JP2705745B2 - Article supply device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article supply apparatus for supplying articles such as parts to an external apparatus such as a robot apparatus.

[0002]

2. Description of the Related Art The present applicant has proposed an article supply system for supplying parts to a robot device or the like in Japanese Patent Application Laid-Open No. Hei. This article supply system has a stocker that stores multiple pallets vertically in a separated state, and the stocker body can be moved up and down to move any of the pallets stored in the stocker to a fixed drawer position A drawer for pulling out the pallet moved to the drawer position out of the main body of the stocker, a buffer for storing a plurality of spare pallets in a non-separated state, and an empty pallet stored in the buffer. And an elevator for pulling out the separated pallet and storing it at an arbitrary position in the stocker.

[0003]

In a conventional pallet,
Some are equipped with a lid for the purpose of preventing dust,
To remove items from the pallet, the lid must be removed. However, in the system of the conventional example, when the pallet is removed from the stocker to the robot side, only the pallet to be pulled out is removed. Also, when returning the pallet to the stocker from the robot side, the lid was closed.

[0004] For this reason, the number of times of opening and closing the lid is increased, and there is a drawback that dust is rather caught by the negative air pressure generated at that time, and the time required for pulling out the pallet becomes longer. Therefore, the present invention
It is an object of the present invention to propose an article supply apparatus in which the number of times of opening and closing a lid is minimized.

[0005]

According to the present invention, there is provided a pallet capable of storing a plurality of articles and having a lid closing one of the pallets, and a pallet having a plurality of pallets separated in a vertical direction. Storage means for storing the pallets stored in the storage means, moving means for moving the storage means to move any of the pallets stored in the storage means to a fixed drawer position, and the pallet moved to the drawer position Withdrawal means for pulling out of the main body of the storage means,
In an article supply device including a temporary storage unit for replenishing a pallet to the storage unit, the storage unit includes:
A lid removing means for simultaneously removing lids of all the pallets stored in the storage means while the pallet is not transferred between the temporary storage means and the storage means; .

[0006]

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. The article supply apparatus according to this embodiment is intended for a robot assembly apparatus as an external apparatus of an article supply destination. Therefore, this article supply device constitutes an automatic assembly system together with the robot assembly device. <Outline> FIG. 1 is a view showing the entirety of an automatic assembling system incorporating the article supply device of the embodiment. In this system, parts are supplied from a stocker apparatus 300 having a plurality of shelves, and the robot assembling apparatus 200 assembles the parts into a unit. In the drawing, a component indicated by a symbol p is a component storage box called a pallet that stores a plurality of components.

[0007] The stocker device 300 can accommodate up to three pallets. The stocker device 300 can be moved up and down while containing the pallets. On the other hand, the positioning device 500 is provided at a predetermined height (h from the floor), and the positioning device 500 pulls out one pallet from the stocker device 300 so that the robot device 200 can accurately grasp the target component. Then, the pallet is positioned at a predetermined position. Since the height position h at which the positioning device 500 pulls out the pallet is fixed, the stocker device 300 moves up and down, and the pallet containing the parts requested by the robot device 200 arrives at the aforementioned drawer height position h. To do it. The fact that the position where the pallet is pulled out of the stocker device 300 is fixed means that the operation of the arm of the robot device 200 for gripping the target component is simplified in the vertical movement, and as a result, the tact time is reduced. There is.

As described above, the stocker device 300
It has three shelves and can store up to three pallets. Whether to store different types of parts or the same parts in the three pallets depends on the type of parts to be assembled in the unit to be assembled. In each of the three shelves in the stocker apparatus 300, the pallets are separated from other pallets. The stocker device 300 receives pallet replenishment from the buffer device 400. That is, if the parts in the pallet in the stocker apparatus 300 are consumed, a new pallet full of parts is required instead of the empty pallet.
It is received from 00.

In the buffer device 400 as well, individual shelves are separated. As will be described in detail later, each shelf of the buffer device 400 is provided with an indicator for indicating whether the shelf contains a pallet and whether the stored pallet contains components. Have been. Looking at the display on the display, the operator knows which shelf of the buffer device 400 should be refilled with pallets. As will be described later, the controller controls which pallet contains which components are stored in the pallets of each shelf in the buffer device 400. For example, the stocker device 3
If it is necessary to supply the second pallet from the top of the buffer device 400 to the second tier from the top of the buffer device 400, the controller sets the second tier of the stocker device 300 to the fourth tier of the buffer device 400. The stocker device 300 is moved up and down so as to match the position of the shelf. When the shelf positions of the respective devices match, a predetermined claw moves in the front-rear direction, and the pallet of the buffer device 400 is transferred to the stocker device 300.

Thus, the parts are replenished to the buffer device 400 by the operator from the warehouse via the pallet, and replenished from the buffer device 400 to the stocker device 300.
The pallet containing the target component is pulled out from the stocker device 300 by the positioning device 500, and the target component is supplied to the robot assembly device 200. FIG.
FIG. 2 is a perspective view of the system of FIG. 1. FIG. 2 shows a more specific configuration of the present system. As is clear from the figure, the assembling apparatus 200 has two arms (201, 20).
2), a hand 203 that moves up and down, and a finger 204 that has a gripping function. However, in the present invention, it is not essential what kind of robot the assembling apparatus is. In addition, the stocker device 300 and the buffer device 400 are housed in the same housing 600, but whether or not both are housed in one housing is not related to the essence of the present invention.

In FIG. 2, one pallet is pulled out to a pull-out position by a positioning device 500. The robot device 200 takes out one part from this pallet and assembles it into units on an assembly jig 210. 2, the input / output device 100 includes an operation program of the robot device 200 and a stocker device 30.
0 is an input / output means when creating an operation program. Further, the operator can use the input / output device 100 to start or stop the program. Input / output device 110 as second input / output means
Is a small console (teaching pendant) for convenient carrying. The operator teaches a teaching point using this console.

