the transport mechanism 76 described in the embodiment.
Therefore, the description thereof is omitted. On the other hand, the lift mechanism 402, as shown,
Attached to the columns 82a, 82b, 82c, 82d that make up the
The guide member 88 is slidably attached to the elevator body 86.
When the other sliding member 404 is located below the member 90,
It is slidably attached. These four sliding members 404
Lift base 406 can move up and down with all four corners attached
It is installed in. This is the best on this lift stand 406.
Installed on the fixed unloading mechanism 400 when it is brought to the lower position
The eject rollers 78a are aligned and arranged horizontally.
A group of carry-out rollers 78b is provided. Also, in the figure, enter the space between the columns 82b and 82d on the opposite side.
In the retracted state, the protruding piece 408 is
Are attached together. Then, mount on both columns 82b and 82d.
Air cylinder mounting member 410 in the handed over state
However, it is provided by extending horizontally. This Air Siri
The piston 412 downwards on the upper surface of the mounting member 410.
Air cylinder C in the protruding state_LIs attached
You. The lower end of this piston 412 is above the protruding piece 408.
It is fixed to the surface. This air cylinder C_LIs the piston 412 butt of this
Equipped with a break mechanism (not shown) so that the output can be set arbitrarily
It is what you have. Also, this air cylinder C_LIs
In the normal state, the state in which the piston 412 is protruded by the maximum amount
Is held in and is supplied with high pressure air
In other words, as if pulling up the piston 412,
In this case, the amount of protrusion is reduced to drive the lift base 406 upward.
It is configured as follows. On the other hand, on the lower surface of the cylinder mounting member 410 described above,
The sensor mounting part
The material 414 is attached. This sensor mounting member 414
Is in a state of being able to face the lift table 406 that is moved up and down, 3
Sensors s₁, s₂, s₃Are installed side by side in the vertical direction.
You. These sensors₁, s₂, s₃Placed on this lift base 406
Lift position of the empty pallet group p ′
The machine position) is controlled by changing only three types for the following reasons.
In other words, in other words, the elevator book is placed on the lift platform 406.
When releasing the empty pallet p ′ from the body 86, this lift base 406
Change the position of standing up in advance to 3 types
Is arranged for. That is, as shown in FIG. 44, the elevator at the lowest position is
Empty pallet p held at the bottom of the main body 86₁′, P₂′, P₃′
Depending on the height of this empty p₁′, P₂′,
p₃The height to the bottom of ′ will change. others
The empty pallet held at the bottom of the elevator body 86.
p₁′, P₂′, P₃′ Is an empty pallet group p ′ on the lift platform 406.
Control of the elevator body 86 when it is thrown onto the roof
Becomes complicated and raises the lift platform 406.
It becomes difficult to decide whether to do it. In other words, the empty pallet p in the elevator 26₁′, P
₂′, P₃While the ′ pull-in operation is being performed, the lift
If the platform 406 is raised to the predetermined standby position,
The descent time of the Reveta main body 86 is set to the shortest and thereafter.
The operation will be performed quickly. Like this
These sensors₁, s₂, s₃Descends the elevator body 86
The control can be simplified and the fall time can be shortened.
The lift base 406 is placed on the lift base 406 for the purpose of
Empty pallet p₁′, P₂′, P₃′ Depending on the height of the pole
Force, provided to keep it in the standby position
You. Therefore, the sensor S₁The elevator body 86
Is at the bottom of the elevator body 86.
Smell when the height of the held empty pallet p'is 25 mm
This empty pallet p₁From the height position of the underside of
The distance L is set so as to be located below. In addition, the sensor S at the second height position₂Is the sensor₁
It is set to be located 25 mm below. Immediately
The second sensor S₂Elevator body 86 is the lowest
The empty space held at the bottom of the elevator body 86
If the height of the pallet p'is 50 mm, this empty space
Pallet p₂From the height position of the lower surface of ′, the above-mentioned predetermined distance
It is set so as to be located below by L. Further, the sensor S at the third height position₃Is the sensor S₂
It is set to be located 50 mm below. Immediately
The third sensor S₃Elevator body 86 is the lowest
The empty space held at the bottom of the elevator body 86
If the height of the pallet p'is 100 mm, this
Empty pallet p₃From the height position of the lower surface of
The distance L is set so as to be located below. Here, this predetermined distance L is a state in which this interval exists.
Then, from the elevator body 86, empty pallet p₁′, P₂′, P₃'But
Release on an empty pallet p'mounted on the lift platform 406.
In case of good, this emptied empty pallet
p₁′, P₂′, P₃′ Is on the empty pallet p ′ on the lift platform 406.
The distance is set to be small enough to overlap. In this way, the elevator body 86 is supported by it.
He empty pallet p₁′, P₂′, P₃′ On the lift stand 406
When moving onto the empty pallet p ',
406 indicates that the empty pallet p'placed on this is the best.
Hold the upper position at the lowest position of the elevator body 86 and this
Empty pallet p₁′, P₂′, P₃Waiting for rise corresponding to the height of ′
It has been brought to the machine position. As a result, the elevator body
The 86 simply has to descend to its lowest position.
And the descent control becomes simple, and the descent time is the shortest.
Will be done. * Control * In the fourth modified example configured as described above,
The outline of the operation control will be described below with reference to FIG.
You. The control of this modification is performed in steps S226 to S226 in FIG. 26A.
Up S236 is to be changed. That is, the stock control
In your step S76 or step S108,
When a request to replace the letter p'is issued to the elevator,
The elevator body performs the above-mentioned predetermined operation,
In step S220 (Fig. 26A), empty pallet p'and new
Replace with the letter p. On the other hand, the lift mechanism also sends the replacement request at step S4.
Waiting at 20 (Fig. 45) and receiving this request, the step
Thickness of empty pallets held in the elevator in S422
To know If you know the type of this thickness, in step S424,
Accylinder C_LDrive the above-mentioned 3 corresponding to the thickness.
Two sensors S₁~ S₃Lift platform 406 to any of the positions
To raise. Then, at step S426, the standby position arrival notice is sent.
While sending intelligence to the elevator side, empty space from the elevator side
Wait for let p'release notification. On the other hand, the elevator that has completed the pallet replacement is
Send this notification to stocker with step S222 (Fig. 26A)
Step S400 (Fig. 45) to the position shown in Fig. 43.
To lower the elevator body. And at this position,
Wait for the arrival notification of the standby position from the lift mechanism. Lift mechanism
At the bottom of the elevator when notified by
The empty pallet p ′ and the highest empty pallet on the lift platform 406.
As described above, the distance from the let p'is close to about L.
That's right. Then, in step S404, at the bottom of the elevator
Release the empty pallet held in the
Send a release notice to the lift mechanism side. Upon receipt of the release notification, the lift mechanism side starts from step S428.
Proceed to step S430 and lower the lift platform 406 to the floor position.
Let At this point, the empty pallets p'which have just been stacked
Check that reaches the maximum height sensor position. Maximum position height
Reaching the height will hinder the vertical movement of the elevator.
Then, in step S434, drive the fixed transport mechanism 400 to
Unload the empty pallets. By controlling such elevator and lift mechanism,
The elevator body 86 is simply lowered to its lowest position.
It will be better if it operates, the descent control becomes easy, and
The fall time will be the shortest. Incidentally, in the elevator control of the basic embodiment described above,
The thickness of the empty pallet is given as H [L].
However, if you make a mistake in this thickness, the elevator body may be damaged.
In order to check the empty pallet thickness,
You may provide an attachment mechanism like this. That is, the elevator book
Empty pallet p drawn into the lower part of body 86₁′, P₂′, P₃'of
Although not shown, the height of each
At the bottom of the beta body 86, an empty pallet pulled in here
p₁′, P₂′, P₃Provide a sensor group to detect the height of '
By the above H [L] and the detection of these sensors (not shown).
That is, it is confirmed by checking the determination of the thickness type. In addition, the three sensors S₁~ S₃To omit one
It is also possible, in such a case, the maximum height sensor
S_FourIt may be combined with. However, in this case, the elevator
Empty pallets held at the bottom of the main unit and stacked empty pallets
There are 3 different distances depending on the thickness of the pallet.
For this reason, the elevator body descends further and this distance is
Distance where there is no problem even if the elevator body discharges empty pallets
It is necessary to shorten to. [Other Embodiments] * Structure * In the above description of one embodiment, the robot 12 is required.
The parts supply system 14 for supplying the necessary parts x is
Apart from that, we receive the parts from the unmanned vehicle 20 and store them once.
It is provided adjacent to the black buffer 22 and the robot 12,
The parts required for assembly are assembled in the robot 12 in order according to the assembly order.
Stocker 24 to supply, this buffer 22 and Stocker 24
Between the two, and the stocker 24 is in a shortage state.
Elevator to transfer parts from buffer 22 to stocker 24
26 and 26. In particular, in this embodiment, the
, The pallet was emptied when there were no remaining parts
Insert p'into the actual pallet p packed with the corresponding parts.
The replacement position for replacement is the robot 12 in process L.
In the process L + 1 for the empty pallet that was in the pull-out position
Position. In other words, this replacement position is
L and the shelf position S [L] of the pallet corresponding to the process
This replacement position and the buffer 22
In many cases, the height is different from the separation position in.
Therefore, during this period, the actual pallet p is strung from the buffer 22.
An elevator 26 is required to transfer to Tsuka 24. However, the present invention is not limited to this embodiment.
Other implementations are shown in FIGS.
It may be configured as shown as an example. That is, in another embodiment, the
The separated position is the same as the replacement position on the stocker 24.
Set the height position and separate position at buffer 22.
By setting the position just above the buffer table 52,
Elevator 26 required in one embodiment
Can be. The configuration of the FAC10 according to another embodiment will be described in detail below.
Reveal In the following description, the above-mentioned one embodiment will be described.
The same members as those used in the configuration and various modifications
With respect to the above, the same reference numerals are given and the description thereof is omitted. That is, as shown in FIG. 46, the parts necessary for the robot 12
The parts supply system 14 for supplying the
A buffer 450 that receives parts from and stores them once
Is provided between the buffer 450 and the robot 12,
Depending on the assembly order, the parts necessary for assembly to this robot 12
It is equipped with a stocker 24 that is sequentially supplied. The buffer 450 is the buffer of the above-described embodiment.
