JP6900721B2 - Parts supply system - Google Patents

Description

The present invention relates to a parts supply system that supplies parts to an assembly process.

Conventionally, the robot that takes out the parts in the transport box and supplies it to the assembly process and the transport box on the box supply path are transferred to the vicinity of the robot, and the transport box after the parts are taken out is transferred from the vicinity of the robot to the box return path. Parts supply systems are known that include transport means.

For example, the parts supply system described in Patent Document 1 includes a robot that takes out parts from a transport box placed near itself and supplies them to an assembly process. It also has a supply line, which is a box supply line extending in a predetermined direction, and a collection line, which is a box return line extending in the same direction directly below the supply line. Further, a combination of a supply slope and a recovery slope is provided as a transfer means between the supply line and the recovery line arranged in the vertical direction and the robot. The supply slope is a downward slope from the supply line toward the robot. In addition, the recovery slope is a downward slope from the robot to the recovery line.

In this parts supply system, the transport box is transferred by the supply slope and the transport box is transferred by the recovery slope by sliding on the slope surface using only the gravity of the transport box. In such a configuration, if the surface frictional resistance of the supply slope or the recovery slope is increased due to the adhesion of dirt or the like, the transport box may stop sliding on the slope surface and the transport of the transport box may be delayed. It was.

In order to solve the above-mentioned problems, a robot that takes out the parts in the transport box and supplies them to the assembly process, and the transport box that transfers the transport box on the box supply path to the vicinity of the robot and takes out the parts and then supplies the transport box. In a parts supply system including a transport means for transporting the robot from the vicinity of the robot to the box return path.
By transporting the transport box after taking out the parts to the box return path by the robot and transferring the transport box on the box supply path to the vicinity of the robot by the robot, the robot functions as the transport means. The road surface of the box supply path and the road surface of the box return path are set to the same height, and the parts take-out position, which is the box position for taking out the parts from the transport box, and the transport box after the parts are taken out are temporarily set. The detention position, which is the position of the box to be retained, is arranged in front of the robot in the left-right direction.
Further, the box supply path whose tip is directed to the component take-out position and the box return path whose rear end is directed to the detention position are arranged in parallel so as to extend in a direction along the front-rear direction of the robot. A control means for controlling the robot and its drive is configured so that the transport box on the box supply path is transferred to the component extraction position by an operation of pulling the transport box on the box supply path toward the front side of the robot by the movement of the arm of the robot. Then, the transport box at the component take-out position is moved from the component take-out position to the detention position by an operation of shifting the position of the transport box in the left-right direction by the movement of the arm of the robot. It is characterized in that the robot and the control means are configured.

According to the present invention, it is possible to suppress the delay in the transfer of the transport box from the box supply path to the vicinity of the robot and the delay in the transfer of the transport box from the vicinity of the robot to the box return path. Has an effect.

The perspective view which shows the return box used in the parts supply system which concerns on embodiment. Top view showing the parts supply system together with the assembly process line. A perspective view showing the robot of the parts supply system from diagonally above. Front view showing the hand attachment of the robot. Side view showing the same hand attachment. The block diagram which shows the main part of the electric circuit of the component supply system. A plan view showing a parts supply system in which parts are being taken out from a returnable box placed in a parts taking-out position by the robot, together with an assembly process line. A plan view showing the robot supplying parts to the assembly process line together with its surroundings. The front view which shows the suction head of the part supply system together with the grip part of the hand attachment. The side view which shows the suction head. A plan view showing the robot taking out the suction head together with its surroundings. A plan view showing the robot taking out the top tray in the return box at the parts removal position by suction together with its surroundings. A plan view showing the robot in which the sucked tray is put into the tray collection box together with its surroundings. A plan view showing the robot sending an empty return box at the detention position to the return belt conveyor together with its surroundings. The figure which shows the side surface of the hand attachment in the robot when the return box is sent out from the detention position to the return belt conveyor, together with the vertical cross section of the return box. A plan view showing a return belt conveyor in a state where it is being driven in the normal direction for returning one box and immediately before the drive is stopped, together with its surroundings. The figure which shows the side surface of the hand attachment in the robot when pulling a return box from a supply belt conveyor to a component take-out position, together with a vertical cross section of the return box. A plan view showing the robot that is attracting the robot together with its surroundings. The plan view which shows the supply belt conveyor which carries the leading return box to just before the part take-out position, and just before being stopped, together with the surroundings. The flowchart which shows the processing flow of the control carried out by the control part of the part supply system. The perspective view which shows the parts supply system.

Hereinafter, an embodiment of a parts supply system to which the present invention is applied will be described.
FIG. 1 is a perspective view showing a return box 50 as a transport box used in the parts supply system according to the embodiment. The returnable box 50 is a foldable type, and in the assembled state, the upper surface is opened without the upper surface plate as shown in the figure. Even if the upper surface is opened in this way, a plurality of return boxes 50 can be stacked by the hooks provided at the upper end and the lower end of the side plate.

In a parts factory, trays on which many parts are placed are stacked and housed in a return box 50. The tray has a plurality of compartments partitioned in a matrix on a virtual two-dimensional plane in the horizontal direction, and one component is placed in each compartment. The return box is shipped from the parts factory in this state.

