JP3310453B2 - Component removal control 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 transport vehicle for transporting and supplying parts required for a mixed production line for mixing and producing a plurality of types of products such as an automobile production line, from a parts storage location to a parts storage location. The present invention relates to a component take-out control device for controlling a component take-out device that sequentially takes out and mounts components, and more particularly, to a component take-out control device capable of mounting components on a transport trolley in a short time. It is.

[0002]

2. Description of the Related Art In an automobile production line, a plurality of types of products are mixed and produced. For example, the supply of components for the process of assembling large components is performed by a transport vehicle or an unmanned transport vehicle in which components corresponding to products produced on the mixed production line are sequentially arranged on a table. Unlike small parts, many large parts cannot be stored close to the line, and it is efficient to supply parts corresponding to the products produced on the mixed production line by about 10 parts on a transport trolley or the like. is there. An operator can perform an assembling operation by taking out parts in order from a transport trolley or the like. On the other hand, parts are stored for each of the same types in each of the storage shelves, which are parts storage places remote from the mixed production line. The movement of parts from the storage shelves to the transport trolleys is performed by a robot or the like, which is a component take-out device. Here, the component removal control device receives a command from the host computer that controls the mixed production line, controls the removal robot, and sequentially retrieves necessary components from the component storage location to the transport trolley.

[0003] Next, the configuration and operation of the component take-out robot will be described in detail. Storage shelf T and take-out robot 1
1 is shown in FIG. The transfer cart 13 is moved by the arm 15 extended to the robot table 14 to take out the robot 1.
1 and moves integrally with the unloading robot 11. The robot table 14 is moved on the moving rail 12 by a drive mechanism (not shown) while holding the carrier 13 and is stopped at an arbitrary position. The storage shelves T1 to T12 are
Six locations are provided on each side of the moving rail. The storage shelf T stores a maximum of eight different types of parts. The component removal control device not shown in FIG.
In response to a command from the host computer, the take-out robot 11 is moved in front of the storage shelf T where parts corresponding to the product are stored in the order of producing the product on the mixed production line.

[0004] The take-out robot 11 has a storage shelf T
Are taken out and arranged in order on the carrier 13. This is repeated until the transport vehicle 13 is full. When the transport vehicle 13 is full, the unloading robot 11 moves to a fixed position on the moving rail 12 (a position outside the storage shelves T1 and T2) and simultaneously informs the operator that components have been loaded on the transport vehicle. The operator slides out the transport cart 13 loaded with the parts from the arm 15 to the outside, takes out the empty transport cart, and sets it on the arm 15 of the robot 11. The operator transports the transport trolley loaded with parts to the mixed production line and replaces it with an empty transport trolley. Meanwhile, the take-out robot 11 has started the work of taking out parts.

[0005]

The conventional parts removal control device has the following problems. Since the parts stored in the storage shelf T are mounted on the transport trolley 13 in the order of production on the mixed production line, it is necessary to go back and forth between the storage shelves T where the parts are stored many times. In other words, it took time to mount the components on the carrier 13.
That is, in the conventional method, for example, even if the parts in the same storage shelf T3 are not consecutively produced on the production mixing line, the next part is taken out to another storage shelf T in the middle, and thereafter, This is because the part was returned to the storage shelf T3 again to take out the parts. Conventionally, in order to secure this take-out time, the timing of receiving product data from the host computer has been advanced. However, if the timing of receiving the product data from the host computer is made earlier, after the product data is received, if a defective product is found in the product flowing through the mixed production line, parts are assembled for the defective product. Therefore, there is a problem that parts remain on the transport trolley, and an extra operation of returning the parts to the original storage shelf occurs. In order to reduce the probability of this extra work, it is better to get the product data from the host computer as late as possible, and for that purpose, the time required for the unloading robot to mount the parts on the transport cart should be as short as possible. Shortening was needed.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems and to provide a component picking-up control device capable of picking up a component from a component storage shelf to a transport trolley in a short time.

[0007]

SUMMARY OF THE INVENTION According to the present invention, there is provided a component picking-up control device for transferring a component from a component storage location to a conveying means for supplying a necessary component to a mixed production line for mixing and producing a plurality of types of products. A part take-out control device for controlling a part take-out device to be sequentially taken out and mounted, comprising: a production sequence input means for inputting a sequence of products produced in a mixed production line; Part selection means for sequentially selecting parts and storing the order in which the parts are taken out; storage data storage means for storing storage position data of the parts stored in the storage location; storage positions of the parts stored by the storage data storage means A part taking order changing means for changing a part taking order stored in the part selecting means based on the data.

[0008] In the above-mentioned component removal control device,
It is characterized by having component mounting means for taking out a part from a storage location and mounting it on a transport means based on the part taking order stored by the part taking order changing means. Further, in the above-mentioned component removal control device, the component removal order changing means changes the component removal order so that the moving distance when the component mounting means takes out the component is shortest. Further, in the above-described component removal control device, the storage data storage unit stores a history of stored components, and the component removal order changing unit includes
According to the present invention, a part having a long storage period is preferentially taken out based on a part history stored in the storage data storage means.

