JP2886931B2 - Article supply device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION The present invention relates to an apparatus for supplying articles to an automatic machine such as a robot for performing operations such as processing or assembling articles, and more particularly, to an apparatus for supplying articles to a pallet. The present invention relates to an apparatus for storing the pallets, stacking the pallets in a stacked state, and sequentially supplying the pallets to the robot article supply apparatus.

[Conventional technology]

Conventionally, an apparatus for storing articles in a pallet, stacking the pallets and supplying the stacked pallets to a robot is disclosed, for example, in Japanese Patent Application Laid-Open No. Sho 60-213630.

The apparatus disclosed in the above-mentioned publication discloses: (a) a tray supply unit for storing a stacked tray formed by stacking a plurality of trays, and a product take-in / out unit for installing a tray transferred from the tray supply unit; Are provided in the main body of the apparatus.

(B) A transfer machine is provided at the product take-in / take-out section corresponding to each of the tray supply sections so as to link them, and the transfer machine transfers the tray to the product take-out / take-up section.

(C) Each product take-out / in section is open at the top surface to carry out product take-out and take-out work on the trays, and the trays after the work are sequentially transferred and mounted on an elevator.

(D) The elevator is provided with a receiving table corresponding to each of the product take-in / out sections, and the receiving tables are configured to be eccentrically linked to one drive unit via a linking tool and to alternately move up and down. By this elevating operation, the trays step up the trays placed on the upper surface and stack the trays.

The configuration is as follows.

The apparatus disclosed in Japanese Patent Application Laid-Open No. 60-213630 is a system in which pallets containing articles are stacked and the robot side is supplied separately from the lower portion of the stacked pallet. Therefore, the stacked pallet is located above the pallet separation position. Exists. Therefore, the vertical dimension of the pallet supply section is increased, so that the robot operation area for empty pallet discharge by the robot is limited, and the empty pallet discharge operation by the robot cannot be practically performed.

In the apparatus disclosed in the above-mentioned publication, the empty pallet discharge process is carried out through a number of distance strokes from the supply position to the robot, the rear discharge portion, the transportation by the linked elevator, the front discharge portion, and the empty pallet discharge port. For this reason, the apparatus becomes complicated, requiring a large number of lifting / lowering means, and requires a large volume.

[Problems to be solved by the invention]

According to the present invention, an article supply device having a function of transferring stacked pallets containing articles to an article supply position of a robot and sequentially stacking and discharging empty pallets can efficiently supply articles. The present invention provides a device capable of performing a transporting process from a product supply device to a pallet discharge position with high efficiency.

Further, the present invention provides a special empty pallet discharging means so that when a pallet at an article position where the robot takes an article becomes empty, the robot can perform an operation of pushing an empty pallet to a pallet discharging position. Not to be. Therefore, as another object of the apparatus according to the present invention, the pallet is not located in the discharge operation area where the robot can pick up the article by the robot and discharge the empty pallet by the robot when the pallet becomes empty. Provide equipment.

Further, the present invention provides an apparatus for supplying a pallet to an apparatus for supplying articles by a pallet by a carrying-in means, for example, an automatic guided vehicle, and accurately connecting the article supply apparatus to the automatic guided vehicle.

[Means for achieving the task]

In order to achieve the above object, the present invention provides an article supply apparatus for an automatic machine such as a robot that moves on a track to pick up the article and process or assemble the article, and accommodates a plurality of pallets containing the article. A supply position for supplying articles on the pallet to an automatic machine such as a robot, a discharge position for discharging an empty pallet, and a pallet refill position are provided, and the actual pallet containing the articles is transferred to the supply position, A pallet supply device that includes a transfer unit that discharges a pallet emptied by the supply of articles at a supply position and circulates and transfers the pallet to the supply position and the discharge position, and a discharge unit that discharges an empty pallet at the discharge position. Are arranged on the track, and at least a portion of the pallet supply devices of the pallet supply device has a pallet replenishing position of the pallet supply device. To,
An article replenishing means on which a pallet containing articles is stacked, a transfer means for transferring an actual pallet to the pallet replenishing position after the empty pallet is discharged from the supply device, and an actual pallet supplied to each of the pallet supply devices Each pallet supply device is provided with a counting means for counting the number, and when the remaining number of the pallet becomes a predetermined number, the discharging operation of the empty pallet at the discharge position in the pallet supply device is executed; and Means for detecting a discharge signal of the empty pallet of the supply device, and based on the signal of the counting means and the signal of the detecting means,
An article replenishing means for replenishing the actual pallet is connected to a pallet replenishing position of the pallet supply device.