FIG. 2 is a plan view showing the parts supply system 1 according to the embodiment together with the assembly process line 45. The arrow x direction in the figure is the same as the front-back direction of the robot 10. Further, the arrow y direction is the same as the left-right direction of the robot 10. Further, the z direction is the same as the height direction. In the figure, the edges of the returnable box 50 are painted black in order to make each part easier to see.

The parts supply system 1 includes a robot 10, an operation table 2, a box supply line 3 as a box supply path, a box return line 4 as a box return path, a front box detection sensor 6, a rear end box detection sensor 7, a delivery box detection sensor 8, and the like. It has.

The operation table 2 is installed immediately before the robot 10. The area on the right half of the table surface of the operation table 2 for the robot 10 is the component take-out position 2a for taking out the component 55 from the return box 50. Further, the area on the left half is a detention position 2b for temporarily holding the return box 50 after the parts are taken out.

At the assembly factory, a returnable box 50 full of parts sent from the parts factory is placed on the box supply line 3 of the parts supply system 1 by the work of a human or a robot. Behind the robot 10, an assembly process line 45 extending in the left-right direction of the robot 10 is arranged.

The box supply line 3 is arranged so that its tip is close to the component take-out position 2a of the operation table 2 and its longitudinal direction is along the front-rear direction (x direction) of the robot 10. A supply belt conveyor 3a is arranged on the box supply line 3. On the supply belt conveyor 3a, a plurality of return boxes 50 are placed side by side in a straight line along the longitudinal direction of the conveyor. These return boxes 50 are conveyed in the direction of arrow A in the drawing by driving the supply belt conveyor 3a.

The box return line 4 is arranged so that its longitudinal direction is along the x direction with its rear end close to the detention position 2b of the operation table 2. A return belt conveyor 4a is arranged on the box return line 4. On the return belt conveyor 4a, a plurality of return boxes 50 from which parts have been taken out are placed side by side in a straight line along the longitudinal direction of the conveyor. These return boxes 50 are conveyed in the direction B opposite to the direction arrow A in the drawing by driving the return belt conveyor 4a.

As shown in the figure, the box supply line 3 and the box return line 4 are arranged in parallel in a posture in which the longitudinal direction thereof is along the x direction. At the component take-out position 2a of the operation table 2, a return box 50 to be taken out by the robot 10 is placed. Further, at the detention position of the operation table 2, an empty return box 50 from which all the parts 55 and the tray have been taken out is temporarily placed. The box supply line 3 (the surface of the supply belt conveyor 3a) and the box return line 4 (the surface of the return belt conveyor 4a) are arranged at the same height. Further, they and the surface of the operation table 2 described later are at the same height.

FIG. 3 is a perspective view showing the robot 10 from the diagonally upper side in front of the robot 10. The robot 10 has a base portion 11, an arm support portion 12, an arm portion 13, a hand 14, a hand 15, and the like. The base portion 11 is fixed to the pedestal with bolts.

The arm support portion 12 is supported by the base portion 11 so as to rotate 360 [°] in the horizontal direction (direction of arrow C in the figure). Further, the arm portion 13 has an upper arm portion 13a and a forearm portion 13b. The root side end of the upper arm 13a is supported by the tip of the arm support 12 so as to rotate about the first axis 13c extending in the horizontal direction. Further, the forearm portion 13b is supported by the distal end side end portion of the upper arm portion 13a so as to rotate about the second axis 13d extending in the horizontal direction.

The hand 14 is supported by the tip of the forearm 13b so as to rotate in the direction of arrow D in the drawing about the axis 14a passing through the center of the cross section of the forearm 13b. Further, the hand 15 is supported by the hand 14 so as to rotate about a third axis 15a extending in the horizontal direction. Various types of hand attachments can be attached to and detached from the hand 15.

FIG. 4 is a front view showing the hand attachment 17. Further, FIG. 5 is a side view showing the hand attachment 17. In these figures, the hand attachment 17 is attached to the hand 15 by engaging the engaging portion 17a with the hand 15.

In addition to the engaging portion 17a, the hand attachment 17 is also provided with two grip portions 17b, a camera 17c, a hooking portion 17d, and the like. Each of the two grips 17b includes two claws, and it is possible to move one claw closer to or further away from the other claw. By bringing one claw closer to the other claw, it is possible to grip the gripping object interposed between the claws. It is also possible to separate the gripping object by moving one claw away from the other claw from the state where the gripping object is gripped. In FIG. 4, each of the two gripping portions 17b grips the component 55.

The camera 17c takes a picture of the inside of the return box 50 and sends the imaged data to the control unit described later. The control unit controls the drive of each unit of the robot 10 based on the imaged data. The role of the hook portion 17d of the hand attachment 17 will be described later.

FIG. 6 is a block diagram showing a main part of the electric circuit of the component supply system 1. As shown in the figure, the parts supply system 1 has, as an electric system, a head box detection sensor 6, a rear end box detection sensor 7, a transmission box detection sensor 8, a control unit 100, each electric device of the robot 10, a supply bellcon switchboard, and a return. It is equipped with a Belcon switchboard.