The main control unit 120 controls the robot device 200 and controls the entire system. The sub-control unit 130 controls the stocker device 300. <Pallet> Each pallet contains components of the same type, and as shown in FIG. 3, the corresponding components are removably accommodated in the vertical direction, and the upper surface is opened. The pallet body 36 is integrally provided with a flange portion 38 which is formed so as to protrude outward at least on both side edges along the transport direction d of the pallet body 36. As is apparent from the shape shown in the figure, the flange portion 38 has a
Is formed over the entire circumference. Further, a lid 40 is placed on each pallet body 36 so as to openably close the upper surface thereof.

As shown in FIG.
The first and second notches 3 are located at both ends.
A third cutout 38c is formed in a state where 8a and 38b are located at the center. Here, the first and second notches 38a and 38b on both sides are used for the pallet to be taken in from the buffer device 400 by the stocker device 300 and the positioning device 50 as described later.
0 is provided for pulling out or pushing in from the stocker device 300. On the other hand, the central third notch 38c
In order to remove the pallet body 36 housed in the stocker 24 from the upper side thereof, the pallet body 36 can be taken out to the side of the robot 12 with the upper surface thereof opened so that the pallet body 36 is lifted up. Is provided for insertion.

The first and second cutouts 38
Reference numerals a and 38b denote recesses formed in a substantially trapezoidal trapezoidal shape in a plane, and the shorter bases are formed so as to define the bottoms of the recesses. That is, the lid 40 is opened at the final stage in which the robot apparatus 200 handles parts, in other words, until the pallet is pulled out of the stocker apparatus 300 and is moved to the drawer standby position, the upper surface of the corresponding pallet is opened. To prevent the components from being soiled by dust or the like.

These pallets, as shown in FIG.
Depending on the size of the parts to be accommodated,
Four types are set: 5 mm, 50 mm, 75 mm, and 100 mm. In each of the pallets p1, p2, p3,..., The thickness of the flange portion 38 is set to 12 mm in common. As shown in FIG. 5, the pallet bodies 3 stacked directly above the pallet bodies 36 are provided on the inner peripheral edge of each pallet body 36.
6 (shown by broken lines in the figure) are fitted together, and a recess 36a for preventing mutual lateral displacement is formed over the entire circumference. Here, the depth of the concave portion 36a is set to 7 mm.

As shown in FIG. 3, the components x1, x2 contained in the respective pallets p1, p2, p3... Are provided on the side surfaces of the flanges 38 of the respective pallets p1, p2, p3.
A bar code B indicating type and number information of 2, x3... And pallet height information is drawn. <Buffer Device 400> FIG. 6 is a front view of a buffer device 400 storing a plurality of pallets, and FIG. 7 shows a state in which no pallets are mounted on the upper shelf and pallets are mounted on the lower shelf. FIG. 4 is a perspective view of the buffer device 400 of FIG.

FIG. 6 shows two (601a, 601b) of the four columns of the buffer device 400. In the buffer device 400 of the embodiment, ten pallet guides 602a are provided on each of the right and left columns. 1 provided on the left and right columns (601a, 601b)
Zero set of pallet guides 602a and 602b support ten pallets. However, the interval between two vertically adjacent pallet guides is an interval at which a pallet having a thickness of 50 mm described with reference to FIG. 4 can be mounted. Therefore, when a pallet having a thickness of 75 mm is mounted, as shown in FIG. 6, two stages of pallet guides are occupied.

In FIG. 6, the buffer device 4 shown in FIG.
The stocker device 300 is set on the other side of 00. The operator pushes the pallet p along the pallet guide 602a beyond the stopper 605 provided on the pallet guide 602a as shown by an arrow A in FIG. When the pallet is pushed in, the operator pulls the pallet toward the user to bring the pallet into contact with the stopper 605. By bringing the pallet into contact with the stopper 605, the pallet is accurately positioned, and the transfer device (described later) of the stocker device 300 can reliably pull out the pallet from the buffer device 400 and transfer it. As shown in FIGS. 6 and 7, an indicator lamp 603 and a switch 604 are provided on the front surface (in the pallet insertion direction) of the buffer device 400.

FIG. 8 shows an indicator lamp 603 and a switch 60.
4 shows the connection between the sub-control device 130 and the sub-control device 130. The display lamp 603 indicates that no pallet is loaded on the corresponding shelf. Therefore, normally, in the initial setting, since the pallet is not loaded, the lamp is lit. Each time a worker puts a pallet into the shelf (pallet guide 602a) of the buffer device 400, the switch 6
Press 04. When this switch is pressed, the switch 60
A signal indicating that 4 has been pressed is sent to control device 130. Upon receiving this signal, control device 130 determines that a pallet has been loaded on the shelf, and determines that lamp 603 of the corresponding shelf has been set.
Turn off the light. When the components in the pallet are consumed and become empty, the controller 130 turns on the lamp 603. <Cooperation of Stocker Device and Buffer Device> FIGS. 9 to 1
8, the stocker device 300 and the buffer device 400
Will be described.

FIG. 9 shows a stocker device 300 having three shelves and a buffer device 40 having ten shelves with respect to the position (height h) where the pallet is pulled out by the positioning device 500.
The positional relationship with 0 is shown. In this figure, no pallets have been loaded into the stocker device 300 or the buffer device 400. In FIG. 10, the operator places four pallets of 50 mm thickness including the component A, three pallets of 50 mm thickness including the component B, and the component C on the shelf of the buffer device 400 in order from the top. Two pallets of 75 mm in thickness are contained.

Assume a process of assembling a unit including components A, B, and C. Then, as shown in FIG. 11, the pallet including the component A is transferred from the uppermost shelf of the buffer device 400 to the first shelf of the stocker device 300. Next, as shown in FIG. 12, the stocker device 300 moves downward, and the component B is moved from the fifth shelf of the buffer device 400.
Is transferred to the second shelf of the stocker apparatus 300. Next, as shown in FIG.
00 moves further downward, and 8 of the buffer device 400 moves.
The pallet including the component C is stored in the stocker device 30
Transfer to the 3rd shelf of “0”. With this, the stocker device 30
0, the parts A, B, necessary to assemble the unit
This means that three pallets including C have been prepared.