[Action]

According to the present invention, when the pallet containing the articles is at the supply position by the supply position detecting means and the remaining number of pallets by the pallet number detecting means reaches a predetermined value, replenishment by the article replenishing means of the unmanned vehicle is performed. .

[Explanation of Example]

1. Description of the whole system of the assembly device including the pallet supply device.

FIG. 1 is an overall perspective view of an assembling apparatus 1 according to the present invention,
Figure shows a side view of Figure 1 A ₁ -A ₂ robot viewed from the direction of cross-sectional side 2A and pallet feeder 2B.

In FIG. 1, reference numeral 4 denotes a shuttle 6 on which a robot is mounted.
Is a base to which a rail 8A to be moved is attached.

The shuttle 6 includes a robot 12 provided with a hand 10 for picking up articles, parts, units, materials, and the like from a pallet described later, an assembling jig 14 for assembling an article picked up by a hand, and assembling the hand 10. A hand exchange table 16 for exchanging according to the purpose and a robot controller 18 for signal communication and signal control which are connected to a controller on a pallet supply device described later are mounted.

20A ₁ , 20A ₂ , 20A ₃ ... Are pallet supply devices according to the present invention. 20B ₁ <20B ₂ … is the applicant's earlier application (Japanese Patent Application No. 1-84
No. 881, filed on April 5, 1999).

The pallet supply devices 20A ₁ (20A ₂ ...) Are arranged close to the base 4 as shown in FIG. 2, and are connected by a fixing angle member 4A extending from the base 4. The robot-side 2A and pallet feeder 20A ₁ in combined state between the base 4 and the feeder 20A ₁ becomes communicable state by the first optical communication means. In this embodiment,
Optical communication means L ₁ is a pair of light emitting member LE ₁ of the robot side, Jukoko LR ₁ and pallet supply a pair of the side light emitting member LE _2, Jukoko LR ₂
The light receiving element on the robot side and the light emitting element on the pallet supply side, and the light emitting element on the robot side and the light receiving element on the pallet supply side each form two sets of transmission / reception means. I have.

Reference numeral 22 shown in FIG. 2 denotes an unmanned vehicle that carries pallets P ₁ , P ₂ ... Filled with articles from a warehouse (not shown).

Palette feeder 20A ₁ according to the present invention includes a second optical communication means for sending and receiving signals to and from the wireless human wheel 22,
Forming an optical communication means L ₂ of the second by Jukoko LR ₃ and emitting member LE ₃ unmanned vehicle side palette supply side.

The robot-side optical communication means is connected to a robot-side controller, the pallet supply-side optical communication means is connected to a controller of a pallet supply device, and the unmanned vehicle-side optical communication means is a warehouse (not shown) for controlling the entire assembly apparatus. Connected to the central controller, including the other controller.

2. Description of the movement of the pallets P ₁ … P _n in the pallet supply device.

FIGS. 3A to 3H are views for explaining the transport state of an actual pallet filled with articles and an empty pallet in the pallet supply device according to the present invention. The configuration and operation of the pallet supply device will be described later in detail.

Third state in Figure A is not necessarily pallet is completely carried into the pallet feeder 20A _1, also showing a state not carried out also mounted the unmanned vehicle 22. Unmanned vehicles 22 loaded with pallets P ₁ , P ₂ … that contain the articles necessary for the start of assembly by the assembly device
The come to move along a track (not shown) which is determined in response to a command from the central controller, it stops fixed to a position where it can be connected with the pallet feeder 20A ₁ by unmanned vehicle stop means on the track. The state light emitting member, Jukoko of the second optical communication unit (LE ₃ · LR ₃₎ becomes possible transfer.

The pallet feeder 20A ₁ includes a first elevator 24, the second elevator 26, the first-second elevator 24 - 26 chain-belt 28 shown in dotted lines, seesaw as shown by the arrow by the motor M ₂ It is configured to perform interlocking.

30 roller conveyor, M ₃ for conveying the actual pallet P _1, P ₂ ... in the first elevator 24 shows a motor for driving the conveyor 30.