Unlike A22, once receives an empty pallet p'from the stocker 24.
Remove and put the pallet p separated here into the stocker 24
It has a function to push it to the replacement position and
On the table 52, the order in which the number of parts in the stocker 22 becomes zero
In the beginning, pallets p are piled up from the bottom. Also,
This buffer base 52 is mounted with the vertical position fixed.
It is attached. In detail, this buffer 450 is shown in Fig. 47.
The spacer block while it is sandwiched between the two standing plates 46a and 46b.
Through the Tsuk 452, the buffer 52 and the pallet of the unmanned vehicle 20.
It is fixedly provided at the same height as the mounting table 32. In other words
If the spacer block 452 is provided,
The side surface of the stand 52 is separated from the corresponding upright plates 46a and 46b.
There is. While it is located above the buffer table 52,
This is the pallet p placed directly on the far stand 52.
To separate independently from the pallets on the upper side
A separating mechanism 454 is provided. The separating mechanism 454 is fixed to the upper ends of the two standing plates 46a and 46b, respectively.
Attached mounting members 456, each mounting member 456
The guide shafts 458 are flat at both ends along the transport direction d.
It is installed in a row. And
The lower ends of the pair of guide shafts 458 along the transport direction D are separated from each other.
The claw mounting plate 460 is attached. Under each separation claw mounting plate 460
The surface can be hooked on the flange 38 of the pallet p from below.
In addition, the pair of separation claws 462 are orthogonal to the transport direction D, respectively.
It is attached so that it can move back and forth along the direction. On the other hand, in the center of each mounting member 456,
The ball screw 464 can rotate freely while extending along the axis.
It is supported. The lower end of this ball screw 464 corresponds
A rotatably rotatably supported by a support plate 466 fixed to the standing plates 46a and 46b.
Has been done. Here, the center of the separating claw mounting plate 460 described above.
The middle part of this ball screw 464 is screwed into the
A screw receiving portion 468 is provided. The upper surface of the mounting member 456 on the opposite side in the figure
Servo motor M via TAY 470_TIs attached
You. This servo motor M_TThe drive shaft of the ball
The upper end of 464 is connected, and according to the rotation of this,
Ball screw 464 is configured to be driven to rotate.
You. Here, the drive pulley 472 is coaxially mounted on this drive shaft.
It is worn. On the other hand, above the ball screw 464 on the front side in the figure
A driven pulley 474 is coaxially attached to the end. Soshi
Between the drive pulley 472 and the driven pulley 474.
The ming belt 476 is wound. In this way
The pair of ball screws 464 are driven to rotate in synchronization with each other.
Will be. That is, both separation claw mounting plates 460, and therefore both
The separation claws 462 have the same height and are moved up and down.
Will be. Then, each of the above-mentioned separation claws 462 is
This separation claw mounting plate 460 is used to drive the plate 460 forward and backward.
Air cylinder C on the rear side_T1Are provided respectively
You. This air cylinder C_T1Not shown piston tip
The ends are connected to the corresponding separating claws 462. here,
Each separation claw 462 can be moved back and forth via a pair of guide pins 478.
Is supported by. Each air cylinder C_T1Is supplied with high pressure air
In the state where it has not been
Of the high-pressure air
Can be hooked to the flange portion 38 when supplied with
It is configured to be biased to the protruding position. Since the separation mechanism 454 is configured as described above,
P-groups of multiple pallets stacked on the tour table 52
From the bottom position pallet pa, that is, on the buffer table 52.
Be placed directly and then transferred to the stocker 24
When separating the pallets pa
With the separation claw 462 biased to the retracted position, this separation
Claw 462 from the flange part 38 of the second palette pb from the bottom
Servo motor M up to the position immediately below_TThrough
Moving. After this, air cylinder C_T1Supply high pressure air to
The separation claw 462 is biased to the protruding position. This allows each separation
The claw 462 is the palette p located second from the buffer table 52.
The state where the flange portion 38 of b can be hooked from below is obtained. This
Servo motor M_TIs activated, the separation claw mounting plate
460, that is, the separating claw 462 is moved upward. In this way, the second pallet pb from the bottom is
It can be raised with the p-groups of pallets stacked on top.
Becomes In other words, the palette pa located at the bottom is
The second or more pallet from the bottom with it left on the Tuhua stand 52.
The group of dots p is lifted from the lowermost pallet pa.
Will be separated. Therefore, the separated bottom position
Pallet Pa, in other words, transferred to the stocker 24
The pallet pa should be pulled independently along the transport direction d.
It is set to the ready state. On the other hand, this buffer 450 is located around the buffer table 52.
With the pallet p exchange mechanism 480 installed
There is. This replacement mechanism 480 is also shown in FIGS. 48 and 49.
Below the buffer table 52, a pair of guys
Can be reciprocated along the transport direction d via drive shafts 482a and 482b.
It is equipped with a horizontal slide plate 484 that is installed in the noh. Before
The central portion of the lower surface of the buffer table 52 described above is shown in FIG.
As shown in FIG.
It was rotatably supported via rotation support members 488a and 488b.
It is arranged in the state. Where this slide plate 484
Of the buffer table 52 via the pair of rollers 484a and 484b.
It is configured to roll on the lower surface. This ball screw 486 is integrated in the center of the slide plate 484.
It is screwed into a screwing portion 484c formed in the. In addition,
This ball screw 486 is not
It is driven to rotate, and as a result, the ball screw 486 and the threaded portion 484c
The slide plate 484 runs along the conveying direction d via the screwing with
It is configured to be reciprocally driven. The bottom surface of this slide plate 484 is empty from the stocker 24.
Pull the let p'to support it under the buffer table 52.
The pair of first hooks 490a and 490b for holding are
It is mounted so that it can move back and forth along the direction orthogonal to
You. In addition, on this lower surface, the first hooks 490a and 490b are mounted.
Air cylinder C for reciprocating drive_T2Is attached
There is. Each air cylinder C_T2The piston 492 described above
It is connected to the first hooks 490a and 490b. Where this air cylinder C_T2High pressure air to this
The corresponding first foot in a state in which no
From the flange 38 of the pallet p.
Acts to bias to a position that is laterally spaced, and this
When high-pressure air is supplied to the
The hooks 490a and 490b are joined to the flange part 38 of the pallet p.
To move to engage the second cutout 38b of
Operate. On the other hand, the exchange mechanism 480 is composed of the first hooks 490a, 490b
The empty pallet drawn from the stocker 24 by
Provided with movable slide guides 494a, 494b for receiving p '
ing. Both movable slide guides 494a and 494b are compatible
Transport to the standing plates 46a, 46b via guide pins 496a, 496b
It is provided so as to be able to move back and forth along the direction orthogonal to the direction d.
You. Each movable slide guide 494a, 494b is
Air cylinder C fixed to plates 46a, 46b_T3The piston 49
It is attached to the tip of 8. Where this air cylinder C_T3High pressure air to this
Is not supplied, the corresponding movable slide
Guides 494a and 494b to the retracted empty pallet p '.
The flange 38 is biased to a protruding position where it engages from below, and
Corresponding movable in the state that high pressure air is supplied to it
Slide the slide guides 494a and 494b into the empty pallet
At the retracted position, which is separated laterally from the flange 38 of p '
It is configured to be biased. In addition, the replacement mechanism 480 described above is used in the buffer table 52.
The actual pallet p should be placed in the
With a pair of second hooks 500a, 500b for pushing into
ing. The second hooks 500a and 500b on both sides are
Can be engaged with the second notch 38b of the flange 38 of the boot p.
It is provided for Noh. Here, both hooks 500a, 500
b is a support stay 502 integrally connected to the slide plate 484.
Air cylinder C fixed to the upper surface of a, 502b_T4The fixie
It is attached to the tip of each 504. This air cylinder C_T4Is supplied with high pressure air
The corresponding second hook 500a, 5
Pulling position 00b laterally away from flange 38
In the state that the high pressure air is supplied to this,
Attach the corresponding second hooks 500a, 500b to the flange 38
So that it is biased to the protruding position that engages with the two notches 38b.
It is configured. As described above, the buffer 450
In another embodiment, the stocker 24 is the same as the one described above.
But the operation is slightly different.
It is something. That is, the stocker 24 in one embodiment moves up and down.
The drawing position of each pallet p in the frame 152 is
Operates so that it can move up and down within the range where it can face the platform 168.
However, the stocker 24 in this other embodiment is
While performing the above-mentioned operation, the separation position of the buffer 450 is further
At the pulling position of each pallet p on the elevating frame 152.
However, they operate so that they can face each other. Here, in such an alternative embodiment, the buffer
The empty pallet p'received under the table 52 is placed on the carry-out mechanism 76.
In order to place the unloading mechanism 76,
The same structure as the lift mechanism described in the fourth modified example of
Of the lift mechanism 402 of the
There is something. * Control * Stocker according to another embodiment configured as described above
The control operation for 24 and buffer 450 is shown in FIG. 50A,
Description will be given with reference to FIG. 50B. Control on the robot side
Is the outline of the program shown in Figures 24A and 24B.
Incorporate Gram. The features of these controls are
As there is no elevator like the example
Even if a request for equipment comes out of the robot, only buffer
The stocker 24 side is used for the stocking operation.
The robot was informed that the number was zero (replacement
At the time of the request flag I [L] = 1), the parts for the robot
Suspend the supply (ie, do not proceed to the next step),
Store to the separating position of the pallet with the buffer described above.
Move the raising and lowering frame 152 of the mosquito. And at this separation position,
Swap empty pallet with real pallet. That
After that, again according to the original process order, put it on the shelf position of that process.
Align the pallet with the drawer position of the drawer 154.
Until it becomes like this, restarting parts supply to the robot
To do. FIG. 50A shows the control process of the stocker according to another embodiment.
It is a flow chart of the program. Step S600 step
Up to S608, the process number G (=
According to L), the pallet at the shelf position corresponding to that number
To the drawer position of the drawer base 154,
Move the elevating frame 152 up and down and place it in the drawer 154 position.
The control until the desired pallet is pulled out.
You. For the robot, use Step S610,
Notify the completion of preparations, and in step S611, from the robot
Wait for parts picking to complete. When the pick is completed, the step
Proceed from step S611 to step S612, and
Put the tool back inside the lifting frame 152, and press the robot at step S614.
