JP3283726B2 - Parts 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 a component supply apparatus for automatically supplying components to a train changer which supplies components to an assembly robot in the order of assembly.

[0002]

2. Description of the Related Art Hitherto, a component supply device has been configured to automatically supply components to an assembly robot quickly and without any idle time. There is one disclosed in Japanese Patent No. 40236.

[0003] The component supply device described in the above publication receives a plurality of storage boxes (or component trays) containing different components from an unmanned vehicle or the like into a buffer and separates them by a separating mechanism provided at the position of the buffer. Separate the required storage box from the box and place it on the elevator. Then, in order to supply the required parts to the assembling robot, the storage box in which the necessary parts are stored in the stocker that stocks the storage boxes in which the various parts are stored is lifted by the elevator to the storage stage position of the storage box in which the required parts are stored. Move.

[0004] Subsequently, the empty storage box from which all parts have been taken out by the assembling robot and the storage box carried by the elevator are exchanged while moving the stocker up and down. The storage box in which the replaced parts are stored is pulled out of the storage stage of the stocker, and the parts are supplied to the assembling robot. Further, the empty storage box from which the components have been taken out is further lowered by an elevator, stacked on the already stored empty storage box, and stored at the lower storage position of the unmanned vehicle.

However, when the components are integrally formed as in the conventional component supply apparatus, it is difficult to cope with a change in the number of components. That is, this means that the state corresponding to the expected maximum number of parts must be maintained even when the number of parts is reduced.

From such a viewpoint, the present inventors have developed and applied for a component supply apparatus capable of easily changing the configuration according to the number of components. According to the present invention, the component supply device is configured by a plurality of modules, and the stock module for storing the components can be changed according to the number of components.

[0007] The parts supply apparatus (Japanese Patent Application No. 5-351415) by the same applicant as the present invention is designed to stop the parts supply apparatus when an abnormality occurs during the starting of the equipment. Also, when supplying a component tray in which necessary components are stored in the tray changer from the stock unit, the component numbers are collated, and if they do not match, the component supply device is stopped.

[0008]

As described above, in the conventional parts supply apparatus, when necessary parts are supplied from the stock unit to the tray changer, the parts are checked for errors and the result of the check is checked. If the numbers do not match, the component supply device is stopped.

Therefore, in order to restart the component supply device, the component tray determined to be inconsistent is removed from the tray changer, and the components in the stock unit storing the components determined to be inconsistent are checked. It had to be done and the mismatched parts removed, requiring manual and long hours of equipment downtime. SUMMARY OF THE INVENTION It is an object of the present invention to provide a component supply apparatus improved so that when there is a mismatched component, the mismatched component is automatically discharged and component supply can be started in a short time.

[0010]

Means adopted by the present invention to solve the above-mentioned problems will be described. The parts required for the assembly robot are sequentially supplied by the tray changer according to the assembly order, and when there are no more parts in the tray, the tray is ejected by the base module and the parts are stored from the stock module where the corresponding parts are stored In the parts supply device that transfers the changed tray to the tray changer,
ID recording means for recording an ID corresponding to a component to be supplied in accordance with an assembling order; ID reading means for reading a component ID from a tray transferred to the tray changer when there are no more components in the tray; I read at
Determining means for determining whether or not the ID read from the corresponding ID recording means matches the ID, and when the determining means determines that the ID does not match, the tray changer is rounded and transferred to the base module. Mismatch ID
Discharge commanding means for commanding tray discharge.

Further, in the second invention, when the determination means determines that the IDs do not match, the mismatched ID tray is discharged, and the tray from the corresponding stock module is transferred to the tray changer until the IDs match. Repeat to do. Further, in the third invention, when the determination of the ID mismatch by the determination means is continuously performed, the tray stored in the corresponding stock module is discharged using the empty tray receiver of the tray changer. Let it.

Further, in the fourth invention, when the tray stored in the stock module runs out, a tray from another stock module storing the same parts is transferred to the tray changer. In addition, the fifth
In the present invention, when the determination of the ID mismatch by the determination means becomes consecutive times or more, the tray from another stock module storing the same component is transferred to the tray changer.

In the sixth invention, when the determination of the ID mismatch by the determination means exceeds a set number of times continuously, the tray storing the mismatched parts is replaced with a tray changer. Using the empty tray receiver. Further, in the seventh invention, when the determination means determines that the IDs do not match, it outputs that there is an ID mismatch.

[0014]

When the components in the tray of the tray changer are exhausted, the stock module storing the lost components is read from the ID recording means, and the tray stored in the read stock module is transferred to the tray changer. The ID reading means reads the ID of the tray transferred to the tray changer by the stock module.

The determining means determines whether or not the ID read by the ID reading means matches the ID recorded in the ID recording means corresponding to the component to be transferred. When the determining unit determines that the IDs do not match, the discharging instruction unit instructs the tray changer to round the transferred tray to the discharging position, and instructs the base module to discharge the transferred tray.

Further, when the determination means determines that the IDs do not match, the mismatching ID tray is discharged, and the transfer of the tray from the corresponding stock module to the tray changer is repeated until the IDs match. Further, when the determination means determines that the IDs do not match continuously, the trays stored in the corresponding stock modules are discharged using the empty tray receiver of the tray changer.

When the tray stored in the stock module runs out, a tray from another stock module storing the same parts is transferred to the tray changer. When the number of times the ID mismatch is determined by the determination means is continuously equal to or more than the set number, the tray from another stock module storing the same component is transferred to the tray changer.

If the number of ID mismatch determinations by the determination means is equal to or greater than a predetermined number of times, the tray storing the mismatched parts is stored in the empty tray receiver of the tray changer. Let it drain. Further, when the determination means determines that the IDs do not match, it outputs that there is an ID mismatch.

As described above, when there are no more components in the tray mounted on the tray changer, when the tray is transferred to the tray changer from the stock module storing the same component, the ID number is read. If the ID numbers are different, round the tray changer,
Since the mismatched ID trays are ejected by operating the base module, the mismatched ID trays are automatically ejected, and the component supply can be resumed in a short time.

When the IDs do not match, the transfer of the tray from the corresponding stock module to the tray changer is repeated until the IDs match.
Trays with different ID numbers stored in the stock module can be automatically discharged.

Further, since the discharge of the mismatched ID tray is performed by using the empty tray receiver of the tray changer, the discharge of the mismatched ID tray can be performed in a short time. Also, when the trays stored in the stock market run out, a tray from another stock module containing the same parts is transferred to the tray changer. Can be resumed in a short time.

If the ID mismatch is determined continuously for a predetermined number of times or more, it is determined that the ID mismatch continues in the subsequent trays, and a tray from another stock module storing the same part is stored in the tray changer. Since the components are transferred, component supply can be resumed in a short time.

When the ID mismatch occurs more than the set number of times and a tray from another stock module storing the same part is transferred to the tray changer, the tray stored in the previous stock module is transferred to the tray changer. The empty tray receiver of the tray changer is used for discharging, so that the mismatch is automatically generated while supplying the parts.
D tray can be discharged.

Further, when the ID mismatch is determined, the fact that the ID mismatch has occurred is output, so that it is possible to know that there is a tray in which components are stored in the discharged trays.

[0025]

An embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram of an embodiment of the present invention. In FIG. 1, reference numeral 101 denotes an ID reading unit that reads an ID corresponding to a storage component displayed on a tray, and 102 records an ID corresponding to a component to be supplied according to an assembly order and a stock module storing the tray. ID recording unit, 103 is a determination unit, 104 is a discharge command unit, 105 is a control unit, 106
Is a base module control unit, 107 is a tray changer control unit, 108 is a stock module control unit, 109 is an inlet lifter control unit, 110 is an outlet lifter control unit, 111
And 112, an interface (I / O); and 113, a processor (CPU) for performing processing.