A conveyor 22A for transferring also loaded pallet unmanned vehicle 22 side to the conveyor 30 of the palette supply apparatus includes the conveyor drive motor M _1.

Figure 3 B shows the state actual pallet P _1, where ... unmanned vehicle 22 loaded with P _n is connected to the pallet feeder 20A ₁ to the unmanned vehicle 22.

The first elevator 24 of the palette feeder for receiving the loading pallet P ₁ to P _n in this state is lowered to the maximum position, as a result, the second elevator 26 In the raised position,
It is retracted to a position not interfering the movement of direction of the arrow upper palette P _1.

Then, the loading pallet P ₁ to P _n by driving the unmanned vehicle side conveyors Noriutsuri on conveyor 30 of the palette supply apparatus, by the driving of the conveyor 30, further loading pallet P ₁ to P _n
Moves onto the first elevator 24 (FIGS. 3C and 3D). The actual palette P ₁ is the pallet feeder 20A _1, said actual pallet Robotsutohando the articles P within ₁ is provided with a determined article supply position for pickup, third most significant fruit shown in Figure D the pallet P _1, by engaging the pallet engagement means 50 located above the said actual palette P ₁ (50A · 50B), is set to the article supply position. Therefore, the uppermost pallet P ₁ transferred on the first elevator 24
Is raised from the state shown in FIG. 3D and locked by locking means described later (FIG. 3E). Other palette P ₂ to P _n is in a state of being placed on the first elevator 24.

In the state shown in FIG. 3E, the pallet supply device is in a state where the robot side and the pick-up operation can be performed (access state), and the pick-up and assembling operation of the articles in the pallet is sequentially performed by the hand of the robot.

Articles in the pallet P ₁ is empty pallet P ₁ becomes empty is pushed in the direction of the second elevator 26 by the robot. Subsequently, the first elevator 24 empty pallet P ₁ moves onto the second elevator 26. The second pallet P ₂ is moved to the article supply position described above at the top (Figure 3 F).

Thereafter, the operations of the above-mentioned FIG. 3, EF are repeated to move the actual pallets P ₂ , P ₃ ,... _Pn to the article supply position and perform an access operation by the robot. When the actual pallet becomes empty, the empty pallet becomes empty. Is transferred to the second elevator 26 and the actual pallet is moved to the article supply position.

FIG. 3G shows the last actual palette P _n on the first elevator 24.
Is in the supply position and all other pallets P ₁ , P ₂ , ...
This shows a state where P _n-1 is empty and an empty pallet is loaded on the second elevator 26.

The empty pallets P ₁ , P ₂ ,..., P _n-1 on the second elevator 26 are discharged to the unmanned vehicles during the time during which the robots access the articles in the actual pallets P _n (FIG. 3). H).

The operation state shown in FIGS. 3A to 3H is a description of one cycle of a normal operation state from the supply of the actual pallet to the pallet supply device by the unmanned vehicle to the discharge of the empty pallet.

3. Description of the palette feeder (20A _1).

3-1 FIG. 4 A description of the structure shows a perspective view of a pallet feeder 20A _1. Framework of palette feeder 20A ₁ and upper frame 32 consisting of the frame member 32A · 32B · 32C · 32D as shown in FIG. 4 B, the beam of the upper frame 32
Notch for connection between lower frame 34 consisting of 34A / 34C shorter than A / 32C and 34B / 34D of the same size as upper frame beams 32B / 32D, and an angle member for connecting the robot and the pallet supply device. Beam members 36A to 36F for forming a portion, vertical beams 38A to 38D connecting the upper frame 32 and the lower frame 34, and other reinforcing vertical beams 40A to 40A.

24A indicates an elevator plate of the first elevator 24, and 2
6A indicates an elevator plate of the second elevator 26, respectively.

And auxiliary plate 26B is attached to the side end of the elevator plate 26A, the said auxiliary plate 26B is supported guide roller 26C ₁ ~26C _4, the guide roller 26C ₁ ~26C ₄ Zhang parallel to the longitudinal beams The guide plates 42A and 42B are provided between the guide beams 42A and 42B so as to keep the elevator plate 26A of the second elevator in a parallel state.

The elevator plate 24A of the first elevator also keeps a parallel state by the same configuration as the second elevator plate 26A.