[0009]

First, a description will be given of a method of supplying parts on a mixed production line in which the component take-out control device of the present invention having the above-described configuration is used. A plurality of parts are mounted on the transport means, and necessary parts are supplied to a mixed production line for mixing and producing a plurality of types of products. The component pick-up device is controlled by a component pick-up control device, and sequentially picks up components from a component storage location and mounts them on the transport means. here,
The production order input means constituting the parts extraction control device inputs the order of products produced on the mixed production line. Further, the part selecting means sequentially selects parts necessary for the product input by the production order input means, and stores the parts as the order in which the parts are taken out. Further, the storage data storage means stores storage position data relating to where in the storage location the stored parts are stored. Further, the component take-out order changing means changes the component take-out order stored by the component selecting means based on the storage position data of the components stored in the storage data storage means. Here, the component take-out order changing means changes the component take-out order so that the moving distance when the component mounting means takes out the component is shortest. Further, the component mounting means takes out the component from the storage location and mounts it on the transport means based on the component removal order stored by the component removal order changing means. Here, the storage data storage unit stores the history of the stored components. Further, the part removal order changing means causes parts having a long storage period to be preferentially taken out based on the part history stored in the storage data storage means.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. The components such as the take-out robot and the stock shelf, which are the component take-out devices controlled by the component take-out control device of the present embodiment, are the same as those of the conventional take-out robot 11 shown in FIG. Component removal control device 2
FIG. 1 is a block diagram showing the configuration of the first hardware. Robot controller 2 for controlling the take-out robot 11
4 is connected to the take-out robot 11. The robot controller 24 is connected to a sequencer 22 which is a programmable controller for controlling the parts picking operation of the picking robot 11 and the movement of the robot table 14. The sequencer 22 is connected to a sequencer signal input / output processing CPU 35 via a sequencer signal input / output interface 32.
Is connected to the component extraction control device 21. Further, the production instruction information terminal 25 is connected to the CPU 35 via a production instruction information input interface 31 which is a production order input means, thereby being connected to the component removal control device 21. The CPU 35 controls the sequencer communication program, the production order input program 4 by the control bus 45, the data bus 46, and the address bus 47.
01 and the like, a RAM 38 for temporarily storing working area data and the like, and a dual port RAM 37.

On the other hand, a display device 26 having a data input function comprising a display, a touch panel, and the like is connected via a man-machine interface 34 to the history data collection device 2.
3 is connected to the component removal control device 21 via the history data output interface 33. The main CPU 39, which is the main arithmetic means of the component removal control device 21, includes a control bus 42, a data bus 43, and an address bus 4.
4, a ROM 40 for storing a part selection program 402 which is a control program of the parts removal control device, a parts removal order change program 403, and the like, a user program working area, and a storage position of a work stored on the stock shelf T RAM 4 for storing data
1. Man-machine interface 34, history data output interface 33, and dual port RAM 37
It is connected to the. The dual port RAM 37 is a shared memory of the two CPUs, the main CPU 39 and the CPU 35.

Next, the operation of the component removal control device 21 having the above configuration will be described in detail with reference to a flowchart. FIG. 2 is a general flowchart showing the overall operation of the component removal control device 21. First, in the initial setting process (S31), it is checked that there is no abnormality in the initial state of the hardware.
The AM 38 and the RAM 41 are initialized. Next, a distinction is made between cold start and warm start (S32).
Here, the cold start refers to a start when newly loading data such as program loading, error occurrence history, work takeout history, and work replenishment history. A warm start is a start in the case of starting with a program, history condition, or the like that has been loaded in advance.

A cold start is performed when the component removal control device 21 is operated first, or when it is necessary to change a program due to product switching or the like. First, it waits for an instruction from the history data collection device 23 to be input (S38). If there is a program loading instruction from the history data collection device 23 (S39, YE
S), a program loading process for storing an input program in 40 is performed (S40). If there is no program loading instruction (S39, NO), S41
Proceed to. Next, it is determined whether or not there is a history data output request (S41).
3 to output history data (S42). The history data indicates the type and number of works stored in each stock shelf T, the time when the work is carried into the stock shelf T, and the like.

On the other hand, in the case of a warm start, a key input from a touch panel constituting the display device 26 with a data input function is accepted, and a man-machine interface process such as display output to a display (S33) is performed. Then, various parameters and the like input by keys from the display device with data input function 26 are stored in the RAM 41 (S3).
4). Thus, when it is necessary for the operator to change the history data or the like of the stock shelf T due to the loading of the work into the stock shelf T or the like, the type, the number, and the history of the work stored in the stock shelf T can be changed. Etc. can be changed. Next, according to the production order input program 401, the host computer (not shown) that controls the mixed production line, through the production instruction information terminal 25, outputs the production instruction data given to the component removal control device 21 from the mixed production line to “ It is read as a "production instruction reading table" (S35). The production sequence input program 401 will be described later in detail. Next, according to the component selection program 402 and the component removal order change program 403, the work removal operation of the removal robot 11 by the removal robot 11 is performed.
In order to perform the processing most efficiently, the vehicle type data is rearranged (S36). Part removal order change program 40
3, a "work take-out shelf table" and a "rearranged vehicle type data table" are created. The part removal order change program 403 will be described later in detail. Next, an output storage shelf position output process is performed based on the rearranged vehicle type data (S37). This processing will be described later in detail.