Causes the replacement request flag I [L] to be set to "1".
Check if not. If this flag is not set, step S6
28-Executes step S634 and then returns to step S606
Then, in step S614, the above control is performed, and the replacement request flag is set.
Repeat until I [L] becomes "1". If the above process is repeated, the robot side will
A pallet with only one remaining part was discovered
(Step S22 in FIG. 23A), then step S26 (step 23A
In the figure), the buffer side is not instructed to perform the replacement preparation operation.
It should have been. That is, if there is such a replacement preparation instruction, the 50B
From the buffer control program step S650
Proceed to step S652, and enter process number D (step S in Fig. 23A).
24, D = G), so the pressure of the new pallet
Search the variable table (Fig. 21A) for H [D].
Then, in step S654, the pattern at the lowest position is obtained.
Separate the lettuce. That is, motor M up to H [D]_TRotate
Let the separation claw 462 rise and try to separate at that point
Separate the above-mentioned pallets above the actual pallet.
Air cylinder C for latching by pawl 462_T1Drive
You. After this engagement, the motor M_T1Rotate
Raise the pallet that is one level above the pallet to be separated.
To separate the pallet to be separated. Thus, the real pare
After separating the tablet from other pallets, use step S655.
A separation completion notification is sent to the stocker, and step S656
Then, wait for the replacement request instruction from Stocker. On the other hand, the robot has set the flag I [L] to "1".
That is, when Stotska discovers it in step S614,
Proceed to step S616, and the empty pallet for process L on the S [L] shelf
Up to the empty pull-out position as shown in Fig. 50C.
Let That is, on the shelf with empty pallets at the time of rising
Position from the floor is aligned with slide guide 494a (494b)
It is the position to do. Then, with step S618, it is countered to buffer.
Then, the empty pallet replacement request is notified. And
On the S620, the pull-out mechanism at the bottom of the buffer is empty.
Wait until you pull out. The buffer side that received this replacement request
At S658, the empty pallet pull-in operation is performed. That is, d
Accylinder C_T3Drive the slide guide 494a
Let Then, rotate the motor (not shown) to
With the hooks 490a and 490b not biased, this hook
Slide into the stocker. And the air cylinder C_T2
Drive the hooks 490a and 490b to bias the empty pallet.
Hook the hook on this hook and reverse the motor not shown.
Then, pull the empty pallet to the bottom of the buffer. Stets
Proceed to S660 to pull out empty pallets from the stocker.
Notify that the pallet has been completed, and push the actual pallet
Encourage the stocker to move to the table. At this point, the buffer control has become two parallel controls.
You. That is, in step S662a, the push from the stocker is pushed.
Waiting for notification of completion of move-out position, and step S662b
So, even if the lift mechanism releases the empty pallet,
Waiting for the climb to a safe position
You. Here, the control on the lift mechanism 402 side will be described.
This lift mechanism 402 is equivalent to the above-mentioned fourth modification.
Have a configuration. This is the sky of the buffer of other examples.
Since the pallet pull-out mechanism is fixed, Fig. 43,
As shown in Fig. 44, accurate lift position detection is required.
Because it will be. Therefore, the lift mechanism shown in FIG.
The control on the side is almost equal to that of FIG. That is,
Received notification of replacement request from Totka at step S700
The lift mechanism 402 proceeds to step S702, where it is currently stored.
Check the thickness of the empty pallet inside, and check the thickness in step S704.
Sensor position according to the height (S in Fig. 43₁, S₂, S₃) To
Raise the platform 406. When you arrive at this standby position,
In step S706, notify the buffer to that effect, and in step S7
At 08, wait for the empty pallet release notification from the buffer. Arrival of the lift mechanism 402 to the standby position and the actual stock
Whichever comes first, the arrival of the push-in position
Also, they may occur at the same time. Now, the arrival of the waiting position of the lift mechanism 402 happened first.
Then the buffer proceeds from step S662b to step S662c.
Releases empty pallets. That is, air cylinder C_T3To
Restore it and unlock the empty pallet. Step S662d
Then, the fact is notified to the lift mechanism 402. Receive this notification
Lift mechanism 402 proceeds to step S710, lift platform 406
Lower to the floor position and press step S712, step S714
Empty pallets on the lift table to the maximum height.
Perform an operation to check whether it has been raised. On the other hand, in step S620, draw empty pallets from the buffer.
Stotsuka, who was waiting for the notification of delivery, received this notification,
As shown in Fig. 50D, push the empty shelf onto the real pallet.
Raise to the insertion position. And arrive at this position
Then, at step S624, a notification of movement completion is sent to the buffer,
Pushing the new pallet from the buffer into the stocker
Wait for notification. After receiving the move completion notification in step S662a,
Step S664 pushes the actual pallet into the stocker.
To start. That is, air cylinder C_T4Bias the
Engage the racks 500a, 500b with the flange of the pallet, and
Then, rotate the motor (not shown) to spray the actual pallet.
Push it into the Totka shelf (Fig. 50D). In addition,
Linda C_T4The motor, reverse the motor and push
Put the entry mechanism back in the buffer. In Step S666,
Send a replacement completion notification to Ka. In addition, step S6
68, motor M_TIn reverse and hold with guides 460 and 462.
Return the lifted pallet to the roller 54 and
Linda C_TTo release the engagement with the separation claw 462. In this way, the empty pallet can be pulled out at the fixed position.
Complete the push-in control of the actual pallet at the fixed separation position.
You. In the control program of FIG. 50B, the lift mechanism 402 side
The start of rising was a replacement request (zero remaining), but
Do as soon as the remaining number in the let is one
May be. Modification of Other Embodiment In the configuration of the other embodiment described above, the buffer table 52
The pallet p group to be placed on top is loaded at the stocker 24.
It is set so that the order in which the replacement is requested can be sequentially stacked from the bottom
Has been done. In this way, on the buffer stand 52
The pallets that are separated for transport to the stocker 24 are
A pallet p placed directly on the base 52, that is, the bottom
It will always be prescribed to the pallet p at the position. This
Therefore, the elevator 26 as described in the embodiment is
The separation mechanism 454 is no longer needed and is located near the buffer table 52.
And the replacement mechanism 480 should be configured.
become. However, the present invention is not limited to the above-described other embodiments.
FIG. 51 shows a modified example of another embodiment without being limited to the above.
As shown on the buffer 52, in any order
You may comprise so that various pallets p may be mounted. That is, as shown in FIG. 51, in a modification of the other embodiment.
The same configuration as described in the above-described embodiment.
It is equipped with a buffer 22. Therefore, in this modification
Are multiple stacks of arbitrary stacks on the buffer table 52.
At the second separation claw 68 of the buffer 22,
A fixed pallet p will be separated. On the other hand, in this modification, the buffer 22 is separated.
Separated at this buffer 22 adjacent to the position.
Lifted the pallet p to the same height as the separating position.
Other modes of passing means for transferring to Kita Stocker 24
It is equipped with a Transfer 550. Here, this transfer 550 is one of the above-mentioned embodiments.
In the elevator mechanism in the configuration of
With the body 86 adjacent to the separation position of the buffer 22, and
One, with its position fixed, in the same condition. Immediately
In this transfer 550, the elevator body 8
6 is the transfer main body 552, and it is four pillars 82a-82d.
It is provided in a fixed state. Also this transformer
The main body 552 has a replacement according to the above-described embodiment.
A replacement mechanism 96 having the same structure as the mechanism is provided. In other words, in this modified example, the other examples described above are used.
In the embodiment, the buffer 450 has a replacement mechanism 480.
In contrast to what was happening
It is also configured to have a replacement mechanism 96 on the sphere 550.
It can be said that As described above, by configuring this modification,
The pallet p is placed on the tour table 52 in any order.
However, according to the request of Stocker 24, the buffer 22
After separating the pallet p required from the
It has been raised to the same height as the separation position via a550.
Fully loaded with parts at the specified replacement position of the stocker 24
You will be able to replenish the pallet p. In addition, pull it from the stocker 24 to the bottom of this transfer 550.
Place the empty pallet p ′ loaded on the unloading mechanism 76.
For this reason, the carry-out mechanism 76 is the same as the fourth embodiment of the above-described embodiment.
It includes the lift mechanism 402 described in the modification.
You. Here, the replacement mechanism 96 described above is different from that of the embodiment.
It has been explained that the same structure as the replacement mechanism is adopted.
However, without being limited to this, for example, in the first embodiment,
Replacing the actual pallet, as described in the second modification
The mechanism 96a and the empty pallet changing mechanism 96b are independently provided.
It goes without saying that the configuration may be adopted. The control according to the modified example of the other embodiment is for the empty pallet.
The replacement position is fixed and movement to that position is
Because there is no rebate, it is done by the stocker
Therefore, its basic operation is shown in FIG.
It is similar to control. The buffer is shown in Fig. 6.
Because it is the same as the
The operation control is performed by the control program shown in FIGS. 25A to 25C.
Can be used. [Others] <Lock of pallet in stocker> In the above-mentioned two embodiments and various modifications.
Inside the stocker 24, the
Lett p simply has its flange 38 from below on shelf 15
It is set in the state supported by 6.
Therefore, the stocker 24 supplies the pallet p to the robot 12.
When moving vertically as much as possible, the pallets supported by these shelf boards 156
There is a possibility that the support position of the top p will shift. Here this
If the support position of the pallet p is displaced,
The hook 186 of the loading / unloading mechanism 172 in the
First notch 3 of the pallet p supported by the shelf plate 156 of
There is a possibility that a situation in which it cannot engage with 8a occurs. Therefore, the 52nd
As shown in FIGS. 54 to 54, each pallet is placed in the stocker 24.
It is equipped with a locking mechanism 600 that locks the top p to the support position.
This is even more effective. In addition, this locking mechanism 60
As shown in Fig. 52, each parameter is
The rear end of the lower surface of each flange portion 38 of the let p (that is, the conveyance
Second notch 38b is formed on the opposite side with respect to direction d
The lock mechanism 600 locks the
A locking hole 38d that is locked is formed. On the other hand, the locking mechanism 600 described above is shown in FIGS. 53 and 54.