The control unit 100 that controls the drive of each machine of the component supply system 1 and performs various arithmetic processes includes a CPU 100a, a RAM 100b, a ROM 100c, a non-volatile memory 100d, and the like.

The robot 10 includes electric devices such as a motor driver unit 21, an arm rotation motor 22, an upper arm motor 23, a forearm motor 24, a wrist motor 25, a hand motor 26, a hydraulic motor 27, a suction unit 28, a camera 17c, and a height sensor 29. Have.

The arm rotation motor 22 is a drive source for horizontally rotating the arm support portion 12 supported by the base portion 11. Further, the upper arm motor 23 is a drive source for rotating the upper arm portion 13a around the first shaft 13c. The forearm motor 24 is a drive source for rotating the forearm portion 13b around the second shaft 13d. The wrist motor 25 is a drive source for rotating the hand 14 around the axis 14a. Further, the hand motor 26 is a drive source for rotating the hand 15 around the third shaft 15a. The control unit 100 can make the robot 10 perform complicated arm movements by controlling the drive of those motors via the motor driver unit 21.

The movement of the claw of the grip portion 17b in the hand attachment 17 shown in FIG. 4 is controlled by the flood control. Then, the oil pressure is adjusted by driving the hydraulic motor 27 shown in FIG. By controlling the drive of the hydraulic motor 27, the control unit 100 can cause the gripping unit 17b of the hand attachment 17 to perform a gripping operation or a releasing operation.

The suction unit 28 generates a suction force at the suction port of the suction head, which will be described later, which is gripped by the grip portion 17b of the hand attachment 17. By sending a control signal to the suction unit 28, the control unit 100 generates a suction force at the suction port of the suction head gripped by the grip portion 17b of the hand attachment 17, or stops suction by the suction head. Can be done.

The control unit 100 causes the camera 17c to take an image in a state in which the robot 10 takes a predetermined posture with respect to the arm 13, the hand 14, and the hand 15, so that the component take-out position 2a of the operation table 2 is reached. The photographed image in the returnable box 50 in which it is placed can be acquired. Further, in the above state, by receiving the signal sent from the height sensor 29 composed of the laser displacement meter, the height of the highest component 55 in the return box 50 placed at the component take-out position 2a The position can be grasped. The height sensor 29 is fixed to the hand 14 of the robot 10.

Hereinafter, in FIG. 2, the downstream end of the return box 50 mounted on the supply belt conveyor 3a in the direction of arrow A (box supply direction) in the drawing is referred to as a front end, and the upstream end is referred to as a rear end. On the other hand, the downstream end in the direction of arrow B (box return direction) in the drawing of the return box 50 mounted on the return belt conveyor 4a is referred to as the front end, and the upstream end is referred to as the rear end. Since the direction of arrow A and the direction of arrow B are opposite to each other, the tip of the return box 50 supplied and conveyed by the supply belt conveyor 3a and the tip of the return box 50 returned by the return belt conveyor 4a are opposite to each other. Become a relationship.

The worker who puts the return box 50 containing the parts on the supply belt conveyor 3a and collects the return box 50 from which the parts have been taken out from the return belt conveyor 4a is on the opposite side of the robot 10 via the two belt conveyors. I often work in the position of. Then, if necessary, the two belt conveyors may be manually rotated forward, reversed, and stopped. Therefore, the supply bellcon switchboard for controlling the drive of the supply belt conveyor 3a and the return bellcon switchboard for controlling the drive of the return belt conveyor 4a are located at positions opposite to the robot 10 via the belt conveyor. is set up.

When the selection switch of the supply Belcon switchboard is set to automatic operation, the drive of the supply belt conveyor 3a is controlled by a control signal sent from the control unit 100 via the supply Belcon switchboard. Further, when the selection switch of the return Belcon switchboard is set to automatic operation, the drive of the return belt conveyor 4a is controlled by the control signal sent from the control unit 100 via the return Belcon switchboard.

The leading box detection sensor 6 in FIG. 6 is fixed to the box supply line 3 as shown in FIG. Then, when the return box 50 located at the head in the arrow A direction among the plurality of return boxes 50 mounted on the supply belt conveyor 3a moves to just before the component take-out position 2a, the tip of the return box 50 Is detected. Then, the tip detection signal is transmitted to the control unit 100.

The rear end box detection sensor 7 and the delivery box detection sensor 8 in FIG. 6 are fixed to the box return line 4 as shown in FIG. Then, the rear end box detection sensor 7 is located at the second position from the rearmost return box 50 when the return box 50 is placed at a predetermined pitch over the entire length direction on the return belt conveyor 4a. It is arranged so as to detect the tip of the. Further, the delivery box detection sensor 8 is arranged so as to detect the tip of the returnable box 50 at the rearmost portion. When each of the detection sensors (7, 8) detects the tip of the return box 50, it transmits a detection signal to the control unit 100.