First, the component supply device will be described with reference to FIGS. << Outline of Component Supply Apparatus >> FIG. 2 shows the component supply apparatus of the present invention together with peripheral devices such as an assembling robot, and also schematically shows an inlet lifter 2, an outlet lifter 6, and some elements. ing.

In the figure, the receiving means and the discharging means of the tray changer 4, the base module 7, and three stacked stock modules 8 ₁ , 8 having the same size and configuration are provided on the base module 7. with a _2, 8 _3, the stock module 8 _1, 8 _2, 8 ₃ are made to transfer up and down in a state where the input lifter 2 and the outlet lifter 6 suspended tray t.

The automatic assembling system shown in FIG. 2 has three component trays each containing components required for assembly.
A stepped stock module is provided, which is attached to a member based on three types of parts to automatically assemble a predetermined product. Parts required in an assembling order are selected and automatically supplied to the assembling robot 3. This is a component supply device adapted to perform

In this embodiment, three types of parts X ₁ ,
Although X _2, X ₃ is shown as being supplied to the assembly robot, it is possible to stack four or more stock module to supply more kinds of components.

An appropriate number of trays t each containing components of the same type are stacked and one tray group T
As is transferred for example to the inlet lifter 2 is the first stage of the stock module 8 _first height transported by the unmanned vehicle from automatic warehouse. The inlet lifter 2, this type of parts tray group is housed, for example, X ₂ in the assigned rise to a position opposite to the stock module ₈₂ is, the tray unit T stock module 8 ₂ stock portion And temporarily store it.

[0031] The stock module 8 part X _{2 of 2} to stored when replenishing the assembly robot 3, the separation operation in the separation mechanism performed if remaining trays group T into the stock module ₈₂ of the separation mechanism After separating one tray t from the tray group T,
If only one tray t remains, that tray t is sent out to the exit lifter 6.

[0032] In the embodiment of FIG. 2, the receiving mechanism of the tray changer 4 extends to the outlet lifter space bottom stock module, therefore, trays t sent to the stock module ₈₁ of the lowermost above the outlet The sheet is directly sent to the receiving mechanism of the tray changer 4 without going through the lifter 6.

The outlet lifter 6 is configured to move downward while suspending the trays sent from the stock modules 8 ₂ , 8 ₃ ,... Except for the lowermost stage. Upon reaching the receiving mechanism of No. 4, the exit lifter 6 releases the conveyed tray and places this tray on this receiving mechanism.

The tray placed on the receiving mechanism is incorporated in a circulation path by the circulation mechanism of the tray changer 4 and circulates, and a required tray t is placed at a part supply position provided in a part of the circulation path. Assembling robot 3
Have the parts removed.

The assembling robot 3 attaches the parts taken out of the tray changer 4 to the to-be-assembled body on the assembling table 12, and upon completion of the attachment, puts the product on the platen 10 on the conveyor 11 and performs the next assembling operation. It is transported to a predetermined place such as an assembly system or a warehouse for storing products. In addition,
A control device 13 controls the operation of the assembly system.

Each tray t circulates in the circulation path of the tray changer 4 until there are no more components contained therein, but when there are no more components in the tray t, the trays are removed from the circulation path and sent to the base module 7.

In the base module 7, empty trays are stacked by the stacking mechanism. When the height of the stacked empty trays exceeds a predetermined value, the empty trays are transferred and sent out from the base module. This stacking is performed irrespective of the thickness of the empty trays, and as a result, trays having different thicknesses are stacked together.

Having described the overall configuration and operation of this embodiment, each component will be described below.

<< Tray >> An embodiment of a tray for storing components will be described with reference to FIG. It should be noted that only the same type of components are stored in the tray t.
Since these parts are to be taken out by the assembly robot 3, they are housed so that they can be inserted and removed in the vertical direction. However, since the method of holding the parts in the tray t differs depending on the shape and structure of the parts, the holding means for the parts Is omitted from the drawing.

FIG. 3A is a perspective view of the tray t.
Ray t is box-shaped as a whole and is provided on its upper edge.
When multiple trays are stacked, the upper part is
The bottom of the tray fits about 5 mm, for example, and
Recess t to prevent displacement _TwoIs provided
This flange t₁Is almost flat on the outer edge
First and second notches t formed in an isosceles trapezoid shape_Three, T_Four
Is formed.

Further, the bottom portion of the tray t, the recess t ₂ and fitting the bottom t5 of the tray t as the upper when the stacked trays as described above is provided on the edge of the lower tray A step t6 is provided over the entire circumference of the bottom.

Further, a label 14 is provided on the bottom of the tray.
Is affixed, and this label 14 is, as described later,
It is used to identify the contents of the tray, that is, the type of the contained components.

The planar size of the tray t is the same for all the trays to be used. However, depending on the size of the components to be accommodated in these trays, as shown in FIG. A plurality of types of trays having different depths such as 45 mm, 85 mm, and 125 mm can be used. In the following description, it is assumed that trays having three kinds of depths shown in this figure are used, an S tray having a depth of 45 mm, an M tray having a depth of 85 mm, and a 125 m tray.
m is called L tray.

<< Inlet Lifter >> Inlet lifter 2 shown in FIG.
Serves to convey upward to a position corresponding to a predetermined module in the stock modules 8 ₁ the placed part-tray group T on, 8 _2, 8 _3, Danseki mechanism of the base module 7 it is intended to move the empty trays stacked up the height of the stock module 8 _1.

The entrance lifter 2 includes guide rails 22 provided at the corners of the base in the entrance lifter space of the stock module 8 and guide rollers 19 engaged with the guide rails provided in the base module 7 in the same manner as described above. Provided, and these guide rails 2
2, a pinion (not shown) that engages with a rack 21 attached to at least one of the two, and an up / down drive motor 18 that drives the pinion. By driving the motor 18, the inlet lifter moves up and down.

The lifter 2 is provided with a belt conveyor 15 for transporting a group of trays placed thereon, and furthermore, the type of components contained in the group of trays T mounted on the belt conveyor. A sensor 20 for reading the label 14 (FIG. 3) attached to the bottom surface of the tray t to identify the tray t, a stopper 16 that can be tilted and controlled by a drive mechanism such as a cylinder to determine the position of the tray, and a group of trays A guide plate 17 for restricting the lateral movement of T is provided.

In the initial state, the height position of the entrance lifter 2 is set so that the upper surface of the belt conveyor 15 of the entrance lifter 2 and the upper surface of the conveyor 23 of the base module 7 are at the same height.

In response to a delivery instruction to an automatic warehouse (not shown),
When the unmanned vehicle arrives at the parts supply system by transporting the specified tray group, the belt conveyor 15 of the entrance lifter 2 rotates and carries the tray group T stacked from the unmanned vehicle onto the conveyor 15. At this time, the stopper 16 of the belt conveyor 15 is at the raised position, and determines the position of the front end when the tray group is carried in.

When the tray group T arrives at the stopper 16, a photoelectric sensor (not shown) arranged adjacent to the stopper 16 detects the arrival and stops the belt conveyor 15.

The label 14 on the bottom surface of the tray determined by the stopper 16 and the guide plate 17 is detected by a plurality of photoelectric sensors 20 provided in the belt conveyor 15 to determine whether or not the tray is a designated tray group. Is recognized.