Reference numerals 44A to 44D denote sprockets pivotally supported on the overhanging plates attached to the upper frame 32C and the lower frame 34C.

An elevator drive chain 46 is stretched over the sprockets 44A to 44D. Another set of sprockets and chains is provided on the opposite side. M ₂ represents a motor for an elevator drive is fixed to the lower frame.

The output shaft of the motor M ₂ is connected to one 44C of the sprockets via the gear train G _1, the forward rotation the motor M _2,
The first elevator 24 rises by the reverse rotation (the second elevator
26 down) and the first elevator 24 down (second elevator)
26), the first and second elevators 24 and 26 perform a seesaw-like motion.

48A, 48B, and 48C (FIG. 4B) are roller conveyors on the side of the pallet supply device described in FIGS. 3A to 3H.
It is a beam for holding 30. The roller conveyor 30 has a plurality of rollers arranged in series supported by the beams 48B and 48C.
30A ₁ , 30A ₂ ... And a belt 30 connecting the shafts provided on the rollers
B _1, 30B ₂ ... and consists of the shaft 30C which connects to each roller of each beam 48B and 48C side.

M ₂ represents a drive motor of the roller conveyor 30 which is fixed to the lower frame, the output shaft of the motor M ₂ is connected to the shaft 30C by a timing belt. The forward rotation the motor M _2, the rotation of each roller in response to the reverse operation is performed by the above configuration.

The rollers 30A ₁ , 30A ₂ ... Are provided on the first and second elevator plates 24 and 26 when each elevator plate comes to the lowest position.
Hole 24a ₁ for a part of it to be exposed from the top of the elevator plate,
..., 26a ₁ are provided, respectively. 50A and 50B are locking members having an L-shaped cross section held on the upper frames 32A and 32C, and the locking members 50A and 50B are movable in the X direction shown in the drawing.
Opening and closing operations are performed by drive actuators 50a and 50b such as electromagnetic solenoids and error cylinders. The locking member is provided over the entire length of the first and second elevator plates 24A and 26A in the width direction.
Actual pallet P ₁ came is raised by is held in locking member by a closing operation of the locking member, the actual pallet in this state will be coming to the article supply position.

3-2, 24, first and second elevator for the description pallet feeder 20A ₁ sensor Sui Tutsi
26, conveyor 30, locking means 50 (actuating members 50a and 50b for actuating locking members) and the first and second optical communication means L ₁ .
A plurality of sensors for switch SW for controlling the L ₂ in accordance with the flow chart diagram of a described later is disposed.

SW ₁ in the first sensor SW, are disposed on the first elevator plate 24A. SW ₂ is the second sensor SW, and the second elevator plate 2
Installed at 6A. SW ₃ in the third sensor SW, is attached to the upper frame 32B, the actual pallet on the first elevator 24 outputs a signal when it came to higher than the locking member of the locking means.

SW ₄ is is attached to the upper frame 32D in a fourth sensor SW, when the article in a real palette on the locking means 50 is empty, a pallet became the air is pushed to the second elevator direction by robot Activate

SW ₅ shows a fifth sensor SW, mounted above the longitudinal beams 38A, after transferring the empty pallet from the locking means 50 by the second elevator 26 in the elevator plate 26A, a second elevator 26
A signal for detecting the lowering position of is output.

SW ₆ denotes a sixth sensor SW, which is attached to the upper frame 32A and detects the open / closed state of the locking members 50A and 50B by the actuator 50a.

SW ₇ shows a sensor SW seventh, it detects the lowest lowered position of the first elevator plate 24A and disposed below the longitudinal beam 36B.

SW ₈ shows a sensor SW eighth, mounted below the reinforcement for longitudinal beams 38, the actual Peretsuto detects that it has been transferred to the first elevator plate 24A.

3-3. Explaining the real palette empty pallet no state operation flow chart of the explanation palette providing apparatus 20A in the _first palette feeder (Figure 3 A). Energization in step S ₁ of Palais bract flow Chiya over preparative diagram Figure 5A, robot side 12 when the operator presses the operation start SW _5, pallet feeder 20A _1, 20A ₂ ..., unmanned vehicle 22, the automatic warehouse 52, a central controller CC I do. This condition first optical communication unit L ₁ becomes communicable state robot 12 and pallet feeder 20A _1, the signal exchange, which will be described later.