FIG. 7 is a plan view showing the parts supply system 1 in the process of taking out the parts 55 from the return box 50 placed at the parts take-out position 2a by the robot 10, together with the assembly process line 45. When the first component 55 is taken out from the return box 50 placed at the component take-out position 2a, the control unit 100 moves the hand (14) of the robot 10 directly above the return box 50. Control the drive of. The posture of the robot 10 at this time is the reference posture, and the control unit 100 can quickly make the robot 10 take the reference posture according to a program in advance.

The control unit 100, which causes the robot 10 to take the reference posture, then determines the highest component 55 in the return box 50 based on the detection result by the height sensor (29) fixed to the hand (14). Grasp the height of. Further, based on the result of photographing the inside of the returnable box 50 from above with the camera (17c), among the top-level parts 55, the part 55 on the left back side farthest from the robot 10 on the xy plane is specified. Then, the robot 10 is driven so that the hand (15) is positioned directly above the part.

Hereinafter, among the two-dimensional arrangements of the parts 55 on the xy plane, the arrangement in the y direction is referred to as a “row”. Further, the arrangement in the y direction is called a "column". That is, when the control unit 100 takes out the first one component 55 from the return box 50, it is the innermost "row" and the leftmost of the parts arrangement of the return box 50 by the hand (15). The robot 10 is controlled so as to move directly above the parts 55 located in the "row".

Of the multiple parts that are arranged in a matrix on the two-dimensional coordinates of the xy plane, the one that is taken out as the first one is the innermost "row" and is located in the leftmost "column". It is a part to be used. The "row" for taking out parts is moved from the back side to the front side in order. If the "row" is the same, the parts are taken out in order from the "column" on the left side to the "column" on the right side. The order of taking out the parts in such a two-dimensional matrix and the program for causing the robot 10 to take out the parts 55 in that order are stored in the ROM 100c in advance. However, it is not possible to perform an appropriate operation even according to the stored program itself. This is because there are differences in the number of stages (stage heights) of trays on which the parts 55 to be taken out are placed, and there are subtle height errors even in the same stage.

Therefore, the control unit 100 detects the height position of the component 55 by the height sensor 29, and modifies the program so that an appropriate component can be taken out at the height position. If the trays are of the same stage, the height position is detected prior to the removal of the first part 55, and when the second part 55 is taken out, it is treated as the same height position.

After taking out the component 55 from the return box 50, the control unit 100 drives each part of the robot 10 so as to be in a raised position so that the hand (15) can be completely removed from the return box 50, and then shown in FIG. The arm support portion (12) of the robot 10 is rotated by about 180 ° so as to be used. As a result, the hand (15) of the robot 10 is moved directly above the assembly process line 45. Then, the component 55 is supplied to the assembly process line 45 by performing an operation of releasing the component 55 at a predetermined position on the assembly process line 45.

As shown in the figure, a jig base 9 and a tray collection box 30 are installed on the side of the robot 10 and at a position between the operation table 2 and the assembly process line 45. A suction head is placed at a predetermined position on the jig base 9 in xy coordinates.

FIG. 9 is a front view showing the suction head 18 together with the grip portion 17b of the hand attachment 17. Further, FIG. 10 is a side view showing the suction head 18. The suction head 18 includes four suction nozzles 18a, and each suction nozzle 18a has a suction port directed downward in the vertical direction. Further, the suction head 18 includes two handle portions 18b.

The hand attachment 17 can grip the suction head 18 as follows. That is, one of the two handle portions 18b of the suction head 18 is gripped by one of its own two grip portions 17b. Further, the other handle portion 18b of the suction head 18 is gripped by its own other grip portion 17b. By such gripping, the robot 10 can grip and lift the suction head 18 placed at a predetermined position on the jig base 9.

The control unit 100, which has taken out all the parts of the uppermost tray in the return box 50 and supplied them to the assembly process line 45, then operates the robot 10 as shown in FIG. 11 on the jig base 9. The suction head (18) of the above is lifted. Then, as shown in FIG. 12, the robot 10 is operated to pull the tray 56 at the highest position in the return box 50 at the component take-out position 2a and in a state where no component is placed. It is lifted from the return box 50 by the suction force of 18). At this time, a control signal is transmitted to the suction unit 28 shown in FIG. 6 to drive the suction pump of the suction unit 28. By this drive, a suction force is generated in the suction nozzle (18a) of the suction bed (18), and the tray 56 is attracted to the suction nozzle (18a) by this suction force. After that, as shown in FIG. 13, the robot 10 is operated to put the sucked tray 56 into the tray collection box 30. At this time, by transmitting a control signal to the suction unit (28) to stop the drive of the suction pump, the suction force of the tray 56 to the suction nozzle (18a) is lost. Further, the robot 10 is operated to return the suction head (18) to a predetermined position of the jig base 9.

Instead of collecting the tray 56 in the tray collection box 30, the tray 56 may be collected in the return box 50 at the detention position 2b.

