JPH01115528A - Commodity feeder - Google Patents

Abstract

PURPOSE:To feed a commodity reliably even if a containing box is supplemented to a temporal storage means from outside by recognizing the order of containing box supplemented to the temporal storage means from outside and the type of commodity. CONSTITUTION:Plural stages of pallets P1-P4 carried on an unmanned vehicle 20 are transferred onto the buffer table 52 of a temporal storage means, i.e. a buffer 22, then a required pallet Pa is separated by means of separation pawls 66, 68 through lifting/lowering of the buffer table 52 and fed through a elevator 26 to a stocker 24, then an empty pallet P' is returned through a carrying means 76 to the unmanned vehicle 20. Pallets P contained in the stocker 24 are pulled out sequentially onto a pull-out section 154 and fed through a robot 12 to an assembling table 224. Order of the pallets P1-P4 to be fed to the buffer 22 and the type of commodities are recognized by reading out bar codes thereof through a sensor and stored in a controller 16, and thereby commodities are fed reliably to the stocker 24.

Description

[Detailed description of the invention]

[Industrial Field of Application] The present invention relates to an article supply device for supplying articles such as parts to a device such as a robot, and which allows replenishment of the articles from the outside. [Prior Art] Conventionally, the inventors of the present application have developed a system in which articles such as component units of a product are automatically supplied to an assembly station, where they are automatically assembled into a product by a robot. As an article supply device, patent application No. 61-20094
This has already been proposed in No. 9 and No. 61-200950. These conventional article supply devices adopt a non-line method, and when combined with a multifunctional work mechanism such as a robot, they occupy a small area and can be used for many different types of articles. It is an easy-to-use device that allows mixed storage of items. [Problems to be Solved by the Invention] Here, in the conventional article supply device as described above, a storage box containing articles is supplied to an assembly line or an assembly stage, and the robot The apparatus is configured to take out articles from a stored storage box and assemble them. However, when goods are supplied to robots,
Eventually, the items in the storage box will run out, and the storage box full of items will have to be replenished. However, the order in which the refilled storage boxes are loaded is not necessarily in the requested order. Therefore, if it is not possible to recognize, for example, what kind of articles the refilled storage box contains, it will be impossible to accurately supply the articles. This invention has been made in view of the above-mentioned problems, and an object of the invention is to enable reliable supply of goods by reliably recognizing the loading order and type of goods in storage boxes replenished from the outside. The purpose of the present invention is to propose a product supplying device that provides the following advantages. [Means for Solving the Problems and Their Effects] In order to solve the above-mentioned problems and achieve the object, the present invention has a storage means for storing a plurality of storage boxes storing a plurality of articles, A supply means for supplying the goods stored in a storage box within the means to a supplied side, and a storage box containing a plurality of goods,
Temporary storage means for replenishing from the outside for temporary storage; storage means for storing the order of storage boxes stored in this temporary storage means and the types of articles in the storage boxes; an article supplying device for replenishing storage boxes from outside, a recognition means for recognizing the order and type of articles of storage boxes replenished from the outside into the temporary storage means; and storage boxes replenished from the outside. and updating means for updating the order of items and the type of articles on the storage means. [Margin below] [Embodiment] The configuration of an embodiment of the present invention will be described below in detail with reference to the accompanying drawings. In the following explanation, the explanation will be made in the order shown in the table of contents below. Contents Next page (Schematic structure) 10 (Description of unmanned vehicle) 11 (Description of pallet) 13 (Description of buffer) 17 (Operation of buffer) 24 (Description of elevator) 37 Structure of elevator body 37 Structure of loading mechanism 4゜ - Taking in from the buffer - 49 - Empty pallet pulling in - 51 - Pallet pushing out - 54 - Empty pallet unloading - 55 (Stocker description) 57 (Robot description) 71 (System operation) 78 Control unit configuration> 78 <Human power in assembly environment> 80 Variable factors for efficiency of parts supply) 87 <Other display elements> 93 <Variables used for control> 94 <Vertical movement range of each module> 95 Overview of pallet exchange operation> 98 <Detailed explanation of each module control> 100

[Robot and stocker control] Until the number of 103 items remaining becomes 1 When the number of 103 items remaining becomes 1
111

[Pallet replacement] 1
13*Pallet separation by buffer* 113*/<let drawer by elevator*117*Elevator replacement standby position fit* 120*Movement to standby position* 126*Detection of remaining number O*
128, *Pallet replacement*
129*Stacking empty pallets* 135*
Final shelf replacement* 136

[Queuing of replacement preparation instructions] 139

[Initial operating state settings]
140 (Description of modification)
143 First theory
143*Configuration of step removal mechanism* 144*Step removal mechanism*
Operation of the Rashi Mechanism* 149 Second Prefectural Theory
152 *Elevator explanation*
152 Third explanation from the prefecture side 160
*Explanation of switching mechanism* 160*Control*
164 Fourth Prefectural Theory
167*Configuration* 1
67*Control* 174[Other real
Example] 179*Composition*
179*control*
191 other downstream side
199 [Others]
204 <Locking of pallets in stocker> 204 <
Parts replenishment for FAC> 209*Unmanned vehicle
Replenishment by* 212 *Replenishment by manual*
218*Variation of replenishment by the infinite
222-2 [Effect code of example
223 [Blank below] (Schematic structure) First, flexible assembly of this example
・About the outline of the Center (hereinafter referred to as FAC) 10
, will be explained with reference to FIGS. 1 and 2. This FACIO has multiple parts X1*X2*X3・
Automatic assembly equipment for automatically assembling a predetermined product from...
(Hereinafter, cars are called robots.) 12 and this robot.
In step 12, parts XI + are required depending on the assembly order.
Parts supply system that automatically supplies X2 + X3...
system 14, this robot 12, and parts supply system 1
4 to make assembly operations in the robot 12 more efficient.
A control unit is installed to drive and control both so that the
connected to the control unit 16 and the operator
and an input/output device 18 into which assembly information data is input.
Generally equipped. This parts supply system 14 is installed in an automated warehouse (not shown).
Various stored parts XI + X2. X3..., multiple unmanned vehicles 20 (shown in FIG. 1)
The device is configured to receive transportation through the device. That is, this
The parts supply system 14 supplies parts X l from the unmanned vehicle 20.
The receiver takes + x2 + x3... and stores -1.
A buffer 22 as a temporary storage means and a robot 12
The robot 12 is provided with the necessary equipment for assembly.
As a storage means for supplying parts sequentially according to the assembly order
The stocker 24, this buffer 22, and the stocker 24
There was a shortage in the stocker 24.
Parts X r * X 21 x3... are transferred to the buffer 22
As one aspect of the transfer means for sending from the stocker 24 to the stocker 24
Basically, it is equipped with an elevator 26. (Description of unmanned vehicle) This unmanned vehicle 20 has many parts X stored in an unmanned warehouse.
Choose this robot from l + x2 + x3...
Parts XI and X21x to be assembled in step 12
3... to the buffer 22 selectively.
It is. That is, each unmanned vehicle 20 is configured as shown schematically in FIG.
The housing 28, which is formed into a rectangular parallelepiped shape from the frame body,
Wheels 30 attached to the lower surface of the casing 28 and the casing
A pallet mounting table 32 attached to the top surface of 28 is provided.
It is growing. This wheel 30 is driven by a drive mechanism (not shown).
It is configured to be rotationally driven. Moreover, each unmanned vehicle 20 is located between the unmanned warehouse and the buffer 22.
The wheels 30 are moved along a running path previously provided on the road surface.
The driving condition is as follows.
, is optimally controlled by the production control computer described later.
ing. Also, the parts X1. X
21X3... selection and mounting movement on each unmanned vehicle 20
The operation is also optimally controlled by the control unit 16 mentioned above.
ing. Also, on the pallet mounting table 32 mentioned above, there is a package to be described later.
Let PI + P2 + p3... is inside
Parts X l + X2 + X3... were accommodated respectively.
condition, with multiple piled up. On the other hand, on the bottom of the casing
, the empty palette) p+ ', p2 ”
, P3'... are placed in a stacked state.
An empty pallet mounting table 34 is provided so that the pallet can be placed on the empty pallet. In addition, in the following explanation, when the palette is shown as a representative
is represented by 'PJ' for the car without a subscript, and also an empty pad.
Even when showing a representative example of a car, without adding a subscript,
It will be expressed as "p'". Here, the parts placed on the pallet mounting table 32 are
Pallet P1 containing items xl, X2 + X3...
P2. In order to carry out P3..., carry-out roller 32a
is provided. In addition, on the empty pallet mounting table 34,
Empty pallets placed here PI ′, P2 ′+
In order to carry in P3 '..., carry-in roller 3
4a is provided. These, the carry-out roller 32a, @
The large roller 34a is rotationally driven by a drive motor (not shown).
is configured to be moved. (Description of Pallet) The configuration of the pallet is as follows: Each part X1. X2. X3... corresponds to each
Palette PI, p21P3...
, respectively in this palette PI p2 + 93...
In the accommodated state, it is placed on the unmanned vehicle 20, and the buffer 2
Once stored in the stocker 2, it is transferred to the stocker 2 via the elevator 26.
4 and provided to the robot 12.
It is configured. That is, each pallet PlIP21P3・
... has parts of the same type ooX+ + X2 + X
3... are housed in each case, as shown in Figure 3.
As shown, the corresponding parts xl + X2 + X3...
・It is housed so that it can be inserted and removed along the vertical direction, and the top surface is
The opened pallet body 36 and this pallet body 36
Palette P++P2. At least how to transport P3...
At both edges along direction d, outwardly bulging molding is performed.
The flange portion 38 is integrally provided. In addition, the shape shown in the diagram
As is clear from the shape, this flange portion 38 is different from the actual shape.
The shape is formed around the entire circumference of the pallet body 36.
It is something that In addition, each pallet main body 36 has this
A lid body 40 is placed so as to releasably close the top surface of the lid.
It is. Each flange portion 38 has positions at both ends as shown in the figure.
In this state, the first and second notches 38a and 38b
However, the third notch 3 is also located in the center.
8c are formed respectively. Here, the first and second
The cutout portions 38a and 38b of No. 2 are
Let P+, p2. P3... from buffer 22
In order to take it out to Beta 26, it is also necessary to remove it from the stocker 24.
To take out/draw into bot 12 or elevator 26
It is set in. On the other hand, the third notch 38 in the center
c, lift the lid 40 upward and store it in the stocker 24.
The upper surface of the stored pallet main body 36 is open.
It can be taken out to the side of the robot 12 in the state where it is
It is provided so that a lifting body (described later) can be inserted therethrough.
ing. Note that each of the first and second notches 38a. 38b is composed of a concave portion formed in a planar substantially isosceles trapezoidal shape.
so that the shorter base defines the bottom of the recess.
It is formed. That is, this lid body 40 is constructed by the robot 12 as a part X l ,
The final stage that deals with X2 + Xs...
, in other words, the palette p+ * P2- p3...
is moved to the drawer waiting position in the stocker 24, which will be described later.
until the corresponding palette PlIP21p,...
It is covered to cover the top opening, and the part xl +
2 + X3... should not be contaminated by dust, etc.
Naturally prevented. The dimensions of the pallets are these pallets P+ + P2 + P3...
- is the size of the parts accommodated in it, as shown in Figure 4.
Depending on the thickness, the thickness is 25mm, 50non,
There are three types of 100mm. Here, the following
In the explanation below, for simplification, part x1 is 25m.
The maximum number of pieces is set to 54 on pallet p1 with a thickness of m.
In the established state, the parts x 2 are made of
With the maximum number set to 38 on let p2, or
In addition, part x3 is a pallet having a thickness of 100 mI [l].
With the maximum number set to 13 on p3, accommodate each
It is assumed that Also, each palette p++P2. In ps...,
The thickness of the flange portion 38 is set to a common 12 mm.
There is. In addition, on the inner peripheral edge of each pallet body 36, as shown in FIG.
As shown, the pallet bodies 36 are stacked directly above.
(indicated by the broken line in the figure), the lower parts of the
A concave portion 36a for preventing misalignment in the direction extends around the entire circumference.
It is formed as follows. Here, the depth of this recess 36a is
, 7[11+11. In this way,
For example, three types of pallets p+ r P2, P3 are 1
When stacked one by one, the height of this stack is
, 25+50+10O-7x2=161mm
That will happen. In addition, the flan of each pallet p11 P2, P3...
As shown in FIG.
pl h p2 + p3... accommodated inside
Information on the type and number of parts XI, 2, X3...
A barcode B indicating information and pallet height information is drawn.
It is. (Description of buffer) Next, the unmanned vehicle 20 configured as described above is loaded on a pallet.
Parts Xl, X2 + X3... are placed from the mounting table 32.
Receive the pallet pHp21P3... and store it for -1 days
Along with the empty palette pr Z P2 '+P3
′... to the unmanned vehicle 20
will be explained with reference to FIG. The buffer 22 of the structure of the buffer stand is a base fixed on a base (not shown).
A stand 42 and pillars 4 erected at each of the four corners of this base 42
4a, 44b, 44c, 44d and pallet pHP21
A pair of support columns 44a, 44 along the conveyance direction d of P3...
b; Kake is standing on the inner surface of each of 44c and 44d.
It is provided with standing boards 46a and 46b that are passed over each other. Each occurrence
Each rise on the mutually opposing surfaces of the vertical plates 46a and 46b
A guide member 48 is fixed along the upright side edge.
. Each guide member 48 is provided with vertical movement along the guide member 48.
A sliding member 50 is possibly attached. These four prints
The buffer stand is supported at each of its four corners by the moving member 50.
52 is attached. This buffer stand 52 is a component from the unmanned vehicle 2° mentioned above.
Palette P+ containing XI + 2 + x=...
+ P2 + p3... are placed here.
On the buffer stand 52 of
+ X2 + x3 '' Palette P r +
To receive P2 +p3... from the unmanned vehicle 20
The carry-in roller group 54 can be rotated by roller guides 56 at both ends.
It is placed in a state where it is supported by. In addition, these loading bays
The roller 54 is rotationally driven by a drive motor (not shown).
It is configured so that On the other hand, both guides of the upright plate 46b on the opposite side in FIG.
In the portion sandwiched between the side members 48, there is a portion extending in the vertical direction.
In this state, a slit 58 is formed. this slit
The buffer stand 52 mentioned above is in a state of protruding into the inside of the
, a protruding piece 52a is integrally formed. Here, this buffer stand 52 is used for the pallet placed on it.
From the set group pr + P2 + ps..., which will be described later
As shown, the remaining number of parts X in the stocker 24 is
In order to replenish the pallet p that is now 1, replace it with this.
vertical movement to separate a given pallet p.
configured to be possible. That is, the pair of support columns 4 to which the opposite upright piece 46b is attached
Between the upper ends of 4c and 44d is the buffer stand 52 mentioned above.
A servo motor for vertically moving the
Data MB is installed. This servo motor MB is
It is equipped with a rotating shaft that extends along the vertical direction.
The rotating shaft is rotatably arranged between the compatible columns 44c and 44d.
, rotationally drives a ball screw 60 extending along the vertical direction.