Since the third unmanned vehicle 22 in FIG state of A palette feeder 20A ₁ is not connected, the actual pallet P ₁ in the automated warehouse 52 from robot side, P ₂ ... pallet feeder unmanned vehicle 22 obtained by laminating a P _n It is sent a signal carrying the 20A ₁ to approach movement in accordance with the track with a predetermined not shown unmanned vehicle 22 (step S _2). When the unmanned vehicle 22 moves in the direction of the pallet supply device, the unmanned vehicle 22 is stopped by a stop means such as a magnetic element provided on the track (not shown).
It stops at the connection position shown in FIG. Unmanned vehicle 22 emits a light emitting element LE ₃ magnetic detecting the the unmanned vehicle 22 side of the magnetic element (step S _3). Step emission signal S ₄ the unmanned vehicle 22
The LE ₃ receiving element LR ₃ in palette feeder receives. When the light-receiving element LR ₃ receives the light emitting signal pallet feeder 20A ₁ discriminates an acceptable state of the real palette P ₁ to P _n (step S _5).

Sensor SW ₄ = O indicating the rising position of the second elevator 26
N, sensor SW ₇ = ON indicating the lowest position of the first elevator 24
And input a logical signal of LR ₃ = ON, SW ₄ = ON, SW ₇ = ON to the first logical circuit R ₁ , thereby driving the unmanned vehicle motor M ₁ and the conveyor 30 in the pallet supply device. motor M ₂ is activated and sends the actual pallet P ₁ to P _n on the unmanned vehicle on the elevator plate 24A of the first elevator 24 via the conveyor 30. Actual pallet P ₁ sent on the first elevator plate 24A operates the pallet presence detection sensor SW _1, motor signals SW ₁ = ON
Stop the M _2. Real palette to the first elevator is detected to be transferred by the signal of the sensor SW ₁ (step S _6).

The step transfer operation of the real palette from unmanned vehicle side S ₅ to the first elevator 24, failure of the conveyor 30, stacking defects in real palette, first elevator plate 24A is conveyor 30
There is a case where the transfer operation is not performed normally due to the reason that the transfer operation is not located below the roller.

Step S ₇ defines a energizing time to the motor M ₂ in a certain time, the sensor SW ₈ from the beginning of starting of the motor M ₂ within a predetermined time period
If does not output an ON signal, a warning is displayed.

That is, the first counter C ₁ is operated by the first signal of the logic circuit R _1, ON of the first counter C ₁ is sensor SW ₈
Reset by signal. ON signals from the sensor SW ₈ is if it does not enter into the first counter C ₁ within a predetermined time alert signal AS ₁ is input to the warning display circuit 54 from the first counter C ₁ (step S _8).

Step S ₉ is step real pallet P to the first elevator 24 S _{6 1} to P uppermost from transfer is performed for _n pallet P ₁
Is performed by the locking means 50 (50A, 50B) at the article supply position. Therefore, after the first counter C ₁ is timed a predetermined time period, the first actual pallet P ₁ is whether it is possible to increase,
That is, whether or not the locking means is opened by the sixth sensor SW _6.

The actual pallet P ₁ because is closed locking claw 50A · 50B when the sixth sensor SW ₆ is OFF signal can not be increased. In that case, the first sensor SW ₁ and the six logic signals of the sensor SW ₆ second logic circuit is input to R ₂ to operate the Akuchiyueta 50a · 50b claw 50A · 50B is opened (step S _10).

When the locking claws 50A and 50B are opened and the first elevator 24 can be raised, the sixth sensor SW ₆ = ON and the first sensor SW ₁
= The signal of the ON to the drive circuit 56 of the elevator drive motor M _3, energization signal to the first elevator 24 rises direction is input, the first elevator 24 rises (step S _11).

With increasing first elevator 24 first actual pallet P ₁ of the top-level rises above the pawl 50A · 50B, the third sensor
Activate SW ₃ (step S ₁₂ ).

When the output signal of the third sensor SW ₃ comes out, the motor M ₂ stops once, the locking claw 50A · 50B is closed by operating the actuator 50a · 50b by a signal of the third sensor SW ₃ = ON, the hold one actual pallet P ₁ to the article supply position (step S _13).