Hereinafter, in order to clearly distinguish the transfer of the return box 50 from the detention position 2b to the return belt conveyor 4a from the transfer of the return box 50 from the supply belt conveyor 3a to the parts removal position 2a, the former transfer is particularly referred to as delivery. .. When all the parts 55 and the tray 56 are taken out from the return box 50 at the part take-out position 2a, the control unit 100 sends out the return box 50. Specifically, as shown in FIG. 14, the movement of the arm (13) of the robot 10 causes the empty return box 50 at the detention position 2b to move from the detention position 2b onto the return belt conveyor 4a of the box return line 4. Send to. At this time, as shown in FIG. 15, the return box 50 is directed toward the return belt conveyor 4a by the claw tip of the grip portion 17b in the hand attachment 17 of the robot 10 which is abutted against the outer wall of the rear plate of the return box 50. Push it in. The delivery of the return box 50 by this pushing is continued until the tip of the return box 50 being sent out (during transfer) is detected by the delivery box detection sensor 8 shown in FIG.

The robot 10 that sends the empty return box 50 from the detention position 2b onto the return belt conveyor 4a functions as a transfer means for transferring the transport box from the detention position to the box return path. Then, since the return box 50 is sent out by using the driving force exerted by various motors, it is sent out by sliding on the down slope using only gravity as in the invention described in Patent Document 1. Unlike the ones, you can: That is, even if the surface of the detention position 2b and the surface of the return belt conveyor 4a increase the frictional resistance due to the adhesion of dirt, the driving force exerted by various motors is used to provide a strong sliding force to the return box 50. Give. As a result, the return box 50 is reliably sent out onto the return belt conveyor 4a, so that the delay in sending out can be suppressed.

After finishing the delivery of the return box 50 from the detention position 2b onto the return belt conveyor 4a as described above, the control unit 100 causes the robot 10 to transfer the empty return box 50 at the component removal position 2a. Specifically, as shown in FIG. 16, the return box 50 at the parts removal position 2a after the parts are taken out is shifted from the right side to the left side by the movement of the arm (13) of the robot 10. 50 is transferred from the component take-out position 2a to the detention position 2b.

A guide rail extending in a straight line across both positions is fixed to the end of the component taking-out position 2a and the detention position 2b on the robot 10 side. As described above, the return box 50, which is displaced from the right side to the left side by the movement of the arm (13) of the robot 10, is straightened from the right part removal position 2a to the left side detention position 2b by the guide rail. You will be guided. At this time, the robot 10 pushes the return box 50 from the right side to the left side by the hand attachment 17 pressed against the outer wall of the side plate of the return box 50.

The control unit 100, which has completed the transfer of the return box 50 from the component take-out position 2a to the detention position 2b, transmits a forward rotation drive signal of the return belt conveyor 4a to the return Belcon switchboard described above. As a result, the return belt conveyor 4a is driven in a normal rotation to convey a plurality of empty return boxes 50 placed on the surface of the return belt conveyor 4a in the return direction (direction of arrow B in FIG. 2). Then, as shown in FIG. 16, at the position facing the rear end box detection sensor 7 fixed to the box return line 4, the second return box 50 from the end and the rearmost return box 50 The space between the boxes enters for a moment, and the rear end box detection sensor 7 does not detect the return box 50. Immediately after that, the rear end box detection sensor 7 detects the tip of the rearmost return box 50. At the timing of this detection, the control unit 100 transmits a drive stop signal of the return belt conveyor 4a to the return belt conveyor 4a to stop the return belt conveyor 4a.

The control unit 100 that has stopped the return belt conveyor 4a in this way then transfers the head return box 50 on the supply belt conveyor 3a to the component take-out position 2a by the robot 10. Specifically, as shown in FIG. 17, the hooking portion 17d of the hand attachment 17 of the robot 10 is hooked on the inner wall of the front side plate of the leading return box 50. In this state, by pulling the returnable box 50 toward the front side of the robot 10 by the movement of the arm (13) of the robot 10, the leading returnable box 50 is supplied from the supply belt conveyor 3a as shown in FIG. Transfer to the component take-out position 2a. At this time, when the return box 50, which is attracted toward the robot 10 by the movement of the arm portion (13) of the robot 10, reaches a position where the tip of the return box 50 is abutted against the guide rail described above, the transfer is completed. A piezoelectric sensor may be provided on the guide rail, and when the piezoelectric sensor detects pressure, the robot 10 may end the attraction of the return box 50.

The robot 10 that transfers the return box 50 from the supply belt conveyor 3a to the component take-out position 2a functions as a transfer means for transferring the transport box on the box supply path to the vicinity of the robot 10. Then, since the return box 50 is transferred by utilizing the driving force exerted by various motors, the return box 50 is transferred by sliding on a downward slope using only gravity as in the invention described in Patent Document 1. Unlike the ones, you can: That is, even if the surface of the supply belt conveyor 3a and the surface of the component take-out position 2a increase the frictional resistance due to the adhesion of dirt, a strong sliding force is applied to the return box 50 by utilizing the driving force exerted by various motors. Is given. As a result, the returnable box 50 is reliably transferred onto the component take-out position 2a, and the delay in transfer can be suppressed.