As in, connected. On the other hand, this ball screw 6
0 is screwed into the aforementioned protruding piece 52a. In this way, the rotation of the rotating shaft of the servo motor MIl
As a result, the ball screw 60 is rotationally driven, and the buff
The support stand 52 will be moved up and down. Note that this servo motor MB has its rotational position, that is,
, an encoder for detecting the height position of the buffer stand 52.
A carder 62 is attached. With the above configuration, the buffer stand 52 can be placed at any height position.
It can move up and down, but as mentioned above,
, pallet group P++P2+Ps placed on top of this
In order to separate a specific palette p from...
The buffer 22 includes a separation mechanism 64. This separation mechanism 64 is provided at the upper end of each upright plate 46a, 46b.
A pair of first separation claws 66 provided, and these first separation claws 66,
A pair of third teeth are disposed a predetermined distance below the release claw 66.
2 separation claws 68. In addition, both standing plates 46a,
The first and second separation claws 66, 68 in 46b are the same.
It is set at one height. Here, each of the first 'EL and second separation claws 66°68 is
, a group of pallets stacked on the buffer table 52
P1. Hang on the flange part 38 of P21P3... from both sides.
It is provided so that it can be stopped. In other words, each standing plate 46a
, 46b, the first and second separation claws 6'6.6
8 indicates pallets stacked on the buffer table 52.
The flange part 38 of the pH group pH21P3... is shown from below.
The protruding position to be latched and the distance from these flange portions 38
It is designed to be able to reciprocate between the retracted position and the retracted position.
Ru. That is, the multiple pairs of first separating claws 66 are connected to the corresponding upright plates 46.
The support rod 70 that protrudes from a and 46b and reaches the back surface is integrated.
We are preparing for Both support rods 70 are connected to the upright plates 46a, 4
6b through the connection plate 72 as shown in the figure.
and are connected together. Then, on this connection plate 72
is a first air supply for reciprocating the first separation claw 66.
-Cylinder CB+ is connected. In this way,
In response to the drive of this first air cylinder CFII, the first
The separation claw 66 of No. 1 moves between the protruding position and the retracted position.
It will be driven back. On the other hand, regarding the second separation claw 68, a second separation claw 68 is used as a driving source.
The first separation is equipped with an air cylinder C8□.
Since it is similar to the configuration for driving the claw 66, its explanation will be given below.
omitted. Note that the first separation claw 66 and the second separation claw 68 described above are different from each other.
The distance between pallets P+ + P2 + P3 is
Slightly longer than the maximum height of 100+c+++ inside
It is set to 110mm. In addition, the package in a state of being latched to the first separating claw 66 described above is also
On the side of the palette p, there is a bar code drawn on this palette p.
A barcode reader 74 is provided to read code B.
has been done. This barcode reader 74 has a well-known configuration.
Therefore, its explanation will be omitted. Here, on the base 42, the lower position of the elevator 26 (
In other words, it extends to a position adjacent to the stocker 24).
A carry-out mechanism 76 is provided. This unloading mechanism 76
is the empty pallet P+ in the stocker 24
", P2', p3'...
Provided for transporting empty pallets to the loading table 34 of the car 20.
It is composed of a plurality of delivery rollers 78.
. These delivery rollers 78 are driven by a drive motor (not shown).
It is configured to be driven to rotate. Note that the height position of this unloading mechanism 76 is determined based on the empty position of the unmanned vehicle 20.
It is set to take the same height position as the lettuce mounting table 34.
In addition, the standby position of the buffer stand 52 is
The height position of the pallet mounting table 32 is set to be the same as that of 0.
There is. (Operation of Buffer) Configuration of buffer 22 equipped with separation mechanism 64 as described by Tatsuyoshi Itsuki and above
, the pallet group P placed on the buffer stand 52
Robot 12, which will be described later, from I, p21P3...
When separating a predetermined pallet p8 based on a request from
The operation will be explained with reference to Figures 7A to 7D.
I will clarify. First, as shown in FIG. 7A, on the buffer stand 52,
A total of 12 pallets are P++f'a+ ρ from the bottom.
3+ PII P2, Ps,
PlI P21p3. PI, P2. p3 order
Assume that it is placed in . Furthermore, this buffer stand
52 is a pallet group pHP21P with a height of 800 mm.
3... is set to be placed, and in the above case
In this case, the 12 pallet groups are (25+50+
100)X4-7X11=623mm and has a height of 623mm. And this
In such a state, part x1 is collected from the robot 12.
When requested to separate contained pallet pI
First, a plurality of pallets placed on the buffer table 52 are
By applying the first-in/first-out principle,
Instruct to separate pallet P+ located third from the top.
An indication will be sent. In addition, in the following explanation,
Add the code p1 to the third palette p1 from the top, and
The pallet located directly above the
Let us assign the symbol pb to the pallet. As mentioned above, the pallet p is separated from the robot 12.
If a request is made to
Pallet pb placed directly above pallet p,
, as shown in FIG. 7B, by the first separating claw 66,
until the servo motor M is brought into the latched position;
The buffer table 52 is rotated for eight shifts (in this case,
lower). In addition, the first and second separation claws 66 and 68 are
, in the initial state, both are moved to the retracted position.
There is. In this state shown in FIG. 7B, the first air cylinder
The daCl1l is started and the first separating claw 66 is pulled in.
Force it from the position to the latching position and push it out. This allows the
The flange portion 38 of the let Pb is attached to the first separating claw 66.
It can be hung from either direction. After this, as shown in FIG. 7C, the servo motor M8
From the state shown in Figure 7B, the buffer stand 52 is set to 94 mm.
It is rotated so that it descends. As a result, the pallet p1 is caught on the second separating claw 68.
The pallet p
b will be hooked to the first separation claw 66. That is,
, pallets located above pallet pb are
It will be hooked to the separation claw 66 of No. 1. In this state shown in Fig. 7C, the second air cylinder
The da C62 starts and pulls the second separation claw 68 to the retracted position.
Press it to the latching position and push it out. This allows pare
The flange portion 38 of the cut p2 is attached downwardly to the second separating claw 68.
It becomes ready to hang. After this, as shown in FIG. 7D, the servo motor MB
From the state shown in Figure 7C, the buffer stand 52 is set to 15 mm.
It is rotated so that it descends. As a result, only the pallet p is hung on the second separating claw 68.
A pallet that is stopped and located below this pallet p6
is brought to a position separated from pallet p1.
It becomes. In this way, only palette p8 is
When separated from the pallet, it is hung on the second separation claw 68.
At the stopped position (hereinafter simply referred to as the separation position),
It will be set up so that it can be taken out independently. Note that the pallet p1 separated in this way is
After being taken out to the elevator 24, what happens next?
All pallets are
It is operated to return to the initial state placed on the buffer stand 52.
That will happen. That is, during this return operation, first, the second air
CB2 moves the second separation claw 68 to the latching position, contrary to the previous time.
It operates to pull in from the position to the retracted position. After this
, the servo motor MB rotationally drives the buffer stand 52.
134 mm (i.e., the straw when the buffer stand 52 is lowered)
94+15=109m+n, which is the
The value is the sum of 25mm, which is the thickness of cut p1. ) rises by
let Due to this rise, the pallets in the pallet group on the buffer stand 52 are
The pallet in the uppermost position is hooked to the first separating claw 66.
Even when the pallet PB is placed on top and lifted up,
will be subject to change. In this state, the first air cylinder CBI
On the contrary, move the first separation claw 66 from the latching position to the retracted position.
It operates as if pulling it into the position. As a result, the first separation claw
Pallet p hanging on 66, pallet above
The group consists of pallets that have already been placed on the buffer table 52.
The entire pallet group is placed on top of the pallet group.
It will be brought to a state where it will be placed on the fan stand 52.
Ru. At this position, the robot 1 enters the standby state.
It will wait for the next minute instruction from 2. The pallet position correction operation during separation operation has been explained in detail above.
The operation of the buffer 22 is basic, and each palette
This does not take into account manufacturing errors. That is, each parameter
The manufacturing error is allowed to be ±0.3mm.
It is. Therefore, a large number of pallets are placed on the buffer table 52.
When this manufacturing error is accumulated,
The first separating claw of the pallet p in the basic operation described above
An error occurs in the movement of the lever 66 to the latching position, and the part
Let PB is accurately held at the position by the first separating claw 66.
There may be cases where it is not moved. In detail, assuming the worst case, all the installed
Pallet p where the pallet has a minimum thickness of 25mm
I, and the maximum mounting height is 800 mm as mentioned above.
Therefore, 800÷(25-7)xo, 3=13.3mIn is the maximum
This is the cumulative error amount. With this maximum cumulative error amount, the height position is
If the change occurs, the servo motor MIl will
According to this operation, a predetermined pallet pb is moved to the first separating claw 6.
Assuming that it is rotated to move 8 to the locking position of 6.
However, in reality, due to the above-mentioned error, it may not be possible to locate the
There will be cases where it is not possible to set the Therefore, in this embodiment, as shown in FIG.
actually (calculated) at the latching position by the first separating claw 66.
) disposed adjacent to the side of the brought pallet body 36
A sensor 80 is provided. This sensor 80
It consists of a well-known reflective photocoupler.
A detailed explanation is omitted, but a pair of light emitting element and light receiving element
and adjacent to the circumferential surface of the flange portion 38 of the pallet.
When touched, it receives light from the light emitting element and turns on, causing the pallet to turn on.
When adjacent to the side of the main body 36, the light from the light emitting element is
It is configured so that it cannot be received and turns off. In addition, the arrangement position of this sensor 80 is shown in FIG. 8A in detail.
As shown in , this is the flange portion 38 of pallet p.
Placed on this pallet p1 with the upper end surface detected.
The pallet p, which is
It is set to be brought into position. In a state where the sensor 80 as described above is provided, the above-mentioned
Pallet p, after considering the manufacturing error of the pallet,
The contents of the 8-motion control to the latching position by the first separating claw 66 are as follows.
, will be explained with reference to FIGS. 8A to 8E. Here, the range where the side surface of the pallet main body 36 appears is the eighth
As shown in Figure A, the height of the pallet P+ is 25+nm.
In this case, the thickness of the flange portion 38 is 12 mm, and the lower
To the fitting recess 36a of the pallet main body 36 located on the side
Considering 7mm, which is the insertion distance, 25-12-7 = 6mm. Therefore, considering the maximum cumulative manufacturing error mentioned above,
Then, the power calculated by the servo motor Ma is
The relative relationship between the position of let Pa+ pb and the sensor 80
The person in charge shall
Three ways are envisaged. That is, as shown in FIG. 8B, the pallets to be separated
pa (in other words, it is hung on the second separation claw 68
The peripheral surface of the flange portion 38 of the pallet pa) is connected to the sensor 80
as shown in FIG. 8C.
The flange of pallet Pb to be hung on the separation claw 66 of
A second aspect in which the peripheral surface of the portion 38 faces the sensor 8o;
Then, as shown in FIG. 8D, the first separating claw 66 is hooked.
The side surface of the pallet body 36 of the pallet p to be
A third aspect opposite the sensor 80 occurs. Here, the sensor 80 is attached to the flange portion 3 of the pallet.
When the peripheral surfaces of 8 are adjacent to each other, it turns on, but this
In the on state, the first aspect shown in FIG. 8B,
A second mode shown in FIG. 8C is considered. For this reason,
The buffer stand 52 has a sensor 80 as shown in FIG. 8E.
In other words, until detecting the upper end surface of the flange portion 38,
, is lowered until the sensor 80 is turned off. Then, when the sensor 80 is turned off in this way, the upper end
Barcode B drawn on the pallet whose surface was detected is barcoded.
Read via code reader 74. This series has been sold for 8 years since ancient times.
This pallet is separated from the barcode B that was read.
If it is determined that the power palette p,
As shown, this pallet p to be separated is placed on
The pallet pb is brought to the latching position of the first separation claw 66.
Therefore, according to the basic operation described above,
, the first air cylinder CBI is activated and the first separation
The pawl 66 will be pushed out to the latching position. On the other hand, the bar drawn on the pallet whose top end face was detected
As a result of reading code B, this palette is separated.
If it is determined that the palette is not p1, this
The pallet whose barcode B is read will be automatically palletized.
It is determined that the pallet p is directly above the pallet p.
Therefore, the buffer should be increased by the height of this pallet pb.
The servo motor M rotates so that the base 52 moves upward.
Driven. In this manner, sensor 80 is configured as shown in FIG. 8E.
Detect the upper end surface of the flange portion 38 again as shown in
However, this upper end surface is the detected flange portion 38.
is the palette p to be separated.
This should be done via the barcode reader 74.
After confirming the
The air cylinder CIl+ is activated and the first separation claw 66
will be pushed out to the latching position. In addition, read the barcode B of the pallet that has been lifted and detected.
As a result, the pallet p to be separated. If it is determined that this is not the case, there is a clear control error or
, if a pallet different from the requested one is in an unmanned warehouse.
This is a case where the person was transported by an unmanned vehicle 2o.
At the point in time, the control action is stopped and the predetermined warning action is started.
be done. Further, the sensor 80 is connected to the side surface of the pallet main body 36.
In the adjacent state, that is, the pallets are as calculated.
When a moving operation is performed, it will turn off, but this
In the closed state, only the third aspect shown in FIG. 8C is considered.
You will be able to receive Therefore, the buffer stand 52
As shown in Figure 8E, the sensor 80 is placed above the flange portion 38.
In other words, the sensor 80 remains on until the end face is detected.
It will be raised until it is done. When the sensor 80 is turned on in this way, the upper end
Barcode B drawn on the pallet whose surface was detected is barcoded.
Read via code reader 74. This results in reading
This pallet should be separated from barcode B
If it is confirmed that the pallet is a
uni, the pallet placed on this pallet p1 to be separated
The cut p is brought to the latching position of the first separating claw 66.
Therefore, following the basic operation described above,
1 air cylinder CB+ is activated, and the first separation claw 6
6 will be pushed out to the latching position. To execute the pallet position correction operation detailed above.
Therefore, even if there is a manufacturing error in the pallet,
, regardless of this manufacturing error, the number of pallets p1 to be separated is
The pallet Pb placed on the upper side is connected to the first separating claw 6
6 will achieve a state where it is securely latched.
. Blank space below E (description of elevator) Next, the elevator is placed between the buffer 22 and the stocker 24,
The empty pallet p' in the stocker 24 is
E to replace pallet p with X fully stored.
Regarding the structure of the elevator 26, see Figures 9 to 13G.
Refer to and explain. Structure of the Elevator Body As shown in FIG. 9, this elevator 26 has the following structure.
It is fixed on a common base 142 with the stocker 24.
, and on the part of this base 142 on the buffer 22 side.
is the support on the robot 12 side in the buffer 22 mentioned above.
A pair of supports stand adjacent to the pillars 44a and 44c.
Pillar 82a. 82b and the robot 12 at a predetermined distance.
A pair of pillars 82c are provided vertically. 82d is provided. These four wooden supports 82a, 8
The upper ends of 2b, 82c, and 82d are connected to connecting members 84, respectively.
are connected to each other. In this way, the elevator
26 basic frames are constructed. In addition, this connecting member 8
4 is also configured in common with the stocker 24, which will be described later. Here, a pair of support columns 82a; 82c along the conveyance direction d;
, a pair of pillars 82b; 82d, there is an elevator main
A body 86 is arranged to be movable up and down. This elevator main body 86 is a pallet P+. P2. A pair of surfaces perpendicular to the transport direction d of p3... are open.