, That is, this locking mechanism 600 is
It is attached to the lifting frame 152 in 4,
At the rear of the elevating frame 152, extend along the vertical direction.
It is equipped with a lock rod 602 in a closed state. This lock
The rod 602 has its upper and lower ends on the upper and lower sides of the rear part of the elevating frame 152.
Through the guide members 604a and 604b attached to both ends,
It is arranged so that it can reciprocate along the direction. Reciprocate the lock rod 602 along the vertical direction.
For the air cylinder C_RHowever, the air cylinder mounting plate 60
It is fixed to the lower end of the rear part of the elevating frame 152 via 6.
This air cylinder C_RThe upper end of the piston 608 of
It is connected to the lower end of the lock rod 602. here,
This air cylinder C_RIs supplied with high pressure air
The piston 608 in the retracted position
When it is biased and high pressure air is supplied,
It is configured to be biased to the open position. The lock rod 602 moved up and down in this way has
With the same arrangement pitch as the shelving board 156, each palette p
The lock member 610 is attached in a state corresponding to.
Each lock member 610 is attached to the lock rod 602 by a mounting member.
The piece 610a and the tip of the mounting piece 610a are projected upward on the upper surface.
In this state, the lock pin 610b and the lock pin 610b are integrally formed.
ing. Here, this lock pin 610b is
Locking hole formed on the lower surface of the rear end of the flange portion 38 of the boot p
It is formed so that it can be inserted into and removed from the portion 38d. In addition, each lock pin 610b is connected to the air cylinder C._RBut piss
With the ton 608 biased to the retracted position,
As shown in FIG. 54, each pallet p is separated downward.
The air cylinder C is restricted to the unlock position._RBut,
Shown with piston 608 biased to the extended position
Although not present, from below into the locking holes 38d of each pallet p
It will be restricted to the lock position to be inserted. Where this air cylinder C_RUp and down the stocker 24
The pallet p is pulled out from the frame 152 onto the drawer 168.
Prior to that, the supply of high pressure air was stopped.
So that it is biased from the lock position to the unlock position.
It is configured. The lock mechanism 600 is configured as described above.
The elevator frame 152 moves up and down inside the stocker 24.
In between, the air cylinder C of the locking mechanism 600_RHigh pressure air
It has been supplied. Therefore, the lock mechanism
Each lock pin 610b of 600 has a locking hole for each pallet p.
Inserted in section 38d, so that all pallets p are
With the locking mechanism 600 of, it is supported on the shelf 156.
It will be locked. Therefore, by providing this locking mechanism 600,
Even if the elevating frame 152 moves up and down, the support of the pallet p is
The holding position is well fixed. That is, pallets
When p is pulled out, it is securely engaged by the hook
Will be done. On the other hand, since the pallet p is pulled out, the elevating frame 152
Air cylinder C when stopped_RHigh pressure air to
Will be suspended. In this way, each
Pull out the hook pin 610b from the corresponding locking hole 38d.
Each pallet p is placed on the shelf 156 along the transport direction d.
It will be set in a slidable state. In this way, the provision of this locking mechanism 600
The supporting position of the pallet p based on the vertical movement of the elevating frame 152.
The misalignment does not occur, and
The hook 186 of the storage mechanism 172 is the shelf 156 at the drawer position.
Always in the first notch 38a of the pallet p supported by
It will be securely engaged. In addition, this locking mechanism is added to control the stocker.
The following points may be newly added. That is, in stock
Move the target shelf to the drawer position of drawer section 154.
If the pallet has a lid 40, open the lid.
Air cylinder C_S2Drive (Fig. 16) to open the lid, and
Air cylinder C_RDrive and pull out the lock pin 610. S
Insert the tape S82 (Fig. 24A) into the pallet drawer 154.
Make sure to start withdrawing. Also, the vertical movement of the stocker lifting work can
In step S72, air cylinder C_S2Return (Fig. 16)
Then close the lid, and then air cylinder C_RReturn to the lock
Starts when pin 610 returns to lock state
To change. <Replenishment of parts for FAC> The FAC system of the above basic embodiment is
Efficient supply of parts from Tsuka and stocking from buffer
The task of efficiently replenishing parts to
You. However, the FAC system alone will eventually become a robot.
It becomes impossible to supply parts to stockers and stockers to stockers.
And therefore somehow external to the FAC system.
Parts replenishment is required. Parts replenishment for FAC system
As mentioned above, the unmanned vehicle and production management computer
Automatic replenishment and manual replenishment are available.
You. It is not possible to conclusively decide which one to take, so
There are shortcomings. It is a trigger for external parts replenishment of the FAC system.
The possible things are: Because of the supply of new pallets to the stocker, other
There is a pallet for a part, but only one pallet for that part
If all of them are gone: The empty pallet loaded on the transport mechanism 76
When the number reaches such a degree that the vertical movement of the data is obstructed. It is imperative that these conditions occur at least immediately.
If the above conditions occur in order to lead to the stop of the bot
If this is the case, the pallet must be immediately replenished to the buffer.
No. In addition, as a condition to replenish the batuhua with palaeo
,: Whenever an empty pallet occurs in Stotka,
There is a replenishment with an unmanned car. However, this is unmanned
Frequent round trips between the FAC and the warehouse, or manually
It is necessary to replace the complicated empty pallets. It is the robot control that the robot detects zero remaining number.
(Step S36 or S30 in Fig. 23A)
You. Therefore, at the same time as this detection, a new pallet is replenished.
Make sure the robot issues a replenishment request that tells you to do
You. Now, the destination of this replenishment request is one mode.
Central production control to encourage unmanned vehicles to be replenished
For the computer. In another aspect, the operation
Warning light to alert people to the occurrence of empty pallets.
You. The former is automatic replenishment, and the latter is manual replenishment.
You. By the way, to replenish the buffer with new pallets,
Add a new pallet to an existing pallet on the tour platform.
Buffer operation for loading and loading on the unloading mechanism 76.
The operation to move the empty pallet to the buffer side was included.
Be done. Therefore, the preparation for replenishment of this pallet and the actual
At what stage should the lettuce be replenished to the buffer?
Is important in terms of efficient operation of the robot. * Replenishment with an unmanned vehicle * Using Figures 55A and 55B, a new pallet with an unmanned vehicle
Explain replenishment of Figure 55A shows the central production management computer and unmanned vehicles.
An overview of the pallet supply system including FAC
In the process of assembling with Step S770, the production pipe
The above replenishment request is sent to the computer. Living
If there is no instruction from the production management computer
Proceed from step S772 to step S776 and proceed to the elevator in the FAC.
Data unloading mechanism 76 starts unloading empty pallets.
Check for any. If not, step S7
Return to 70 to continue the assembly. In step S750, the above-mentioned request for replenishment from the robot is checked.
The demand is recorded as it goes down. This
This is because the production management computer grasps the production management plan.
Because there is no part in one stocker's pallet
However, the same parts will be stored in other palettes on the buffer.
It may be included in the production management computer.
This is because the data is recognized and managed. Therefore, the robot
Even if a replenishment request comes from, immediately respond to the request and unattended
We will not replenish by car. Instead,
With the S752, the advantages of the production management computer
Track record information about the pallets loaded on the far
Investigate and, if necessary, against unmanned vehicles with Step S754
And issue a departure instruction. It should be noted that at step S750, a replenishment request from the robot is received.
I will not immediately start the unmanned car, but the unmanned car
On top of that is loaded the requested pallets wholesale from the warehouse.
Be prepared to leave at any time. Also this
Whenever a pallet is loaded onto an unmanned vehicle, the warehouse
And give information about the pallet (Fig. 25A). Other elements of the occurrence of a predetermined state in step S752 are
For example, if the robot fails to pick parts,
The parts in the tool are consumed more than the production plan, and
Empty the transport mechanism 76 earlier than expected by the computer.
The pallet was so loaded that it interfered with the vertical movement of the elevator.
That is the case. If such a predetermined state occurs, step S754
At the unmanned vehicle, issuing a departure instruction and step S755
In step S756, the progress of a certain period of time is monitored. this
Fixed time is the time required for an unmanned vehicle to reach the FAC
A little shorter than. When this time elapses,
At step S758, preparatory operation for palette replenishment to FAC
Instruct to start. Production even if multiple FACs are installed
The management computer is required to move unmanned vehicles to these FACs.
I know the time in advance. So the FAC of that unmanned car
Shortly before arrival, the FAC has finished replenishment preparations.
For example, as soon as an unmanned vehicle arrives, replenishment from the unmanned vehicle begins
Because you can do it. That is, during this fixed time
Is to avoid replenishment preparations within the FAC.
Therefore, it is said that the robot assembly can be continued.
This is because there is a merits. On the other hand, for unmanned vehicles, use the production control computer at Step S762.
In response to the departure instruction from the
ing. In addition, the FAC system is Step S772,
When receiving the instruction to start replenishment preparation from the computer, the step
In S774, the preparation operation is started. Details of this preparation operation
Is shown in FIG. 55B. On the other hand, if the FAC system
If you find yourself needing a replenishment preparation operation, step
Proceed to S776 step S778 to start the preparatory operation.
You. When this preparation operation is completed, unattended with Step S780.
Wait for the car to arrive. For this reason, this waiting time is
It should be a minimum time. When the driverless car arrives, step S7
At 82, we will replenish the actual pallet from the unmanned vehicle to the buffer.
No, in step S784, the newly added palette is
Information to be updated in the memory area shown in Figure 25A.
You. The replenishment preparation will be described with reference to FIG. 55B. This 5th
Fig. 5B shows the FAC system management microprocessor and unloading.
The elevator microprocessor that controls mechanism 76, and
Of the control program of the microprocessor that controls the tufa
It shows a portion related to pallet replenishment. The control microprocessor is the Step S800,
When receiving the supplement preparation instruction from the computer, step S8
At 02, stop the operation of elevators. Step S804
Then, I instructed Bathua to start raising the Bathua platform.
Then, at step S806, the notification of the completion of the climb is sent from the buffer.
wait. The buffer who received this rising instruction at step S840
At step S842, raise the buffer stand. A buffer stand
If you raise it, the pallets that are separated at that time
If the hook is hooked on the separating claw 68, release the hook.
And the separated pallets are combined, and at step S846,
Hang the lowest pallet on the buffer stand with the separating claw 68.