Next, the details of the man-machine interface process (S33), which is the production sequence input program 401, will be described with reference to the flowchart shown in FIG.
First, the part removal control device 2 from the host computer
It is determined whether there is a production instruction information reading instruction for 1 (S43). Here, the production instruction information is information for notifying the component removal control device 21 of the order of the types of vehicles produced on the mixed production line, and loading the workpieces onto the transport trolley 13 in the order. Next, the data abnormality storage for storing the abnormality of the read vehicle type data is OF data.
It is confirmed that the value is F (S44). If the data abnormality storage is OFF, the vehicle type data is normal, and the process proceeds to S45. If the data abnormality storage is not OFF, there is an abnormality in the vehicle type data, and the production order input processing ends. Next, it is determined whether reading of the vehicle type data for the set number has been completed (S45). In this embodiment, the set number is the number of components that can be mounted on the transport vehicle 13, M =
There are ten. When the reading of the vehicle type data for the set number is completed (S45, YES), the reading completion storage of all the vehicle type data is turned ON (S53). Then, an all vehicle type reading completion signal is output (S54), and the production order input processing is terminated (S43).

If reading of the set number of vehicle type data has not been completed (S45, NO), it is confirmed whether or not the production instruction information terminal 25 has vehicle type data (S46).
If there is no vehicle type data (S46, NO), the process returns to S43. If there is vehicle type data (S46, YES), vehicle type data, which is a production instruction information signal, is read from the production instruction information terminal 25 via the production instruction information input interface 31, and stored in the RAM 38 in the order in which they were read (S49). ). At the same time, the reading number of the vehicle type data is incremented by one (S48). Next, RAM
It is checked whether there is any abnormality in the vehicle type data stored in 38 (S50). If there is an abnormality (S50, YES), a vehicle type data abnormality signal is output (S51), the vehicle type data abnormality signal storage is turned ON (S52), and the production sequence input processing is terminated. If there is no abnormality in the read vehicle type data (S
(50, NO), and returns to S45 to continue reading the vehicle type data until M = 10.

As a result, as shown as a "production instruction information reading table" in FIG. 9, a vehicle type number F4 (m) which is vehicle type data corresponding to the reading order m is stored. Here, the reading order m indicates the order of products produced in the mixed production line. Also, model number F4
(M) is indicated by numerical values from 01 to FF. This “production instruction reading table” is transferred to the dual port RAM 37 by the CPU 35. The unloading robot 11 needs to arrange the workpieces necessary for assembling the vehicle type number F4 (m) corresponding to the reading order m on the transport vehicle 13 at the position Cm of the transport vehicle 13.
The positions of C1 to C10 are sequentially determined as shown in FIG. 13, and in the mixed production line, the worker can pick up the work in order from C1 and assemble the product.

Next, the vehicle type data rearrangement processing S36 which includes the parts selection program 402 and the parts extraction order change program 403, which are the main parts of the present invention, will be described in detail with reference to the flowcharts of FIGS. . First, based on the "production instruction read table" shown in FIG. 9, the number of the same model number in F4 (m) is counted, and a "same model number table" shown in FIG. 10 is created (S55). That is, the vehicle type numbers appearing in the reading order m are taken as the vehicle type number F9 (k), and the number corresponding to the vehicle type number F9 (k) is tabulated. As a result, the take-out robot 11 collects two works of the model number 01, three works of the model number 02, one work of the model number 05, and two works of the model number 04 from the stock shelf T in total. , And two workpieces of the vehicle type number 06 are taken out and mounted on the carrier 13. S55 constitutes the component selection program 402.

Next, the storage position data of the work stored in the stock shelf T, that is, the "stock shelf priority order table" which is the vehicle type data of the work stored in each stock shelf T is read (S56). . The "stock shelf priority order table" is stored in the RAM 41, which is storage data storage means for storing storage position data of the work stored on the stock shelf T. As shown in FIG. 8, the read “stock shelf priority order table” stores the car type number F1 (n) stored in each stock shelf Tn (n = 1 to 12) and remains in each stock shelf Tn. The number of works F2 (n) and the order F3 in which the plurality of stock shelves T accommodating the same vehicle type are loaded into the stock shelves T.
(N). Here, the order of transfer to the stock shelf T indicates that the lower the number, the older the carry, that is, the longer the time of staying in the stock shelf T.