It is composed of a box that has been released. This elevator body
86 is a request from the robot 12 (for
(Request issued when the remaining number of parts becomes "1")
The pallet p separated at the separation position based on
is received from the buffer 22 and into the elevator main body 86.
At the same time, the request from the stocker 24 (the above-mentioned
The remaining one part is used for assembly, and the part is
This request is issued in response to a request made when the
The held pallet p1 is transferred to the stocker 24.
,It is configured. Here, the palette P r + P
Multiple pairs of support columns 82 along the conveyance direction d of 2 r P3...
On the mutually opposing surfaces of a, 82c; 82b, 82d
, guide members 88 are fixed along the vertical direction, respectively.
There is. Each guide member 88 has an upper portion along the guide member 88.
A pair of the
A sliding member 90 is attached. Here, the upper horizontal plane
The four upper corners are supported by four sliding members 90 inside.
4 sliding parts in the lower horizontal plane
With the four lower corners supported by the material 90, the above-mentioned
An elevator main body 86 is attached. On the other hand, a pair of columns 82b, 8 on the opposite side in FIG.
In the part sandwiched by 2d, it extends vertically,
Space is defined. While protruding into this space,
The elevator main body 86 mentioned above has a protruding piece (not shown).
It is formed in one piece. Also, the upper ends of the pair of columns 82b and 82d on the opposite side are connected to each other.
The part of the connecting member 84 that is connected to the
Move the beta main body 86 up and down along the guide member 88
Servo motor M for! , is installed. This server
Bomota ME. is equipped with a rotating shaft that extends vertically.
The rotation axis is rotatably arranged between both supports 82b and 82d.
and rotates the ball screw 92 extending along the vertical direction.
Connected to drive. On the other hand, this ball
The middle part of the same 92 is screwed into the aforementioned protruding piece. child
By the rotation of the rotating shaft of servo motor ME+,
As a result, the ball screw 92 is rotationally driven, and the elevator
The main body 86 will be moved up and down. Note that this servo motor ME+ has its rotational position, immediate
First, for detecting the height position of the elevator main body 86,
An encoder 94 is attached. With the above configuration
The elevator main body 86 can move up and down to any height position.
It is something that can be done. As described above, the elevator body 8 is movable up and down.
6 contains parts separated from the buffer 22.
In addition to taking in the fully loaded pallet p1, this pallet
Push out the top p from this to the stocker 24, and
Replacement to pull in empty pallet p' from Tokka 24
A lifting mechanism 96 is provided. This switching mechanism 96 uses a servo motor as a driving source.
ME2 is placed on the top surface of the elevator main body 86 via the stay 98.
It is provided in a fixed state. A swing arm 10 is attached to the drive shaft of this servo motor ME2.
One end of 0 is fixed and swings according to the rotation of the drive shaft.
It is designed to be driven. This swing arm 100
A long groove 100a is located in the middle of the groove along the longitudinal axis of the groove.
is formed. Moreover, the swinging arm of this long groove 100a
Elevator books that cover the area covered when the arm 100 swings
On the upper surface portion of the body 86, along the above-mentioned conveyance direction d,
A guide groove 102 is formed. This guide groove 102
is approximately the entire length of the elevator main body 86 along the conveyance direction d.
It is formed across. Here, the long groove 100a and the guide fl1102 are
Guide bin 1 is inserted vertically through the guide bin 1.
04 is provided. The head of this guide bin 104 is
, are formed with a large diameter, and these grooves 100a, 102
The ra-nuki is prevented from falling. In a configuration like this
As a result, the servo motor ME2 reciprocates and rotates.
Therefore, the swinging arm 100 is driven to swing, and therefore the guide
The bin 104 is moved along the guide groove 102, that is, in the conveying direction.
It will be driven back and forth along the direction d. In addition, as shown in Figures 10 to 12, this guide
At the lower end of the bin 104 is located within the elevator body 86.
In this state, the slide plate 106 is fixed. This space
The ride plate 106 extends along the direction perpendicular to the conveyance direction d.
It is attached to the guide pin 104 so as to extend. Both ends of the side surface of this slide plate 106 on the buffer 22 side
, the first hook 108 is connected to the first hook slide member.
110 along the longitudinal axis direction of the slide plate 106.
In other words, along the direction perpendicular to the transport direction d,
Mounted so that it can be ridden. This pair of first hooks 108 are connected to each of the aforementioned pallets.
Formed on the flange part 38 of PII p21P3...
In the first notch 38a on the elevator 26 side, both
It is formed in a shape that can be engaged from the side. That is, this
The tip of the hook 108 of No. 1 has an isosceles shape with a notch.
It is formed in the form of an isosceles trapezoid that complementarily matches the trapezoid.
. On the other hand, at both ends of the slide plate 106, along the conveyance direction d,
In the extended state, the air cylinder support plates 112 are
It is fixed. This air cylinder support plate 112
A first hook 108 is reciprocated at the end of the buffer 22.
The first air cylinder CEI for
ing. The first piston of this first air cylinder CEI
The aforementioned first hook 108 is attached to the tip of the tongue 114.
It is connected. In this way, the first air cylinder
In response to the drive of the DaCEI, the first hook 108 is attached to the flange.
The reciprocating drive is used to engage and disengage the first notch 38a of the joint 38.
will be moved. Also, the side surface of this slide plate 106 on the stocker 24 side is
At both ends, a second hook 116 is attached to a second hook slide.
in the longitudinal axis direction of the slide plate 106 via the door member 118.
In other words, along the direction perpendicular to the transport direction d.
It is attached so that it can slide. The first of this pair
2 hooks 116 are connected to each pallet pH+)2.
The unmanned vehicle 20 side formed on the flange portion 38 of 93...
shape that can be engaged from both sides with the second notch 38b of
is formed. On the other hand, air cylinders fixed to both ends of the slide plate 106
A second holder is provided at the end of the stocker support plate 112 on the stocker 24 side.
A second air cylinder for reciprocating the rack 116
CG2 is installed. This second air cylinder
At the tip of the second piston 120 of Da CE2, the aforementioned
A second hook 116 is connected. In this way
, the second air cylinder CE2 is driven.
The hook 116 is connected to the second notch 38 of the flange portion 38.
It will be driven back and forth to engage and disengage from b. Here, on the lower surface of the elevator main body 86, a first or a first
2 hooks 108, 116, and the servo motor M
, a pallet that is pulled in/pushed out according to the rotational drive of 2.
A pair of fixed slide guides that slidably support the cutter p.
122 are arranged. That is, both fixed slide guides
122 are both sides of the pallet p being pulled in/pushed out
It is slidably set on the lower surface of the flange portion 38 of. Note that the height of the upper edge of both fixed slide guides 122 is the maximum height.
Pallet p3 with a large height of 100mm
It is set at a height sufficient to slidably support it, and
The standby position of this elevator main body 86 is on both fixed slides.
The upper end surface of the guide 122 supports the pallet p in the separation position.
, is set at a height that allows it to be received horizontally.
. In addition, each of the above-mentioned air cylinder support plates 112
At the bottom, there is a line along the same direction as the extending direction of the slide plate 106.
In the extended state, the mounting for the third hook is attached to the plate 124.
is fixed. Here, this installation is performed by the plate 124
A third hook 126 is provided at both ends of the side surface on the tocker 24 side.
slides through the third hook slide member 128.
Along the longitudinal axis direction of the plate 106, in other words, in the conveying direction
attached so that it can slide along the direction perpendicular to d.
ing. This pair of third hooks 126 are connected to the stocker 2.
Each empty palette emptied in 4 '91 Z +
To the flange part 38 of '2'+23'...
The formed second notch 38b can be engaged from both sides.
It is formed into a flexible shape. On the other hand, air cylinders fixed to both ends of the slide plate 106
A third hook 126 is provided at the lower end of the conductor support plate 112.
The third air cylinder CE3 for reciprocating the
is attached. This third air cylinder CE3
The aforementioned third foot is attached to the tip of the third piston 130.
126 is connected. In this way, the third
In response to the drive of the arch cylinder CE3, the third hook 12
6 engages and disengages from the second notch 38b of the flange portion 38.
It will be driven back and forth as much as possible. Note that the hook 126 of the paintbrush 3 is located under the elevator main body 86.
A guide groove 132 (
It is shown in FIG. ) below the elevator main body 86.
It has been taken out. Here, below the elevator main body 86
Under the surface, this third hook 126 allows the stocker 24
In order to slidably receive the pallet p' taken out from the
A pair of movable slide guides 134 are provided. Here, both movable slide guides 134 are received here.
The empty pallet p' is transferred to the unloading roller of the aforementioned unloading mechanism 76.
In order to place it on the 78th group, the direction perpendicular to the conveying direction d
In other words, if the empty palette p' received here is
It is configured to be slidable so that it can be removed from the That is,
As shown in Figures 10 and 11, both movable slide guides
The id 134 is connected to the element via the slide members 136, respectively.
It is slidably attached to the lower surface of the beta main body 86.
There is. On the other hand, on both sides under the lower surface of the elevator main body 86,
Air cylinder support plates 138 are fixed to each. Each air cylinder support plate 138 has a movable slide guide.
A fourth air cylinder C for reciprocating the door 134
64 is attached. This fourth air cylinder
At the tip of the fourth piston 140 of CE4, the above-mentioned
A movable slide guide 134 is connected. in this way
According to the driving of the fourth air cylinder Cε4, the possible
The dynamic slide guide 134 is located at the flange portion of the empty pallet p'.
It will be driven back and forth to engage and disengage from 38. Operation of the swapping mechanism In the swapping mechanism 96 configured as described above, the part
Regarding the exchanging operation of let p and pallet p',
This will be explained with reference to FIGS. 13A to 13G. First, in the initial state, the elevator main body 86 is
The height position of this is the same as the upper end surface of the fixed slide guide 122.
, the upper end surface of the second separating claw 68 of the buffer 22 is at the same height.
It is set to take In addition, the exchange mechanism 9
6, the swinging arm 100 of this is shown in FIG.
so that it is at the middle position of the guide groove 102.
The initial state has been set. Also, each air cylinder
C+:+, CE21 CE3. CE4 has high pressure air
Air is not supplied and the corresponding hooks 108, 116
126 and the movable slide guide 134 are retracted, respectively.
is set to the retracted position. −Import operation from the buffer− When such an initial state is set, the loading operation
From the bot 12, as mentioned above, from the robot 12
request, i.e. for a given pallet p in the stocker 24.
When the remaining number of part X reaches 1,
Based on the request to prepare for the change, the buffer 22
At the same time, the operation of separating a certain pallet p is started,
In this elevator 26 as well, in the buffer 22
The separated pallet pm is taken into the elevator main body 86.
The embedding operation is performed. That is, when the above-mentioned request is issued from the robot 12, this
First, in the elevator 26 shown in FIG. 13A,
From the state, the servo motor M62 is indicated by the arrow in FIG.
The exchange mechanism 96 is rotated in the direction indicated by A to buffer the exchange mechanism 96.
8 to the 22 side. Due to this movement, the 13th. Figure B
As shown in FIG.
1 hook 108 is in the separated position in the buffer 22.
Formed on the flange portion 38 of the pallet p separated at
In the first notch 38a on the elevator 26 side,
It will be set so that it can be engaged from the side. still,
In the engageable state of the first hook 108,
This first hook 108 causes separation movement in the buffer 22.
It is set up so as not to interfere with the production in any way. In this state, the operation of the elevator 26 is in the waiting state.
This continues until the buffer 22 completes the minute+m operation.
continues to be in a standby state. Then, upon completion of the separation operation, the buffer 22
When the separation completion signal is output, the
Therefore, the exchange mechanism 96 replaces the separated pallet p8.
Start the import operation. That is, first, high pressure air is supplied to the first air cylinder CEI.
Pallet p supplied and with the first hook 108 separated
A first notch portion 38 formed in the flange portion 38 of
engage a from the side. After this, servo motor M, 2
, is rotated as shown by arrow B in Fig. 9, and the switching machine
The structure 96 is moved inside the elevator main body 86 along the transport direction d.
Incorporate into. Then, as shown in Figure 13C, the palette
The state in which the top p1 is completely taken into the elevator main body 86
At this point, the drive of servo motor ME2 is stopped, and the drive of servo motor ME2 is stopped.
After that, the first air cylinder CE+ is attached to the first hook 10.
8 is separated from the first notch 38 of the pallet p1.
It works like that. In this way, the pallet p separated by the buffer 22
1 is taken into the elevator 26. In this loading state, the switching mechanism 96
A part protrudes from the elevator main body 86 toward the stocker 24 side.
has been brought to a state of Therefore, servo motor M
6□ is rotated in the direction shown by arrow A, and as shown in Fig. 13D.
As shown, this exchange mechanism 96 is connected to the elevator main body 8.
6. Retracting operation of an empty pallet - After this, the servo motor ME1 is rotated and the elevator is moved.
The main body 86 is placed inside the pallet p stored in the stocker 24.
Then, the pallet that becomes empty after the part X stored in it disappears.
Lower the cutter p′ to the position where it is pulled in, and
The empty pallet p' from the stocker 24 is
It will wait for a replacement request. Note that this retracted position is the same as that of the stocker 24, which will be described later.
From the supply position of the pallet p to the robot 12,
The position above one pallet after parts have been supplied to port 12.
stipulated by. Now, as mentioned earlier, this palette
The height of cut p is set to 3 fffi, so
This retracted position also varies depending on the difference in height.
There will be class I. Moreover, the elevator main body 86 facing this retracted position
The standby position is the flap of pallet p' in the retracted position.
A replacement mechanism is provided in the second notch 38b of the hinge part 38.
The third hook 126 of 96 assumes an engageable height position.
So, it's set. In this way, elevator 2
The pull-in standby position of the empty pallet p' at 6 is defined.
It will be done. Meanwhile, the elevator brought to this pull-in standby position
In the exchange mechanism 96 in the main body 86, the above-mentioned
As shown above, part X is inside this elevator main body 86.
A fully loaded pallet P is moved between a pair of fixed slides.
is held on the id 122. In this pull-in standby position, the stocker 24 is
Empty pallet p' is moved to the retracted position.
Then, in response to the completion of the 8-movement to this retracted position, the servo
The motor Mε2 is rotationally driven in the direction shown by arrow B, and the
As shown in Figure 13E, the third foot of the exchange mechanism 96
126 is the flange of the empty pallet p' in the retracted position.
Can be engaged with a second notch 38b formed in the portion 38
is moved to a certain position. After this, the third and fourth air seats
High pressure air is supplied to each cylinder CE3+CE4,
The hook 126 of No. 3 is attached to the second notch of the empty pallet p'.
38b, the movable slide guide 134
However, the empty pallet p' that has been pulled in is transferred to the elevator main body 86.
It is pushed out into a supportable state below. After this, servo motor M6□ rotates in the direction shown by arrow A.
The empty pallet p' is moved under the elevator main body 86.
to draw towards. In this way, the empty palette p' can be
The 13th F is supported by the dynamic slide guide 134.
As shown in the figure, it is held below the elevator main body 86.
, the retraction operation of the empty pallet p' is completed. and,
The third air cylinder CE3 is connected to the third hook 126.