Stop it. After this suspension, use the step S848 to move down the buffer stand.
The pallet is retained by the separating claw 68 even when it is lowered.
Therefore, there is no pallet on the buffer stand. Soshi
Then, in step S850, prepare the buffer for the transport mechanism 76.
Notify completion. When the transport mechanism 76 receives this notification at step S822,
Use the S824 to rotate the roller and release the empty pallet buffer.
Start moving to the other side, and at step S826, the notification is announced.
Send to the Tuhua side. After receiving this notification, the
Proceed to S854 and wait for the unmanned vehicle to arrive. As previously mentioned,
The unmanned vehicle should arrive soon. When the driverless car arrives, pass the empty pallet to the driverless car side.
Together, they receive new pallets from an unmanned vehicle
Are simultaneously driven by driving the respective rollers. Step S8
In 57, the buffer stand with the newly loaded pallet
The existing pallets that had been lifted and hooked on the separating claw 68.
United with To. In step S858, the newly added
Receive information about the let from the unmanned vehicle, step S8
At 60, the memory contents of Figure 25A are updated. In this way, prepare for the replenishment of new pallets as much as possible with unmanned vehicles.
If you do this just before you arrive,
The downtime can be kept to a minimum. * Manual replenishment * Manual replenishment of pallets is made from the robot described above.
The warning light is turned on for each replenishment request of
The operation vehicle that you saw manually ejects empty pallets and creates new pallets.
And input of pallet information from input / output device 18
The operation is the gist. Figure 56A shows the input display screen on the input / output device 18 described above.
Fig. 56B shows the layout of the input keys and Fig. 56C shows the refill operation.
An outline of the sequence is shown. The input keys are shown in Figure 56B.
The "pallet replenishment key" and the "ready key"
is there. The outline of the refilling operation will be described with reference to FIG. 56C. If there is a replenishment request from the aforementioned robot, step S9
At 00, warnings etc. light up. The operator who sees this step
Confirm the requested pallet in S902,
Turn on the "replenishment key". If this is done, the buffer side will return at step S906.
Move to the replacement position (position of separation claw 68).
And hang the existing pallet on this claw. Unloading mechanism side 76
Discharges the empty pallet above it at step S908. At this point, the operator selects the empty pallet at step S910.
And remove the requested pallet in step S912.
Place it on the Tuhua stand. In step S916, the information as shown in Fig. 56A is input and output.
Input from the force device 18. Each time you make these inputs,
The data in Fig. 25A was updated and updated in step S918.
The pallet order is displayed on the I / O device CRT screen.
You. The routines from step S916 to step S918 are not required.
Repeat as many pallets as you have. At step S922, the operator turns on the "ready key".
You. In this way, the buffer side is separated in step S924.
From the position of the claw 68, the topmost stage on the buffer stand
Calculate the stroke to the pallet, and in step S926,
This stroke is started to descend, and new palette and existing
Combine with the pallet. And this FAC system
Resume operation. Thus, manual replenishment of pallets is completed. Incidentally, the above-mentioned 25 examples and various modifications (hereinafter,
This is simply referred to as an example. ), It can be moved up and down.
The elevator main body 86 and the lift frame 152 can be slid at four corners.
Noh, in other words, from both sides
In the above description, it is arranged so that it is slidable. Only
However, the present invention is not limited to such a configuration.
Without, for example, the elevator body 86 and the lifting frame 152, respectively.
Is slidably supported by a pair of columns corresponding to, in other words,
It is configured so that it is slidably supported by so-called cantilever support.
Needless to say, good things. In addition, in the above-described embodiment, one pallet is used.
Explanation that multiple common parts x are accommodated for p
However, the present invention is limited to such a configuration.
None, for example, one pallet p, multiple types of parts
x₁, x₂It may be configured to accommodate a plurality of each
Needless to say. Furthermore, in the above-described embodiment, the buffer 22 is used.
Plural pallets p are stacked on the buffer table 52.
However, the present invention is
Without being limited to such a configuration, for example, each pallet p is
With the stand upright, it is designed to hold multiple devices side by side.
It goes without saying that you can do it. Further, in the above-described embodiment, etc., the buffer table 52
Separating only one stack of pallets from the stack
In order to absorb the manufacturing error,
When making adjustments, fix the position of the separation claw and
Although it has been described that the tour table 52 is moved up and down, this invention
Is not limited to such a configuration, for example,
Even if the touring table 52 is fixed and the separating claw is moved up and down.
Needless to say, good things. Also, on the buffer, the same
When multiple pallets containing the same parts are loaded
Is the pallet (or higher one) loaded first.
If you prefer to separate the
Good. <Effects of Embodiment> The following effects can be obtained by the embodiment described above.
You. A: The effect obtained in the FAC system. This FAC10 is a package that accommodates multiple parts x in a horizontal plane.
Store a plurality of shelves in the shape of a shelf, and
From the desired one, place it in the fixed drawer position.
Stocker 24 that moves up and down to pull out
Remove the part x from the pallet 24 pulled out to the position
Then, the robot 12 where the parts x are assembled into a product
It basically has Therefore, the Robot 12 is
Pallet p that is always pulled out to a fixed position
From now on, we will be able to receive parts quickly.
You. That is, specifically, to supply parts to the robot 12.
(1) Pull out the pallet p to the pull-out portion. this
In the drawer section, the robot will take out the parts
(2) Pull the pallet back to the stocker 24;
(3) The parts to be supplied next are stored in the lifting frame of the stocker 24.
The storage position of the stored pallet corresponds to the pull-out position.
Up and down until: only three movements are required.
In this way, to assemble one part of the robot 12
Assembly operation time required is shortened and assembly operation control
The effect that is simplified is achieved. On the other hand, Japanese Patent Application Nos. 61-200949 and 61-
In the article supply device related to 200905, the stocker
It is fixed and the drawer is arranged so that it can move up and down.
There is. For this reason, pallets are provided from the stocker to the robot.
To supply, (1) Pull the pallet p into the drawer.
put out. (2) Take out parts by robot from the drawer
Move up and down to the position;
And take out the parts by the robot;
(3) Move the drawer part up to the position where the pallet is pulled out.
Move back down; (4) Pull back the pallet to the stocker 24
(5) The parts to be supplied next are accommodated in the drawer.
Move up and down to the storage position of the stored pallet:
It is necessary. It should be noted that by further including the following configuration,
It is possible to efficiently supply parts from Tsuka 24 to Robot 12.
Become. A-1: Improving the efficiency of parts supply to the robot A-1-: Pallet p with three different thicknesses p₁, p₂, p₃The
Can be stored in any combination as long as the capacity of Totka 24
is there. In this way, the pallet corresponding to the size of each component x
It is possible to select the dot p, for example, deep pallet
In addition, such as storing only one short component,
An efficient housed state will be avoided. In addition, a flange portion is provided on the upper side edge of the pallet p.
38 is integrally formed. This flange 38 is
Come and hold yourself on the shelf in the stocker 24
It is provided in. However, this flag
The control section 38 does not have such a single function,
A notch for moving this along the transport direction d
I have. And when moving this pallet p
In this way, engage the hook with the notch
By being executed through a mechanically engaged state
Will be. Therefore, the movement of this pallet p is surely
Will be executed, and its stop position will be accurately defined.
The specified effect will be produced. Particularly in the configuration of one embodiment, the first and second cutting
Relationship between notches 38a, 38b and corresponding hooks 108, 116, 126
Are formed into a substantially isosceles trapezoidal shape that complementarily engages each other.
Have been. In this way, the position of the pallet p is slightly
The hook engages with the cutout without fail
Will be. In addition, this engagement state is a trapezoidal shape of the hook
Is the trapezoidal shape of the notch.
It will be held in the abutting state. That is, the hook
The hook and cutout are engaged in the cutout.
There is no gap between the parts. This
In this way, the hook moves along the transport direction d.
Therefore, when the pallet is transported, the movement of the hook
It is transmitted to the pallet as it is, and the pallet is shocked.
Without being able to get it, the pallets will be transported smoothly.
You. A-1-: Parts required for product assembly, required for assembly
The order of the process, and the pallet of the shelf for each process
You can select or change what is stored in p.
It is possible, for example, to order parts from top to bottom according to process order.
In addition, it can be stored in the form of 1 pallet / 1 part,
Also, for example, the same pallet p may be used in different steps in the same process.
The same part x can be set to be taken out. in this way,
The effect that you can flexibly set the factor for assembly
Is played. A-1-: The order of steps, etc.
It can also be set automatically from the user, so for example, a factory
Depending on the scale of, it will be possible to respond in various ways. Also,
Even in the field such as factories, there are
It is possible to change and it is easy to use. A-1-: In each pallet stored in the stocker
The robot manages the remaining number of parts Z,
Putting empty pallets as a trigger for starting the operation
The robot itself can manage the trigger of the replacement operation. Immediately
Then, the robot, which is the assembly subject, triggered the start of the above operation.
So that it does not hinder the assembly.
The robot can select the optimum start timing. A-2: Improving parts supply efficiency As a basic configuration, in addition to the stocker 24 described above, this
For Totka 24, a buffer 22 for replenishing parts
Have. And from Stuttka 24 needed from Buffer 22
When replenishing various parts x, first set the stocker 24
The empty pallet due to the supply of parts to the bot 12
Pull it out and carry it out
Remove the actual pallet from the buffer to the storage position.
By always replacing the
We have realized a state in which the products are not lost. In particular, the part x is exhausted at a given pallet p.
Need to replace empty pallets (1 remaining)
Predict and judge that it will be necessary
Sometimes, a new pallet will be used instead of an empty pallet.
Efficient parts replenishment by preparing (replacement preparation)
Is planned. This efficiency is basically prepared by preparing multiple spare pallets.
Then, the same part as the part x used up
A buffer having a function of selectively separating the pallet p to be accommodated
A22. Where this buffer
When A is instructed to prepare for the replacement, the above-mentioned pallet p
It is achieved by performing selective separation of. in this way
Then, even if the remaining number of pallets p becomes zero,
At this point, the replacement preparation is completed, so
Then, the replacement operation is performed, and the total palette p
The replacement time is shortened and the robot 12 is prevented from stopping,
Or, even if you stop, the effect that the time can be minimized
It is something that can be played. The effects are as follows.