Next, from the "stock shelf priority order table", a shelf whose vehicle type numbers F9 (k) and F1 (n) in the "same vehicle type number table" of FIG. Create a "work take-out shelf table" (S5
7). Hereinafter, the procedure (S57, S58, S59) for creating the "work take-out shelf table" is the component take-out sequence change program 403, which will be described in detail with reference to the flowchart of FIG. (Procedure 1) All of the stock shelves T having the model number F1 (n) that matches the model number F9 (k) of the “same model number table” shown in FIG. 10 are obtained from the “stock shelf priority order table” shown in FIG. When the search is made, the shelf number, the model number, the number of remaining works in the stock shelf, and the storage order of the same model are stored.

That is, first, the "same vehicle type number table"
Is set to 1 (S74), the robot moving order s of the "work take-out shelf table" is set to 1 (S75), and the search counter y of the "stock shelf priority table" is set to 1 (S76). Next, by comparing the total number K of vehicles and the serial number k, it is determined whether or not the search of all vehicles is completed (S).
77). If the search for all models has not been completed (S7
7, N0), it is determined whether or not the search of all the stock shelves (N) in the “stock shelf priority order table” is completed (S78). Until the search of the stock shelf is completed (S7
8, NO), it is determined whether or not F1 (y) and F9 (k) match (S79). If they match, y, F1
The data of (y), F2 (y) and F3 (y) are stored in the RAM 41.
(S80). Then, the search counter y is incremented by one (S8).
1) Search all stock shelves T in the "stock shelf priority order table". In the case of this embodiment, when k = 1, F1 (1) and F1 (1) that match F9 (1) = 01
(2) shelf number F11 (s), vehicle type number F12 (s),
The number of remaining works F13 (s) in the stock shelf and the same vehicle type storage order F14 (s) are stored.

(Procedure 2) In accordance with Procedure 1, every time the search of the “stock shelf priority order table” for each serial number k is completed, the same vehicle type storage order F3 (n) is stored in the rack of the vehicle type number F1 (n). ), That is, the stock shelf T storing the oldest work, and comparing the number F2 (n) of remaining works in the stock shelf T with the number F10 (k) of the "same model number table", If all the vehicles can be supplied from the stock shelf T, the same vehicle storage order F2
The data of the shelf number n, the vehicle type number F1 (n), the number of remaining works F2 (n) in the stock shelf, and the same vehicle type storage order F3 (n) are deleted from the RAM 41. That is, the data in the storage order F3 (n) = 1 is retrieved from the data temporarily stored in the RAM 41, and the number of remaining works is set to F2 (y1) (S82). Next, the number of workpieces F2 (y1) is subtracted from the quantity F10 (k) required this time to obtain n1, and it is determined whether n1 is greater than 0 (S8).
3). If n1 is equal to or smaller than 0 (S
83, NO), since all the workpieces can be supplied from the stock shelf T, the number of workpieces to be taken out F15 (y1) = F10
(K) (S88A), and delete data having a storage order F3 (n) of 2 or more (S88). In the case of the present embodiment, the two shelves that match the vehicle type number F9 (1) = 01 are F1 (1) = stock shelf T1 and F1 (2) = stock shelf T2, and the same vehicle type storage order F3 ( F3 (1) has the smaller value of n). The number of remaining work on the stock shelf T1 is F2 (1) = 4, and F10 (1) =
2, the work of the vehicle type number F9 (1) can be all supplied from the stock shelf T1, so that the vehicle type number F1 (2) of the stock shelf T (n = 2) having the same storage order of the same vehicle type can be supplied. The data of the remaining work number F2 (2) and the same vehicle type storage order F3 (2) are deleted from the RAM 41.

(Procedure 3) When all the applicable vehicle types cannot be supplied, the stock shelf T having the next highest storage order of the same vehicle type is searched, and the number of remaining works in the stock shelf T and the stock from which the work is taken out in the procedure 2 The number of remaining works that cannot be supplied from the shelf T is compared, and if all the remaining works can be supplied from the stock shelf T, the shelf number n and the car model number F1 (n) of the stock shelf T having a higher storage order of the same car model. Then, the data of the remaining work number F2 (n) in the stock shelf and the same vehicle type storage order F3 (n) are deleted from the RAM 41. That is, when n1 is larger than 0 (S83, YES), the number of works F15 (y1) to be taken out from the stock shelf Tn.
Is set to F2 (y1) (S84A). next,
Since n1 required works are still insufficient, the data of the storage order F3 (n2) = 2 is searched from the temporarily stored data, and the number of remaining works is set to F2 (y2) (S84). Next, the number of works F2 (y2) is subtracted from n1 to obtain n2, and it is determined whether or not n2 is greater than 0 (S85). When n2 is equal to or smaller than 0 (S85, NO), all the remaining works can be supplied from the stock shelf T, so that the number of works F to be taken out is obtained.
15 (y1) = n1 (S89), and the storage order F3
(N) deletes three or more data (S89A).