Separate from the second notch 38b of the empty pallet p'
It is operated as follows. Pushing out operation of one pallet - Here, in the retracting state of this empty pallet p',
The second hook 116 of the exchange mechanism 96 is attached to the fixed slider.
The second cut of pallet p1 supported on the guide 122
It is brought into a state where it can be engaged with the notch portion 38b. Therefore, from this state, high pressure air is supplied to the second cylinder CE2.
supplying air, the second hook 116 adjusts the pallet pH.
2 to engage with the notch 38b. On the other hand, in parallel with the above-mentioned second hook engagement operation, the
In the elevator 26, the servo motor M6. is rotating drive
to lower the elevator main body 86 and remove the pallets inside.
Place the cut p1 opposite the pull-out position in the stocker 24.
position. Then, the servo motor ME2 is
Rotate in the direction shown by B, as shown in Fig. 13G.
, pallet p from inside the elevator main body 86 to the stocker 2
4. Push it out to the empty storage position. After this, the second
The air cylinder CE2 has a second hook 116 attached to the pallet.
operation to separate from the second notch 38b of the top p.
be done. Then, the servo motor ME2 is in the direction indicated by arrow A.
The exchange mechanism 96 is rotated in the direction of the elevator main body.
into the body 86. In this way, the space of pallet p
The pushing operation to the tocker 24 is completed. Unloading operation of an empty pallet - As described above, the empty pallet p' and the parts X are fully loaded.
When the replacement operation with pallet p1 is completed,
The lower part of the elevator main body 86 is
An empty pallet p' is supported. Therefore, this empty palette
Place the cut p' on the IR2R2-ra 78 of the unloading mechanism 76.
The pulse motor M6□ rotates to move the elevator.
lower the pallet main body 86, and move this empty pallet p' to the unloading
When no empty pallet p' is placed on the roller 78,
is directly above this carry-out roller 78, and a carry-out roller
If an empty pallet p' is already placed on 78,
, is moved directly above this empty pallet p' that is already placed.
make it move. Then, after this, the fourth air cylinder Cr
, 4 move to pull in the movable slide guide 134.
Empty pallets supported by the elevator body 86
p' will be piled up on the carry-out roller 78
. In this way, the empty space piled up on the carry-out roller 78
When the number of pallets p' reaches the predetermined number, each discharge row
The roller 78 is driven to rotate, and the stack of empty pallets p' is
is transported below the buffer table 52, and then unmanned.
The empty pallet is carried out onto the empty pallet mounting table 34 of the vehicle 20. This way
In this way, the -th series of empty pallet unloading operations is completed. On the other hand, after the empty pallet p' is discharged to the unloading mechanism 76,
In the elevator 26, the servo motor MEl is rotationally driven.
to raise the elevator main body 86 and return to the initial stage described above.
position, i.e., opposite the separation position in the buffer 22.
It will be moved to this location and will be put on standby. (Description of Stocker) Next, the stocker is installed adjacent to the robot 12, and this robot
12. Parts necessary for assembly xI + X 2 +X,...
・The structure of the stocker 24 that sequentially supplies the
The configuration will be explained with reference to FIGS. 14 to 16.
. Structure of Stocker As shown in FIG.
It is fixed on a base and is common to the elevator 26 mentioned above.
The base 142 and each of the four corners of this base 142 were erected.
Posts 144a, 144b. 144c, 144d, and these supports 144a. Connect the upper ends of 144b, 144c, and 144d to each other
A connecting frame 84 is provided. Here, on the elevator 26 side
and multiple pairs of supports 144a, 144b on the robot 12 side;
To face each other in 144c and 144d,
The guide member 148 extends along the vertical direction.
It is fixed. Each guide member 148 has this
A sliding member 150 is attached so as to be movable up and down along this direction.
Ru. A state in which the four corners are supported by these four sliding members 150.
In this state, the lifting frame 152 having a substantially rectangular parallelepiped shape is attached.
It is being This elevator frame 152 is pushed from the elevator 26 mentioned above.
The robot 12 will be used to assemble the robot 12 at the same time as it is released.
A plurality of pallets p are pulled out to the drawer part 154.
It can be stored in tiers and in a drawer standby position (described later).
It is configured such that it can be pulled out one by one. Therefore, the inner surface of the lifting frame 152 along the conveying direction d is
is a plurality of shelves on which the flange portion 38 of pallet p is hung.
With the plates 156 each extending horizontally, and in the vertical direction
Fixed at equal intervals of approximately 30 mm along the
has been done. Here, each shelf board 156 has a center portion as shown in the figure.
(In other words, the pallets p placed on each shelf board 156
A third notch 3 formed in the center of the flange portion 38
A notch 158 is formed in the part opposite to 8C).
ing. That is, this notch 158
54 for opening the lid 40 of the pallet p pulled out.
Lifting of the opening mechanism 170 (shown in FIG. 15), which will be described later.
It is formed so that the arm 160 can be inserted therethrough. On the other hand, a pair of support columns 144b on the opposite side in FIG.
: In the part sandwiched by 144d, there is a
When it is out, the space is defined. Rush into this space
In the extended state, the above-mentioned elevating frame 152 has a protruding piece 16
2 are integrally formed. Also, on the opposite side of the pair of supports 144c; 144d
The portion of the connecting frame 84 that connects the ends to each other has the above-mentioned parts.
The lifting frame 152 is moved up and down along the guide member 148.
A servo motor MSI is provided for this purpose. This service
-The motor Msl has a rotating shaft extending along the vertical direction.
This rotating shaft is connected to both branches 144c: 1
Rotatably arranged between 44d and extending along the vertical direction
The ball screw 164 is connected to rotate the ball screw 164.
ing. On the other hand, the midway portion of this ball screw 164 is
It is screwed into the protruding piece 162. In this way,
- Due to the rotation of the rotating shaft of the motor Ms+, the ball screw 1
64 is rotationally driven, and the elevating frame 152 is moved up and down.
It will be. Note that the vertical movement of this lifting platform 152 is
An integral multiple of 30 mm, which is the arrangement pitch of the shelf boards 156 mentioned above.
The feed amount is set in . Note that this servo motor Ms has its rotational position, immediate
In addition, an encoder for detecting the height position of the lifting frame 152 is used.
A carder 94 is attached. Elevating and lowering with the above configuration
The frame 152 can be moved up and down to any height position.
It is something. Next, with reference to FIG. 14, the drawer section 154 described above
The configuration of is explained below. This drawer part 154 is used for assembly by the robot 12.
The pallet p containing the parts
It is provided to receive and hold, basically, as shown in the diagram.
Drawer stand 1 fixed at a predetermined height position from the base
68, and on this drawer stand 168, there is a lid opening which will be described later.
The lid body 40 is removed by a mechanism 170 (shown in FIG. 15).
The removed pallet p is put in and taken out from the lifting frame 152.
A loading mechanism 172 is provided. This drawer stand 168 is attached to the support column 144 on the robot 12 side.
A pair of support stays 174 fixed to a and 144c, respectively.
It is fixed in horizontal position through. this drawer stand
The pulled out pad is attached to the end of the robot 12 side of 168.
The tip of the pallet p is brought into contact with the pallet p and the pallet p is pulled.
A stopper 176 is attached to define the ejection position. Further, on both sides of this drawer stand 168, there are
A pair of slide guides 178 are provided along the
ing. Note that the upper end surface of these slide guides 178,
In other words, the slide support surface is in a stopped state during intermittent feeding.
Each shelf board 156 of the elevator frame 152 in the
It is set to match. In addition, if you slide it like this
Shelf board 15 in horizontal alignment with door guide 178
Pallet p supported by 6 is in the drawer standby position
Defined as a pallet. Further, the above-described loading/unloading mechanism 172
They are arranged symmetrically on both sides of the drawer stand.
168, extending along the conveyance direction d.
The provided guide member 180 and each guide member 180
A slidably attached sliding member 182 and each sliding part
A support plate 184 is fixed to the upper surface of the material 182.
Ru. On each support plate 184, there is a drawer stand for the elevating frame 152.
Formed on the flange portion 38 of pallet p in the machine position
Hook 1 capable of engaging with first notch 38a
86 can move forward and backward along the direction perpendicular to the conveyance direction d.
It is provided. On the other hand, on this support plate 184, there are
for moving the hook 186 forward and backward in the state where it is located at
Air cylinder C3I is attached. this air
- The piston of cylinder C3I is connected to the corresponding hook 186
is connected to high pressure air to air cylinder C, s+.
By supplying air, it engages with the above-mentioned notch 38a.
It is set to be pushed into position. Also, the end of each side edge of the pull-out table 168 on the robot 12 side
A drive roller 188 is rotatably fixed to the shaft.
, and an idle roller 1 at the end on the elevator 26 side.
90 is rotatably fixed on the shaft. Drive at each side edge
The roller 188 and the idle roller 190 have an endless roller.
The belt 192 is wound, and the drive roller 188
This endless belt 192 is driven by rotation.
will be moved. In addition, the drive rollers 1 on both side edges
88 are connected to each other so as to rotate together via a connecting shaft 194.
is connected to. Here, the support plate 184 at each side edge is
It is fixed to the dress belt 192 and is an endless bell.
According to the running of the tray 192, the top of the drawer table 168 is conveyed.
It will be reciprocated along the direction d. Also, the drive
A coaxial driven roller 196 is fixed to the roller 188.
has been done. On the other hand, below the central part of the side edge of the drawer stand 168
The servo motors M and 2 are attached via the stay 198.
I'm being kicked. The drive shaft of this servo motor MS□ is
A drive roller 202 is fixed coaxially. And this
The drive roller 202 and the driven roller 196 described above.
In the figure, an endless belt 204 is wound. With the above configuration, this servo motor MS2 rotates.
By rotating, the drive roller 188.202 rotates.
Therefore, the endless belt 192 is driven to run.
The hook 186 is moved along the transport direction d.
It will be returned to action. Structure of the body opening mechanism Next, referring to FIGS. 15 and 16, the lid body opening mechanism will be explained.
170 will be explained. This lid opening mechanism 170 is
Inside the lift frame 152, the pallet in the drawer standby position
The kit p is moved to the pull-out position via the pull-out mechanism 172.
Prior to the pulling out operation, the pallet p was covered with
Lift the lid 40 upwards and release the puller on the drawer base 194.
In other words, only the pallet p is at the unloading position, in other words, the robot
It is possible to take out part X stored inside by cut 12.
The pallet p set in the state will be pulled out.
It is set up for the purpose of Here, as shown in FIG.
0 is a pair of supports 144a and 144c on the robot 12 side.
The air shield attached to the side of the elevator 26 side
cylinder CS2 and the piston of this air cylinder C32
A lifting arm 160 attached to the tip of the
It is growing. This air cylinder C52 is the piston of this
The sliding direction of the pin 206 is in a plane perpendicular to the conveying direction d.
and face the lift frame 152 at an angle of 45 degrees from the horizontal direction.
It is installed at an angle so that it rises. Also, a lift attached to the tip of this piston 206
The arm 160 is fixed to the piston 206 and
A main body portion 160a extending along the extending direction of 206;
It is integrally formed at the tip of this main body part 160a, and
It has a surface I Sob and the outer side of this upper surface 160b.
The portion includes a protrusion 160c that protrudes upward.
ing. Here, this air cylinder C52 is a high pressure air cylinder.
input terminals 208a and 208b, and the negative input terminal 2
When high pressure air is supplied to 08a, the piston 206
The tip of the lifting arm 160 lifts the lid.
The body is biased to a retracted position between 4o and wi, and
When high pressure air is supplied to the other input end 208b,
The piston 206 is pushed out and driven to lift the lifting arm 1.
60 is biased to the push-out position where it engages with the lid body 4o.
It is configured so that In addition, the arrangement of the air cylinder C52 configured in this way
The position, i.e. the height position, is the lifting position in the extrusion position.
The upper surface 160b of the tip of the arm 160 is in the pull-out standby position.
The third notch of the flange portion 38 of the pallet p located at
The lower portion passes through the portion 38c and is placed on the lid body 40 that is placed over the portion 38c.
It is set so that it can be engaged from both sides. In the lid opening mechanism 170 constructed in this way,
According to the vertical movement of the lifting frame 152, the lift frame 152 is moved to the drawer standby position.
In this drawer standby position for the pallet p that has been
As soon as it is detected that pallet p has arrived, the lid opening machine
The operation of the system 170 is started. In other words, the air cylinders on both sides
High pressure air is supplied to the second input end of the cylinder C5□, respectively.
The piston 206 is pushed diagonally upward. As a result, the handles connected to the tips of the piston 206 respectively
The tip of the raising arm 160 is attached to the pull-out standby position.
formed at the center of the corresponding flange portion 38 of the let p.
passing through the third notch 38c, respectively, and both lifting abutments.
The upper surface 160b of the tip of the arm 160 is connected to the lid body 40 from below.
This will lift both sides of the rim. In this way
, as shown in FIG.
The pallet p is biased upward away from the pallet p located at the
Therefore, this pallet p can be pulled out to the pull-out position.
It becomes possible to do so. On the other hand, in the pallet p pulled out to the pull-out position
, the operation of taking out part X by the robot 12 ends.
Then, this pallet p is placed in this drawer standby position again.
It will be returned, but at the time it is returned, the air
In the converter C52, high pressure air is supplied to the first input end.
be done. In this way, the lifting arm 160 is
During this downward movement, the odor is
Then, the lid body 40 is attached to the pallet that has been returned to the pull-out standby position.
It will be placed on the pallet p so that the top surface of p is covered.
Become. In this way, the series of lid opening operations is completed.
. The lid 4o was removed by the lid opening mechanism 170 as described above for the operation of the drawer.
Pull pallet p from the pull-out standby position to the pull-out position.
Pull out the drawer and return it to the original drawer standby position.
The loading/unloading operation in the loading section 154 will be explained below.
. First, in the initial state, the hook 186 is connected to the servo motor.
8' in the opposite direction to the transport direction d by driving the motor Ms2.
#J and the pallet p in the drawer standby position.
Engageable with the first notch 38a of the flange portion 38
being brought into position. In this state, the air cylinder CSI is attached to the hook 18.
6 is set in the retracted state. From this initial state, the lifting action of the lid body 4o starts.
At the same time as the air cylinder c8 is started,
The hook 186 is attached to the pallet p in the drawer standby position.
1 notch 38a. After this, the lid body 4o
Upon completion of the push-up operation, servo motor MS2
The hook 185 is rotated in the opposite direction to the previous time, and as a result, the hook 185 is
, moves along the withdrawal direction d. That is, this hook 18
The pallet p in the drawer standby position where 6 is engaged is
, the elevator frame 152 is pulled out onto the drawer stand 168.
It turns out. In addition, this pulled out pallet p has a pair
It will slide on the slide guide 178 of. While sliding on the slide guide 178 in this way,
The pallet p that has been pulled out along the conveyance direction d is
It stops when it comes into contact with the topper 176, and the servo motor
The drive of the data terminal MS7 is also stopped. In this way, the palette
The top p is held in the pulled out position. After this, a robot 12, which will be described later, moves this pull-out position.
Work to take out part X from pallet p brought to the location
With the completion of this retrieval work, the
The motor Ms2 rotates in the opposite direction again to rotate the foot
186 in a direction opposite to the transport direction d. this
In this way, the pallet p is directed toward the lifting frame 152 again.