If the tray group is a designated tray group,
The inlet lifter 2 is provided with a tray group which is assigned to _{one of} the stock modules 8 ₁ , 8 ₂ , 8 ₃ by the engagement of a pinion which is rotated by the drive of the vertical drive motor 18 and a rack 21 provided on the guide rail. carry.

When the inlet lifter 2 reaches a predetermined stock module height, the stopper 16 is lowered, the belt conveyor 20 is rotated, and the tray group T is sent out to the buffer 23 constituted by the free flow conveyor of the stock module 8. .

Since the operation of the entrance lifter 2 to carry out the empty tray group stocked in the base module 7 toward an unmanned vehicle or the like is as described above, the operation of carrying out the empty tray group will now be described. explain.

<< Base Module >> As shown in FIG.
An empty tray group stocked on the conveyor 44 is pushed by a subsequent empty tray group, and the like.
5 and a sensor (not shown) detects the empty tray group, the entrance lifter 2 moves to the upper surface of the conveyor 44 and the belt conveyor 15 of the entrance lifter 2.
Are lowered until a sensor (not shown) detects that the upper surfaces of the two have coincided.

Next, by lowering the stopper 45 and rotating the conveyor 44 and the belt conveyor 15 of the entrance lifter 2, the empty tray group is conveyed onto the entrance lifter 2 and provided outside the entrance lifter 2. When a sensor (not shown) detects that the tray group has been conveyed to the stopper 46, the conveyor 44 and the belt conveyor 15 of the entrance lifter 2 stop rotating, and the entrance lifter 2 contacts the conveyance surface of the aforementioned unmanned vehicle. Ascending to the same height, the belt conveyor 15 is rotated, and the tray group is put on this unmanned vehicle. When the conveyance of the empty tray group is confirmed by a sensor (not shown) of the unmanned vehicle, the rotation of the belt conveyor 15 of the base module 7 is stopped by a signal from the unmanned vehicle indicating the confirmation of the conveyance.

When the empty tray group is put on the unmanned vehicle as described above and the sensor (not shown) does not detect the tray group stacked at the position of the stopper 45 of the conveyor 44, the entrance lifter 2 starts the entrance lifter. The upper surface of the second belt conveyor 15 and the upper surface of the conveyor 23 of the base module 7 move to a position where they have the same height, and return to the initial state.

<< Stock Module >> FIG. 5 conceptually shows one of the stock modules 8 ₁ , 8 ₂ , and 8 ₃ . This stock module receives a tray group T composed of a plurality of trays t containing components of the same type from the above-mentioned entrance lifter 2 and temporarily stores the tray group T. And is sent out to the tray changer 4.

The space enclosed by the guide rails 22 on the right side of the figure is an entrance lifter space in which the above-described entrance lifter 2 moves up and down. At least one of the guide rails 22 includes a pinion for raising and lowering the entrance lifter 2. Rack 2 meshing
1 is provided.

After the entrance lifter 2 rises to the designated height of the stock module 8, the tray group T sent out by the conveyor 15 of the entrance lifter 2 becomes a stock unit for temporarily storing a plurality of tray groups. The tray group T, which is moved onto the corresponding free flow conveyor 23 and is located at the front of the plurality of tray groups stored on this conveyor, moves to a position where it hits the stopper 24 which can fall down and stops.

An instruction to supply the trays stored in the stock module 8 to the robot is received from the control device, and a sensor is provided immediately below the separation claw 26 of the separation mechanism and detects a group of trays on the conveyor 25 (see FIG. (Not shown), it is detected that there is no tray in the separation mechanism.
The tray 25 in the buffer is moved to the separation mechanism by driving and rotating the conveyor 25 just below the separation claw 26 and the separation claw 26.

When the tip of the tray group reaches the conveyor 25 immediately below the separation claw 26, the conveyor 2 just below the separation claw 26
5 has a higher rotation speed than the free flow conveyor 23, so that a gap is formed between the first tray group and the next tray group. By raising the stopper 24 in this gap, the tray group transferred to the separation mechanism is moved. T is separated from the tray group left in the stock section.

At the position of the conveyor 25, as shown in the perspective view of FIG. 5, a protruding state in which the rack 27, the pinion 28 and the rotary actuator 29 are hooked from below on the flange portion of the tray t, and the flange portion Separation claw 26 that can reciprocate between a retracted state and a retracted state separated from the retracted state.
Is provided.

The separation claws 26 can move up and down as a pair of left and right and up and down. In order to synchronize the vertical movement of the pair of separation claws 26, the motor 32 drives the left and right chains 31 via the shaft 33. The separation claw 26 is connected to the chain 31 and is configured to move up and down along the guide mechanism 30.

By raising the separation claw 26 in a state where it is higher than the height of the flange of the L tray and lower than the height of the flange of the upper S tray when two S trays are stacked, The separation claw 26 is engaged with the flange portion of the tray located at the second stage from the bottom of the tray group T at the separation position.

By further raising the separation claw 26 by a height equal to or higher than the height at which the upper and lower trays are engaged (5 mm in the tray shown in FIG. 3), for example, by 10 mm, the tray group above the second stage is raised. The lowermost tray is separated from the group of trays by being lifted, and only the lowermost tray remains on the conveyor 25, and is pushed out to the outlet lifter 6 by driving the conveyor 25.

After the lowermost tray is discharged to the exit lifter, the motor 32 is rotated to move the separation claw 26 downward, and the tray group remaining on the separation claw is lowered onto the conveyor. Then, the rotary actuator 29 operates so that the separation claw 26 moves from the protruding position to the retracted position, contrary to the previous operation, to maintain this tray group on the conveyor 25.

<< Exit Lifter >> The exit lifter 6 shown in a perspective view in FIG. 7 (a) is provided with the stock module groups 8 ₁ and 8 described above.
_2, 8 ₃ of the separated part-tray t in each of the separation apparatus is for transporting the tray changer 4, guide rollers 4 mounted respectively on the four corners of the substrate
9 is supported so as to be able to move up and down along a guide rail 50, and this substrate can be moved up and down by rotating a pinion that meshes with a rack 52 provided on at least one guide rail by a motor 48. It is configured as follows.

As shown in the cross-sectional view of FIG. 7B and the diagram for explaining the moving mechanism of the support claw 56 of FIG. 7C, the cross section of the exit lifter 6 has a U-shape on the lower surface of the substrate. The pair of support claws 56 provided with the belt conveyor 47 in the vertical portion thereof can be moved by the cylinders 53 and 54 and the guide mechanism 55 to a position where the belt conveyor 47 is pressed inward and a position where the pressing is released. Is provided.

The height position of the lower edge of the support claw 56 of the outlet lifter 6 is moved to a position facing the separating mechanism of the stock module in which the tray t to be transported to the tray changer 4 exists. When the conveyor 25 of the stock module 5 and the belt conveyor 47 are driven, this tray t is held by the support claws 56 of the exit lifter 6, as shown in FIG. When the belt conveyor 47 is driven, it is desirable to press the belt conveyor 47 inward (toward the tray side) in order to easily pull in the tray t.

After the outlet lifter 6 holding the tray t is moved to a position corresponding to the receiving mechanism provided on the entrance side of the tray changer 4, the support claws 56 are moved to the pressing release position by the cylinders 53 and 54. And the tray is moved to the receiving mechanism of the tray changer 4 by driving the belt conveyor 47.