In the case of this embodiment, the vehicle type number F9 (2) = 0
The shelf that matches 2 is F1 (3) = stock shelf T3, F1
(5) = Two of the stock shelves T5, of which F3 (5) = 1 has the smaller storage order F3 (n) of the same vehicle type. The number F of remaining works on the stock shelf of this stock shelf T1
2 (5) = 1, and compared to F10 (2) = 3, all the vehicle type numbers F9 (1) cannot be supplied from the stock shelf T5.
Is compared with the number of remaining works in the stock shelf T3 and the number of remaining works that cannot be supplied from the stock shelf T5 from which the work was previously taken out = 3-1 = 2. Since the data can be supplied, the data of the shelf number, the vehicle type number, the number of remaining works in the stock shelf T, and the same vehicle type storage order of the stock shelf T having the larger storage order of the same vehicle type are deleted from the RAM 41. In the present embodiment, no data is deleted because there is no stock shelf T with a larger storage order of the same vehicle type.

(Procedure 4) If all the applicable vehicle types cannot be supplied yet, a search is made for a stock shelf T having the next highest storage order of the same vehicle type, and the same operation as in Step 3 is performed (S85).
A). Then, the data remaining in the RAM 41 is stored in the "work take-out shelf table" (S86). (Procedure 5) The next vehicle number F9 in the “same vehicle number table”
Steps 1 to 4 are performed for (k + 1). That is, the serial number is set to k = k + 1 (S87), and the process returns to S76.
As a result, the same operation is successively performed for the vehicle model number F9 (K).
Repeat until. In the present embodiment, the procedures 1 to 4 are repeated until F9 (5) = 06. This allows
The table shown in FIG. 11 is created.

(Procedure 6) When the search for all the model numbers in the "same model number table" is completed (S77, YES), R
The data group stored in the AM 41 is rearranged in ascending order of the shelf number, and the data is stored in the RAM as a “work take-out shelf table”.
41 (S90). In the case of the present embodiment, the table stored in the RAM 41 at the time when the procedure 5 is completed is as shown in FIG.
As shown in FIG. 1, the numerical values indicated by the arrows are exchanged in order to sort them in ascending order of shelf numbers, and a "work take-out shelf table" is completed. At this time, the number of works to be taken out from each stock shelf T is calculated at the same time as F15 (s) and stored in the "work take-out shelf table". By the above operation, S57, S58 and S59 in FIG.
Go to 0.

Next, based on the "work take-out shelf table", a work take-out order r is assigned to each work taken out by the take-out robot 11 in ascending order of the shelf number. That is, initialization r = 1 of the work take-out order r
(S60), initialization s = 1 of the robot moving order s (S6)
1) and a production instruction reading order data area F8 for determining a position at which the work is mounted on the transport carriage 13
Initialization F8 (r) = 0 of (r) is performed (S62). Next, the take-out work counter c is set to 1 (S6).
3). Next, the maximum work number A of the shelf number F11 (s) is read (S64). In this embodiment, the maximum number of works A is eight as shown in FIG. Next, the vehicle type number data F5 (r) =
F12 (s) is rewritten (S65). Next, the take-out stock shelf position data F6 (r) = F11 (s) is rewritten (S66). Next, the work position data F7 (r) = A-F13 (s) + c is rewritten (S67).

Next, the work take-out order r and the work take-out counter c are each incremented by one. Next, the work number counter c and the number of taken-out works F1
5 (s), the shelf number F11 (s)
It is determined whether or not the data transfer has been completed (S70).
If not completed (S70, NO), the process returns to S65. As a result, the same number of workpieces are taken out from the same stock shelf T1 as the required number of workpieces F15 (s). If the rewriting of the shelf number F11 (s) has been completed (S70, YES), that is, after taking out all the works in the stock shelf T, the robot moving order s is incremented by one. Next, the presence / absence of remaining data in the "work take-out shelf table" is checked, and if it has been completed (S72, YES), the flow proceeds to S73.
If not completed (S72, NO), the process returns to S63 and repeats S63 to S72 until completed.

The steps from S63 to S72 will be specifically described with reference to the present embodiment. In FIG. 12, r = 1
At this time, in S65, F5 (1) = 01. S66
Then, F6 (1) = F11 (1) = 1. In S67, F7 (1) = 8−F13 (1) + 1 = 8−4 + 1 =
5 In S70, C = 2 and F15 (1) = 2, and C is not larger than F15 (1), so (S70, N
O), and return to S65. Next, when r = 2, F5 (2)
= F12 (1) = 01 (S65), F6 (2) = F11
(1) = 1 (S66), F7 (2) = 8−F13 (1)
+ 2 = 6 (S67), c = 3 (S69), s = 2 (S7
1). Next, when r = 3, c = 1 and A = 8 (S63, S64), and F5 (3) = F12 (2) = 0.
2 (S65), F6 (3) = F11 (2) = 3 (S6
6), F7 (3) = 8−F13 (2) + 1 = 8−5 + 1
= 4 (S67) and c = 2 (S69). Then, r =
In the case of 4, F5 (4) = F12 (2) = 02 (S6
5), F6 (4) = F11 (2) = 3 (S66), F7
(4) = 8−F13 (2) + 2 = 8−5 + 2 = 5 (S6
7), c = 3 (S69). Here, F15 (2)
= 2 and c is larger than F15 (1), so (S7
0, YES), s = 3 (S71), and since s is not FF (S72, NO), the process returns to S63.