The control unit 100, which has transferred the return box 50 on the supply belt conveyor 3a to the component take-out position 2a as described above, then transmits a forward rotation drive signal of the supply belt conveyor 3a to the supply Belcon switchboard. The supply belt conveyor 3a is driven to rotate in the forward direction. After that, at the timing when the detection signal is sent by the leading box detection sensor 6 fixed to the box supply line 3, a stop command signal is transmitted to the supply Belcon switchboard to stop the supply belt conveyor 3a. As a result, as shown in FIG. 19, the drive of the supply belt conveyor 3a is stopped in a state where the leading return box 50 is moved to just before the operation table 2.

FIG. 20 is a flowchart showing a processing flow of control executed by the control unit 100. The control unit 100 that has started this flow first performs a box pulling process (step 1: hereinafter, step is referred to as S). This box pulling process is a process in which the leading returnable box 50 placed on the supply belt conveyor 3a is pulled toward the robot 10 by the robot 10 and transferred to the component take-out position 2a of the operation table 2.

The control unit 100 that has completed the box pulling process (S1) then performs a supply bellcon drive process (S2). In this supply Belcon drive process, the first return box 50 is transferred on the supply belt conveyor 3a by the box pulling process (S1), and the first return box 50 is driven in the forward rotation of the supply belt conveyor 3a. This is a process of moving the part immediately before the part removal position 2a.

After that, the control unit 100 performs the robot basic posture process (S3) to cause the robot 10 to take the above-mentioned basic posture. Then, after measuring the height of the component 55 at the highest height among the return boxes 50 at the component take-out position 2a by the height sensor 29 (S4), the inside of the return box 50 is photographed by the camera 17c. Based on the image data obtained in this manner, the plane position of the first component 55 is grasped (S5). The plane position is a coordinate position on the xy plane. Further, as described above, the first component 55 is a component located on the tray 56 in the innermost "row" and the rightmost "column".

The control unit 100 that has grasped the plane position of the first component 55 then grasps the orientation of the component based on the above-mentioned image data (S6). When the return box 50 is placed on the supply belt conveyor 3a in the reverse posture, the component 55 is in the reverse posture rotated 180 [°] from the normal posture on the xy plane, which is the normal posture. It grasps whether it is in the reverse posture. In the normal posture, the parts 55 may be supplied to the assembly process line 45 by a normal supply method, but in the reverse posture, the parts are rotated 180 [°] in the horizontal direction at the time of supply. Instead of having the orientation of the component 55 grasped by the image taken by the camera 17c, an orientation detection sensor for detecting the orientation of the component 55 may be provided on the hand attachment 17 or the like.

The control unit 100 that grasps the orientation of the component 55 modifies the program stored in the ROM 100c based on the height and orientation of the component 55 (S7). After that, the parts take-out process is performed based on the modified program (S8), the parts are taken out from the return box 50, and then the parts 55 are supplied to the assembly process line 45 (S9).

The control unit 100, which has finished supplying the parts 55, then determines whether or not the final parts in the uppermost tray 56 of the return box 50 at the parts take-out position 2a have been taken out (S10). The final component is the foremost "row" and leftmost "column" component 55 on the tray 56. When the final component has not been taken out (N in S10), the part 55 still remains in the uppermost tray 56, so the control flow is looped to the above S8 to take out and supply the next part 55. On the other hand, when the final part has been taken out (Y in S10), the part 55 is not left on the uppermost tray 56. Therefore, the tray take-out process is performed (S11), and the uppermost tray 56 is passed through and taken out from the box 50. At this time, the suction head 18 described above is gripped by the grip portion 17b of the hand attachment 17 for suction of the tray 56. The removed tray 56 is put into the tray collection box 30 by carrying out the tray collection process (S12).

The control unit 100 that has finished loading the tray 56 then determines whether or not the first-stage tray 56 has been taken out from the return box 50 at the component take-out position 2a (S13). When it has not been taken out (S13N), in the return box 50, the parts are fully loaded on the tray 56 which has been newly placed at the top by taking out the tray earlier. Therefore, the control unit 100 loops the processing flow to the above-mentioned S3 and starts preparing to take out the first component 55 in the newly top-level tray 56. On the other hand, when the first-stage tray 56 has been taken out (Y in S13), the return box 50 at the part taking-out position 2a is empty without the parts 55 and the tray 56. Therefore, the control unit 100 carries out the processes from S14 to S17, which will be described later.

In the step of S14, the control unit 100 executes the detention box delivery process. This detention box delivery process is a process of sending an empty return box 50 at the detention position 2b of the operation table 2 from the detention position 2b onto the return belt conveyor 4a by the operation of the robot 10.

The control unit 100 that has completed the detention box delivery process then executes the return Belcon drive process (S15). This return Belcon drive process is a process of sending a plurality of return boxes 50 on the return belt conveyor 4a in the return direction one by one by the forward rotation drive of the return belt conveyor 4a. By this return Belcon drive process, an empty space for one return box 50 is created at the end of the return belt conveyor 4a on the robot 10 side in the longitudinal direction. A new empty return box 50 is sent out to this empty space by the later detention sending process (S14).