More specifically, in the initial state, the cylinder 53 of the outlet lifter 6 is located at the top of the stock module with the claw 56 closed with the claw 56 closed, and the stock module specified by the robot 3 is Until the proximity switch (not shown) detects that the upper end surface of the outlet lifter 6 and the upper end surface of the conveyor of the predetermined stock module are flush with each other to carry the tray separated from the tray changer. , By rotating the vertical motor 48.

When the tray reaches this position, the tray pushed out by the conveyor of the stock module is guided by the claws 56 of the outlet lifter 6, and is drawn into the outlet lifter by the belt conveyors 47 provided on both sides thereof.

Next, the outlet lifter descends, stops on the tray changer, advances the cylinder 53 with the cylinder 54 advanced to release the pressing of the belt conveyor 47, and moves the conveyor 53 of the tray changer receiving mechanism. Lower the entrance lifter until the lower surface of the tray is attached to the upper end.

Then, when the cylinder 54 is retracted, the cylinder 53 is further advanced by the cam 55, the pawl 56 is opened, and the tray is released on the conveyor of the receiving mechanism of the tray changer.

Thereafter, the main body of the outlet lifter 6 is
With the cylinder 53 retracted and the claws 56 closed with the forward movement of 4, the cylinder 53 moves to the position of the uppermost stock module which is the initial state.

<< Tray Changer >> The tray changer shown in a perspective view in FIG. 8 (a) carries the tray t conveyed from the stock module 8 by the outlet lifter 6 into the tray carrier 62 of the tray changer section 4 as described above. A receiving mechanism for performing the operation. In addition, this figure is shown in a perspective view seen from the opposite direction to FIG. 2 for convenience, and accordingly, the tray from the entrance lifter is transferred from left to right.

The receiving mechanism includes a roller 6 for receiving a tray.
0, a stopper 61 for determining the tray stop position, a push claw 65 that moves up and down for loading the tray, a loading cylinder 66, a tray receiving opening / closing cylinder 64, and a tray type detection sensor 68.

The loading of the tray into the receiving mechanism is carried out when there is no tray by judging whether or not there is a tray in the receiving mechanism. in the horizontal direction from the stock module _81, also other than the lowermost stock module _82,
From 8 ₃ ,... Are conveyed from above by the exit lifter 6.

Stock module 8 ₁ coming from the horizontal direction
Is transported by the driving roller 60 in the receiving mechanism until it hits the stopper 61. The tray coming from above from the stock modules 8 ₂ , 8 ₃ is placed on the receiving mechanism by the exit lifter 6 and then driven by the driving roller 60. 60
Is transported until it hits the stopper 61. In any case, when the tray t hits the stopper 61, the tray detecting means operates to stop the drive roller 60 and stop the tray t at a predetermined position of the receiving mechanism.

At this time, a sensor 6 for detecting the type of tray provided at a position slightly lower than the transport surface of the tray is provided.
8 detects the mark 14 (FIG. 3) attached to the lower part of the tray, and confirms that it matches the tray for the required component.

When a signal indicating that the tray in the tray carrier (tray receiver) 62 has been emptied and has been discharged from the tray carrier is received, the tray carrier 6
8 stops at the receiving position for receiving the tray, and as shown in FIG. 8 (b), at the same time as the openable door 63 is pushed and opened by the cylinder 64, the stopper 61 descends to convey the tray to the tray carrier. It becomes possible.

Thereafter, two push claws 6 on the right and left sides attached to the transfer cylinder 66 located at the rear of the tray.
The tray 5 is conveyed and placed on the tray carrier 62 by the drive roller 60 when it is detected that the push claw 65 comes out. The receiving mechanism CI and the tray carrier 6
The gap with 2 is filled as a rail with the opening / closing door 63 opened, and assists in transporting the tray t to the tray carrier 62.

When the tray is placed on the tray carrier 62, the transfer cylinder 66 returns to the home position,
The tray 3 is closed and the tray t is pushed to a predetermined position on the tray carrier 62 by the spring. When the transfer of the tray to the tray carrier 62 is completed, the transfer cylinder 66 returns to the original position, the push claws 65 descend, and the process of transferring the tray t to the tray carrier 62 is completed.

As described above, when the tray t is placed on the tray carrier 62, the positioning of the tray t is performed. This tray positioning is performed by a positioning cylinder having a tapered frame for positioning. 82 are attached to the left and right sides of one side of the tray carrier 62, and a tapered top is provided at the tip of the cylinder 82 through the relief hole of the tray changer.
The frame enters the tapered cutouts t ₃ and t ₄ at the edge of the tray t shown in FIG. 7A to position the tray in the direction of travel of the tray carrier.

It is desirable that a cylinder (not shown) is provided at a position facing the cylinder 82 and is driven simultaneously with the cylinder 82 so that the center line of the tray t is aligned with the center line of the tray carrier 62. .

The tray carrier 62 is one of a plurality of tray carriers incorporated in the circulation mechanism of the tray changer (four tray carriers are illustrated in FIG. 8). The tray 62 circulates while holding the tray horizontally, and includes a take-out position at which the assembly robot 3 takes out the components contained in the tray as a part of the circulation path.

The tray carrier 62 is supported by a shaft 69, a link plate 72, a shaft pin 73, and a bearing 71 to keep the tray carrier horizontal, and a pair of tray carriers 62 are transported along a circulation path. Belt 70 ₁ ,
70 ₂ , pulley 77, drive belt 75, drive pulley 7
6, a drive shaft 78 and a drive motor 80.

As means for discriminating the type of component contained in each tray in the tray changer 4, for example, a reflection type photoelectric switch (not shown) for detecting a mark 74 attached to the side of the tray carrier 62 can be provided. .

More specifically, the tray carry
The shape of the traveling route is below the center of
The same pair of rotating belts 70₁, 70_TwoOne belt
70 ₁Held by a bearing 71 attached to the
The shaft 69 is fixed.
A link plate 72 is fixed to the portion, and this link plate 7
The pin provided at the end of the pair 2 is a pair of rotating belts
The other belt 70_TwoIn the pin holder 73 attached to the
Is held.

One belt 7 of the pair of rotating belts
0 ₁ is one driving pulley 76 and three driven pulleys 77
Be held by the belt 79 from the drive pulley 76 is motor 80 is driven via a drive shaft 78, also rotate this from the drive shaft 78 via a drive belt 75 and the other belt 70 ₂ simultaneously I do.

[0091] However, since this is a belt 70 ₁ and the belt 70 ₂ is disposed at a position shifted to the left and right by a distance corresponding to the distance between the pins provided on the end portion of the bearing 71 and the link plate 72, These pair of rotating belts 7
When 0 ₁ and 70 ₂ rotate simultaneously, the tray carrier 62 fixed to the link plate 72 circulates along the path of the belt 70 while maintaining the level.

In FIG. 8, four tray carriers 62 are provided at the same pitch interval as the rotating belt 70, and these tray carriers 62 are provided with different marks 74. By identifying the type of component, the tray t placed on the tray carrier 62 can determine what kind of component is contained.

As described above, while the tray is circulating in the circulation path of the tray changer, the parts are sequentially taken out from the tray t at the part supply position by the assembling robot. Is empty, but the empty tray that has been emptied is removed from the circulation path by the discharge mechanism and is carried out toward the base module 7 (FIG. 2).

The discharge mechanism includes a cam follower 83 for automatically opening the tray carrier 62, a discharge belt 85, a driving pulley 86, a driven pulley 87, a driving motor 88, a discharge driving roller 89, and a stopper 90.