Next, when r = 5, c = 1 and A = 8 (S63, S64), and F5 (5) = F12 (3) = 0.
2 (S65), F6 (5) = F11 (3) = 5 (S6
6), F7 (5) = 8−F13 (3) + 3 = 8−1 + 1
= 8 (S67) and c = 2 (S69). Where F
Since 15 (3) = 1, c is larger than F15 (1) (S70, YES), s = 4 (S71), and since s is not FF (S72, NO), the process returns to S63. Next, when r = 6, c = 1 and A = 8 (S63, S
64), F5 (6) = F12 (4) = 04 (S65),
F6 (6) = F11 (4) = 6 (S66), F7 (6)
= 8-F13 (4) + 1 = 8-5 + 1 = 4 (S67),
c = 2 (S69). Here, since F15 (4) = 2, c is not larger than F15 (4).
NO), and return to S65. Next, when r = 7, F5
(7) = F12 (4) = 04 (S65), F6 (7) =
F11 (4) = 6 (S66), F7 (7) = 8−F13
(4) + 2 = 8−5 + 2 = 5 (S67), c = 3 (S6
9). Here, since F15 (4) = 2, c is F
Since it is larger than 15 (1) (S70, YES), s = 5
(S71), and since s is not FF, (S72, N
O), and return to S63.

Next, when r = 8, c = 1 and A = 8 (S63, S64), and F5 (8) = F12 (5) = 0.
5 (S65), F6 (8) = F11 (5) = 7 (S6
6), F7 (8) = 8−F13 (5) + 1 = 8−3 + 1
= 6 (S67) and c = 2 (S69). Where F
Since 15 (5) = 1, c is larger than F15 (1) (S70, YES), s = 6 (S71), and since s is not FF (S72, NO), the process returns to S63. Next, when r = 9, c = 1 and A = 8 (S63, S
64), F5 (9) = F12 (6) = 06 (S65),
F6 (9) = F11 (6) = 8 (S66), F7 (9)
= 8-F13 (6) + 1 = 8-5 + 1 = 4 (S67),
c = 2 (S69). Here, since F15 (6) = 2, c is not larger than F15 (1).
NO), and return to S65. Next, when r = 10, F5
(10) = F12 (6) = 06 (S65), F6 (1
0) = F11 (6) = 8 (S66), F7 (10) = 8
-F13 (6) + 2 = 8-5 + 2 = 5 (S67), c =
3 (S69). Here, since F15 (6) = 2, c is larger than F15 (1), so (S70, YE
S), s = 7 (S71), and since s is FF = 7 (S72, YES), the flow proceeds to S73.

Next, referring to the vehicle type number F4 (m) of the "production instruction reading table" and the vehicle type number F5 (r) of the "rearranged vehicle type data table", the production instruction reading order F8 (r) is rewritten. (S73). The details will be described with reference to the flowchart shown in FIG. First, the reading order m = 1 in the “production instruction reading table” of FIG. 9 is set (S91). Next, the work take-out order r = 1 in the "rearranged vehicle type data table" is set (S92). Next, it is determined whether or not rewriting of all production instruction reading orders has been completed (S93). The process proceeds to S94 until the process is completed (S93, NO), and ends when the process is completed. Next, it is determined whether or not the rewriting of the production instruction reading order F8 (r) has been completed until all the searches of the “rearranged vehicle type data table” are completed (S94, NO) (S95A). If not completed, it is determined whether or not the vehicle type number F4 (m) of the “production instruction reading table” matches the vehicle type number F5 (r) of the “rearranged vehicle type data table”. (S95, YES), rewrite production instruction reading order data F8 (r) = m (S9).
6).

Next, the reading order m of the "production instruction reading table" is incremented by one (S97). The work take-out order r = 0 in the “rearranged vehicle type data table” is set (S98). The work take-out order r in the “rearranged vehicle type data table” is incremented by plus one (S9).
9) Return to S93. On the other hand, when all the searches of the "rearranged vehicle type data table" have been completed (S94, YES),
The work removal order r = 1 in the "rearranged vehicle type data table" is set to 1 (S100), and the process returns to S93. When the rewriting of all the production instruction reading order data is completed (S93, YES), the process returns to S37 in FIG.