Signal of the third sensor SW ₃ simultaneously the second counter C
Type _2, the second counter C ₂ is to perform a certain time of the motor reversing the motor drive circuit 56 (step S _14).

The first actual pallet P ₁ is held in the article supply position, first
Elevator 24 is lowered, robot 12 and pallet feeder 20A ₁ becomes in a stopped state (Fig. 3 E) becomes accessible state, it is an article gripped by the hand of the robot.

Step S the _15, and the 3 ON signal of the sensor SW ₃ second
The counter termination signal of the counter C ₂ of the pallet feeder side of the first optical communication device 1 emitting element emitting circuit of LE ₁ L
E Enter in ₁ . This causes the first light emitting element LE ₁ to emit light,
Is received by the first light receiving element LR ₁ of the robot side, access from the first light receiving circuit LR ₁ of the robot-side enable signal AC ₁ is output.

Robot as will be described later with the access signal AC ₁ is output from the robot-side controller RC is pickup the articles in the palette P ₁ in the article supply position by the hand 10, the assembly operation is transferred to the article on the assembly jig 14 Do.

Returning to FIG. 1, the robots on the moving table 6 are provided with articles from a plurality of pallet supply devices 20A ₁ , 20A ₂ ... And a plurality of tape-type article supply devices 20B ₁ , 20B ₂ . Are sequentially moved on the base 4 to be supplied and assembled. By each pallet feeder 20A _2, 20A ₃ ... it is held access signal AC ₁ output-Robotsutohando article supply position of the loading and the first actual pallet real palette by unmanned vehicle as well as the pallet feeder 20A ₁ described above described Each operation of the article assembly is performed.

 The operation of the robot 12 will be described later.

In step S _16, the article of the first real palette P ₁ in the article supply position is pickup, articles in the palette P ₁ decreases. Robot side of the subtraction counter C ₃ to be described later by pickup of palette within the article by the robot is activated (step S _17).

The pick-up operation proceeds, and the remaining value of the subtraction counter C ₃
When C ₃ = 0, the empty flag of C ₃ = 0 turns ON (step
S _18).

When the articles in the first pallet P ₁ are exhausted, the arms 12A and 12B on the robot side are operated by the signal of the subtraction counter C ₃ = 0.
(FIG. 2) to energize the drive circuit of the motor M ₄ moving, push the pallet P ₁ the hand 10 has been emptied by the movement of the arms 12A · 12B from the article supply position to the pallet discharge position direction of the second elevator direction (step S _19).

Empty pallet P ₁ slides on the L-shaped locking claw 50A · 50B,
Sent to pallet discharge position EX ₁ shown in Figure 4 A.

When the empty pallet P ₁ comes to the discharge position, the fourth sensor SW
Check pallet P ₁ is detected by ₄ (step S _20).

When the fourth sensor SW ₄ = ON signal is output, this SW ₄
= The motor M ₄ for a predetermined time inverted by signal ON, the arm 12
Return A ・ 12B to its original position. Return of the arm when increasing the next pallet P ₂ to the article supply position, a robot retracting operation to prevent an accident of collision with the arm and hand of the robot during rise of the real palette P ₂ (step S
₂₁ ).

The fourth sensor SW _{4 is} pushed by the pushing operation of the empty pallet.
When There becomes ON state, an empty pallet P _1, although entering the palette exchange mode between the actual pallet P ₂ of the top of the first elevator 24, in this example, the actual pallet P ₂ is the article supply position normally Whether it is held or not is determined by the time by the counter count. That is, the signal of the fourth sensor SW ₄ = ON to start the fourth counter C ₄ count start by (step S _22). (Empty pallet discharge) Next, when the arm 12A · 12B when the robot saving operation has returned to the retracted position, a save completion signals S ₁ output from the robot side, the retracting signals S ₁ and the fourth sensor SW a _fourth signal input to the third logic circuit R _3, second elevator 26 by a signal from the circuit R ₃ to drive the elevator drive motor M ₃ in the direction to rise (step S _24).

Put the empty pallet P ₁ on the elevator plate 26A at a rising of the second elevator 26, further increases the fourth sensor SW ₄ o
becomes ff, the motor M ₂ is stopped (step S _25).

With the signal of this fourth sensor SW ₄ = off, the actuator
50a / 50b operates and the locking claws 50A / 50B open (Step S
₂₆ ).