A tray carrier 62 on which an empty tray is placed
Is temporarily stopped at the unloading position, and the opening / closing door 63 of the tray carrier 62 is automatically opened when the cam follower 83 provided at the lower portion of the tray changer 4 stops, and the empty tray is ready to be unloaded. The empty tray is pushed out from the rear by a tray pushing piece 84 provided at the lower part of the tray, and the empty tray is discharged from the tray carrier 62.

The tray pushing piece 84 is composed of a driving pulley 86 driven by a driving motor 88 and a driven pulley 8.
When the tray carrier 62 is circulating along the circulation path, it is attached to the carry-out belt 85 stretched around the tray 7 so as not to interfere with the tray carrier 62. However, when the empty tray is carried out, the empty tray placed on the tray carrier 62 is slid over the surface of the tray carrier 62 while penetrating the tray pushing piece 84 into the opening from the bottom surface of the tray carrier 62 to the side plate. While sending it to the unloading section.

At this time, the gap between the tray carrier 62 and the carry-out portion becomes a rail when the opening / closing door 63 of the tray carrier is opened, and assists in discharging the empty tray. When the empty tray is completely pushed out of the tray pushing piece 84, the drive motor 88 rotates in the reverse direction and returns to the original position.

Thereafter, the empty tray is conveyed toward the base module by a driving roller 89 provided at the unloading section, and a stopper 9 provided in front of the roller 89 is provided.
When it stops at 0, the empty tray is carried out and the operation in the tray changer is completed.

As shown in FIG. 6, the stacking mechanism for stacking the empty trays discharged from the tray changer 4 includes a conveyor 34 and a vertically movable flange portion of the empty tray provided on the conveyor 34. and latching possible claw 35 from both sides to t _1, a stopper 36 for determining the stacking positions are provided.

That is, the pair of claws 35 have a guide mechanism on the back surface, and a protruding position at which the flanges of the tray group stacked on the conveyor 34 are hooked from below, and a retracted position separated from these flanges. And a rotary actuator 39 for driving.

In order to move the pair of claws 35 up and down, the guide mechanism 40, the chain 41, and the drive
A motor 42 for stopping is provided, and in order to synchronize the vertical movement of the left and right claws 35, the motor 42
, The pair of chains 41 are simultaneously driven.

The operation of stacking by this stacking mechanism will be specifically described. The tray changer 4 has a thickness of 125 m.
m L tray, 85 mm thick M tray, 45 mm
S is circulated on the tray carrier.

When a part is taken out from each tray by the robot and the part is taken out from a predetermined final position in the position coordinate table for the tray, a take-out completion signal from the robot and a final part (tray) in the tray described later are sent. The empty tray is discharged from the discharge mechanism of the tray changer 4 in response to the (empty) signal, and the empty tray is moved to the base module 7, and the stopper 3 is moved by the conveyor 34.
6 is transported until it hits.

When the stacking mechanism has no tray, the claw 35
Is open and stands by at a height position that does not interfere with the empty trays to be stacked. This position is 1 mm from the surface of the conveyor 34 because the maximum thickness of the tray is 125 mm of the L tray.
It is set at a position of 30 mm.

When the empty tray arrives at the stopper 36, the claw 35 is kept open and moves to a position lower than the flange of the tray having the minimum thickness.
Since the thickness of the flange portion is 5 mm and the thickness of the flange portion is 10 mm, the position is 30 mm from the surface of the conveyor 34.

In this position, the rotary actuator 39
Is activated to move the claw 35 to the projecting position, so that the flange portion of the empty tray is hooked on the claw 35 from below. Thereafter, the pawl 35 is raised by the motor 42 and
The empty tray is lifted up to a height of 130 mm from the surface to enter a standby state.

When there is already an empty tray in the stacking mechanism, the pawl 35 is closed and the tray is moved 130 m from the conveyor surface.
When the tray arrives at the stopper 36, the claw 35 detects a newly loaded empty tray by means of a photoelectric switch (not shown) provided on the moving means of the claw 35. This position is also a position for lowering the empty tray group that has been lifted above the empty trays.
9 is activated and the claw 35 moves to the retracted position, so that empty trays (group) already in the stacking mechanism are lowered onto the newly loaded empty tray and stacked.

Thereafter, the claw 35 is lowered while the claw 35 is in the retracted state until the upper surface of the claw reaches a height of 30 mm, and then the rotary actuator 39 is activated to move the claw 35 to the projecting position. The portion is latched from below by the claw 35, and then the claw 35 is raised by the motor 42, so that the empty tray group is 130 m from the conveyor surface.
It is lifted to the position of m and returns to the standby state.

As described above, when the lifted empty tray group is lowered onto the newly loaded empty tray, the stacking upper limit switch (not shown) is turned on, that is, when the empty tray is set to the predetermined height. When empty trays are stacked, the rotary actuator 39 is activated and the claw 35 is activated.
Is moved to the retracted position, and the empty tray group is placed on the conveyor 34.

Then, by lowering the stopper 36, the empty tray group is sent to the next free flow conveyor 44 by this conveyor 34 and temporarily stocked. The claw 35 is used to move the empty tray group to the conveyor 3 as described above.
After being placed on No. 4, it is moved from the surface of the conveyor 34 to a standby position at a height of 130 mm.

As described above, the empty tray group stocked on the conveyor 44 is pushed by the subsequent empty tray group and moves to a position where it hits the stopper 45, and the empty tray group is detected by the sensor (not shown). Then, the entrance lifter 2 descends until a sensor (not shown) detects that the upper surface of the conveyor 44 and the upper surface of the belt conveyor 15 of the entrance lifter 2 match.

Next, by lowering the stopper 45 and rotating the conveyor 44 and the belt conveyor 15 of the entrance lifter 2, the empty tray group is conveyed onto the entrance lifter 2 and is provided outside the entrance lifter 2. When a sensor (not shown) detects that the group of trays has been transported to the stopper 46, the conveyor 44 and the belt conveyor 15 of the entrance lifter 2 stop rotating, and the entrance lifter 2 contacts the transport surface of the unmanned vehicle 1 described above. The height is raised to the same height, the belt conveyor 15 is rotated, and the tray group is put on the unmanned vehicle.

When the conveyance of the empty tray group is confirmed by the sensor (not shown) of the unmanned vehicle, the rotation of the belt conveyor 15 of the base module 7 is stopped by a signal from the unmanned vehicle indicating the confirmation of the conveyance.

When the empty tray group is put on the unmanned vehicle as described above and the sensor (not shown) does not detect the tray group stacked at the position of the stopper 45 of the conveyor 44, the entrance lifter 2 starts to operate. Belt conveyor 15
Then, the upper surface of the base module 7 and the upper surface of the conveyor 44 of the base module 7 are moved to a position where they are at the same height, and return to the initial state.

<< Assembly Robot >> The outline of the structure of the assembly robot 3 for assembling a predetermined product by receiving components supplied from the component supply device according to the present invention will be described.

As shown in FIG. 2, this assembly robot 3
Has an arm capable of picking up and gripping a component from a tray at a component supply position in a circulation path of the tray changer 4, and an assembling platform for assembling the component gripped by the finger on a frame below the robot. 12 and a base for detachably attaching fingers corresponding to individual parts, and a base for supplying general-purpose fastening parts such as finger stocks, screws and E-shaped retaining rings are also provided.

Further, the parts supply control device and the conveyor 11
The conveyors, which are shown as upper plates and carry the platen on which the parts to be assembled and the assembled members are placed, are mounted on the sides of the gantry, respectively.

The assembling operation of attaching the component supplied by the component supply device of the present invention to the assembly target with the assembly robot configured as described above will be described.