It will be more clarified. A-2-: Regarding the separation position in buffer 22,
The effect is achieved. That is, A-2--1: When the separation position is fixed at a predetermined position.
In this case, only the pallet p to be separated is
Will be separated. For this reason, after separation
Then, by removing this separation, the remaining pallets
Can be set to stacking state, and then
The pallet at the height position can be separated. Two types of separation positions are set at this predetermined position.
Is defined. That is, A-2--1-a: This separation position is above the buffer table 52.
If it is set at any height of
Select any pallet from among the pallets p stacked on the base 52.
The dots will be selected and separated. The pallets stacked on the buffer table 52 are
Since there is a manufacturing error,
The height of the pallet to be separated is accurately specified.
Will not be. Therefore, in this example,
It has a sensor 80 to accurately define the separation position.
So, even if this manufacturing error is accumulated,
The desired pallet p will be separated. A-2-‐1-b: This separation position is directly on the buffer table 52.
It is specified to separate the pallets on the table
In this case, the pallets placed on this buffer table 52
Top p is requested to be replaced at the stocker 24 in order from the bottom.
They are stacked in the order in which they are made. Configure like this
Therefore, as will be described later, the buffer 22 itself is a replacement machine.
It becomes possible to equip the elevator 26
Because it is possible to realize the unnecessary composition,
is there. A-2--2: The separation position is stacked on the buffer table 52.
If it is set for all pallets p
Shows all the pallets in a batch with the separation operation.
Will be separated. In this way, any pallet
Can be pulled out and replaced with an empty pallet.
Therefore, simplification of the replacement operation is achieved. A-2-: A buffer 22 and a stocker having the separating function of A-2
When the replacement preparation operation is performed between the
Separation position of the pallet in Hua 22 and the inside of the stocker 24
It is necessary to match the shelf position of the empty pallet. This arrangement
Examples of the combination include the following. A-2--1: Stocker 24 has a moving (up and down) function,
The separating position of the pallet p is fixed at the buffer 22.
In case of separation in the buffer 22 and in the stocker 24
In order to match the shelf position of the empty pallet p'in the
Totka 24 itself moves to a position adjacent to the separation position.
In this way, Stocker 24 himself receives the actual pallet.
Since we will go to the reception, the replacement time of empty pallets should be set short.
The specified effect will be achieved. A-2--2: Equipped with the separation function described in A-2 above
The buffer 22 and the buffer 22
Move up between the separation position of 22 and the replacement position of the stocker 24.
Travel back and forth to carry the separated pallet to the stocker 24.
Prepare for replacement in combination with elevator 26
Can be done. In this case, as explained in A-2--1
Totka 24 receives the actual pallet by itself and operates
Since there is no pallet for Robot 12 in Stock 24
The effect that the pull-out operation of the
Will be made. A-2-: A buffer having the separation function described in A-2 above
A22 and the separation position in the state of being adjacent to this buffer 22
Transfer with a replacement function that is fixedly located in the storage
A 550 and move up and down to a position adjacent to Transfer 550
By providing a stocker 24 for performing
It will be effective. A-2-: Regarding the pallets loaded on the buffer table
By storing the identification information to be stored in the memory,
It is easy and reliable to replenish the air from the stocker. That is, X
The order in which you need a new pallet from the
Because it has nothing to do with the order in which they are loaded on the table.
You. Therefore, when replenishing the pallet with the buffer,
It gives the buffer an identification of the individual pallets to be replenished.
It is necessary to be aware of the loading order of replenishing pallets.
There is an effect of disappearing. As a result, in an unmanned warehouse
The loading order of the replacement pallet on the unmanned vehicle, manually,
There is no need to consider the order of replenishment and loading on the buffer table.
And work efficiency can be improved. On the contrary, even without such memory information
Above, the order of occurrence of empty pallets, which we know in advance
As long as the actual pallets are loaded, there is no problem. A-3: Efficient replacement of empty pallets and real pallets After preparing for replacement, empty pallets p'and new
By the structure for performing the actual replacement operation with a different pallet p.
Therefore, the efficiency of the replacement operation is achieved. This
The following three modes are available as modes for performing the replacement operation of
There is. A-3-: Stocker 24 and elevator 26 that moves up and down
And a separating mechanism for pallets p stacked in any order.
Equipped with a buffer 22 to replace the elevator 26
The effect described above is achieved by the configuration including the mechanism 96.
Things. A-3-: Stocker 24 and pallets stacked in any order
Has a separation mechanism that separates the dots p at a fixed separation position.
Is provided adjacent to the buffer 22 and the fixed separation position.
It has a transfer 550, and this transfer 550 is
The above-mentioned effects are achieved by the configuration including the switching mechanism 96.
It is made. A-3-: Stacker 24 and stacking in a predetermined take-out order
The separated pellet p is separated at a fixed separation position.
The buffer 22 is provided with a replacement mechanism 48.
With the configuration including 0, the above-described effects can be achieved.
Of. A-3-: This replacement mechanism 96 is a hook 108, 116, 126
Mechanically to the notches 38a, 38b of the pallet p.
It is configured to move the pallet p in the engaged state.
Have been. In this way, in the replacement operation,
The pallet p will be reliably moved and
The stop position of the
The effect that will be performed is achieved. Here, there are two modes depending on the number of hooks.
That is, A-3--1: engage with the first notch 38a of the pallet p
The first to remove the pallet p from the buffer 22
Engage with hook 108 and second notch 38a of pallet p
Then, the second for pushing the pallet p to the stocker 24
Pull the hook 116 and the empty pallet p'from the stocker 24.
3 hooks with a third hook 126 for removing
In the configuration, the third hook 126 is connected to the second hook 116.
Positioned directly below and configured to move integrally
Therefore, the movement stroke of the first hook 108 and the second stroke 108
Set the same stroke as the travel stroke of the rack 116
And the simplification of the structure of the replacement mechanism 96 and the replacement operation.
The effect that the control of the work becomes easy is achieved. The hook drive source has the following two modes.
You. That is, A-3--1-a: 3 hooks are mounted on a common slide plate 106.
This slide plate 106 is attached to one drive model.
By reciprocating with a motor, three hooks
Driven by one drive source, simplifying control
The effect will be achieved. A-3--1-b: First and second hooks 108 and 116 2
Each hook is reciprocally driven by the first drive motor and the third hook
With the structure in which the rack 126 is reciprocally driven by the second drive motor.
The number of drive motors is the same as in the case of A-3--1-a described above.
However, the configuration for each drive is simplified.
The effect can be obtained. A-3--2: Engage with the first cutout 38a of the pallet p
The first to remove the pallet p from the buffer 22
Engage with hook 108 and second notch 38a of pallet p
Then push the pallet p out to the stocker 24, and
Second foot for retracting the let p'from the stocker 24
This is also the case in the configuration with two hooks with the hook 116.
The replacement mechanism 96 of [1] is functional. However, this place
In this case, the second hook 116 performs two operations.
Therefore, the operating time is the same as that of A-3--1 described above.
It will be long in comparison. However, the simple structure
The effect of being manufactured at low cost is achieved. A-4: Efficient unloading of empty pallets: Pull out empty pallets p'from the stocker 24 and place them here.
When the actual pallet p is pushed in and the replacement operation is executed,
Be sure that empty pallets p'are generated in the FAC system 10.
Becomes Here, in this embodiment, this empty
Since it has a carry-out mechanism 76 for the boot p ', this empty tray
If the number of dots p'is less than a predetermined number, it is satisfactorily carried out.
Stacks more than a specified number, preventing the next swapping operation.
An unharmed effect will be achieved. In this unloading operation, the empty pallet p'is carried out by the unloading mechanism.
When stacking on top of 76, various
There are modes. A-4-: Elevator body 86 of elevator 24 is carried out by itself
Already above the mechanism 76 or on the unloading mechanism 76.
Down to just above the empty pallet p ',
An empty pallet p'supported on the lower part of the main body 86 carries out the unloading mechanism 76.
Stack on top. By configuring in this way, in principle
, Without interfering with the operation of changing the pallet
Empty pallets p'are stacked in the unloading mechanism 76.
Will be. A-4-: The carry-out mechanism 76 is equipped with the lift mechanism 402.
This lift mechanism 402 moves up and the replacement mechanism 96
The supported empty pallet p ′ is attached to the lift mechanism 402.
Works like stacking on. In this way, A-4-
Compared with the case, there is a possibility that it will hinder the replacement operation.
Will be reduced. In addition, in the configuration including the lift mechanism 402,
There are two types of aspects described in. A-4--1: This lift mechanism 402 is
If it is installed below the
Before the empty pallet p'is pulled in, this lift
The mechanism 402 will move up to the specified position and wait.
Since it will come, set the lowering time of the elevator main body 86 to be short
You will be able to. In this way, empty pallets
The time required for the operation to carry out p'is shortened.
This avoids delaying the next swap operation.
The desired effect is achieved. A-4--2: This lift mechanism 402 is the elevator main body 86
If it is not located below the
There are two modes. That is, A-4--2-a: In the state of being adjacent to the separation position of the buffer 22.
Lower part of the transfer 550 installed at a fixed position.
If the shift mechanism 402 is installed, empty pallets
Transformer 550 tiger with p'pulled out and supported
Because the main body 552 of the screen is fixed in position, this empty
This lift machine is used to stack the boot p'on the carry-out mechanism 76.
Structure 402 is an essential constituent element. A-4--2-b: State where buffer 22 has a replacement function
At this time, the lift mechanism 402 is installed below the buffer table 52.
If installed, empty pallet p'is pulled out.
The buffer table 52 supported by
To stack the empty pallet p'of the
The lift mechanism 402 is an essential component. A-4-: As described in A-4- above,
If the shift mechanism 402 is provided, the sensor S₁, S₂, S₃To
The following two effects can be achieved by installing
become. That is, A-4--1: This sensor S₁, S₂, S₃Of the lift mechanism 402
When it is used to define the raised position, this
The rising position of is the empty pallet that is stacked on the lift mechanism 402.
It changes according to the height of the point p '. That is, Palais
The maximum height of the pallet p regardless of the height of the p '₃The heavy
If you specify a predetermined rising position so that you can be hit, the minimum height
Pallet p with₁This minimum height when overlapping
Pallet p₁Bottom of the lift mechanism 402 or
The top of the pallet placed on this lift mechanism 402
There will be a fairly large gap with the location.