It will be returned to you. Then, palette p is completed.
When the servo motor M is completely returned to the elevating frame 152,
The drive of s2 is stopped, and the pallet p is moved inside the lifting frame 152.
will be held. After this, the lid 40 in the lid opening mechanism 170 described above is
The loading operation is executed and the series of insertion and removal operations is completed.
. (Description of the robot) Next, referring to Figures 1 and 2, the buffer described above will be explained.
Parts supply equipped with 22, elevator 26, and stocker 24
Receives part X from system 14 and manufactures the specified product.
The configuration of the robot 12 to be assembled will be schematically explained. Robot Configuration As shown in FIG. 2, this robot 12 has a stocker 2.
4 including the part located below the drawer part 154.
It is equipped with an assembly stage 210 arranged horizontally.
Ru. On one side of this assembly stage 210, a pair of pedestals 2 are provided.
12 is erected, and on the drawing stand 212 is a robot.
12's X axis (!2 axis extending in the direction along the feeding direction d)
The X-axis robot arm 214 that defines the frame is
. Additionally, a robot is mounted on this X-axis robot arm 214.
12 (axis extending in the direction perpendicular to the transport direction d)
), one end of the Y-axis robot arm 216 defines the
It is supported so as to be movable along the direction. Also, the supply system side of this Y-axis robot arm 216
The Z-axis (extending along the vertical direction) of the robot 12 is shown on the side of the
A robot arm 218 is provided that defines the axis of output.
ing. This robot arm 218 moves along the vertical direction.
It is configured to be movable along the Y axis.
and is configured to be rotatable. That is, the Y-axis robot is mounted on the X-axis robot arm 214.
Move the arm 216 along the X-axis direction (1 m2 feeding direction d).
A servo motor MR1 is installed to move the
. Also, Y! On the robot arm 216, there is a robot
Move the cut hand 218 in the Y-axis direction (perpendicular to the conveyance direction d).
a servo motor MR2 for moving along the direction);
Servo for movement along the Z-axis direction (vertical direction)
To rotate motor MR3 and robot arm 218.
A second servo motor MR4 is provided. Here, on the bottom surface of this robot hand 218, there is a
Parts X I + X2 r x,...
A finger 220 is detachably attached. This finger 220 is designed to grip the corresponding part
The remaining parts are Xl + X 2 + X
Other fingers 220 compatible with 3...
Finger station 22 provided on toe arm 214
It is housed in 2 and can be taken out freely. Furthermore, the above-mentioned assembly
On the stage 210, there is a part held by fingers 220.
An assembly table 224 for assembling item X is provided. Ma
In addition, the input device 18 described above is located on the side of one pedestal 212.
is next to. Part X in the robot 12 configured as follows:
The assembly operation of the product will be explained below. First, in the initial state, the robot hand 218 is
It is positioned above the extraction section 154. this state
The necessary parts X are stored according to the predetermined assembly order.
The loaded pallet p is moved from the stocker 24 to the pull-out position.
As it is being pulled out, the pallet p will be in the pulled out position.
From the moment the positioning is detected, the servo motor
MR3 rotates and lowers the robot hand 218.
Then, the fingers 220 perform a forceful gripping operation on the part X.
Ru. When the gripping operation of part X is completed, the servo motor
The robot hand MR3 rotates in the opposite direction.
218 and adjust the servo motors MR, MR2 appropriately.
It is rotated and moved onto the assembly table 224. Then, rotate the servo motor MR3 again to
Lower the bot hand 218 and place it on the assembly table 224.
Then, the assembly operation for part X is executed. This assembly operation is completed
Then, the grip state of the part X by the robot fingers 220
The state is released and servo motor MR3 rotates in the opposite direction.
Then, the robot hand 218 is raised. After this,
-The motors MRI and MR2 are rotationally driven, and the above-mentioned
The robot hand 218 is moved back to the initial position. In this way, when focusing on one part
A series of assembly operations is completed. In addition, while this series of assembly operations is being executed,
Then, the robot hand 218 receives the grip of the part X.
Supply of the girder pallet p, that is, the part X to the robot 1-12.
The robot hand 218 picks up the pallet p that has finished being fed.
from the upper position of let p to the assembly position, and again this part
Until it returns to the upper position of let p, the next assembly is done.
Pallet p containing parts X required in the process
Insertion and removal operations are performed. Here, one part X in the robot 12 mentioned above is
The time required for assembly is the descending movement to pallet p.
0.3 seconds, 0.2 seconds for gripping part X, pallet P?
0.3 seconds for the upward movement of the assembly table 224, and 8 movements upward for the assembly table 224.
0.5 seconds to move, 0.3 seconds to lower to the assembly table 224,
It takes 0.2 seconds for the assembly operation on the assembly table 224.
0.3 seconds for the upward movement of
Since 0.5 seconds are required for the 8 motions, the total time is 2.6
It is set to seconds. Note that the operation of putting in and taking out the pallet p is carried out by the robot 1 mentioned above.
During operation time 2, the robot hand 218 moves the pallet.
Is the upper position of pallet p after being lifted from pallet p?
must be executed before returning to this upper position again.
It won't happen. In other words, the robot hand 218
It descends from the standby position above pallet p and is placed on pallet p.
Grip part X at
Until it rises, it is prohibited to take in or take out pallet p.
At other times, pallet p is put in and taken out.
Must. For this reason, pallet loading and unloading operations
The time allowed for the production is 0.5+0.3+0.2+0.
3+0.5=1.8 seconds will be defined as the maximum time. In other words, this
1. The operation of loading and unloading pallet p must be completed within 8 seconds.
For example, without stopping the assembly operation in the robot 12.
The next supply operation of part X will be accomplished. others
Therefore, in the stocker 24 mentioned above, within this 1.8 seconds
so that the operation of putting in and taking out pallet p is executed.
The operating time is set. [Left below] (System operation) Below is how to control the operation of the FAC system based on the five examples of this skill.
Let me explain about this. <Configuration of control unit> Figure 18 shows the control unit that controls the FAC system of the embodiment.
The module configuration of the knit 16 (FIG. 2) is shown. mentioned above
As mentioned above, the Zero FAC system consists of robots, stockers, and machines.
The main components are a elevator and a buffer. This above
These components are mechanically modularized as described above.
It is also modularized in terms of control.
. That is, the control unit 16 includes a controller for controlling the robot.
Microprocessor board, microcontroller that controls the stocker
Processor board, microprocessor that controls the elevator
Microprocessor board that controls the support board and buffer
It has four microprocessor boards called
The microprocessor server F is a well-known multipath interface.
connected by a face. 4 microprocessor sabots
The management microprocessor board is located above it.
System management is performed by the code. The above management My
The input/output device 18 shown in FIG.
5232 interface, and this general
Input/output device using a personal computer 18
from the assembly environment of the wood FAC system (e.g. pallet
(specification of parts included in the process, process order, etc.)
Ru. The inside of the control unit 16 is shown in FIG.
The fact that each controlled object is modularized means that the tree F
The AC system is subject to the installation light conditions, e.g. environment, constraints.
Considering the above, the above module can be selected as an option.
In addition, the above assembly environment can be input/output
You can freely change process settings etc. by inputting from the device 18.
As the name suggests, the tree FAC system also
, allowing you to reorganize your “flexible” system environment.
This is what I did. This is based on the previously mentioned basis of the FAC system.
Description of the control unit program for the main configuration,
Furthermore, various changes in equipment configurations have evolved from this basic configuration.
From the explanation of example formats and program variations, it is obvious that
It will become clear. <Human power in assembly environment> The technical philosophy of this FAC system is not limited to manufacturing only.
, ultimately, multiple groups of items prepared in advance.
(Each group of goods includes only goods of the same means)
items one by one in a predetermined order that had been previously determined.
After selecting , the selected item is -
"r supply" toward the point. And above
From a plurality of groups of articles prepared in advance, the above-
When an item is fed towards a point, the item itself in the group of items is
Add. So, what is the technical philosophy of the Zero FAC system?
For this group of goods, efficiently and moreover, the above-mentioned point
Replenish new supplies without stopping supply to
It all boils down to doing J. Technology of this FAC system
The application of this philosophy to product assembly is detailed below.
Automatic assembly by robots in the narrow sense of Rono FAC
In this narrowly defined FAC system, the supply of r goods is
” corresponds to the supply of r parts to the robot by the stocker.
``Replenishment of goods'' is a buffer. In elevators (including unmanned cars, unmanned warehouses, etc.)
This corresponds to the supply of new parts to the stocker. Therefore
, r assembly environment in this narrow sense FAC system
' will be explained below. 19A to 19C show the display screen of the input/output device 18.
shows. This display screen is displayed when the operator uses the included keyboard.
This is a screen for inputting and changing various assembly environments.
In addition, the current control status is displayed as the control progresses.
It is also a screen for viewing. The assembly environment of this FAC system includes, for example, pallet information.
etc., that is, for a certain part, its part name, its
A shelf position S in the stocker of a pallet that accommodates parts;
The total number of parts T that can be accommodated on a pallet, the pallet
The robot assembles the parts into a finished product.
program number P for
Barcode B attached to the part, to be used for that part
Finger number F etc. attached to the robot hand
It is. In this FAC system, as shown in Figure 3,
Standard size pallets are used. Therefore, the parts
assembly program P (for example, screw tightening).
(e.g.), the standards for the pallets that will accommodate the parts have been decided.
Put it away. The pallet is determined by the number of pieces that can be accommodated in the pallet.
T, pallet thickness H, etc., which depends on the height of the parts, is determined.
That's true. The used parts table in Figure 19A is independent of the process order.
While the operator is looking at the CRT display screen of the input/output device 18,
Part name and total number of pallets that accommodate the part T5
Thickness of pallet Hl Bar code of that part B1 That part
Number F of the robot finger necessary for assembling the product and
The program number P is entered. Other,
The process sequence number G and stocker shelf position S are based on the process sequence table described later.
At the time of blue input, the management module program (first
(Fig. 8) automatically displays the input on behalf of the operator, and also displays the remaining information.
The number Z changes as the process progresses.
, for this Z, the above management module program also tells the operator
Instead, the latest updated number of remaining items is displayed. In the parts table manual process, each part has an index number I
DX・ is assigned. Once IDX is assigned,
In the process order input process of the tree FAC system (Figure 19B),
The part can be identified by this IDX number, so please enter the part name.
It's easier than typing directly. In the specific example shown in FIG. 19A, the parts index ID
The pallet with X as “1” has the part name “screw” and the pallet with
The number of items stored in the kit is 38 pieces, the pallet thickness is 50 Iom,
The program number is entered as rloOJ and the part index is
The pallet with the box IDX of "2" has the part name "Natsuto".
", the number of items stored in the pallet is 13, and the pallet thickness is 25.
mm, the program number is input as r200J, and the part number is
The palette with index IDX of “3” has the part name “
washer", the number of items stored in the pallet is 54, and the number of items stored in the pallet is 54.
Thickness: 100 mm, program number: r300J
It becomes... Note that the assembly environment information input by the above operator is
If we do, everything will be uniquely determined. be
The parts needed to assemble a product are usually known in advance.
Therefore, the package that accommodates those necessary parts is
Lets, programs, fingers, etc. are also uniquely determined. Therefore, while managing multiple Zero FAC systems at the same time,
Central production control computer system (Figure 18)
You may also provide this information. Assembling parts into products requires more than just information about the parts.
There are not enough parts, and it is important to assemble which parts and in what order.
. Therefore, the operator of the wood FAC system uses various products.
During assembly, we restore all the parts necessary for each process.
and input it into the process order table (Figure 19B) on the CRT.
To go. In the input process, the process order is from the beginning in the input order.
1゜2.3... and the number is assigned to the variable G
It is said that for instructing which parts to use in each process.
Input is performed by the operator inputting the parts index IDX.
It is done by. Furthermore, the process order table shows the
The shelf position S [G
] and enter it. Enter this S [G]
The need to strengthen the system is based on the following points. In other words, the process is different.
However, the same parts may be used, and this same
Since the parts are stored on the same pallet, the above
This is because the process may require pallets with the same shelf.
be. The details of the process order table entered in this way
An example is shown in Figure 19B. Figure 19B shows how to assemble a specific product from multiple parts.
Enter the parts needed to complete the process and their process order.
Is displayed. The process order is 64 processes from 1 to 64 are zero F.
Can be defined in AC system. The operator follows the process order.
So, while looking at the parts table display in Figure 19A,
The product IDX and shelf position S [G] are input one after another. The program number P2 part name in the process order table is
This is inserted by the program. This process sequence
In the bull, process number G and parts index IDX are related.
Once attached, the parts table (Figure 19A)
The process number G and the pallet used for that process are associated.
It will be done. In addition, the input of S [G] in the process order table is for one part.
/ 1 process / 1 shelf, that is, the same type of parts are different
When using in a process where pallets are placed on different shelves.
If the process order is pallet type S [
G], and once the parts are determined, the pallet thickness H
Since the management program can be known from the parts table, the operation
The management program can operate the S [G] without any manual effort by the person
Calculate the shelf position S [G] on behalf of the author and place a person on the table.
I can do it. Intentionally processing the same part in different ways
Even the process is like taking it out from the pallet on the same shelf.
When assembling the order, the operator should consider the pallet thickness H.
Therefore, it becomes necessary to input S[G]. Department
As with inputting the product table, the process order is
Is the product decided in advance in the production plan?
The predetermined process order is then controlled by central production management.
This FAC system is sent from the computer system via the communication line.
The stem may be manually operated. <Variating factors for improving the efficiency of parts supply> Now, in the FAC system, the order of "supply of goods" (i.e.,
The process order, which is the order of assembly, is extremely efficient in replenishing supplies.
have a huge impact. Zero FAC system assembly environment
The premise is one part/one process. parts supply, parts
The factors that influence the efficiency of replenishment are the pallet thickness H[
G] and which pallet to place on which shelf position S [G]
It's up to you. What is the total pallet thickness H in the stocker?
Limit the number of pallets that can be stored. The tree FAC system can accommodate the maximum number of species in the stocker.
Assemble products from parts within the number of pallets. subordinate
Therefore, the number of pallets is limited depending on the pallet thickness H.
What to do is, if multiple processes are required to assemble one product,
If the same parts are used in the process, the same parts should be
Reduce the total number of pallets by taking them out from pallets.
I am forced to do so. The same pallet in multiple different processes
If you take out the parts in the stocker, it will be easier to move the stocker up and down.
The movement becomes random, and the speed at which the stocker feeds the robot
associated with a decline in In this way, the process order G and the pallet thickness
The height H and the shelf position S [G] have a great deal to do with efficiency.
Therefore, when creating a process order table, these
It must be prepared carefully, taking various conditions into account. Also, collection
Since the capacity number T [G] is also determined for each part, assembly
The frequency and order in which empty pallets occur will also be affected.
, replacement of empty pallets, i.e. elevator and buffer
This is because it also affects operational efficiency. Figures 17A to 17E assume that the pallet thickness H is the same.
Therefore, the total number of items accommodated T[G] and the shelf position S[G] become efficient.
It explains how it affects you. 17th A
The figure is the simplest example, and even if the parts are different, each process
The T [G] of the palette is the same, and each palette
were placed on the shelf in the order of the process (i.e. S [G] is correct).