The sixth sensor SW ₆ = o with the opening operation of the locking claw
ff. With the signal of the sixth sensor SW ₆ = off, the motor M ₂ is rotated to raise the first elevator 24 (step S ₂₇ ).

The highest actual pallet P ₂ due to the rise of the first elevator 24
There rises, it turned ON thereby the third sensor SW ₃ detects the pallet (step S _28).

When the third sensor SW ₃ = ON signal, the actuator 50a
· 50b to the operation, the locking claws 50A · 50B is closed at step S _29.

Sixth sensor SW ₆ = ON by the operation of the step S ₂₉
And it made (step S _30). Although becomes a state of holding and sixth sensor SW ₆ = ON by the second pallet P ₂ of the engaging means 50A · 50B of the above first elevator 24 is to start the descent, second elevator shown in the FIG. 3 F 26 is an empty palette
The elevator is stopped at a position before having received the P _1.
For this purpose, the descent time of the first elevator 24 is determined according to the above-described steps.
Activates the counter C ₅ a signal sixth sensor SW ₆ = ON in S _30, the first elevator after a predetermined time counted in the counter C ₅
Stop the descent of the 24 (step S _31).

To stop the counting of the fourth counter C ₄ which has been counted starting from the fifth counter C ₅ of the count end signal at the step S ₂₂ (step S _32).

The count value of the fourth counter C ₄ is inputted to the comparison signal S ₂ and the discrimination circuit 58 (step S _33).

Whether the fourth counter C ₄ was carried out robot in time the operation is determined to descent stop the elevator 24 at the step S ₃₁ from the retracted completion of extrusion robot empty palette P ₁ by the step S _21, That is,
And discharge of the air pallet P _1, the movement of the second article supply position of the real pallet P ₂ is performing the function of detecting whether or not was successful.

If the count output value of the fourth counter C ₄ is shorter than the comparison time S ₂ , it is determined that the empty pallets have been discharged and the actual pallets have been exchanged normally, and the controller of the pallet supply device normally returns to the robot side. the signal state is output (step S _34).

If the fourth count output value is larger than the comparison time S ₂ of the counter C ₄ is not carried out by the cause of something moving operation of the discharging operation, or article supply position of the real palette P ₂ empty pallet described above, determining that an abnormal state, a pallet discharge - for displaying pallet exchange abnormality (step S _35).

The fourth to discriminate a normal state conducted normal state to the robot side of the palette exchange operation by the counter C _4, namely, the accessible state of the robot and the pallet feeder is informed, the second real palette according Robotsutohando P ₂ The pick-up operation of the articles in the apparatus is performed, and the assembling operation is continued (step _S36 ).

The above steps are included in the controller of the pallet supply device.
S actual pallet P ₁ by unmanned vehicle 22 of the _2, P _2, ... upon loading to P _n-out pallet feeder, a sixth counter C ₆ of the palette number counter for counting how has been carried what pieces of real palette It has to count the carry pallet number sixth counter C _6.

The loaded actual pallets P ₁ , P ₂ ... _Pn are sequentially emptied, and the sixth counter C ₆ is decremented when the empty pallet is pushed out by the robot in step S ₁₉ (step S ₃₇ ).

Article pickup operation of each pallet in the robot advances, the first actual pallet P _n on the elevator 24 is held in the article supply position, the other pallet P _1, P ₂ ... P _n-1 If is all empty (Third Figure H), the first sensor SW ₁ is turned off, and at this time, the sixth counter C ₆ real palette without on the first elevator 24, C ₆ = residue which robot is being accessed at the end of the actual pallet P _n Display the number of individual pallets = 1 (Step
S ₃₈ ).

Then, the signal of the first sensor SW ₁ = off and the counter C ₆ =
Performing the last palette display by one of the signal (step S _39).

The controller of the pallet supply device uses the signal of the first sensor SW ₁ = off and the counter C ₆ = 1 to generate an empty pallet.
Transmitting the P _1, P ₂ ... transition signal S ₃ to the unloading stroke to P _n-1 of the unmanned vehicle in the automated warehouse controller.

At the same time, the first sensor SW ₁ = off and the counter C ₆ =
Sending light emitting element signal to the light emitting circuit LE ₂ of the light-emitting optical element LE ₂ of pallet feed side of the first optical communication unit by one of the signal
Emit LE ₂ .