Therefore, empty pallet p₁Try to overlap
Then, this empty pallet p₁′ 'S posture collapses and
There is a possibility that an unlucky situation will occur. However, the sensor S₁, S₂, S₃Therefore, for each pallet
Since the optimum rising position is defined according to the height,
Make sure this empty pallet does not cause the problems described above.
p ′ has the effect of being superposed on the lift mechanism 402.
Will be. A-4--2: This sensor S₁, S₂, S₃Of the lift mechanism 402
When used to define the raised position,
The lift mechanism 402 is installed below the elevator body 86.
If installed, this sensor S₁, S₂, S₃But Elevé
The empty pallet p'is received at the lowest position of the main body 86 of the computer.
The lift position of the lift mechanism 402 must be specified so that it can be taken.
To unload empty pallet p'from elevator body 86
Elevator body 86 descent time required to move to structure 76
Will be set to the minimum. In this way, empty Palais
The time required to move the tool p'to the unloading mechanism 76 is shortened.
The effect of reducing the possibility of delaying the next swap operation
Will be achieved. A-5: The effect of covering the pallet with the lid 40: The upper surface is open to take out the part x housed inside.
When carrying the part x using the pallet p
However, if the stored parts are
22 and the stocker 24 during storage, dirt from dust etc.
To protect from this, each pallet p is provided with a lid 40.
This lid 40 closes the top opening so that it can be opened.
To do. In this way, the lid 40 is attached to each pallet p.
Since it is attached, the part x housed inside is dusty.
Those that can be reliably protected from dirt from etc.
Is. A-5-: Here, this lid 40 smells like a stocker 24
Then, the pallet p is brought to the position where the robot 12 is pulled out.
During all periods except during
That covers the. In this way, the palette p
While the top surface of the
Withdrawal period, which is the required opening period to be issued
Since the space is limited, dust and other foreign matter will enter the pallet p.
Is kept to a minimum, and dirt on the part x due to dust, etc.
The effect of being able to prevent power is obtained. A-5-: When this lid 40 is removed from the pallet p
In this case, the lifting arm 1 in the lid opening mechanism 170
60 moves linearly diagonally upward from diagonally below
To the side edge of the lid 40 through the third cutout 38c of the p
Engage from below so that lid 40 can be lifted upwards
ing. Such a linear movement of the lifting arm 160
Allows one drive source for this
And, while achieving shortening of the lifting operation time,
This has the effect of achieving cost reduction. In this way, the third cutout 38c of the pallet p is
The lift arm 160 that has passed holds the lid 40 in this way.
In the lifted state, the pallet p is moved along the conveying direction.
It is said that it is configured so that it does not hinder any movement.
There is no limit. A-6: Lock of pallet in stocker In stocker 24, each pallet p is driven up and down.
Is supported on the corresponding shelf 156 of the lifting frame 152.
It is set to the state. Where this shelf 156
In the state of being supported above, each pallet p is
Movement along the transport direction on the shelf 156 by the hook mechanism 600
Has been locked. In this way, for example, the lifting frame 152
Based on the vibrations caused by the vertical movement of the
Even if p receives a moving force along the transport direction, the locking mechanism
Since it is locked by 600, each pallet p is paired
Be securely locked in place on the corresponding shelf 156.
become. As a result, when the lifting frame 152 is stopped,
In the state where the lock by the lock mechanism 600 is released
, So that each pallet p is always in place.
Pulling out each pallet to the robot 12 or emptying it.
Ensure that the pull-in operation in the case of grazing is executed
Will be achieved. B: Effect of easy process change The effect of the FAC embodiment described in the above item is
Totka, elevator, buffer, lift mechanism, etc.
Mainly hardware and control that controls it when combined
This is the effect seen from the structure of the program. Control program
Software, such as
Therefore, the control program used in this FAC is
How the program is flexible to change
See the effect from this perspective. That is, in the embodiment, the variable G called the process
The parts used in the process are associated. Palette and Pa
The shelf position for storing the let is related by the variable S,
This shelf position variable S is arrayed (S
[G]) Thus, the process shelf position pallet
The relationship of parts is clarified. Therefore, this arrangement
The process changes and the process changes only by converting the columns.
However, there is no need to change the position of the shelves where the pallets are stored. Well
In addition, there is no need to change the control program.
You. In addition, display the above array on the CRT screen of the input device.
Therefore, it is extremely easy to change the process etc.
There is also an effect. C: Effectiveness of efficient replenishment of FAC from the outside This FAC system is a fixed position from the stocker to the robot.
Supply of parts at storage, supply of parts from buffer to stocker
Basically, the unit of supply and supply is the pallet unit. Obedience
If there are no more parts in the FAC system, then
It is necessary to replenish a new pallet full of goods. This FAC system consists of parts supply process and parts
Independent of the process of replenishment via the lett
There is. By making these two processes independent,
Immediately after the supply to the mosquito is no longer possible, strike
The supply from Tsuka to Robot will not stop. So
Then, the part replenishment is done by the preparation process on the FAC side (on the buffer stand).
Process of locking all existing pallets of
Process of carrying out empty pallets loaded underneath),
Collaboration between FAC and the outside (unmanned vehicle) that supplies parts to this FAC
It is divided into the actual replenishment process that operates in
Align the process with the above-mentioned preparation process for pallet replenishment.
As a result, the total time for replenishing parts is shortened, and the result is
This has the effect of shortening the time the unmanned vehicle stops.
Can be In addition, even when manually replenishing,
However, in consideration of the effect described in B above, a new
Increased pallets on the buffer stand by supplementing various pallets
It becomes easier to update information about the network. [Effects of the Invention] As described above, in the article supply apparatus of the present invention
Should be replenished from temporary storage to storage
In the storage box, the detection means is stored in the storage box inside the storage means.
Detect the remaining number of existing articles and reach the prescribed value
What you do is subject to replacement. Meanwhile, it was replaced
The new storage box that should be
By detecting the remaining number of articles stored in the
The same item in the specified storage box
The storage box to be stored from other storage boxes in the temporary storage means
To separate. Thus, the objects stored in the exhausted storage box in the storage means
Stores the product and the storage box separated in the temporary storage means.
The same items will be used, and the old and new storage boxes can be replaced.
It can be done efficiently and consistently. Moreover, the storage box to be replaced is the
Based on detection, it will consume the storage means
The storage box to be used may be any
Replenishing the storage box to the corrugated box increases the consumption of articles in the storage means.
Not bound by the exhibition. In addition, the storage box to be replaced occurs in any storage box.
The storage box to the robot side
The storage position is fixed, so the storage box can be
Replacement and removal of the storage box from the robot side are performed in parallel.
And efficient replenishment of the storage box is even more efficient
It is possible to supply various products. Therefore, according to the present invention, it is possible to reliably replace the storage box.
An article supply device capable of performing an operation is provided.
Will be.

[Brief description of drawings]

1 is a front view schematically showing the overall configuration of an FAC system according to an embodiment of the present invention; FIG. 2 is a perspective view schematically showing the overall configuration of the FAC system shown in FIG. 1; Is a perspective view showing the structure of a pallet in which parts are stored; FIG. 4 is a front view showing the shape of a pallet having three types of heights; FIG. 5 is a cross-sectional view showing the stacking state of pallets; Fig. 7A is a perspective view showing the structure of the buffer; Figs. 7A to 7D show a predetermined pallet in the buffer.
8A to 8E are front views sequentially showing the position correcting operation in the buffer separating operation; FIG. 9 is a perspective view showing the structure of the elevator; and FIG. 10 is an elevator. Fig. 11 is a side view showing the elevator main body in Fig. 11 together with the replacement mechanism; Fig. 11 is a front view showing the configuration of the replacement mechanism with the elevator main body partially broken away; Fig. 12 is a perspective view showing the replacement mechanism taken out; 13A to 13G are front views sequentially showing the replacement operation in the elevator; FIG. 14 is a perspective view showing the structure of the stocker; FIG. 15 is a side view showing the structure of the lid opening mechanism; 17A to 17E are side views showing a state in which the lid is lifted in the lid opening mechanism; FIGS. 17A to 17E are views for explaining that the movement of the stocker or the like changes depending on the order of steps and the order of placing the shelves; The figure shows the example FIG. 19A to FIG. 19C are diagrams showing the configuration of the control unit and the connection relationship between the control unit and the production control computer, etc .; FIG. 19A to FIG. 19C are diagrams showing the input menu to the input device and its display state; Fig. 21A is a diagram for explaining the teaching of each shelf position; Fig. 21A is a diagram for explaining the variables commonly used in each control module; Fig. 21B is a diagram for explaining the configuration of the cue; Figs. 22A and 22B are FIG. 23A and FIG. 23B are flow charts of the robot control program; FIG. 24A and FIG. 24B are flow charts of the stocker control program; FIG. 24C is a diagram for explaining the transition of process numbers in stocker control; FIG. 25A is a diagram for explaining the configuration of variables used for buffer control; FIGS. 25B and 25C are buffers. 26A and 26B are flow charts of the elevator control program; FIGS. 27A to 27G are diagrams sequentially explaining the pallet changing operation centering on the elevator; FIG. 28 is a diagram. FIG. 29 is a diagram illustrating stacking of empty pallets on the transport mechanism; FIG. 29 is a control flow chart for setting the system to an initial operating state; FIG. 30 is a control program flow chart according to the first modification; FIG. 32 is a perspective view schematically showing the structure of the buffer according to the first modification; FIG. 32 is a front view showing a state in which the disposition claws of the separation claws in the step-out mechanism shown in FIG. 31 are set to the maximum. FIG. 33 is a front view showing a state in which the pitch of the separation claws in the step-out mechanism shown in FIG. 31 is set to a minimum; FIG. 34 is a side view showing the configuration of the step-out mechanism; The figure shows the second variant 36 is a bottom view showing the construction of the actual pallet changing mechanism in the elevator shown in FIG. 35; FIG. 37 is the bottom view showing the structure of the actual pallet changing mechanism shown in FIG. 38 is a side view showing the structure; FIG. 38 is a bottom view showing the structure of the empty pallet changing mechanism shown in FIG. 35; FIG. 39 is a side view showing the structure of the empty pallet changing mechanism shown in FIG. 38; FIG. 41 is a side view showing the configuration of the replacement mechanism in the third modified example; FIG. 41 is a partially cutaway front view showing the replacement mechanism shown in FIG. 40; FIG. 43 is a perspective view showing a buffer provided with a lift mechanism according to a fourth modification; FIG. 44 is an arrangement of the sensors shown in FIG. 43. FIG. 45 is a side view showing the position; FIG. 45 is an elevator according to a fourth modification. 46 and a control flow chart of the lift mechanism; FIG. 46 is a perspective view showing a schematic configuration of another embodiment according to the present invention; FIG. 47 is a perspective view showing a configuration around the buffer base in the buffer shown in FIG. 47; 48 is a bottom view showing the state of the bottom surface of the buffer table shown in FIG. 48; FIG. 49 is a side view showing the configuration of the exchange mechanism provided on the buffer table; FIG. 50A and FIG. 50B are both Flow chart of control program according to another embodiment; FIGS. 50C and 50D are diagrams showing a sequence of the operation of exchanging the pallet in another embodiment; FIG. 51 is a modification of the other embodiment. 52 is a perspective view schematically showing the structure, FIG. 52 is a perspective view showing a case where a locking hole is formed on the lower surface of the flange portion of the pallet, and FIG. 53 is for locking the support position of the pallet in the stocker. The front view showing the structure of the locking mechanism; Fig. 53A is a side view of the locking mechanism shown in Fig. 53; Figs. 55A and 55B are flow charts showing the control program for the replenishing operation of the pallet to the buffer via the unmanned vehicle; FIG. 56C is a diagram showing an input display in an operation related to manual replenishment of a palette into a buffer; and FIG. 56C is a diagram showing a sequence of operations related to manual replenishment of a palette into a buffer. In the figure, 10 ... Flexible Assembling Center (FAC system), 12 ... Robot, 14 ... Parts supply system, 16 ... Control unit, 18 ... Input device, 20 ...