The robot device 200 has a component A → a component B →
The parts are requested from the stocker apparatus 300 in the order of the parts C. First, as shown in FIGS. 14 and 15, the stocker device 300 moves so that the pallet including the component A is at the drawn-out position (height h). And the positioning device 5
00 pulls out a pallet containing part A. The robot device 200 grips the component from the pallet pulled out.
Then, the positioning device 500 returns the pallet into the stocker device 300 (FIG. 15). Next, the stocker device 300 moves so that the pallet including the part B is at the pull-out position (height h). Then, the positioning device 500 pulls out the pallet including the part B as shown in FIG. The robot apparatus 200 moves the part B from the extracted pallet.
To grip. Then, the positioning device 500 returns the pallet into the stocker device 300. Such an operation is described as part C
Also for pallets containing.

In this way, a plurality of the same units are assembled. Over time, for example, the pallet containing part A will be empty. Since the uppermost shelf of the buffer device 400 is empty and the pallet containing the component A is mounted on the second shelf, as shown in FIG.
The stocker device 300 moves so that the empty pallet shelf position matches the uppermost shelf position of the buffer device 400. Then, the empty pallet is transferred to the buffer device 400. Thus, the uppermost shelf of the stocker device 300 becomes empty. Next, the stocker device 300 moves up and down so that the uppermost shelf of the stocker device 300 matches the second shelf position of the buffer device 400. Then, as shown in FIG. 18, a new pallet including the component B is transferred from the second shelf to the uppermost shelf of the stocker apparatus 300.

In this way, the stocker device 300
When empty pallets are stored in the stored pallets, the empty pallets are exchanged for pallets that have been filled in the buffer device 400. As described with reference to FIG. 8, when an empty pallet is transferred from the stocker device 300 to any one of the shelves of the buffer device 400, the sub control device 130 turns on the display lamp 603 of the corresponding shelf. . <Stocker Apparatus 300> FIG. 19 is a front view of a main part of the stocker apparatus 300 viewed from the direction opposite to the arrow A in FIG.
FIG. 20 is a perspective view of the stocker apparatus 300. FIG.

As shown in FIG. 19, the stocker device 300
, Three sets of left and right pallet guides (301a, 301b) are fixedly provided on the shelf frame 302 in the upper, middle, and lower tiers, and the three sets of guides support three pallets. As the frame 302 moves up and down, the guide fixed to the frame 302 moves up and down, and the guide 3
The pallet supported by 01 moves up and down.

A mechanism for vertically moving the shelf frame 302 of the stocker device 300 is provided in a portion of the housing frame 600 (FIG. 2) corresponding to the stocker device 300. As shown in FIGS. 19 and 20, the vertical movement mechanism includes two shafts 305a and 305b provided vertically apart from the frame 600 and a belt fixing block penetrated by the shaft 305 and attached to the shelf frame 302. (306, 30
7) two sets of guides (303a, 30a)
3b, 304a and 303b) and the motor 30 with the plate 310 mounted on the housing frame 600.
8, an encoder 309 for detecting the rotational position of the motor 308, a timing belt 315 partly fixed to the shelf frame 302 via fixing blocks (306, 307), and a rotational force of the motor 308 decelerated. A speed reduction mechanism for transmitting to the timing belt 315 (the timing belt 311, the speed reduction unit 312, the pulley 313, the speed reduction unit 31
4).

When the motor rotates by a predetermined angle, the speed reduction unit 31
The rotational force is transmitted to the timing belt 315 wound around the pulley 4 and the pulley 316, and the belt 315 rotates.
When the belt 315 rotates, the shelf frame 3 fixed to the belt 315 via fixing blocks (306, 307).
02 moves up and down. When the frame 302 moves up and down, the guides (303a, 303b) fixed to the frame 302
And 304a, 304b) are shafts (305a, 305).
Since the frame 303 moves up and down along b), the frame 303 moves up and down stably.

The rotation angle of the motor 308 is
9 is detected. FIG. 21 shows teaching points taught in the frame 302 of the stocker apparatus 300. In FIG. 21, TP _X01 , TP _X02 , and TP _X03 are:
This is a teaching point for matching any one of the three pallets supported by the three pallet guides 301 in the stocker device 300 to the pull-out position (height h). TP
_Y101 to TP _Y110 is a teaching point for matching the pallet on the shelf top of the stocker 300, to any one of the 10 shelf position of the buffer device 400, TP
_{Y201 ~TP Y210} is a teaching point for matching the pallet on the shelf in the second stage from the top of the stocker 300, to any one of the 10 shelf position of the buffer device 400, TP _Y301 ~TP _Y310 is a teaching point for matching the pallet on the lowest shelf of the stocker device 300 with any one of the ten shelf positions of the buffer device 400. In addition, any of TP _{Y101 to} TP _Y310 having the same shelf position may be used as a common teaching point.

Next, the movement of the pallet in the direction A (arrow A in FIG. 2) in the stocker device 300 will be described.
19, 20, and 22 illustrate the pallet transfer mechanism together with the pallet vertical movement mechanism (described above).
The upright side members of the shelf frame 302 are composed of four frame members (320a, 320b, 3
20c, 320d), by being fixed to the member 320b. That is, the frame 302 and the frame 320 constitute a shelf frame that supports the pallet guide.

The plate 3 is attached to the frame member 320c.
27a is fixed, and a plate 327b is fixed to the frame member 320d. The fixed blocks 323a and 323b are provided on the plate 327a.
Fixed blocks 323c and 323d (not shown) are fixed to the. A shaft 322a is provided between the fixed blocks 323a and 323d, and the fixed blocks 323b and 323c.
The shaft 322b is passed between them.