(in order). In this case, the palette
Parts become empty in the process sequence order, and in the
Tokka also moves upward in a --like manner. Next, parts A and B are required for assembly, and the order of assembly is also
It is necessary to set AφA=>B, and there is one A part on the pallet.
00 pieces can be accommodated, and 50 pieces of B parts can be accommodated.
Assume a case. Figure 17B shows each pallet in turn in step 1->2=>3.
This is a case where part A=>A==6B is taken out from. In this case, the stocker moves upward in an orderly manner.
, Pallet replacement frequency is low, but many pallets are required.
This causes the inconvenience of Figure 17C shows that A on the same pallet in step 1.2.
It involves using parts. In this case, the stocker
Movement is orderly, pallets are not frequently changed, and
There is no waste of pallets. Special characteristics of assembly, process order G
An ideal product that takes into consideration the parts storage capacity T of one pallet.
It is. If the assembly order is A=>B=>A, the process order and shelf position
When we make it as shown in Figure 17D, there is waste in the number of species.
However, the stocker moves in an orderly manner. As shown in Figure 17E
When this happens, there is no waste in the number of pallets and pallets can be replaced.
Replacement occurs continuously, but the stocker moves violently up and down.
movement occurs. Above are specific examples: assembly order, process order G, number of parts.
T [G, shelf position S [G] is the effect of parts supply and replenishment.
explained how it affects the rate. This FAC system
The system analyzes the factors that influence the efficiency of the above factors.
However, it does not provide the optimal assembly order and parts supply plan.
However, once the assembly plan and process sequence is
or as determined by the production control computer,
It can be flexibly adapted to any process order or plan, and
Supply parts to the robot most efficiently within the range of
The first is to supply parts to the stocker. That is,
, process order G, shelf position S [G], etc. are shown in Figure 21A.
The idea is to make it variable and deal with it flexibly.
. For example, as shown in Figure 17A, the pallet in the stocker
Enter the process order table so that the placement items are in the process order.
The purpose of this is that the ZeroFAC system is ``flexible'' to changes.
Along with “softness”, how can it hinder assembly operations by robots?
How to efficiently supply parts to robots by avoiding
This is because the main focus is on In other words, the pallets in the stocker
The pieces are placed on pallets, even if they are not in the order of the process.
Arrange the parts in the order in which they need to be replaced.
Also good. However, the main focus of this system is robot movement.
Control for supplying parts to robots without interfering with operations
The number of parts stored in a pallet varies depending on the parts.
Therefore, the pallet replacement period does not necessarily depend on the stocker.
It is difficult to predict because the robot does not follow the mounting instructions.
Flexibly responds to changes in the number of remaining parts due to parts picking mistakes.
In addition, the process order as shown in Figure 19B.
Considering that the input is ergonomically suitable, this book
In the example, the pallets were placed in the order of the process.
. Therefore, the pallets in the stocker are arranged in the order of the process.
robots, stockers,
The program is designed to ensure that elevators, etc. are controlled appropriately.
The basic configuration example and the system are easy to modify.
It is obvious from the explanation of the control of the modified configuration example.
It will be. Shelf board 1 of the stocker shown in Figure 14 of the Zero FAC system
In this embodiment, 56 has a total of 20 stages,
From top to bottom: 1st row, 2nd row, etc. 20th row
. As shown in Figures 14 and 20, each shelf board is spaced evenly (
approximately 30+n+n). Therefore, three types
Thickness (25mm, 50mm, IQOmm)
When storing the let in the stocker, for example, IQOm
A m-thick pallet would occupy four shelves. 19th
In the specific example shown in Figure A, IDXrlJ in the first step is
The pallet containing the "screws" is placed on the first shelf.
The “washer” which is the IDXr3J in the second step
The loaded pallet is placed on the third shelf, and
A pallet containing "Natsuto", which is the IDXr2J of the process.
will be placed on the seventh shelf. A paré
on which shelf (i.e., the stocker position in Figure 19A)
As mentioned above, whether it is placed in the location number S) depends on each individual
The management program considers the thickness of the pallet and calculates it.
or the operator can decide and input it with efficiency in mind.
They are displayed in order in the table in Figure 19A. In this way, the operator can view the parts table and process order table.
After entering the required minimum information, the management program will:
In the parts table, process order, stocker placement number S, etc.
It calculates and displays it, so you can easily understand complex and huge assembly environments.
The settings are extremely easy to operate, and changes can be made as described above.
Since you only need to change the input information, there are no process changes or parts changes.
You can respond more flexibly. <Other display elements> Figure 19C shows the icons (pictures) on the display screen of the input/output device.
character keys). ``Continuous'' means normal continuous assembly/part.
This key instructs the product supply operation mode, and this r continuous 1
When a key is pressed, the management microprocessor (Figure 18)
The SI NGLE flag in the memory (not shown) is “0”.
” is set to continuous operation mode and then
When the start 1 key is pressed, the r stop 1 key is pressed.
or until an error occurs and the system stops.
The system operates continuously. “Single J is a single action.
mode, and when this key is pressed, the S I N
The GLE flag is set to “1n” and the “Start” key is pressed.
Each time you press a single action (depending on each module, its
(different ranges of a single action) are performed. <Variables used for control> Figure 21A shows the variables used for control by the microprocessor of each module.
Common variables (global) that are commonly used (accessible)
variable). These variables are arranged in a two-dimensional array.
Arranged and indexed by argument G (process number)
. The replacement flag [G] is the process order G (i.e. stock
The pallet on the Gth shelf from the top in the car is empty.
This is a flag indicating. Many of the other common variables are
The explanation is omitted as it is the same as shown in Figure 9A and Figure 19B.
Omitted. Figure 21B shows robot to elevator and buffer
Instructions for preparing the replacement pallet to be sent (remaining items on the pallet)
When the number Z becomes 1, move it to the elevator and buffer.
In order to queue the
Retirement of the process number (E+, E2, D+, D2)
This is an evacuation area. As can be seen in Figure 21B, the queue
The number is 2. The reason why there are two is because they are used in this example.
machine speed (e.g. motor speed) for each module
Considering the above, at worst there will be no more than 3 queues.
It is from. Of course, the actual
, the speed of which changes, so increase the number of queues to three or more
You can do it. Furthermore, how does this queue work in this example?
I will explain later how it is used. Vertical movement range of each module> Using Figure 22A, determine the vertical movement range of each module.
Explain the surroundings. Regarding the buffer, it is an unmanned vehicle located 900mm above the floor.
The buffer stand 52 receives the pallets piled up.
Ru. The first separation claw is attached to the pallet one above the pallet to be separated.
The position where the kit is hung (referred to as the "temporary storage position") is on the floor.
1410mm above, the second separating claw picks up the pallet to be separated.
The latching position (referred to as the "separation position") is 1300 above the floor.
It is mm. However, the above temporary storage location and separation location are
This is the nominal position and, as mentioned above, the thickness of the pallet
There is a tolerance, and the upper and lower portions of the buffer take that error into account.8
Work rate control is performed as described below (FIG. 25B). Ba
The maximum downward position of the buffer stand 52 is 500 mm above the floor.
This position is used for buffer movement control teaching.
It is the starting point. Maximum number of pallets loaded on buffer stand
When multiple pallets are stacked, the buffer
When the storage platform 52 rises to the temporary storage position, the top
Place each pallet so that it does not exceed 2225mm above the floor.
It is set taking into consideration the cut thickness, etc. The installation position of the ejection mechanism 76 is 350 mm above the floor. mentioned above
As shown above, the buffer stand 52 is at the lowest position 500 m above the floor.
The buffer can be lowered to m+n, but this buffer
Empty pallets when 6 is full of empty pallets
The buffer table does not rise during transportation so as not to obstruct transportation.
Ru. The vertical movement range of the elevator will be explained. elevator
The highest raised position is the separation position and the second separation claw is the separation target.
A pallet full of parts, a slide guide 122, and
is the position where the ``pallet removal position'' matches,
Teach the elevator control this pallet removal position.
as the starting point. With this setting, the elevator straw
The range is 800mm. The movement range of the stocker will be explained. The stocker is mentioned above.
As shown, there are 20 shelves spaced 30m+n apart, so
, the vertical width of the stocker is 600 (=30 x 20
) mm. The pallet on the first shelf is pulled out.
When pulled out to section 154, the 20th shelf position is the highest.
This is the lower descending position, and this position is the origin of teaching.
and set it to 300mm above the floor. The origin of vertical movement of robot teaching is on the floor 12
25 (900+175+150)mm, and the robot
The fingers of the hand touch the pallet on the drawer section 154.
From there, grab one part, move it upwards, and assemble it further.
Move horizontally eight times to the desired position and then descend. <Operation outline of pallet exchange> Here, using Figure 22B, one pallet full of parts will be replaced.
is removed from the buffer by the elevator.
, and how it is replaced with an empty pallet in the stocker.
Explain. When the number of parts in the pallet is reduced to one, the robot
Prepare the pallet and separation in the elevator, and prepare the separation in the elevator.
Instruct them to move to a certain position. Then, in the buffer
Separated parts at a more separated position (this position is fixed)
Rhett waits to be taken out by the elevator. workman
The elevator has moved to the separation position (removal position).
, takes the pallet from the buffer into the elevator body
In this elevator, the slide guide 134 is
will be (or is already) empty in the stocker.
) pallet (usually a drawer 154 to the robot)
It is located one level above the pallet that is pulled out above.
) and wait. This standby position
varies depending on the process order and shelf position S [G], but the
If the pieces are arranged in order of process from top to bottom, this waiting position is
, the position represented by the solid line 230, as in Figure 2.2B.
becomes. Thus, the replacement of empty pallets in the elevator
Preparation is complete. The pallet with 1 component remaining is pulled out from inside the stocker body again.
It is pulled out to the extraction part 154, and this last one is pulled out to the robot.
When the pallet grips the pallet, the number of pieces remaining in the pallet becomes “0”.
. Then, the pallet is inserted between the stocker and the elevator.
The exchange will begin. That is, the elevator is first empty in the standby position state 230.
Pull the pallet into the bottom of the elevator. After that, the elevator goes down one step and a pallet full of parts is released.
push the material to an empty stocker shelf. This extruded state position
This is shown by dashed line 232 in FIG. 22B. Then the elevator
It further descends and stacks empty pallets on the transport mechanism 76.
Ru. In this way, the replacement of empty palettes is completed. <Detailed explanation of control of each module> Thus, the general operation of each module of the FAC system is explained below.
Now that you understand the details, we will explain the detailed control operations of each module below.
The operation will be explained with reference to FIG. 23A et seq. In addition, I mentioned earlier
uni, this control program is as shown in FIGS. 17A to 17E.
It has a structure that allows it to respond flexibly to situations such as
So it's complicated. Therefore, each module explained below
In explaining the operation, general configuration (assembly order, process
section, pallet placement, etc.), and provide explanations as necessary.
, each module starts from a certain concrete initial state,
Its initial state is refined by the control of each module.
I will explain the process step by step. its initial state and
■: All species in Stockka (i.e., all 20 shelves) have the same
A pallet of one thickness is placed, and the inside of the pallet is
The number of parts varies. ■: The process also follows this type, and one process is one
Use only one part from the pallet. That is, the total number of steps
M is 20 steps, which is equal to the total number of stockers. ■Secondly, a spare pallet is also required on the buffer stand 52.
are piled up in advance. For convenience, the configuration with such an initial state is simplified.
This will be referred to as "Configuration Example". Is this r simplified configuration example 1?
The expected operation of the module starting from
Mitsuke works, ■: Stotsuka works from the 1st shelf to the 20th shelf.
Pull the pallet up to the drawer part 154 while ascending in order.
When the 20th pallet is pulled out, the stocker
The whole thing lowers and pulls the pallet on the first shelf again.
put out. ■: For elevators and buffers, the number of remaining parts Z is
The number of pieces may be 1 or 0 depending on the pallet.
In order to
For example, a replacement request will not be generated. Now, let's start with the explanation from where the robot starts assembly work.
Start. [Margin below]

[Robot and stocker control] The robot is controlled according to the flowcharts in Figures 23A and 23B until the number of pieces reaches 1.
This is done according to the program shown in the chart. Also, strike
The control of the controller is as shown in the flowcharts in Figures 24A and 24B.
This is done according to the program shown in . these two
Modules are described together in any part of the stocker.
Until the remaining number of parts Z on that pallet becomes "1",
This is because elevators, buffers, etc. do not operate. As mentioned above, the management microprocessor program
When the “Start” button on the input/output device 18 is pressed, each module
Start the Joule program. robot module
, the microprocessor uses the process number argument G in step S8.
Initialize to “1”. This process number G is “1”
This means that the robot requests the part with process number i.
That is, for the stocker, the Sth of the stocker
It means requesting the pallet on the [1]th shelf. In step SIO, the above-mentioned S I NGLE flag (first
Check the status of Figure 19C). If it is S I NGLE mode, from step SIO
Proceeding to step S12, the "start" key is pressed.
Execute the following controls to perform a single operation only when
I will do it. In the following explanation, we mainly refer to continuous operation.
I will explain. In step S14, the stocker is activated and started. this
Directives for other modules such as
This is done via the The robot starts the stocker
If the stocker is S [G] in step S16,
The numbered pallet is pulled out to the drawer section 154 (i.e.
, pallet ready). On the other hand, the robot waits for activation from the robot in step S60.
In the case of the stocker, when this activation occurs, the process goes to step S62.
Proceed and if any pallet is already on the drawer 154.
Check to see if it has been pulled out. This confirmation is
This is confirmed by a sensor (not shown) on the output portion 154. This type of confirmation indicates that the stocker has stopped for some reason.
For confirmation when restarting later, and SI NG
This is for when in LE mode. Therefore, if the palette is
If it was pulled out to the drawer section 154 in the
Proceed to Step S64 and select this pulled out pallet (
The robot can determine which pallet it is (depending on the variable).
Determine whether the pallet is the one for the requested process G=1
. If it is a pallet required by a robot, the pallet
There is no need to pull out the cut, so proceed to step S84.
to notify the robot that the pallet is ready.
Send via Chipas. In step s84, the
The pallet that had been stored in the robot was moved to the robot-required process G (shelf S [(
If it is not the palette of J1st), step S
At 66, the pallet is returned to the stocker. Furthermore, this strike
Air cylinder Cz4 and motor
Since we have already explained how M,2 works,
The explanation of is omitted. It is determined in step S62 that the pallet has not been pulled out.
or the pallet that has already been pulled out is
If it is returned in step S66, the process advances to step S68 and the
Note which palette the bot is requesting in a variable.
I remember. The variable G indicating the pallet requested by the robot is
What Tokka stores in L is the robot using the tree FAC system.
Although the stocker and stocker are synchronized from time to time, basically
This is to enable independent and parallel operations. Proceeding to step S70, move the stocker up and down,
Align the pallet requested by the robot with the drawer section 154
Calculate the amount of rotation of motor M, 1 required to do so. The origin of each column of the stocker (from Figure 22A, 300 above the floor)
mm) as shown in Figure 20.
Let me teach you. Therefore, the robot requests
The pallets of process G (=L=1) that were created are indexed by the number of L.
Since it is in the stocker shelf number S [L], the 21st
From the variable S [t,] shown in diagram A, S [L
], and use that value as an argument for the teaching position T.