... unmanned vehicle, 22 ... buffer, 24 ... stocker, 26 ... elevator, d ... conveying direction, unmanned vehicle 20 relationship 28 ... enclosure, 30 ... wheels, 32 ... pallet mounting table, 32a
...... Carry-out roller, 34 …… Empty pallet mounting table, 34a …… Carry-in roller, pallet p (p ₁ , p ₂ , p ₃ …) relation 36 …… Pallet body, 38 …… Flange, 38a …… 1st
Notch part, 38b ... second notch part, 38c ... third
Cut-out portion, 40 ...... _{lid, x (x 1, x 2} , x 3 ...) ... part of,
B: Bar code, buffer 22 related 42: Base, 44a to 44d: Posts, 46a; 46b: Standing plate, 4
8 ... Guide member, 50 ... Sliding member, 52 ... Buffer base, 52a ... Projecting piece, 54 ... Loading roller group, 56 ... Roller guide, 58 ... Slit, 60 ... Ball screw, 62 ......
Encoder, 64 ... Separation mechanism, 66 ... First separation claw, 68
...... Second separation claw, 70 …… Support rod, 72 …… Connection plate,
74 …… bar code reader, 76 …… delivery mechanism, 78 …… delivery roller, 80 …… sensor, B …… bar code, C _B1 ; C _B2 …
… Air cylinder, M _B …… Servo motor, Elevator 26 related 82a to 82d …… Post, 84 …… Connecting member, 86 …… Elevator body, 88 …… Guide member, 90 …… Sliding member, 92 …… Ball Screw, 94 …… Encoder, 96 …… Replacement mechanism, 98
…… Stay, 100 …… Swing arm, 100a …… Long groove, 102…
… Guide groove, 104 …… Guide pin, 106 …… Slide plate,
108 ... First hook, 110 ... First hook slide member, 112 ... Air cylinder support plate, 114 ... First piston, 116 ... Second hook, 118 ... Second hook Slide member, 120 ... Second piston, 122 ... Fixed slide guide, 124 ... Mounting plate, 126 ... Third hook, 128 ... Third hook slide member, 130 ... Third piston, 132 ... Guide groove, 134 ... Movable slide guide, 136 ... Sliding member, 138 ... Air cylinder support plate, 140 ... Fourth piston, 230 ... Elevator body in empty pallet pulling position, 232 ... … Elevator body in actual pallet pushing position, A; B …… Servomotor rotation direction, C _E1 ; C _E2 ; C _E3 ; C _E4 …… Air cylinder, M
_E1 …… Servo motor, M _E2 …… Servo motor, Stocker 24 related 142 …… Base, 144a to 144d …… Posts, 146 …… Coupling frame, 14
8 …… Guide member, 150 …… Sliding member, 152 …… Lifting frame, 1
54 …… Drawer, 156 …… Shelf, 158 …… Notch,
160 ... Lifting arm, 160a ... Main body, 160b ... Top surface, 160c ... Projection, 162 ... Projection piece, 164 ... Ball screw, 166 ... Encoder, 168 ... Drawer, 170 ...
Lid opening mechanism, 172 …… Removal mechanism, 174 …… Support stay, 176 …… Stopper, 178 …… Slide guide, 180…
... Guide member, 182 ... Sliding member, 184 ... Support plate, 186
…… Foot, 188 …… Drive roller, 190 …… Idle roller, 192 …… Endless belt, 194 …… Coupling shaft, 196…
... Driven roller, 198 ... Stay, 200 ... Drive shaft, 202 ...
… Drive roller, 204 …… Endless belt, 206 …… Piston, 208a; 208b …… Input end, Robot 12 related 210 …… Assembly stage, 212 …… Stand, 214 …… X axis robot arm, 216 …… Y axis Robot arm, 218 …… Robot hand, 220 …… Finger, 222 …… Fing station, 224 …… Assembly base, C _S1 ; C _S2 …… Air cylinder,
M _S1 …… Servo motor, M _S2 …… Servo motor, 1st modified example relation 250 …… Step disassembly mechanism, 252 …… Separating claw mounting plate, 254a; 254
b …… Guide shaft, 256a; 256b …… Fixing tool, 258 …… Piston, 260a; 260b …… Input end, 262a; 262b; 262c …… Introduction pipe, 264a; 264b …… Output end, 264c …… Input end , 266 ……
Separation claw, 268 ... Piston, C _D1 ; C _D2 ...... Air cylinder, second modified example relationship 86a …… Elevator body 86 upper plate, 86b …… Elevator body 86 lower plate, 96a …… Replace the actual pallet Mechanism, 96b ...
Empty pallet changing mechanism, 300 ... elevator, 302a; 30
2b ... first guide member, 304 ... first slide plate, 3
06 …… first ball shaft, 308 …… projection, 310a; 310b ……
First rotary support member, 316 ... Fixed slide guide, 322
a; 322b ... second guide member, 324 ... second slide plate, 326 ... second ball shaft, 328, projection, 330a; 330
b ... second rotation support member, 332 ... hook member, 334 ...
… Second piston, 336 …… Movable slide guide, 338…
… Sliding member, 340 …… Third piston, C ₁ ; C ₂ ; C ₃ …
… Air cylinder, M ₁ ; M ₂ …… Servomotor, 3rd modified example relation 350 …… Replacement mechanism, 352 …… Movable slide guide, 35
4 …… Slide guide, 356 …… Fourth piston, Fourth modification relationship 400 …… Fixed transfer mechanism, 402 …… Lift mechanism, 404 …… Sliding member, 406 …… Lift base, 408 …… Projection One piece, 410 …… Air cylinder mounting member, 412 …… Piston, 414 ……
Sensor mounting member, S ₁ ; S ₂ ; S ₃ …… Sensor, other embodiments related 450 …… Buffer 452 …… Spacer block 454 ……
Separation mechanism, 456 ... Mounting member, 458 ... Guide shaft, 46
0 …… Separating claw mounting plate, 462 …… Separating claw, 464 …… Ball screw, 468 …… Ball screw receiving part, 470 …… Stay, 472…
… Drive pulley, 474 …… Drive pulley, 476 …… Timing belt, 480 …… Replacement mechanism, 482a; 482b …… Guide shaft, 484 …… Slide plate, 484a; 484b …… Roller, 484c…
… Screwed part, 486 …… Ball screw, 488a; 488b …… Rotation support member, 490a; 490b …… First hook, 492 …… Piston,
494a; 494b …… Guide pin, 496a; 496b …… Guide pin,
498 …… Piston, 500a; 500b …… Second hook, 502a; 5
02b: Support stay, 504: Piston, modified example of other embodiment 550: Transfer, 552: Transfer body, other relationship 38d: Lock formed on the lower surface of the flange 38 of the pallet Holes for 600, lock mechanism, 602, lock rod,
604a: 604b ...... guide member, 606 ...... air cylinder mounting plate, 608 ...... piston, 610 ...... locking member, 610a ...... mounting piece, 610b ...... Rotsukupin a C _R ...... air cylinder.

Front page continuation (72) Inventor Yusaku Wazuma 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc. (72) Inventor Toshihiro Yamamoto 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc. (72) Inventor Ryohei Inaba 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc. (56) References JP-A-61-206709 (JP, A) JP-A-62-24936 (JP, A) JP-A-61-121398 (JP, A)

Claims (1)

(57) [Claims] 1. An article supply device for transferring a storage box containing a plurality of articles into an operation area of the robot in order to supply the articles to a robot performing work such as processing or assembling. A storage means having a main body storing a plurality of storage boxes, wherein the robot can take out an article in a specific storage box at a predetermined fixed position in the operation area of the robot. The main body is moved up and down so that the storage box is moved to the fixed position, the specific storage box is taken out to a predetermined supply position outside the main body, and then the specific storage box is returned into the main body. A temporary storage means for replenishing the storage box from the outside of the article supply device and temporarily storing the storage box, and a remaining number of articles in the specific storage box returned to the storage means. Detecting means, any accommodating box accommodating the specific article corresponding to the specific accommodating box detected by the detecting means, a separating means for separating from a plurality of accommodating boxes stored in the temporary storage means, An article supply device, comprising: a receiving box that is separated by the separating means by the detecting operation of the detecting means, and a replacing means that replaces the containing box and the specific containing box of the storing means.