Specifically, in this embodiment, m = 1
In the case of (S91), r = 1 (S92), the total production instruction reading order M = 10, and since m is smaller than M, S9
Proceed to 4. r = 1, all searches of the “rearranged vehicle type data table” are R = 10, and since r is smaller than R, S
Proceed to 95A. Since the production instruction reading order F8 (1) has not been rewritten, the process proceeds to S95. F4 (1) = 01, F
Since 5 (1) = 01 and the coincidence, the production instruction reading order data F8 (1) = 1 is rewritten. And m = 2
(S97), r = 0 (S98), r = 1 (S99), and the process returns to S93. When m = 2, r = 1 and F8
Since the rewriting of (1) has been completed, the process proceeds to S98, where r
= 2 (S99). Next, since rewriting of F8 (2) is not completed (S95A, NO), F4 (2) = 0.
2, since F5 (2) = 01 and no match (S95,
NO), r = 3 (S99). Next, F4 (2) =
02, F5 (3) = 02, and therefore match (S95,
YES), production instruction reading order data F8 (3) = 2
Rewrite. Then, m = 3 (S97), r = 0 (S9
8), r = 1 (S99), and the process returns to S93. When m = 3, when r = 1, the rewriting of F8 (1) has been completed, so the process proceeds to S98, where r = 2 (S99). r = 2
Since the rewriting of F8 (2) has been completed,
And r = 3 (S99). Next, since rewriting of F8 (3) is not completed (S95A, NO), F4
Since (3) = 05 and F5 (3) = 02 do not match (S95, NO), r = 4 (S99). This is r
= 8 and F (8) = 05. F4 (3)
= 05 and F5 (8) = 05 (S9
5, YES), production instruction reading order data F8 (8)
= 3 is rewritten. Then, m = 4 (S97), r = 0
(S98), r = 1 (S99), and the process returns to S93. By repeating these, F8 (r) corresponding to r = 1 to 10 is obtained and stored as shown in FIG.

By completing the processing up to S73 in FIG. 4, the "rearranged vehicle type data table" shown in FIG. 12 is completed. The “rearranged vehicle type data table” is stored in the RAM 38 by the CPU 35 via the dual port RAM 37. The CPU 35 sends a signal to the sequencer 22 via the sequencer signal input / output interface 32.
The stock shelf position F6 where the work to be sequentially taken out is stored in accordance with the work take-out order r of the "rearranged vehicle type data table" stored in the RAM 38.
(R), a work position F7 (r) to be taken out of the stock shelf is indicated. The sequencer 22 receives the instruction and moves the robot table 14 to the stock shelf position F6 (r).
2 and the work at the take-out work position F7 (r) in the stock shelf is taken out by the take-out robot 11 via the robot controller 24. And
The work is mounted on the transport trolley 13 at a position indicated by the production instruction reading order F8 (r).

The operation will be described in detail with reference to the flowchart shown in FIG. When the removal stock shelf position request signal is ON (S101, YES) and the removal stock shelf position read strobe signal is not being output (S102, NO), the removal robot 11 performs a work removal operation. Until the search of all rearranged vehicle type data N is completed (S103, NO), F5 (x) to F8 (x) of the "rearranged vehicle type data table" are read (S104). Next, the index counter x of the “rearranged vehicle type data table” is incremented by one (S105). Next, after confirming that there is vehicle type data (S106, YES), the sequencer 22 sends a take-out stock shelf position signal (S107), a stock shelf take-out work position signal (S108), and a production instruction reading order signal (S108). , Vehicle type No. A data signal (S110) and a read stock shelf position read strobe signal (S111) are output. Take-out robot 11
In response to these signals, the robot table 14 sequentially takes out the work from the stock shelf T and mounts the work at a predetermined position on the transport vehicle 13.

On the other hand, when there is no vehicle type data (S106,
NO), and return to S103. If there is no take-out stock shelf position request signal (S101, NO), the take-out stock shelf position read strobe signal is turned off (S112), and the process ends. Also, when the reading stock shelf position reading strobe signal is being output (S102,
YES), the extraction stock shelf position read strobe signal is being output, and the reading of the sequencer 22 is in a waiting state, so that the processing ends without doing anything. In addition, when the search of all rearranged vehicle models is completed (S1
03, YES), the all data output completion signal is turned on (S113), and the index counter x of the "rearranged vehicle type data table" is set to 1 (S114).

As described in detail above, according to the parts removal control device 21 of the present embodiment, the production sequence input program 4 for inputting the sequence of products produced on the mixed production line.
01 and work required for the input product are selected in order.
A parts selection program 402 for storing the order in which the workpieces are taken out, a RAM 41 for storing storage location data of the work stored in the storage location, and a component removal order change for changing the workpiece removal order based on the storage location data of the work. Since the robot has the program 403, all the workpieces can be mounted on the transport trolley 13 simply by the unloading robot 11 passing the stock shelf row one way.
The distance by which the robot table 14 moves on the moving rail 12 can be shortened, and the time for mounting the work on the carrier 13 can be shortened. Since the work loading time can be shortened, the timing at which the component removal control device 21 receives the production instruction information from the host computer can be delayed, and even when a defective product is found in the product flowing through the mixed production line, the work for the defective product is not performed. The supply can be stopped, and the possibility that extra work remains on the carrier 13 is reduced.