Two shelf frame members 320c, 320d
An air cylinder 321 is provided across the two plates fixed to each of the above. The actuator (not shown) of the air cylinder 321 meets the member 329 and the plate 3
26. On the other hand, the shafts 322a and 322b penetrate inside the two guides 328a and 328b provided on the plate 326. Accordingly, when the air cylinder 321 is driven and the actuator (not shown) moves in the direction A, the plate 326 fixed to the actuator via the member 329 also slides along the shafts 322a and 322b.
a, and moves in the A direction while being supported by 328b.

At both ends of the plate 326, drawer bars 324a, 324b are fixed in the direction A, and these bars 324a, 324b are attached to the drawer columns 325a, 32b.
5b is fixed. Accordingly, when the air cylinder 321 is driven and the actuator (not shown) moves in the A direction, the drawer columns 325a and 325b move in the A direction.

Referring to FIG. 23 and FIG.
When a specific pallet is moved from the buffer device 400 to the stocker device 3 when the 25a and 325b move.
00 will be described. FIG. 23 is a front view showing a state where three pallet pull-out claws are attached to the column 325b as viewed from the buffer device 400 side, and FIG. 24 is a plan view thereof. As shown in FIG. 23, drawer claws are provided corresponding to each shelf position of the stocker device 300. That is, the air cylinder 33 is mounted on a mounting table 334 provided at a position corresponding to each pallet guide 301.
2 are provided with claws 331 attached thereto. Nail 331
23 along the groove provided in the guide block 330 in FIG.
Move left and right. FIG. 23 shows each claw 331 in a retracted state, and FIG. 24 shows a state in which the claw is out and engaged with the notch of the pallet.

FIG. 25 shows a guide 60 of the buffer device 400.
In order to transfer the pallet supported by 2 to the stocker device 300 side, a pair of claws 331 are moved to the buffer device 400 side, and the pallet is sandwiched from both sides. FIG.
Reference numeral 6 denotes a state in which the column 325 moves the pallet sandwiched by the packing 331 and transfers the pallet to the guide 310 on the stocker apparatus 300 side. As shown in FIG. 23, the three claws 331 can be selectively biased. For example, as shown in FIG. 13, when transferring from the buffer device 400 to the third shelf of the stocker device 300, all three air cylinders 322 in FIG. 23 are turned off and the claws are retracted. By driving the air cylinder 321 in FIG.
24 is moved to the buffer device 400 side. And FIG.
Only the third-stage air cylinder 332 of FIG.
Of the 8th pallet.

The stocker apparatus 300 has one set of air cylinders 332 and claws 331 for each shelf. For convenience, only the left side is shown in FIG. 19 and only the right side is shown in FIG. The reason why the pallet is placed in the normal position in the buffer device 400 is that
This is performed by the operator bringing the pallet into contact with the stopper 605 of the guide 602a of the "00". Stocker device 3
At 00, the stocker device 300 itself determines whether the pallet is normally placed on the guide 301. FIG. 22 also shows a method of detecting whether the pallets transferred to the stocker device 300 are out of position. As shown in FIG.
The light emitting diode 340a and the frame member 320
b, a light receiving element 340b is provided on the buffer device 40b.
On the 0 side, the light emitting diode 341a is placed on the plate 310.
And a light receiving element 341b is provided on the frame member 320d. If any one of the three pallets is placed on the robot apparatus 200 side by side, the light from the diode 340a is blocked before reaching the light receiving element 340b. If the diode 341 is biased toward the buffer device 400,
Since the light from a is blocked before reaching the light receiving element 341b, such a pallet displacement can be detected. The detection of the pallet displacement can prevent the pallet or the device from being damaged.

As described above, the pawl 331 of the pallet transfer mechanism provided in the stocker device 300 is
In order to transfer the pallets from 0 to the stocker device 300, the buffer device 4 is initially set with the claws turned off.
The pawl 331 is moved to the 00 side, and when it reaches the notch position of the target pallet, the pawl 331 is turned on and the pallet is gripped.
Move to 00 side. Then, the pawl 331 is turned off to release the pallet. In this process, it is confirmed that the sensor 341b is turned on after being turned on, and that the sensor 341a is turned on.

On the other hand, in order to return the pallet from the stocker device 300 to the buffer device 400, the pawl 331 is turned on, the target pallet is gripped, the pallet is moved to the buffer device 400 side, and the pawl 331 is turned off. The pallet will now be resting on the guide 602a of the buffer device 400. <Positioning Device 500> As shown in FIG. 1, the positioning device 500 is provided at a fixed position (pallet pull-out position = height h), and pulls out a target pallet in the stocker device 300 or pulls out the pulled-out pallet. It has a function to return to the original shelf. Positioner 500 is also provided in a fixed position, by the stocker 300 is moved to the teaching point TP _X shown in FIG. 21, the positioning device a target pallet at any shelf position 5
00 can return a drawer or a pallet that has been drawn to a shelf at that position.

FIG. 27 is a perspective view of the positioning device 500.
FIG. 28 shows a side view of a main part of the positioning device 500. Positioning device 500 has two air cylinder systems. The first air cylinder is 502 and its actuator is 504. The second air cylinder is 507
a (507b, not shown), and its actuators are 506a and 506b. First air cylinder 502
Of the actuator 504 of the actuator 50
4 is kept constant by the two shafts 503a and 503b penetrating therethrough.

When the air cylinder 502 operates, the actuator 504 moves in the direction of arrow A in the figure. A plate 511 is fixed to the actuator 504, and two sets of the above-described second air cylinders 507a and 507b are mounted on the plate 511. The attitude of the actuator 506a of the air cylinder 507a is determined by the two shafts 512 passing through the actuator 506a.
a is kept constant. Also, the air cylinder 507b
Of the actuator 506b is kept constant by two shafts 512b penetrating the actuator 506b. Therefore, when the first air cylinder 502 operates and the actuator 504 moves in the direction A, the second air cylinders 507a and 507b also move the actuator 504.
It moves in the A direction at the same speed as. Then, the actuators 506a, 506a of the second air cylinders 507a, 507b
The air cylinder 506b can move independently of the operation of the actuator 504 by operating the air cylinders 507a and 507b.