When the platen moving on the conveyor 11 arrives at a predetermined position, a sensor (not shown) detects the arrival of the platen, and the position of the platen is controlled by a positioning mechanism (not shown) under the control of a cell controller 13 which controls the entire system. Is positioned.

Next, the robot starts its operation in response to the program number to be executed and the start signal from the cell controller which controls the entire cell. The program executed in response to the instruction with this program number includes the contents in the tray. Information necessary for the operation, such as a coordinate table storing component positions, types of hands for chucking components, coordinate data for assembling, and the like are described and stored in the memory of the assembly robot.

The position of the component to be taken out from the tray is such that, for each tray (t ₁ , t ₂ ,...) Storing the respective components (X ₁ , X ₂ ,...), There is a component in the tray. The position coordinates of the position are stored as a table in the internal memory, and a coordinate table for the tray designated by the cell controller is called from the internal memory to execute the component removal.

Each time a component is taken out of a tray, the data in the position coordinate table of that tray is shifted by one, and the coordinate data of the position of the component to be taken out next is advanced.
By repeating this process (operation), parts are sequentially taken out from the tray and assembled into the assembly (work).

The assembled object assigned to the assembling robot is placed on the platen on the conveyor 11 by the arm of the robot, and the position of the platen is released by the cell controller. The next assembly work is carried out by 11 to carry out the subsequent assembly work, and the next assembly work is carried out, or it is carried to a storage place or the like as a finished product.

<< Control System of Component Supply Apparatus >> FIG. 9 shows the configuration of the control system of the component supply system according to the present invention. The control system shown in FIG. 9 is a set of a main controller (cell controller). In this example, the two parts supply devices are controlled in parallel. The two component supply devices are connected to the same serial link, and by changing the address added to the transmission signal, which of the two component supply devices is accessed is distinguished.
This address is automatically set by selecting the number of the component supply device. The control system of each component supply device is configured as shown in FIG.

The main controller of this control system is a control system independent of the control units of devices such as an assembly robot and a component supply device. Controls devices and other peripherals. The main controller has a storage device.

That is, the operation control of devices having no control unit such as an assembly table, a part aligning machine, a conveyor, etc. is performed by a main control device of the control system by a serial input / output device. For two sets of parts supply devices and assembly robots, etc. that have a control unit, only the entire operation flow is controlled by an operation instruction by a command via a serial link and an operation check by a status signal. The operation itself of each device is controlled by a control unit provided in each device.

As described above, the component supply device of the present invention is roughly divided into a base module, a plurality of stock modules for storing trays, and a tray changer module for supplying components to the assembly robot. These modules are connected to an input / output device (I / O) of a serial transmission system and a control unit of the component supply device via a serial transmission line, and exchange operation instruction signals, status signals, and the like.

Each of the above modules is designed so that it is easily separated and connected mechanically. For example,
As described above, the number of stock modules is changed according to the number of parts to be supplied. In order for the control system to cope with the rearrangement of these modules, the control module and the next module and between each module are changed. All connections, including control signals, power supply, control power, etc., are cascaded by connectors. A socket is mounted on the output side of the control unit and on the side far from the control unit of each module, and a plug is mounted on the tip of a cable on the control unit side of each module.

In order to facilitate the attachment and detachment of control lines between modules, all signals to be transmitted are converted from parallel signals to serial signals in each module, and the signals are exchanged with the control unit by serial transmission. ing.

When the component supply device is manually operated, the manual operation device is connected to the control section of the component supply device via a connector. This manual operation device is connected to the serial as shown in FIG. Since it is also connected to the control unit of another component supply device via a link, manual operation of both component supply devices can be performed without changing the connection of the manual operation device by selecting a switch and manually operating the switch. Becomes possible.

Next, the outline of the control of the assembling work by the control system will be described. The component supply device of the present invention is designed to easily change the number of stock modules in response to a change in the number of components, so that the module can be easily attached and detached. In addition, the control program is adapted to all expected module numbers and connection patterns,
By performing setting and selection according to this pattern at the beginning of the program, the operation is switched to the operation corresponding to this module pattern.

The states of the assembling robot and the tray changer are stored in the main control unit, and operation commands are sequentially output to the assembling robot and the parts supply unit in accordance with the states, and the operating states of the respective devices based on the commands are monitored. The assembling work is advanced while doing so.

One cycle of basic component supply is as follows. The control device instructs the tray changer to set the tray carrier on which the tray containing the components to be used is placed at the component supply position. The tray changer sets the tray containing the specified component at the component supply position, and returns a set completion signal when the setting is completed.

The control device checks the type of the component contained in the tray set by the tray changer,
Issues a command specifying a program corresponding to the work content to the assembly robot. -The assembling robot executes processing according to this program, and returns a processing completion signal when this processing ends.

The control device sends a signal to the tray changer indicating that the removal of the component has been completed. The tray changer releases the positioning of the tray and shifts the tray in the circulation path. The above process is repeated according to the number of components to be assembled, and the assembly process in this component assembly system is completed.

Hereinafter, the above processing will be described in detail. After the power is turned on, the parts supply device and the robot are set to the state of the automatic synchronous operation, and at the same time, the home position return button is pressed to cause all the components to perform the home position return operation.
That is, the robot arm is returned to the origin and all cylinders and the like are returned to the retracted ends, and the tray changer moves the tray carrier to the tray receiving position and stops.

When there is no actual tray (tray containing parts) of the tray carrier at the tray receiving position,
One tray placed on the tray carrier is separated from the tray group of the stock module, transported to the receiving mechanism of the tray changer, and supplied to the tray carrier after the type comparison. Similarly, the operation of supplying the component trays to the tray carriers on which all the trays are to be placed is automatically performed, and the operation is stopped at the origin. This state is the initial operation state.

The control device confirms the arrival of the work, the start-up state of the peripheral devices, and the like. When the assembling conditions are satisfied, the control device instructs the tray changer about the type of the component to be used and supplies the component to the tray changer. A command signal to set the position is issued.

This tray changer checks the type of components received from the control device against the type of components in the currently set tray, and if they match, activates the tray positioning mechanism to determine the position of the set component. Answer back the signal indicating the type and return the set completion signal to the control device.

If the two do not match, the non-matching part tray is ejected and a tray replacement operation is performed. When comparing the component type signal with the component tray, it is impossible to directly read the component type signal label on the bottom of the tray in the tray changer, so it is indicated by a bit mark attached to the side of the tray carrier on which the tray is mounted. The address is read by the photoelectric sensor at the actual tray supply position and compared and inspected.

In each tray carrier of the tray changer, data on the type of component to be loaded is registered in advance, and when the actual tray is placed on the tray carrier of the tray changer, the component type is determined from the label attached to the tray bottom surface. The signal is read and compared with the registered component type (component ID), and the correlation between the tray carrier address and the component type placed on the tray carrier is confirmed.

If the data to be registered in the storage device for the tray carrier is "1", the component tray is placed on the tray carrier, and the tray carrier on which the component tray is placed is circulated to the component supply position. , Assembly robot 4
Performs assembly by chucking parts. When the value is "0", no component tray is placed on the tray carrier and the tray carrier is left empty.

Further, since the plurality of tray carriers are connected to each other by the belt, the order of the tray carriers does not change. Therefore, the address of the tray carrier is read at one place of the actual tray receiving mechanism, and the other positions are read. Check the address of the tray carrier when it shifts to this position.

The controller receiving the signal from the tray changer checks whether or not the output component type signal and the returned answerback signal match, and if they match, the robot sets the component to the robot. The robot outputs a program number signal for performing the attaching operation and a start signal, and the robot executes the removal of parts.