Also, a part taking order changing program 40
3 has a take-out robot 11 and a robot base 14 for taking out a work from the stock shelf T and mounting the work on the transport trolley 13 based on the work take-out order stored in the storage rack 3. Can be carried out, and the time for mounting the work on the carrier 13 can be reduced. In addition, the RAM 41 stores the history of the stored work, and the parts removal order changing program 403 causes the work having a long storage period to be preferentially taken out based on the work history stored in the RAM 41. Therefore, first-in first-out, which is the principle of work storage, can be executed. This prevents the old work from remaining on the stock shelf T forever.

Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the present invention. For example, in this embodiment, a push cart is used as the transport cart 13, but the same applies to the use of an unmanned transport cart. In this embodiment, the production sequence input program 4
01 is stored in the ROM 36.
M, RAM one by one, the parts selection program 40
2. The same ROM as the parts extraction order change program 403
It is the same even if it is stored in

[0041]

As is apparent from the above description,
According to the parts extraction control device of the present invention, a production order input means for inputting the order of products produced on the mixed production line, and parts necessary for the inputted products are sequentially selected and stored as an order for extracting parts. Based on the component selection means, storage data storage means for storing storage location data of the components stored in the storage location, and storage location data of the components,
Since there is a component take-out order changing means for changing the component take-out order, all the components can be mounted on the transporting means just by passing the component mounting means one way through the storage location, so that the moving distance of the mounting means Can be shortened, and the time for mounting the work on the transfer means can be shortened. Since the component mounting time can be shortened, the timing at which the component removal control device receives the production instruction information from the host computer can be delayed, and even when a defective product is found in the product flowing through the mixed production line, the defective product The supply of parts can be stopped, and the possibility of extra parts remaining on the transport means has been reduced.

Also, since there is a mounting means for taking out a part from the storage location and mounting it on the transport means based on the part taking order stored by the part taking order changing means, the part taking control device promptly removes the part. The mounting can be performed, and the time for mounting the components on the transporting means can be reduced. In addition, the storage data storage means stores the history of the stored parts, and the component removal order changing means gives priority to the parts having a long storage period based on the history of the parts stored in the storage data storage means. As a result, the old parts are prevented from remaining in the storage area forever.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a component removal control device according to an embodiment of the present invention.

FIG. 2 is a general flowchart showing a basic operation of the component removal control device.

FIG. 3 is a flowchart showing the operation of a production order input program.

FIG. 4 is a first flowchart showing the operation of a part removal order changing program.

FIG. 5 is a second flowchart showing the operation of the part removal order changing program.

FIG. 6 is a third flowchart showing the operation of the parts removal order changing program.

FIG. 7 is a flowchart showing an operation of controlling the take-out robot and the robot table.

FIG. 8 is a diagram showing a “stock shelf priority order table”.

FIG. 9 is a diagram showing a “production instruction reading table”.

FIG. 10 is a diagram showing a “same model number table”.

FIG. 11 is a diagram showing a “production instruction reading table”.

FIG. 12 is a diagram showing a “rearranged vehicle type data table”.

FIG. 13 is a perspective view showing a configuration of a take-out robot, a stock shelf, and the like, which are controlled by the component take-out control device.

[Explanation of symbols]

 REFERENCE SIGNS LIST 11 take-out robot 14 robot stand 21 parts take-out control device 22 sequencer 23 history data collection device 24 robot controller 25 production instruction information terminal 31 production instruction information input interface 40 ROM 41 RAM 401 production order input program 402 parts selection program 403 change parts extraction order program

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B23P 21/00 307 B23Q 41/02

Claims (2)

(57) [Claims] 1. A conveying means for conveying parts required for a mixed production line for mixing and producing a plurality of types of products,
One part from a parts storage location where multiple parts are stored
In a component takeout control device that controls a component takeout device that takes out and mounts, a production sequence input unit that inputs a sequence of products produced in the mixed production line; Part selection means for sequentially selecting parts and storing the order in which the parts are taken out; storage data storage means for storing storage position data of the parts stored in the storage location; A part picking order changing means for changing a part picking order stored by the part selecting means based on storage position data; and a part picking order changing means based on the order inputted to the production order input means.
Component placement that determines where components are placed on the transportation means
And location determining means, based on the component pickup order in which the component pickup sequence changing means stores, to eject the components from the storage place, taken its
The extracted parts are determined by the part mounting location determination means.
The and a component mounting unit for mounting on the mounting location of the transport means, the component pickup order changing means such that said component mounting means moving distance when taking out the component becomes shortest, the component pickup order A part removal control means characterized by being changed. 2. The apparatus according to claim 1, wherein the storage data storage unit stores a history of stored components, and the component removal order changing unit stores the storage data storage unit. A component removal control device that preferentially retrieves a component having a long storage period based on a history of components to be removed.