Air cylinders 514a and 514b are provided on the actuators 506a and 506b, respectively, and these air cylinders 514a and 514b drive pallet hooks 513a and 513b. The two actuators 506a and 506b are connected by a connection bar 510. The purpose of the bar 510 is to synchronize the movement of the two actuators 506a and 506b driven by separate air cylinders.

Pallet hooks 513a, 513b
Is in contact with the notch of the pallet, and the air cylinder 5
02 and / or the air cylinders 507a and 507b are driven in the direction A. The position after the movement of the pallet is determined by the positioning frame 530. That is, the position of the pallet in the direction A is defined by the contact surface 520, and the position in the direction C is defined by the contact surface 521.

Driving of the first air cylinder 502, that is,
The movement control of the actuator 504 and the driving of the second air cylinder 507, that is, the movement control of the actuator 506 are performed by four sensors 540 to 543 provided on the base 501 as shown in FIG. . First, the sensor 541 detects the forward end of the pallet pulled out,
The sensor 543 detects the retreating end of the pallet. These sensors 541 and 543 detect whether or not the pallet pulled out by the positioning device 500 is positioned at a regular position. When a pallet having a size as shown in FIG.
When the pallet is properly positioned by 00, the sensor 541 detects the forward end of the pallet, and the sensor 543 does not detect the backward end.

When the actuator is in the state shown in FIG.
Consider a case where the positioning device 500 pulls out a predetermined pallet in the stocker device 300 when the pallet is placed at the right end of the stocker. First, the positioning device 500 moves the actuator 504 to the right end while the claw 513 is retracted so that the actuator 504 is at the position of the sensor 543, and places the actuator 506 at the right end of the air cylinder 507. And the claw 513 is retracted. Thereby, the claw 5 on the actuator 506b is
13 will reach the cut-out position of the pallet in the stocker device 300. The air cylinder 514 is turned on, and the pallet is gripped by the pawl 513. Then, the air cylinder 50 is moved so that the actuator 504 is moved to the left.
Activate 2 Actuator 504 will pass through sensor 542, as shown in FIG. Here, the operation of the air cylinder 507 is started, and the movement of the actuator 506 to the left is started. This allows
The pallet held by the claw 513 moves with the moving speed of the actuator 506 superimposed on the moving speed of the actuator 504. When the actuator 504 has passed the sensor 504 (ie,
4 blocks the sensor 540 and then the sensor 54
0), the supply of air to the air cylinder 502 is stopped. On the other hand, the supply speed of the air amount to the air cylinder 507, that is, the moving speed of the actuator 506, is such that the actuator 506 reaches the left end of the air cylinder 507 before the actuator 504 reaches the left end in the direction A of the air cylinder 502. Is set in advance so that That is, the contact portion 5 of the frame 530 of the pallet
The collision impact on the cylinder 20 is reduced because the actuator 504 reaches the left end of the air cylinder 502 in the direction A and the actuator 506 reaches the left end of the air cylinder 507 at the same time.

As described above, the pallet is stably pulled out to a regular position at a high speed (overlap speed of the actuators 504 and 506). <Pallet lid removal> As shown in FIGS. 3 to 5, a lid 40 is attached to the pallet used in the present system.
The components inside the pallet can be prevented from being soiled. For this purpose, the lid 40 should cover the pallet until the components in the pallet are actually gripped by the robot device 200. However, if the lid is removed each time the pallet is pulled out by the positioning device 500, and then the lid is returned, a flow of air is generated to open and close the lid, and there is a possibility that garbage may enter. Is high. Therefore, in the present system, the lids of all the pallets in the stocker device 300 are always opened only when the pallets are not exchanged between the buffer device 400 and the stocker device 300. Since the use of the lid for the pallet depends on the working environment, the pallet lid removal mechanism is an optional setting.

FIG. 30 is a view showing a state before the lid removing mechanism of the system in which the option is mounted is operated, and FIG. 31 is a view showing a state after the operation. The lid removing mechanism is provided between the columns of the frame 302 of the stocker device 300 shown in FIG. That is, the lid removing mechanism is designed to remove the lid 40 securely so that the stocker device 30 can be removed.
0 are provided on the left and right sides.

First, as shown in FIG. 3, the pallet is provided with a notch 38c, while the lid 40 has no notch corresponding to the notch 38c. Therefore, the lid removing mechanism of this embodiment uses the lid removing claw 353, and this claw is inserted into the notch 38c so that the pallet does not interfere with the claw 353. By pushing upward, the lid 40 is detached.

That is, in FIG. 30, the detaching mechanism is provided between the columns 302. More specifically, a bush hole 350 is formed in a part of the horizontal bar of the frame 302.
Are provided, and the guide bar 351 is inserted therein. The bar 351 is connected to the air cylinder 360 via the actuator 361. That is, the bar 351 rises when the air cylinder 360 is turned on, and falls when the air cylinder 360 is turned off. The bar 351 is provided with claws 353 for removing the lid 40 corresponding to each shelf of the stocker device 300. The pawl is fixed to the bar 351 via a pin 352 and a spring 354. Therefore, when the air cylinder 360 is turned on, the pawl 353 removes the lid 40, and when the air cylinder 360 is turned off, the pawl 353 is returned to the original position by the spring 354, and the lid 40 is turned off.
Closes.

When the claw 353 is raised, the claw 353 is
Is pressed against the butting bar 362. The lid 40 is guaranteed to be raised to such an extent that the lid 40 does not interfere with the pallet when the pallet is withdrawn by the positioning device 500. Therefore, the lid 40 is connected to the pallet gas 30
As long as it stays within 0, it is not completely removed,
No dust or the like enters the pallet. The lid 40 is pressed against the bar 362 as long as the pallet is pulled out by the positioning device 500 to the pull-out position. Since the lid 40 is pressed against the bar 362, the lid 40 does not shift even when the stocker device 300 moves up and down and the main body vibrates.