The robot which has received the instruction to execute the component removal first checks whether or not the tray is empty. If the tray is empty, the robot sends a tray empty signal. Send to

The control device that has received this operation completion signal sends a start command to the robot by designating the program number, and the robot that has received this command reads the corresponding program from its memory and starts up with the start signal. .

In this program, all information necessary for the operation, such as a coordinate table storing the component positions of the components to be used in the tray, the type of hand to be used, and the coordinates of the assembling position are described.

After taking out the part, the robot advances (shifts) the coordinates in the coordinate table indicating the part position in the tray by one, and then outputs a part take-out completion signal to the control device.
The controller relays this signal to the tray changer. In addition, in order to use a plurality of parts of the same type continuously,
When taking out multiple continuous parts from the same tray, the controller controls the number of parts to be taken out, and repeats outputting the same program command to the robot until the set number of parts are taken out. When the removal is completed, a component removal completion signal is output to the tray changer.

The tray changer that has received the component take-out completion signal cancels the positioning of the tray at the component supply position of the component tray, shifts the tray, and brings the next tray to the component supply position. That is, the component tray is placed on the tray carrier of the tray changer connected by the timing belt, and by rotating this timing belt by the motor whose rotation speed is controlled by the inverter, the position of the tray carrier and therefore the position of the tray are sequentially changed. shift.

In the tray shifting operation, the timing belt is first driven at a high speed, and when the deceleration sensor detects the tray carrier just before the component supply position, the speed of the timing belt is reduced, and the tray carrier moves and stops. When the position sensor detects the tray carrier, the motor is instantaneously stopped and a mechanical brake is also operated to fix the tray carrier at this stop position. The positioning of the tray in the tray carrier is performed by four cylinders attached to the frame of the tray changer body.

The trays are set on the tray carrier in the order of the components to be used, so that the tray at the component supply position can be replaced with the shortest operation time by the shortest shift. I have to. Also, after taking out the article, a tray of the next address is set so that the next part to be used can be taken out immediately, thereby shortening the tact time.

The above is the flow of control for the robot to take out one type of component. By repeating such control and operation for each type of component, assembly of a plurality of types of components is performed automatically. Assemble the product.

During operation of both the robot and the tray changer, an interlock signal is output so that mutual operations do not interfere with each other.

As described above, the robot takes out components from the tray while referring to the internal component position coordinate table for each type of component in the tray changer stored in the memory (storage device). When the take-out of the component is advanced and the component is taken out from the predetermined final position of the registered component position coordinate table in the tray, a tray empty signal indicating that the tray is empty together with the component take-out completion signal is sent from the robot. Is output.

That is, when the robot takes out the parts and takes out the parts from the final position of the in-tray part position coordinate table stored in the robot, the robot outputs the part taking-out completion signal and the in-tray final parts (tray empty) signal. Output.

When this signal is received by the component supply system, the stock module storing the same component tray as the component positioned at that time starts the operation of transporting the separated tray to the tray changer entrance. In the stock module supplied with the tray, the tray is separated in preparation for the supply of the next tray.

By outputting an empty tray preparation signal one or two parts before the last part in the tray, preparation for supplying the actual tray (transportation to the entrance of the tray changer) can be performed in advance.

When the tray changer receives the above empty signal via the control device, it stores that the tray is empty together with the address of the tray carrier and, at the same time, separates it by the separating mechanism of the stock module storing the corresponding component tray. The conveyance of the other tray toward the receiving mechanism of the tray changer is started.

The assignment of each tray carrier of the tray changer and the stock module for stocking the component tray to be supplied thereto is, for example, fixed to the tray carrier 1 like a lower stock module and to the tray carrier 2 like a middle stock module. It is desirable to keep.

Next, referring to FIG. 16 and FIG.
The operation of supplying the actual tray according to the present invention will be described. In the process S1, the control unit 105 checks the presence or absence of the tray on the tray carrier by the tray detection sensor at the actual tray receiving position of the tray changer. If there is a tray at this position, the control unit 105 naturally remains there. If there is no tray, whether the tray carrier is an empty setting (a setting in which no component tray is placed) or an empty tray carrier that has discharged an empty tray is checked with the component type setting data of the tray changer (process S2). In the latter case, an actual tray supply process is performed (process S3).

The empty setting of the tray carrier (no parts placed) is set by not registering the type of parts to be placed on the tray carrier to be registered for each tray (data: 0). At the time of supply, by checking this data, it is possible to determine whether or not the tray changer is to supply the actual tray.

This data is also checked when the tray is shifted after the completion of the component removal, and when an empty tray is set, the tray carrier is skipped and the next tray carrier is set, so that the processing for the empty tray carrier is performed. Pass.

In the process S4, the judging section 103 outputs the component type signal (ID) affixed to the bottom surface of the component tray conveyed from the stock module to the tray changer receiving mechanism.
Is read from the ID reading unit 104, and the part ID to be placed registered for each tray carrier of the type is
The data is read from the recording unit 102, collated, and if they match, the process proceeds to step S5 to perform the actual tray supply operation. If not, the process proceeds to step S10.

In the process S5, the exit lifter control unit 110
After confirming that the tray and the tray carrier on which this tray is mounted contain the required parts, open the tray carrier entrance with the cylinder, and then use the tray pushing claws to move the actual tray to the tray carrier. (Step S6).

In step S7, the tray changer controller 1
07 confirms that the pushing into the tray carrier is completed, returns all the receiving mechanisms to the original position, closes the entrance of the tray carrier, and completes the supply operation of the actual tray (step S8).
Note that this processing (operation) is also performed concurrently and simultaneously with the operation of taking out components from another tray of the robot.

If it is determined in step S4 that the IDs do not match, the process proceeds to step S10, where the discharge command unit 1
Reference numeral 04 designates an instruction to the exit lifter control unit 110 to control the transfer of the ID mismatch tray to the tray changer 4.
In process S11, the discharge command unit 104 instructs the tray changer control unit 107 to round the tray changer 4, move the mismatched ID tray to the discharge position, and transfer the mismatched ID tray to the exit lifter 6 (process S12).

In step S13, the discharge command section 104 commands the base module control section 106 to discharge the mismatched ID tray transferred to the exit lifter 6 by operating the base module 7. In processing S14, the discharge command unit 104
Determines whether the number of times of repeated ejection of the ID mismatch tray is greater than a set value, and if the determination is YES, the process proceeds to step S16.
If the determination is NO, the process proceeds to step S15, where the tray is resupplied from the same stock module.

In the process S16, the ejection command unit 104 determines that the remaining trays stored in the stock module have a high probability of ID mismatch if the number of times of repeated ejection of the mismatched ID is equal to or more than a certain number. It is checked whether or not there is another stock module storing the component, and if there is, the process proceeds to step S17 where the tray is supplied from another stock module. If there is no other stock module, the process shifts to step S18 to stop abnormally.

In this embodiment, the tray is supplied from another stock module when the number of repetitions exceeds a certain number. However, the tray supply from another stock module is supplied to the stock module currently supplied. It may be performed after the tray to be supplied is exhausted.

In addition, a plurality of trays may be simultaneously discharged using the empty tray receiver of the tray changer to discharge the mismatched ID tray. Further, if a tray is supplied from another stock module and an ID mismatch tray is discharged using an empty tray, the ID mismatch tray can be discharged in parallel with the component supply. In addition, when the ID mismatch is output, the fact that the mismatch has occurred is output, so that it is possible to know that there is a tray containing components in the discharged empty tray.