The control unit 100 that has completed the return Belcon drive process then performs an empty box detention process (S16). This empty box detention process is a process of transferring the empty return box 50 at the component take-out position 2a of the operation table 2 to the detention position 2b by the operation of the robot 10.

The control unit 100 that has completed the empty box detention process then determines whether or not the assembly end switch of the control panel in which the control unit 100 is housed is turned on (17). When it is desired to complete the assembly on the assembly process line 45, the operator turns on the assembly end switch.

When the assembly end switch is ON (Y in S17), the control unit 100 ends a series of processing flows. On the other hand, when the assembly end switch is not turned on (N in S17), the control unit 100 loops a series of processing flows in S1 and transfers the new return box 50 to the component take-out position 2a. Start.

FIG. 21 is a perspective view showing the parts supply system 1 according to the embodiment. As shown in the figure, the parts supply system 1 includes a robot 10, an operation table 2 (parts take-out position 2a, detention position 2b), a box supply line 3 (supply belt conveyor 3a), and a box return line 4 (return belt conveyor 4a). There are multiple combinations of. Each combination is arranged in a direction orthogonal to the longitudinal direction of the box supply line 3 and the box return line 4. Then, the processes of supplying the parts 55 of different types to the assembly process line 45 are performed in parallel.

In such a configuration, the speed of supplying a plurality of types of parts is higher than that of the invention described in Patent Document 1 in which a single robot takes out a plurality of different types of parts from the box at different timings and supplies them to the assembly process. Can be accelerated.

The above description is an example, and the effect peculiar to each of the following aspects is exhibited.
[Aspect A]
Aspect A is a robot (for example, robot 10) that takes out a part (for example, part 55) in a transport box (for example, a return box 50) and supplies it to an assembly process (for example, assembly process line 45), and a box supply path (for example, a box). It is provided with a transfer means for transferring the transport box on the supply line 3) to the vicinity of the robot and transferring the transport box after taking out the parts from the vicinity of the robot to the box return path (for example, the box return line 4). In the parts supply system (for example, the parts supply system 1), the transport box after taking out the parts is transferred to the box return path by the robot, and the transport box on the box supply path is transferred to the vicinity of the robot by the robot. By doing so, the robot is characterized in that it functions as the transfer means.

In the aspect A, the driving force exerted by the driving sources such as various motors of the robot is used to transfer the transport box on the box supply path to the vicinity of the robot, or to transport the empty box from the vicinity of the robot to the box return path. Transfer the box. In such a configuration, by transporting the transport box in a lifted state, it is possible to avoid a delay in transport due to the transport box not being smoothly slid on the road surface due to frictional resistance. Alternatively, even if the transport box is configured to slide on the road surface, the sliding can be reliably performed. Specifically, even if the frictional resistance of the road surface is high due to the adhesion of dirt, etc., the robot uses the driving force exerted by various drive sources to exert a strong sliding force on the transport box, and the transport box. Reliably transfer. Therefore, it is possible to suppress the delay in the transfer of the transport box from the box supply path to the vicinity of the robot and the delay in the transfer of the transport box from the vicinity of the robot to the box return path.

[Aspect B]
Aspect B is characterized in that, in Aspect A, the road surface of the box supply path and the road surface of the box return path are at the same height. In such a configuration, the path from the box supply path to the box return path via the vicinity of the robot can be made a smooth process without steps, and smooth transfer and delivery of the transport box can be realized.

[Aspect C]
Embodiment C, in embodiments B, and part article removing position a box position for taking out the component from the carriage box (e.g. component pickup position 2a), in temporarily retain the box positioning the carriage box after component pickup A certain detention position (for example, detention position 2b) is arranged side by side in the front of the robot in the left-right direction, and the box supply path whose tip is directed to the component take-out position and the rear end are directed to the detention position. It is characterized in that the box return path extends in a direction along the front-rear direction of the robot and is arranged in parallel. In such a configuration, the box supply path and the box return path are reasonably arranged at the same height, while the supply work place of the transport box containing parts to the box supply path and the collection of the empty transport box from the box return path. Work efficiency can be improved by setting the work place and the work place close to each other.

[Aspect D]
In aspect D, in aspect C, the robot and its drive are driven so that the transport box on the box supply path is transferred to the component extraction position by an operation of pulling the transport box on the box supply path toward the front side of the robot by the movement of the arm of the robot. It is characterized in that a control means for controlling the above is configured. In such a configuration, the transport box can be transferred from the box supply path to the component take-out position by the movement of the arm of the robot whose hand is hooked on the transport box on the box supply path.

[Aspect E]
In aspect E, in aspect D, the transport box is moved from the component take-out position to the detention position by an operation of shifting the position of the transport box after the component is taken out at the component take-out position in the left-right direction by the movement of the arm of the robot. The robot and the control means are configured so as to be transferred to the robot. In such a configuration, by temporarily keeping the transport box immediately after taking out all the parts near the robot, it is possible to alleviate the congestion of the transport box at the box return destination.

[Aspect F]
In the F aspect, the robot and the control means in the E aspect are such that the transport box in the detention position is transferred to the box return path by an operation of pushing the transport box in the detention position from the front side to the back side by the movement of the arm portion of the robot. Is characterized by the fact that. In such a configuration, the transport box can be transferred from the detention position to the box return path by the movement of the arm of the robot that presses the hand against the transport box on the box supply path.