Since the claw 353 slides along the pin 352 while being urged by the spring 354, it is not damaged even if the stroke of the air cylinder 360 is long. <Control> FIG. 32 shows the configuration of the main control unit 120 and the sub control unit 130, which are the control units of the present system. The sub-control unit 130 includes an NC controller and an I / O controller, and includes a positioning device 500, a stocker device 30
0, controls the buffer device 400. In particular, the NC controller controls the servo motor (308 in FIG. 20) and the encoder (309), and the I / O controller
Controls sensors, actuators, and air cylinders.

The main control unit 120 includes a ROM 801 and a RAM
FIG. 33 shows the data and programs stored in the ROM 801 and the RAM 802. Then, the main control unit 120 stores the ROM
801 and the positioning device 5 according to these programs stored in the RAM 802.
00, the stocker device 300 and the buffer device 400 are controlled. The relationship between the main control unit 120 and the sub-control unit 130 is such that the main control unit 120 interprets and executes a program described in a high-level language, converts the program into lower-level secondary code, and converts this secondary code into sub-control code. The relationship is to be passed to the unit 130.

In this system, the robot device 200,
The operations for positioning device 500, stocker device 300, and buffer device 400 constitute a task. These multiple tasks are controlled by the multitask program 830. The operation program creation program 831 in the ROM 801 is stored in the robot device 200 and the positioning device 5.
00, a program for inputting and compiling a program for defining operations of the stocker device 300 and the buffer device 400. The operation execution program 832 is a program that interprets and executes the created operation program. The operating position teaching program 833 is a program for teaching teaching points as shown in FIG. The I / O management program 834 is a program for managing sensors, actuators, air cylinders, and the like. The above is R
This is stored in the OM 801.

The RAM 802 mainly stores the robot device 2
00, a program that describes the operations of the positioning device 500, the stocker device 300, and the buffer device 400, that is, a robot operation program 822 and an article supply device operation program 825. 823 is reserved as a variable data area dedicated to the robot operation program 822, and 8 as a variable data area dedicated to the article supply device operation program 825.
26 are secured.

Robot device 200, positioning device 50
0, the operations for the stocker device 300 and the buffer device 400 may interfere with each other. In order to synchronize the operations of the robot device 200, the positioning device 500, the stocker device 300, and the buffer device 400, commonly used variables are set so that such interference does not occur. Synchronization control between devices is possible by rewriting a variable, which is an operation program of one device, as a control target and monitoring the variable for the progress of the operation for the device by an operation program of another device. Becomes

In FIG. 32, the input / output devices 100 and 11
0 is the main control unit 1 via the RS232C interface.
20. The first input / output device 100 is a so-called personal computer system, and has a CRT, a printer, and a keyboard. Variables FIGS. 34 and 35 show main variables used for the control of the buffer device 400 and the control of the stocker device 300, respectively, in a table form so that they are easy to see. This variable table is created in the variable area 826 (FIG. 33).

The variables for the buffer device 400 shown in FIG. 34 will be described. Information about the buffer is set for each shelf. First, the status information will be described. The status information takes four values from 0 to 3. 0 indicates that the pallet cannot be loaded with the pallet. When the pallet having a thickness of 50 mm or more is put into a shelf, the pallet cannot be put under the shelf. 1 indicates that the shelf is currently full of pallets. 3
Indicates that a pallet is mounted on the shelf and the pallet is currently empty because the pallet is currently pulled out to the stocker apparatus 300. 2 indicates that the shelf has never been loaded with a pallet, and therefore the shelf is currently empty.

The shelf numbers are set from 1 to 10 in order from the top. In the example of FIG. 34, a 50 mm thick pallet containing the component A is mounted on the first to fourth tier shelves. Parts B on the 5th to 7th shelves
Is mounted on a pallet of 25 mm in thickness.
A pallet having a thickness of 100 mm and containing the component C is mounted on the shelf on the eighth and tenth tiers. In the table of FIG. 34, the used / unused flag indicates whether the buffer shelf is in use (status = 1, 3) or unused (status = 0, 2). In the example of FIG. 34, the first to eighth shelves and the tenth shelf are in use.

The various information shown in FIG.
Displayed on RT. As described above, the buffer device 40
Since a worker puts a pallet into each of the 0 shelves, the part type information and the pallet thickness information in FIG. 34 are rewritten by the worker on the CRT screen. Also,
When the pallet is put on the shelf, the operator presses the switch 604. Since the signal of the switch 604 is sent to the main controller 120 via the sub controller 130, the used / unused flag is rewritten by the main controller 120 using the signal. In addition, main controller 120 controls the current position of the pallet (stocker device 300).
34, or is pulled out by the positioning device 500), the main control device 120 also rewrites the status information in FIG.

FIG. 35 shows main variables for controlling the stocker apparatus 300 in a table form. Buffer device 4
Similarly to 00, this table is also stored in the CR of the input / output device 100.
It is displayed in a T shape. Since the stocker apparatus 300 has three shelves, the table in FIG. 35 also has three rows. The “usage type” in the table indicates the type of parts stored on the pallet of the shelf. If not used, the control device 120 sets the “usage type” to 0. Stocker device 300
Transfers the pallet from the buffer device 400, the type of the component in the pallet is known from the table of FIG. 34, and is written in the "use type" of the corresponding shelf in FIG.