P [S [L]] is the teaching point in Fig. 20.
Find that value as the servo motor's travel amount STP.
do. That is, 5TP=TP [S [L]. Then, in step S72, depending on the amount of movement,
Move the stocker. Servo motor to STP position
When Ma+ rotates, the robot receives the requested pallet.
The shelf reaches the drawer position. CH in step S74
The flag indicates that there has already been a request for replacement from the robot.
This is a flag that indicates, and if G=L=1, it needs to be replaced.
Because it is being reset before the condition occurs,
Proceed to step 37B. Step 878. Step S8
At step S82, the lid of the pallet is opened.
If the pallet that has been opened is pulled out using the control described above,
Pull it out to 54. The pallet is in the drawer section 154.
When the robot comes into contact with the stopper 176, the robot stops in step S84.
The pallet is ready on the drawer 154 for
notify you of what has happened. And the stocker becomes a robot
Wait for the specified notification. Now, in step 316 (Figure 23A), the
The robot that was waiting for the preparation to complete will receive a completion notification.
, the process advances to step S18, and the paper is placed on the drawer section 154.
to pick a part in a pallet that has been
8 shifts, then descend and try to pick parts.
. Next, in step S20, the remaining parts of the process number G are
Reduce the number Z [G] by one. In step S22, this
Check whether the remaining number Z has become 1. Still remaining quantity Z [
G] is 1 or more, in step 328, the robot's
Check whether the fingers were able to pick the part. parts are correct
Failure to pick always means that the fingers are not gripping the part.
In addition, if the part fails to
For example, if it has not been inserted. In such a case
, until the part can be gripped normally or there is only one piece left.
The pick is retried in step 318 until the pick is reached. After confirming that the part was picked successfully,
In step S32, the stocker is notified of the completion of picking.
is returned to the stocker. When receiving notifications that the robot is operating and that the pick is complete,
On the stocker side, step S86→step 588→step
Proceed to step S9o and remove the pallet on the drawer section 154.
Return it to the stocker. Furthermore, in step S92, the CH
Examine the flag. We are still resetting this flag, so step
Proceed to 5100. 1 [L] at step 5100 is
The Lth pallet detected by the robot mentioned above.
Is the replacement request made by a robot when the remaining number Z becomes 7?
This is a flag indicating that the
The lag has been reset. Therefore, in step 3118
Go forward and increment L by one, ie, L=L+1. From step 3118 to step 5126, the robot
The part picked in step 318 (Figure i23A) by
During assembly, the stocker moves to the next pallet (parts).
This is to prepare the information on the drawer section 154. That is,
, in step 5120, it is checked whether the current process is the final process.
b, the final process (in the above r simplified configuration example J, the total number of processes
Since there are 20 steps, when L = 20) is not the case.
, the robot moves to step 5126 and picks up the part.
The fence of the pallet next to the pallet that was created (L is step 511)
8 has already been incremented by 1) from the drawer section 1.
Calculate the amount to move to the 54th position. Step 512
8゜5130 is in SI NGLE mode and tk:,
r To move the stocker each time the start key j is pressed.
This is a control that performs. From step 5130, the 24th A
Returning to step S72 in the figure, calculation is performed in step 3126.
Send the STP to the motor M and pull out the next shelf.
154 position. The following controls are as described above.
repeat the command. The above controls can be applied to any of the remaining palettes.
Repeat until the number Z [G] becomes one. Furthermore, the 24th
The stocker control program shown in Figure B covers all processes.
This is intended for assembly that requires parts in
. However, in reality, for example, finger exchange etc.
, there may be processes that do not require parts; in such cases,
, there is no need for the stocker flag (step 3126).
. Therefore, the control variables in the description (Figure 21A, etc.)
Set a flag to determine whether a process requires a part or not.
(or set the parts index to alphabet)
) and before step 5126, set the value of this flag to
If the process does not require any parts, proceed to step 51.
Instead of proceeding to step 26, return to step 5118 and repeat the process 1.
It may be possible to move forward by one step. When the remaining number becomes one, the remaining number of pallets Z [G] on the shelf S [G] will eventually become
, in a certain process G 1. become. In other words, the previous part
From the pallet with two items left, one item is left in step 318.
When you shock a part, the number remaining is 1, so step
Proceeding from step S22 to step S24, the process number G is entered.
, to be used in elevator and buffer control programs
Save it to process number variables E and D so that it can be done. Then, in step S26, the buffer and elevator are also
You will soon have an empty pallet, so you can use it to replace it.
Instruct them to start preparations. This replacement preparation instruction
is stored in the aforementioned queue area, and if the elevator
, the buffer must be busy with a previous swap preparation operation.
For example, if the elevator or buffer takes this queue
, starts the replacement preparation operation. After giving instructions to prepare for switching to buffer and elevator
In step S16, the robot also removes the pallet from the stocker.
Notification that the kit has been pulled out to the drawer section 154 position
Bic operation continues as long as there is. On the other hand, in the control of this embodiment, the stocker controls its movement.
It stops at a certain process G (=L) when the number of pallets remaining
The robot detects that Z has become zero, and the
I[L]) informs the stocker, and the stocker
The pallet from process G+1 (=L+1) is pulled out from the drawer section 1.
54 and robot the parts on the G+1 pallet.
The cut is surprised and the remaining number found in the previous process G is the pattern of τ.
When the let replacement work is not completed (step 5)
94). In other words, the operation ends after inserting.
The stocker will wait until it does. This is the remaining
Number Z The pattern of the next process G+1 of the process G where [G] became zero
Lett has parts left, so in that case the robot
Part assembly of process (G+1) and process L (=G)
Empty palettes can now be replaced in parallel.
It's for a reason. [Palette replacement] *Pallet separation using buffer* Figure 25A shows the changes used in the buffer control program.
Show the number. That is, these variables are set to the current buffer base.
Number and bar code of the highest pallet stage
Read data storage area B by the reader, and each stage
Information on the height of each pallet, its part name, etc. Mogami
The number of the next pallet row is determined by these variables.
As taken out by elevator from buffer
, the information of the extracted pallet will be deleted, so
This is to indicate which parts of these variables are currently in effect.
. As described later, this information is processed without human intervention.
This FAC system is operated unattended via the production control computer.
Request the necessary pallets from the warehouse and the pallets will be delivered to the unmanned vehicle.
If passed to the buffer from the system (see Figure 18)
management microprocessor program) is assigned to the buffer.
make it possible for you to do so. On the contrary, it is manually placed on the buffer table 52.
When stacking, input the above information from the input/output device 18.
do. Now, the robot at step 826 (Figure 23A)
, instructs the buffer to prepare for replacement via the queue.
ing. The construction work that corresponds to the pallets required for this replacement preparation.
The process number is saved to a variable in the queue in step S24.
It is. The buffer receives this replacement preparation instruction in step 5.
If received at 150, proceed to step 5152 and replace
The part name (or part index) of the pallet that requires
(IDX) according to the process number informed by the robot.
Accordingly, the variable table shown in FIG. 21A is searched. and
, enter this part name (part IDX) in the table in Figure 25A.
Parts palette that can be replaced by searching for
Find out how many pallets are packed. And step
Step 5154 determines the distance of this pallet from the buffer stand 52.
11! Find i (assumed to be λ). This is the palette on this level.
Thickness of all pallets up to the cut (Table 25A)
The current position of the buffer stand 52 is determined by summing the
Know the distance of 1 m (meter) from the floor to the bottom of the
m, 1, the pallet to be replaced is at the separation position
In step 5156, the travel distance until the 8th shift is determined by
(1410-(m+fL)) mm. In step 5158, this calculated moving distance is
The buffer table 52 is moved up and down by a distance. This travel distance is
Referring to Figure 7A, place the replacement pallet in the third position from the top.
It is well understood if we consider the palette as follows. In step 5160, the sense state of sensor 80 is checked.
Ru. If sensor 80 is off, step 5162
Raise the buffer stand 52 until this sensor 80 turns on.
let At step 5160, sensor 80 is turned on.
If so, step 5164 lowers the sensor until it turns off.
make it rain Such control is related to pallet thickness tolerances.
The reason why this is done has already been explained in relation to Figures 8A to 8E.
Since this has already been explained in detail, a re-explanation thereof will be omitted. When the desired pallet reaches the separation position, check the
is attached to the pallet by the barcode reader 74.
Read the barcode. In step 3168, this read
Data R and B [D] of the variable table (Figure 21A)
Compare with. If this comparison does not match, the separation position
The pallet that has been moved to is one of the pallets to be replaced.
Since this is the next highest palette, proceed to step 5170.
, the thickness of the pallet one above it is shown in the table in Figure 25A.
, and in step 5172, the buffer table 5 is
2 and move the desired pallet to the separation position.
Ru. Step 5174. In step 5176, the barcode
Try the doread again and confirm. step 3168
- Otherwise, proceed from step 5176 to step 5178.
At step 3180, the first separating claw 66 is activated.
, predetermined distance! IItLl (thickness greater than or equal to maximum pallet thickness)
the buffer stand by a distance (94 mm in the example in Figure 22A).
Lower it to the state shown in FIG. 7C, step 518.
2, the second separating claw 68 is energized, and the second separation claw 68 is activated in step 3184.
is lowered by a predetermined distance fiLz, as shown in Fig. 7D.
Separate buffers. Then, in step 5186,
Notify Beta that buffer isolation is complete,
In step 3188, the elevator
Wait for the robot to be pulled into the elevator body. *Pallet drawer using an elevator *The elevator is
When there is no need to replace empty pallets in the stocker
does not need to work. And this swapping operation is
, always have a pallet full of parts separated by buffers.
The first step is to load the cut into the elevator frame.
It becomes important. Therefore, the normal waiting position of the elevator frame
the position aligned with the separation position by the buffer (22nd
Assuming that the origin position of the elevator is shown in Figure A), then
An instruction comes from the robot to prepare a new pallet.
Moreover, the separation operation was completed immediately on the buffer side.
In case of eel, immediately move to the elevating frame without needing time to move.
The advantage is that you can start importing palettes.
Ru. Therefore, the elevator control of this embodiment is also
As shown in step 5200, the elevator slot is waiting
The position matches the separation position by the buffer. Now, the robot can move the step independently of the buffer movement.
At step 326 (Fig. 23A), also for the elevator,
Instruct replacement preparation via queue (Figure 21B)
There is. Processes corresponding to the pallets required for this replacement preparation
The number G is retired to the variable E in the queue in step S24.
It is avoided. The elevator receives this replacement preparation instruction.
Then, the process advances from step 5204 to step 3206.
Notification of completion of pallet separation at separation position using buffer
wait. As mentioned above, on the buffer side, in step 5186
Send a separation completion notification to the elevator side.
At step 3188, the elevator picks up the pallet.
I'm waiting for you to get into it. Therefore, the elevator that received this notification takes step 32.
At step 08, the pallet is pulled out. This withdrawal operation is related to FIGS. 13A to 13D.
As detailed above, first, move the elevator's main compartment ME2 to A.
direction to connect the first hook 108 to the pallet.
Move to the latching position and then drive air cylinder C6□
to engage said hook 108 to the pallet, and then said hook 108 to the pallet.
Motor M. Rotate 2 in direction B to buff the pallet.
It is taken into the elevator frame from the elevator side. Ba
Once the pallet has been pulled out of the
At step 5210, a notification to that effect is returned to the buffer. and,
The process proceeds to step 5212 and subsequent steps. * Combination of upper and lower pallets using buffer * Notified pallet
The buffer receives the second buffer from step 3188 to step 5190.
The separating claw 68 is released, and in step 5192, the L, +t, 2+H[D] bamboo buffer table 52 is raised to separate the upper and lower parts.
The first pallet group is combined in step 5196.
Return the release claw 66 and return to step 5150 to release the robot.
Wait for the next pallet preparation instructions from. Furthermore, this step
Step 5150 is the standby position for instructions from the robot.
Increased by (Ll +L2 +H[Dco) at 5192
The origin position (500 above the floor in Figure 22A)
mm). This is similar to this example.
The number of parts in a sea urchin pallet varies depending on the pallet.
Therefore, it is also possible to predict when there will be only one remaining item.
This is because it is random (even if it is true). *Elevator replacement standby position* Before explaining the movement control to the replacement position,
Explain how the position should be determined. wood
In the FAC system, how do you keep the robot from stopping?
Supply new parts or change the assembly procedure.
The main focus is on how to easily deal with the situation. this
From this perspective, how should we determine the replacement position?
That will be a big factor in your decision. Now, in the ``simplified configuration example 1'' mentioned above, the robot
The pallet that picks up the parts moves upward. Considering that the stocker always moves upwards,
Then, while the robot is using another pallet,
Improve efficiency by replacing pallets with zero remaining quantity Z
When attempting to do so, in Fig. 27A, the drawer part 1
54, when there is only 1 piece remaining,
Instructs the elevator and buffer to prepare for pallet replacement.
Then, the remaining 1 pallet becomes 0, as follows:
This is when it is pulled out to the drawer section 154, so
The pallet with 0 pieces is moved upward and the pallet below is
While the cut is being pulled out to the drawer section 154, a new
The easiest way to do this is to swap the blank palette with the empty one.
most efficient. That is, in FIG. 27A, the number of remaining pieces is 0.
While the pallet is in the position shown, the elevator
It would be nice if they could just replace the kit. Therefore, the electric
How far does Beta move and descend?
Consider whether the exchange position will be reached. In FIG. 27A, the second separating claw 68 on the buffer side and
Its height position matches that of the elevator slide 122.
This allows for smooth withdrawal. 134
pulls out the empty pallet from the stocker shelf.
It is a board for sliding, and the distance between both sliding boards
is fixed. Therefore, if the elevator is
The position of the slide plate 134 when the cut is pulled into the frame
The position is a fixed distance above the floor (see Figure 22A). There
Then, the elevator moves the empty pallet to slide plate 13.
To move it so that it can be placed on 4, swap
The number S of the shelf on which the target pallet is placed is easily known.
Because the distance to the teaching position on that shelf is
This is the distance traveled by Beta. In addition, in Figure 27A, the buffer
The pallet that the elevator is about to pull out from the
A pallet with 0 pieces left is about to be replaced.
However, for convenience of explanation, this is not the case.
In the r simplified configuration example j, the buffer
The pallet is about to be pulled out into the elevator.
When the number of pallets remaining is O, the replacement preparation instruction is usually
The cause should have been the pallet with 1 remaining. What if the process order and pallet shelf position are different?
mosquito. In such a case, the process G is 1.2.3...
・If you infer that, the stacker will move up and down according to S [G].
Moving. In Figure 27B, such - in some instances,
If the pallet of process L (=G) becomes Z[G]=1
Indicates the Then the elevator will be replaced with the buffer.
Start preparing the new pattern at a position separated from the buffer.
Let's take the let and move to the waiting position of the elevator.
shall be. Now, at this time, the robot has already started the next process (L+
1) Since the pallet is requested, the stocker drawer
The pallet of process L+1 is pulled out to the holding part 154.
There is. The pallet that was processed at this time is shown in Figure 27C.
It has moved to the indicated position. It should be noted here
After the process G goes around from 1 to its maximum value, it returns again.
Starting from 1 in the same order and changing according to the same order
. In other words, if there is only one piece left in the process of a certain cycle,
Let (placed on S [L]) is transferred to the next process L+1
The S [L+1] pallet is pulled into the drawer section 154.