[Aspect G]
In the aspect G, in any of the aspects D to F, a plurality of trays (for example, trays 56) accommodating the parts are stacked so as to hold the parts at different positions on their own virtual two-dimensional plane. It is characterized in that the robot and the control means are configured so as to supply the parts to the assembly process while taking out the parts from the uppermost tray in the transport box at the parts taking-out position in the enclosed state. .. In such a configuration, the parts housed in the transport box in multiple stages can be taken out in order.

[Aspect H]
In the aspect H, in the aspect G, the empty tray in which all the parts are taken out at the highest position in the transport box at the parts take-out position is taken out from the transport box and moved to a predetermined position. , The robot and the control means are configured. In such a configuration, after all the parts of the uppermost tray are taken out, the parts of the tray below the upper tray can be taken out.

[Aspect I]
In the aspect I, in the aspect H, a height position detecting means (for example, a height sensor 29) for detecting the height position of the uppermost part in the transport box at the part taking-out position is provided, and the height is described. Based on the detection result by the position detecting means and the control program for sequentially taking out the parts according to the predetermined position order in the virtual two-dimensional plane, a process of sequentially taking out a plurality of parts from the uppermost tray is performed. As described above, the control means is configured. In such a configuration, it is possible to take out and supply the parts of each stage only by modifying the standard control program stored in advance based on the height detection result.

[Aspect J]
In aspect J, in any of aspects C to I, the combination of the robot, the component extraction position, the detention position, the box supply path, and the box return path is combined with the extension of the box supply path and the box return path. It is characterized in that a plurality of them are arranged side by side in a direction orthogonal to the current direction. In such a configuration, the speed of supplying a plurality of types of parts is higher than that of the invention described in Patent Document 1 in which a single robot takes out a plurality of different types of parts from the box at different timings and supplies them to the assembly process. Can be accelerated.

1: Parts supply system 2: Operation table 2a: Parts removal position 2b: Detention position 3: Box supply line (box supply path)
3a: Supply belt conveyor 4: Box return line (box return path)
10: Robot 13: Arm 29: Height sensor (height position detection means)
45: Assembly process line 50: Return box (transport box)
55: Parts 56: Tray

Japanese Unexamined Patent Publication No. 10-15856

Claims (6)

A robot that takes out the parts in the transport box and supplies them to the assembly process, and the transport box on the box supply path is transferred to the vicinity of the robot, and the transport box after the parts are taken out is transferred from the vicinity of the robot to the box return path. In a parts supply system equipped with a transport means for transporting to
By transporting the transport box after taking out the parts to the box return path by the robot and transferring the transport box on the box supply path to the vicinity of the robot by the robot, the robot functions as the transport means. The road surface of the box supply path and the road surface of the box return path are set to the same height, and the parts take-out position, which is the box position for taking out the parts from the transport box, and the transport box after the parts are taken out are temporarily set. The detention position, which is the position of the box to be retained, is arranged in front of the robot in the left-right direction.
Further, the box supply path whose tip is directed to the component take-out position and the box return path whose rear end is directed to the detention position are arranged in parallel so as to extend in a direction along the front-rear direction of the robot. A control means for controlling the robot and its drive is configured so that the transport box on the box supply path is transferred to the component extraction position by an operation of pulling the transport box on the box supply path toward the front side of the robot by the movement of the arm of the robot. Then, the transport box at the component take-out position is moved from the component take-out position to the detention position by an operation of shifting the position of the transport box in the left-right direction by the movement of the arm of the robot. A parts supply system comprising the robot and the control means. In the parts supply system of claim 1,
The robot and the control means are configured so that the transport box in the detention position is transferred to the box return path by an operation of pushing the transport box from the front side to the back side by the movement of the arm portion of the robot. Parts supply system. In the parts supply system according to any one of claims 1 and 2.
The highest-level item in the transport box at the component take-out position in a state in which a plurality of trays accommodating the components are stacked and included so as to hold the components at different positions on their own virtual two-dimensional plane. A parts supply system comprising the robot and the control means so as to take out parts from a tray and supply the parts to the assembly process. In the parts supply system of claim 3,
The robot and the control means are used so that an empty tray in which all the parts are taken out at the highest position in the transport box at the component take-out position is taken out from the transport box and moved to a predetermined position. A parts supply system characterized by being configured. In the parts supply system of claim 4,
A height position detecting means for detecting the height position of the uppermost part in the transport box at the part taking-out position is provided.
A process of sequentially extracting a plurality of parts from the uppermost tray based on a detection result by the height position detecting means and a control program for sequentially extracting parts according to a predetermined position order in the virtual two-dimensional plane. A component supply system, characterized in that the control means is configured to carry out the above. In the parts supply system according to any one of claims 1 to 5,
A plurality of combinations of the robot, the component take-out position, the detention position, the box supply path, and the box return path are arranged side by side in a direction orthogonal to the extending direction of the box supply path and the box return path. A parts supply system featuring.

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