The flowchart of FIG. 36 shows the control procedure of the robot task, and the flowcharts of FIGS. 37 and 38 show the control procedure of the stocker task. These control procedures are started at the same time as the power supply to the system is turned on. In the robot device 200, a preparation procedure is performed in step S2. This preparation procedure is performed by the worker
34, a predetermined pallet is put into each shelf, and on the assumption that the switch 604 of the shelf in which the pallet has been put is pressed, the operator can use the keyboard of the input / output device 100 to input the pallet in the table shown in FIG. Then, the part type information and the pallet thickness information are input. The loading of the pallet into the buffer device 400 is described in the control procedure of steps S34 to S40 in FIG. In step S4, the system enters a startup waiting state. This waiting state continues after the operator presses the “start” icon displayed on the CRT of the input / output device 100 and until the robot task receives a part request enable command from the article supply program for the stocker device 300. I do.

On the other hand, when the power is turned on, the stocker apparatus 300 sets the buffer apparatus 400 to the input mode in step S30. This setting is performed by the input / output device 100
By pressing the "insert" icon displayed on the CRT. In step S32, the lamp 603 of each shelf is turned on according to the used / unused flag while referring to the buffer status table (FIG. 34). this is,
This is because there may be pallets remaining on the shelf of the buffer device 400 in the previous assembly operation. In steps S34 to S40, the operator is prompted to insert a pallet. The operator has already displayed on the CRT screen which shelves of the buffer should be put into which shelves in the buffer in step S2 (FIG. 36). The missing pallet is put on the shelf of the buffer device 400 while looking at the display (603). That is, if it is detected that the stocker device 300 has pressed the switch 604 of the shelf inserted by the worker in step S36 after the worker puts the pallet in step S34, the corresponding display 603 is turned off in step S38. See FIG. Such a pallet loading operation is repeated until all necessary pallets are loaded into the buffer device 400. When the input operation is completed, the operator turns off the input mode by pressing an “input” icon displayed on the CRT of the input / output device 100 to turn off the input mode. In the stocker device 300 that has received this off, in step S42,
A part request permission command is sent to the robot device 200 side. Then, the process proceeds to step S44, where the robot device 2
Wait for a stocker start command from 00 and a skipped product request command. Here, the component request command includes designation of a component type. if,
To assemble one unit, for example, parts A,
If B, C, and D are required, a request command specifying component A, a request command specifying component B, a request command specifying component C, and then a request command specifying component D It will be issued from the assembly program (822) of the robot device 200.

Robot device 20 which has received a component request permission command
On the 0 side, the process proceeds from step S4 to step S6. In step S6, the pallet storing the component designated by the component request command is searched for in the buffer device 400 with reference to the table (FIG. 34), and the pallet is stored in the shelf of the stocker device 300. Draw in. The operations of steps S44 to S46 are repeated until the required number of parts is aligned on the stocker device 300.

The pallet is drawn from the buffer device 400 to the stocker device 300 in steps S44 to S46 in order from the top of the shelf of the stocker device 300. For example, to assemble a unit, the parts A,
If B and C are required, if all the pallets storing these parts are taken into the stocker apparatus 300, FIG.
A stocker shelf table as shown in FIG. 5 will be obtained. The transfer of the pallet from the buffer device 400 to the stocker device 300 has been described with reference to FIGS.

When the necessary pallets are prepared on the shelf of the stocker device 300, the stocker device 300 proceeds to step S4.
At 8, the shelf supporting the pallet (the pallet of the first shelf in the example of FIG. 35) that stores the component specified by the first component request command matches the drawing position (height h) of the positioning device 500. So that the main body of the stocker device 300 is moved up and down. This movement is performed by detecting the number of the shelf supporting the target pallet from the table in FIG. 35 and moving to the teaching point (see FIG. 21) corresponding to the number. And the positioning device 5
In response to 00, the operation of pulling out the pallet is started.
Drawing out of the pallet by the positioning device 500 is shown in FIG.
29 has just been described. Step S50
Then, a message to the effect that the stocker is ready is sent to the robot device 200, and in step S52, the robot device 200 waits for an empty next component request command.

At step S8, the robot device 2 waiting for parts, ie, waiting for the completion of the preparation of the stocker device 300
In step S10, the process proceeds to step S10, in which the components in the pallet at the drawer position are gripped. In the example of the table in FIG. 35, the component A is gripped. In step S12, the number of remaining parts for the pallet is reduced by one. The remaining number is updated in the table (FIG. 35). Step S1
In step 4, a command for requesting the next part (part B in the example of FIG. 35) is sent to the stocker apparatus 300. At the same time, in step S16, the component A is assembled.

When the stocker device 300, which has been waiting for the next part request command in step S52, receives the request command for the next part (part B), in step S54, the pallet that has been pulled out (to store the part A) is received. To the positioning device 50
It is returned to 0 in the stocker apparatus 300. Then, in step S56, the main body of the stocker device 300 is moved so that the shelf position of the pallet for storing the next requested component (B) matches the drawing position. Further, the pallet is pulled out by the positioning device 500. The pallet pulled out by the positioning device 500 is waiting at the pull-out position until the robot device 200 finishes assembling the component (A) and grips the component (B) of the pallet being pulled out.

In this way, the operation of assembling the parts by the robot device 200 and the operation of preparing the next parts by the stocker device 300 are performed in parallel, and the efficiency is improved. Step S58 in FIG. 38 is a step for checking whether there is a pallet in the stocker device 300 that has returned from the positioning device 500 due to empty components. If such an empty pallet has not returned, the process returns to step S52 to process the next component request.

Next, control in a case where parts in the pallet become empty due to parts being consumed by the robot apparatus 200 will be described. In such a case, in step S60, the stocker device 300 performs an operation of returning the pallet to the original shelf position of the buffer device 400. In the method of searching for the original shelf, a pallet having the same type of components as the empty pallet and having a status flag of 3 is selected in the table of FIG.

In step S62, a lamp 60 indicating that an empty pallet is mounted on the returned shelf is provided.
Light 3 In step S64, the returned pallet is stored in the buffer device 400 using the table (FIG. 34).
The found pallet is pulled into the original shelf in the stocker device 300.