On the other hand, when the tray carrier arrives at the empty tray discharge mechanism of the tray changer, it is checked whether or not the tray on which the tray carrier is mounted is empty. In the case of a tray, a series of empty tray discharging operations described above are executed, and the empty tray is discharged from the tray changer to the stacking mechanism of the base module.

In the empty tray discharging process, when the tray carrier moves to the position of the discharging mechanism for discharging the empty tray, the entrance of the tray carrier is opened by the mechanical mechanism of the tray changer, and then the tray discharging bar is driven. The empty tray is pushed out of the tray carrier to the stacking mechanism of the base module. The entrance of the tray carrier is automatically closed when the tray shifts from the position of the discharge mechanism in the next tray shift.

The empty tray extruded from the tray carrier is conveyed by the motor roller of the transfer mechanism driven at the same time, is carried to the tip of the stacking portion, and when the sensor for detecting the arrival of the empty tray is turned on, the tray is turned on. The discharge bar returns to its original position, the motor roller stops, and the discharge operation is completed.

This processing / operation is usually performed simultaneously with the operation of picking up parts from another tray of the robot.

FIGS. 10 to 22 are flow charts showing the operations and processes described above. FIG. 10 is a diagram showing an operation for starting preparation, and FIGS. 11 to 13 are diagrams showing one cycle of an assembling operation. , FIG. 14 is a flowchart showing a tray replacement process, FIG. 15 is a flowchart showing an empty tray discharge process, FIGS. 16 and 17 are flowcharts showing a process of supplying an actual tray containing components to a tray carrier, and FIGS. 19 is a flowchart showing the processing of the inlet lifter, FIG. 20 is a flowchart showing the processing of the outlet lifter, FIG. 21 is a flowchart showing the processing of the stock module separation mechanism, and FIG. 22 is a flowchart showing the processing of the base module stacking mechanism. It is.

The processes and operations shown in these flowcharts have already been described.
The description of the contents of these flowcharts is omitted.

[0177]

According to the present invention, the following effects can be obtained. When there is no component in the tray mounted on the tray changer, when transferring the tray to the tray changer from the stock module storing the same component,
If the D number is read and the ID numbers are different, the tray changer is rounded and the base module is operated to eject the mismatched ID tray.
The D tray is automatically discharged, and the supply of parts can be resumed in a short time.

Further, when the IDs do not match, the transfer of the tray from the corresponding stock module to the tray changer is repeated until the IDs match.
Trays with different ID numbers stored in the stock module can be automatically discharged.

Further, since the discharge of the mismatched ID tray is performed by using the empty tray receiver of the tray changer, the discharge of the mismatched ID tray can be performed in a short time. Also, when the trays stored in the stock market run out, a tray from another stock module containing the same parts is transferred to the tray changer. Can be resumed in a short time.

If the ID mismatch is determined continuously for a predetermined number of times or more, the tray mismatch from the other stock module storing the same part is determined to be the tray changer in the subsequent trays. Since the components are transferred, component supply can be resumed in a short time.

When the ID mismatch occurs more than the set number of times and a tray from another stock module storing the same part is transferred to the tray changer, the tray stored in the previous stock module is transferred. The empty tray receiver of the tray changer is used for discharging, so that the mismatch is automatically generated while supplying the parts.
D tray can be discharged.

Further, when the ID mismatch is determined, the fact that the ID mismatch has occurred is output, so that it is possible to know that there is a tray in which components are stored in the ejected trays.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an embodiment of the present invention.

FIG. 2 is a diagram conceptually showing an embodiment of a component supply device to which the present invention is applied.

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

FIG. 4 is a conceptual diagram showing a structure of an entrance lifter.

FIG. 5 is a conceptual diagram showing the structure of a stock module.

FIG. 6 is a conceptual diagram showing a structure of a base module.

FIG. 7 is a conceptual diagram showing a structure of an outlet lifter.

FIG. 8 is a conceptual diagram showing a structure of a tray changer.

FIG. 9 is a diagram showing a configuration of a control system.

FIG. 10 is a diagram illustrating an operation of a startup preparation.

FIG. 11 is a diagram showing a part of one cycle of an assembling operation.

FIG. 12 is a diagram showing a part of one cycle of an assembling operation.

FIG. 13 is a diagram showing the rest of one cycle of the assembling operation.

FIG. 14 is a flowchart illustrating tray replacement processing.

FIG. 15 is a flowchart illustrating empty tray ejection processing.

FIG. 16 is a flowchart illustrating a process of supplying an actual tray containing components to a tray carrier.

FIG. 17 is a flowchart illustrating a process of supplying an actual tray containing components to a tray carrier.

FIG. 18 is a part of a flowchart showing processing of an entrance lifter.

FIG. 19 is the remaining part of the flowchart showing the processing of the entrance lifter.

FIG. 20 is a flowchart showing processing of an exit lifter.

FIG. 21 is a flowchart illustrating processing of a stock module.

FIG. 22 is a flowchart illustrating processing of a base module.

[Explanation of symbols]

Reference Signs List 2 Inlet lifter 3 Assembly robot 4 Tray changer 6 Outlet lifter 7 Base module 8, 8, ₁ to 8 ₃ Stock module 101 ID reading unit 102 ID recording unit 103 Judging unit 104 Ejection command unit 105 Control unit 106 Base module control unit 107 Tray changer Control unit 108 Stock module control unit 109 Inlet lifter control unit 110 Outlet lifter control unit 111, 112 Interface (I / O) 113 Processor (CPU)

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-61-145035 (JP, A) JP-A-3-245928 (JP, A) JP-A-6-126546 (JP, A) JP-A-5-205 147723 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B65G 37/00 B65G 35/06 B65G 57/00-60/00 B23P 19/00 301

Claims (7)

(57) [Claims] 1. A part required for an assembling robot is sequentially supplied by a tray changer in accordance with an assembling order, and when there are no more parts in the tray, the tray is discharged by a base module, and a stock storing corresponding parts is stored. In a component supply apparatus for transferring a tray containing components from a module to a tray changer, ID recording means for recording an ID corresponding to a component to be supplied in accordance with an assembling order, and the tray changer when there are no components in the tray. ID reading means for reading a component ID from a tray to be transferred to the device; and the ID corresponding to the ID read by the ID reading means.
Determining means for determining whether or not the ID read from the recording means matches; and when the determining means determines that the ID does not match, the tray changer is rounded, and the tray changer is transferred to the base module and the mismatched ID tray is checked. And a discharge commanding means for commanding discharge. 2. The method according to claim 1, wherein when the IDs are determined to be mismatched by the determination means, the mismatched ID tray is discharged, and the transfer of the tray from the corresponding stock module to the tray changer is repeated until the IDs match. The component supply device according to claim 1, wherein: 3. If the determination means determines that the IDs do not match continuously, the tray stored in the corresponding stock module is discharged using the empty tray receiver of the tray changer. The component supply device according to claim 1 or 2, wherein: 4. When a tray stored in the stock module is exhausted, a tray from another stock module storing the same parts is transferred to a tray changer. 1,2
Or the component supply device according to 3. 5. When the number of ID mismatch determinations by the determination means exceeds a preset number of times, a tray from another stock module storing the same component is transferred to a tray changer. The component supply device according to claim 1 or 2, wherein 6. When the number of times the ID mismatch is determined by the determining means is equal to or more than a predetermined number of times, the tray storing the mismatched parts is stored in the empty tray receiver of the tray changer. 6. The component supply device according to claim 5, wherein the component supply device discharges the component. 7. The component according to claim 1, wherein when the determination unit determines that the IDs do not match, the ID is output. Feeding device.