Figure 3 light receiving element LR ₂ of unmanned vehicle side of the first optical communication unit if the unmanned vehicle is waiting to receive a transport pallet, as the G emits the received signal.

The reception light receiving element LR ₂ unmanned vehicle side, the conveyor 30 motor M ₂ and the unmanned vehicle side motor M ₁ of the pallet supply side rotates, the second elevator 26 empty pallet is unloaded unattended vehicle.

In the unmanned vehicle, there is provided means for detecting acceptance of the pallet for unloading, and the signal of the detecting means locks the conveyor and conveys the automatic warehouse.

At the same time, the next unmanned vehicle loaded with pallets containing articles is transported from the automatic warehouse.

[Effects of the Invention] As described above, the present invention detects the number of pallets containing articles in the pallet supply device provided with a position for supplying articles to the robot and a position for discharging empty pallets. Means, having a means for detecting that the pallet is at the supply position, when the pallet containing goods is left in the supply device by the pallet number detection means and the supply position detection means, By carrying out pallet replenishment using an unmanned vehicle, it was possible to continuously supply articles to the robot and improve workability.

[Brief description of the drawings]

Shows an overall system of the assembly and processing apparatus of an embodiment of Figure 1 the present invention, Figure 2 is a partial section view of a cross section of Figure 1 X ₁ -X ₂ direction, FIG. 3 A~ Figure 3 H is a diagram illustrating the respective operations of the operating state of the pallet feeder, the third diagram a shows the initial state of the palette feeder 20A _1, the connection state of Figure 3 B is a pallet feeder 20A ₁ and unmanned vehicle 22 shown, FIG. 3 C, the third diagram D shows the pallet carrying-state, Fig. 3 E shows an access state of holding the actual pallet P ₁ to the article supply position, Fig. 3 F shows a pallet exchange state, 3G and 3H show an empty pallet discharge state. FIG. 4A is a configuration diagram of a pallet supply device. FIG. 4B is a skeleton diagram of the pallet supply device. FIG. 5 is a pallet supply device. FIG. 6 is a flowchart showing the operation state, and FIG. 6 is a block diagram. 10 Robot hand 12 Robot 20A ₁・ 20A ₂ Pallet supply device 20B ₁・ 20B ₂・ ・ ・ Tape type material supply device L ₁・ L ₂・ ・ ・ Optical communication means SW ₁・ SW ₂・ SW ₃・ ・ ・… Sensor switch (SW) 22 …… Unmanned vehicle 24 ・ 26 …… Elevator M ₁・ M ₂ …… Motor

Continuation of the front page (56) References JP-A-60-213630 (JP, A) JP-A-1-40243 (JP, A) JP-A-1-115526 (JP, A) JP-A-62-271636 (JP, A) , A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B23P 21/00 B23P 19/00

Claims (1)

(57) [Claims] 1. An article supply apparatus for an automatic machine such as a robot that moves on a track to pick up the article and process or assemble the article, wherein a plurality of pallets containing the article are accommodated, and A supply position for supplying the goods to an automatic machine such as a robot, a discharge position for discharging empty pallets, and a pallet replenishment position are provided, and the actual pallets containing the goods are transferred to the supply position, and the goods at the supply position are provided. A pallet supply device including a transfer unit for discharging a pallet emptied by the supply and circulating the pallet to the supply position and the discharge position, and a discharge unit for discharging an empty pallet at the discharge position is mounted on the track. A plurality of pallet supply devices, at least a part of the pallet supply device, at a pallet replenishing position of the pallet supply device,
An article replenishing means on which a pallet containing articles is loaded, a transfer means for transferring an actual pallet to the pallet replenishing position after the empty pallet is discharged from the supply device, and an actual pallet supplied to each of the pallet supply devices Each pallet supply device is provided with a counting means for counting the number, and when the remaining number by the counting means becomes a predetermined number, the discharge operation of the empty pallet at the discharge position in the pallet supply device is executed,
And a means for detecting an empty pallet discharge signal of each of the pallet supply devices, and based on a signal of the counting means and a signal of the detecting means,
An article supply device wherein an article supply means for refilling the actual pallet is connected to a pallet supply position of the pallet supply apparatus.