When the pallet P ₁ for storing the parts A on the second shelf of the stocker device 300 becomes empty, the pallet P ₁ is drawn into the stocker device 300 from the uppermost shelf of the buffer device 400. , The pallet P ₁ is returned to the top shelf of the buffer device 400. Then, a new pallet P ₂ for storing the part A is
As shown in FIG. 34, if in the second stage, will return the pallet P ₂ on the shelf of the second stage of the stocker apparatus 300.

In step S66, the main body of the stocker device 300 is moved so that the shelf position where the empty pallet has been returned in step S58 matches the drawer position. This operation enables a continuous component supply operation of the stocker device 300 to the robot device 200. still,
The operation of the lid removing mechanism in the stocker device 300 is shown in FIG.
7, a step for driving the air cylinder 360 is inserted after step S42 and after step S66 in FIG. 38, and after step S58 in FIG.
Turn off 0

Steps are inserted.

As described above, according to the present invention, dust is prevented from being caught and the time required for opening and closing the lid is eliminated by minimizing the number of times of opening and closing the lid. Also, there is room for dimensional error of the lid,
And the like can be obtained. In addition, since the removed lid is stored in the information immediately on the pallet, falling garbage rarely enters the pallet.

[Brief description of the drawings]

FIG. 1 is a block diagram of an article supply device according to an embodiment of the present invention.

FIG. 2 is an overall perspective view of the system of FIG.

FIG. 3 is a diagram illustrating a structure of a pallet used in the embodiment.

FIG. 4 is a diagram illustrating a structure of a pallet used in the embodiment.

FIG. 5 is a diagram illustrating the structure of a pallet used in the embodiment.

FIG. 6 is a front view of the buffer device 400.

FIG. 7 is a perspective view of a part of the buffer device 400.

FIG. 8 is a diagram illustrating the operation of a display and a switch used in the buffer device 400.

FIG. 9 is a view for explaining transfer of a pallet between a buffer device 400 and a stocker device 300.

FIG. 10 shows a buffer device 400 and a stocker device 300.
FIG. 6 is a diagram for explaining transfer of a pallet between the pallets.

FIG. 11 shows a buffer device 400 and a stocker device 300.
FIG. 6 is a diagram for explaining transfer of a pallet between the pallets.

FIG. 12 shows a buffer device 400 and a stocker device 300.
FIG. 6 is a diagram for explaining transfer of a pallet between the pallets.

FIG. 13 shows a buffer device 400 and a stocker device 300.
FIG. 6 is a diagram for explaining transfer of a pallet between the pallets.

FIG. 14 shows a buffer device 400 and a stocker device 300.
FIG. 6 is a diagram for explaining transfer of a pallet between the pallets.

FIG. 15 shows a buffer device 400 and a stocker device 300.
FIG. 6 is a diagram for explaining transfer of a pallet between the pallets.

FIG. 16 shows a buffer device 400 and a stocker device 300.
FIG. 6 is a diagram for explaining transfer of a pallet between the pallets.

FIG. 17 shows a buffer device 400 and a stocker device 300.
FIG. 6 is a diagram for explaining transfer of a pallet between the pallets.

FIG. 18 shows a buffer device 400 and a stocker device 300.
FIG. 6 is a diagram for explaining transfer of a pallet between the pallets.

19 is a front view of the stocker device 300. FIG.

20 is a perspective view of the stocker device 300. FIG.

FIG. 21 is a diagram illustrating a teaching point.

FIG. 22 is a side view of the stocker apparatus 300.

FIG. 23 is a diagram illustrating a pallet gripping operation in the stocker device 300.

FIG. 24 is a view for explaining a pallet gripping operation in the stocker device 300.

FIG. 25 shows a sequence from a buffer device 400 to a stocker device 30;
The figure explaining a mode that a pallet is transferred to 0.

FIG. 26 shows a sequence from the buffer device 400 to the stocker device 30.
The figure explaining a mode that a pallet is transferred to 0.

FIG. 27 is a perspective view of the transfer device 500.

FIG. 28 is a side view of the positioning device 500.

FIG. 29 is a diagram illustrating the operation of the positioning device 500.

FIG. 30 is a view for explaining the opening operation of a pallet in the stocker apparatus 300.

FIG. 31 is a view for explaining the opening operation of a pallet in the stocker apparatus 300.

FIG. 32 is a block diagram illustrating a configuration for controlling the entire system.

FIG. 33 is a diagram illustrating the storage state of data and programs used for control.

FIG. 34 is a view for explaining display states of variables used for control.

FIG. 35 is a view for explaining display states of variables used for control.

FIG. 36 is a flowchart showing a control procedure of a robot task.

FIG. 37 is a flowchart showing a control procedure of a stocker task.

FIG. 38 is a flowchart showing a control procedure of a stocker task.

Claims (4)

(57) [Claims] 1. A pallet capable of storing a plurality of articles and having a lid that closes one of the pallets, storage means for vertically storing the plurality of pallets in a separated state, and stored in the storage means. Moving means for moving the storage means to move any of the pallets to a fixed drawer position; drawer means for pulling the pallet that has been moved to the drawer position out of the main body of the storage means; An article supply apparatus comprising: a temporary storage unit for replenishing a pallet in a storage unit, wherein the storage unit includes a storage unit that does not transfer a pallet between the temporary storage unit and the storage unit. An article supply device, comprising: lid removing means for removing lids of all pallets stored in the pallet at once. 2. The cover removing means comprises: a bar extending in the direction in which the shelves of the storage means are arranged; an engaging member disposed on the bar and engaging with a lid of a pallet of each shelf; 2. The article supply device according to claim 1, further comprising a driving unit that moves the bar in a vertical direction. 3. The article supply device according to claim 2, wherein the lid removing means includes a stopper member that contacts the engagement member. 4. The apparatus according to claim 3, wherein the cover removing means includes a guide pin through which the engaging member moves, and a spring inserted through the pin and biasing the engaging member. An article supply device as described in the above.