When the process is completed, the existing position is
In the next cycle, the process comes around again, and the remaining pieces
The remaining number of pallets that was 1 became 0, and furthermore,
In process L+1, the pallet S[L+1] is placed in the drawer section 15.
The position of the pallet in the process when it is pulled out in step 4
be equivalent to. Therefore, when the remaining number is 1, the remaining
Predicting the replacement standby position when the number becomes zero.
There is no contradiction in the negative direction. From this point of view, the calculation of the replacement standby position is performed in the 27th D.
This will be explained using figures. On the left side of Figure 27D, there is a stocker.
Indicates the initial position of In other words, the first shelf is the drawer position.
The distance t from the floor of the 20th shelf when it is located at . teeth
It is also 300 mm from FIG. 22A. Shelf S in a certain process
There is only one pallet left in [L], and the process
At L+1, the S[L+1] pallet is placed in the drawer section 154.
When it is pulled out, the pallets on the shelves that were used for processing are
There are 8 pins in the position shown in Figure 27D. This situation is
Viewed from the elevator side, as shown in Figure 27D, the shelf S
When the shelf [E+1] is in the drawer position, the shelf S [
E] is equivalent to calculating the position of the palette. Immediately
From Figure 27D, the replacement standby position is the transom distance.
Considering that the distance is 30 mm and the total number of types is 20,
, 30X (20+S [E+13-5 [E] ]+7
It is 〇. In this way, the waiting position for exchange by elevator
is determined. In addition, in Fig. 27C, the pallet in process L+1 is in the drawer section.
154 and the remaining number Z[L+1] is 1.
When issued, the second replacement preparation instruction is sent to the robot control.
from step S26, and this is queued.
This is as mentioned above. *8th shift to standby position* Now, step 5212 of the elevator control program is
, inside the stocker of the pallet in process E where there is only one piece left.
Shelving position S [E] is when pallets are loaded in the stocker.
Determine whether it is the last shelf that is currently in use. Overall package of this example
All types of stockers with several 20 levels are loaded with pallets.
For example, the final stage is the 20th stage. The necessity of this judgment
There is either no shelf or there is a shelf below the last stage.
Also, shelving where pallets are not incorporated into the process (therefore, pallets are
This is because there may be no let. That is,
In this example, depending on whether it is the final stage or not, the pallet
The algorithm for determining the replacement position has been changed. this
Judgment as to whether or not it is the final stage is based on the value of S[E] and the variable T.
All values of shelf position information S (Figure 21A) in the table
Compare to determine whether S[E] is the maximum.
It is done by. I will leave the explanation of the control when the final stage is reached later, but for now.
, S [E] is determined not to be the final stage.
Proceed to step 5214 and change the above-mentioned exchange position, 30X (20+S [E+1 co-S
[E] ) + 70 is calculated. The replacement position is determined as described above.
Then, in step 8216, the elevator is operated for eight shifts. stop
At this exchange standby position, the exchange from the stocker
wait for instructions. In other words, the robot detects a pallet with one piece left,
According to the detection, the buffer and elevator are replaced.
A backup instruction is issued, and the elevator responds to the instruction by
receive a new palette from the
the elevator moves to the standby position.
It has come. (Detection of remaining number O) The robot side detects the number of remaining pieces O on the pallet of consecutive processes.
If discovered consecutively, issue up to two replacement preparation instructions.
What can be achieved is as explained in connection with Figure 21B.
Ru. That is, until then, the robot will not be able to use buffers or elevators.
parts are removed one after another from the stocker independently of the operation of the stocker.
Continue unloading and assembling. In other words, new
By the time I found the third pallet with 1 piece left,
The first pallet with at least one remaining item will be the first to reach zero.
This means that it is supposed to be. The remaining number O is found in step 534 (FIG. 23A). With this detection, the step
At S36, the flag I [G] is set to 1 and the next control is continued.
go In other words, for a robot, one cycle of the entire process is one cycle.
to the process that requires the same parts as the empty pallet.
Before proceeding, the pallet must be in the stocker and placed in the elevator.
I hope it will be replaced more often. And a little
If it has not been replaced at all, in step S16.
, the robot will stop waiting for the stocker to be ready.
That will happen. *Pallet exchange* On the stocker side, the robot sets I [G] = 1.
The detection comes at step 5100 (Figure 24B).
It's time. When this flag is detected,
In the case of simplified configuration example 1, what kind of shape is the stocker in?
The status will be explained with reference to FIG. 24C. Figure 24C shows that each of the five pallets in the stocker has
Initially, 3.2, 3, and 4.5 parts from the top are stored.
Suppose there was. [The blank space below is shown below] The assembly by the robot (the entire process) is completed in this state.
Then, the number of parts is (2, 1, 2, 3°5). Pulling out the second pallet from the top to the drawer section 154
When replacing the pallet, send instructions to prepare for pallet replacement to the elevator or back door.
Needless to say, it was sent to Fa. Now, the next rhino
When the parts are taken out from the first pallet using a truck, this is what happens.
Since there is only one remaining pallet in the first stage of
Preparation instructions are queued. Next, the second stage
If you take out the parts from the let, there will be 0 pieces, so at this point
Then, the I[G] flag in the second stage is set to 1. To explain this point in detail, this second palette
The stocker picks up this pallet to remove the last part from the pallet.
Step 582
(Figure 24A). Then step 582d
Proceed to step S84 and have the robot finish pulling out the pallet.
Notify of completion. The robot that receives this notification will
Step 516eO Step S18...Loss
In step S36, the I[G] flag is set. On the stocker side, step 584 -> step S86
Step 588 => Step 590 => Step 592
=> Proceed to step 5100 and detect I [L] = 1
do. In other words, the stocker side has 1 piece left.
Pull out the pallet to the drawer section 154 and place it on the robot.
The stocker has a pallet with 0 pieces left.
As soon as I return it inside, I[L] = 1 is detected.
be. When I[L]-1 is detected in step 5100, the step
Proceeding to step 5102, the CH flag is set to "1". CH
Just by setting the flag, the exchange operation will be performed immediately.
The reason why it does not move is that at this point, the robot is not able to pull it out.
There is a pallet with the remaining number Z of zero on the stocker shelf at the position.
On the other hand, there are parts on the pallet for the next process.
Therefore, for the time being, the stocker is used to draw drawers to the robot.
Advance the pallet for this next process to the position and move the robot.
At that point, please make a replacement request.
This is because you just have to put it out. Steps from step 5102
Proceed to 5104 and step 5212 of the elevator described above.
For the same reason, whether S [L] is the maximum value, i.e.
, the stocker shelf of the pallet with zero remaining quantity is
Check to see if it is the last shelf in the store. If it is not the last shelf, proceed to step 5106 and
The process number whose number becomes 0 is temporarily saved in register P.
I'll leave it there. The reason for this is that the stocker is
Pull out the robot so as not to interfere with its operation.
In order to advance the pallet for the next process (L+1) to the position
This is to preserve the process number that became the original;
. Then, step 8118 to step 513 described above.
0, the process number is advanced, and in step S72, the next process number is advanced.
Move the stocker 8 times to the shelf position for the process. Step S74
Now, since the CH flag is already set, step
Step 376 places an empty pallet and a new pallet in the elevator.
send a request for replacement with If the elevator has already received a new pallet at this point,
If you have reached the exchange standby position, the stocker
Independently of the control, the elevator immediately lifts the pallet.
The replacement should start. As mentioned above, pare
Preparations for replacing parts will begin when there is only one piece left.
Therefore, in step S76, enter the elevator.
When you issue a request for a change, the elevator has already reached the point where the change will be made.
It is highly anticipated that the
. See Figure 27E in this regard. After sending this replacement request to the elevator,
Control is performed until the remaining number is zero in steps S78 to S82.
The pallet for the next process is placed on the pull-out section 154.
Step 584~Step 592=>Step
In step S94, the robot selects the pallet part for the next process.
The products are assembled, and in step S94, the pallet is assembled.
Wait for the swap to finish. In this way, the robot's movement can be improved as much as possible.
Empty pallets can be replaced without interfering with production.
be exposed. Return to the elevator control program. Step 8218
The elevator was waiting for a replacement request from the stocker.
Upon receiving the above request, the printer selects the palette in step 5220.
Exchanging operation is performed. Specifics of step 5220
The control is performed from step 5240 to step 52 in FIG. 26B.
56, but the operation order under the control is the 13th A.
The explanation is repeated as it follows Figures 13G to 13G.
do not have. The controls in Figures 27E, 27F, and 26B are
By association, FIG. 27E shows steps 3240 through
Corresponding to step 8246, FIG. 27F shows step 8248.
~corresponds to step 5256. Also, β is shown in Figure 4.
The thickness of the pallet is 38 mm, and in this example it is 12 m.
It is m. When the elevator has finished changing pallets, it
A notification of replacement completion is sent to the other side (step 5222). Upon receiving this notification, the stocker side starts from step S94.
Proceed to step S96, and select the pallet of process P to be replaced.
Restore the remaining number of items. Then, in step S98, 0M
The flag is reset, and the same <I[P] is also reset. Then, proceed to step 5100 => step 3118.
Then, proceed to the next step L=L+1, and step 5120d.
... Middle step 5130e Return to step S72,
Repeat the above operation. *Stacking empty pallets* On the other hand, on the elevator side, the empty pallets held at the bottom of the elevator
Controls the operation of stacking pallets on the transport mechanism 76.
cormorant. That is, in step 5226, the stack of empty pallets up to the previous time is
From the current pallet height H[E] to the raised height Q,
Add the value minus the edge β of the let, and add the value below the elevator.
Find the descent position. That is, the lowered position is Q+H[E]-β. This can be understood by referring to FIG. Move the elevator to this lowered position and press air cylinder C.
Release E4 and stack empty pallets. And the product
When you look up, the pallet is removed by the amount of stacking allowance α (=7mm).
Since the cut is on the bottom, the updated stacking position Q is Q=Q+H[E] −α. Next, in step 5234, the stacked empty pallets are
A sensor that detects whether the elevator is obstructing the movement of the elevator.
S4 position (shown at the bottom of the elevator in Figure 1)
Check to see if it has been reached. If reached, step 8
236 drives the transport mechanism 76 to transfer the empty pallet to the unmanned vehicle.
Transport to the location. In this way, the replacement of empty pallets is completed, and the robot
Supply parts to the robot without stopping operation,
Parts are continuously replenished to the stocker. The basic form of operation control of the Zero FAC system has been explained above.
However, this control program pursues efficiency in various ways.
So, we put a lot of effort into it. *Replacing the final tank* One way to improve efficiency is to control the time after replacing the final tank.
This is a change in the procedures. The stocker of the Zero FAC system is
There are a total of 20 stages. Therefore, the palletization process is performed from top to bottom in order of process.
When the item is placed on the shelf, the bottom of the 20th shelf is
, there is no palette. Also, even if all pallets used in all processes are placed on shelves,
, the lowest shelf even if the stocker is not filled.
There is no pallet under it either. In this way, from the top in order of process.
When a pallet is placed on the shelf below, the above-mentioned input
Replace the final shelf according to the determined replacement position.
Even though there are no pallets on the shelf for the next process,
Move the shelf without a pallet to the drawer section 154 position.
, and then insert an empty pallet at the replacement position above it.
It will be replaced. However, in this case, the robot
Step S16 is performed until the pallet replacement is completed.
Do not stop the assembly process while waiting for the drawer to complete.
Must not be too expensive. In order to eliminate this inconvenience, step 3 in Figure 24B
Steps 104 to 5116 and Step 5 of FIG. 26A
212. There is step 5224. In other words, the final stage
If it is necessary to replace the strip, mark the replacement location.
Tokka drawer position (sliding plate of drawer part 154)
178). Replacement in this case
The standby position is 30 x S [E] + t, as shown in Fig. 27G. It is. Therefore, on the elevator side, step 5212
Proceed to step 5224 and wait according to the formula above.
Calculate the position, move to the pull-out position 8 times, and step 32
At step 18, it waits for a replacement request from the stocker. On the other hand, on the stocker side, in step 5100, the
When it is detected that flag I [L] is set,
Set the CH flag in step 5102, and
5104 => Proceed to step 3108 and apply to the stocker.
and issue a replacement request. The subsequent control is the same as normal shelf position swapping.
Therefore, the explanation will be omitted. In this way, if the swapping palette is final,
is the pallet at the pull-out position of the stocker toward the robot.
Since robots are exchanged, unnecessary waiting for robots is avoided.
Eliminate. In particular, pallets are placed on shelves in process order from top to bottom.
Valid when the *Queueing for replacement preparation instructions* Another way to improve efficiency is queuing. This key
Ewing is necessary for the following reasons. Immediately
This reduces the time and energy required to separate pallets using buffers.
Input information, such as the time it takes to move the beta to the replacement standby position, etc.
The total time required to prepare for replacement is one step in assembling the robot.
The time required for each module is
Set the operating speed of the motor (e.g. motor rotation speed, etc.)
If possible, from the robot to the buffer or elevator
, multiple replacement preparation instructions (step 526) are issued.
It never happens. However, it is also possible that the former takes a long time.
It will be done. In such cases, multiple instructions may be issued.
In order to deal with such cases,
It is necessary to queue the display. For example,
If the total number of pieces in the pallet is the same in two consecutive processes,
If the parts wear out in the same way, replace them consecutively.
Preparation instructions may be issued. In particular, the above two consecutive constructions
(these two steps are taken as L and L+1 in the stocker),
If shelf positions S [L] and S [L+1] are not consecutive,
, the stocker moves up and down, making it difficult to replace the pallet.
It takes time. In such a case, Figure 21B
When queuing the replacement preparation instruction as shown in
, the robot's motion is never stopped. in buffer
, separation of pallets in preparation for one exchange.
and then hand the separated pallet to the elevator.
immediately after the next swap finger in the queue.
from the queue and perform the next pallet separation operation.
This is because it can be done. Note that in this embodiment, the cue
-The number is set to 2, but you can increase it if necessary.
stomach. *Initial operating state setting* In the above control, a pallet is placed on the stocker.
I explained it with that in mind. So, I put it in this stocker.
The initialization control for inserting the
Ru. With this initial setting, the robot and stocker will not operate.
If the buffer and elevator are
Insert the pallet into the shelf. First, in step 5300, the buffer is stacked from the unmanned vehicle.
Receive the given pallet. In step 5302, the cow
Set the counter n to 1. In step 5304, the nth stage
pallet is moved to the separation position, and in step 5306
Separate that pallet. In step 5308, the element
In step 3310, Beta is notified that the separation is complete.
Wait for the elevator to complete pulling out the pallet. On the other hand, on the elevator side, at the same time as the program starts,
Then, in step 5352, move to the separation position and
5354, waiting for notification of completion of separation from the buffer.
Ru. When this notification is received, the buffer sets the counter.
Therefore, the shelf position of the stocker is calculated from 5TP=TP [n, and the process moves 8 times to that position in step S358.
Then push this pallet into the shelf. and step
At 5360, notify the buffer that the transfer is complete, and then proceed to step 5.
At 352, wait for the next pallet. When the buffer receives this notification, in step 5312,
Update counter n. This update is performed in step 5300
Based on the pallet thickness information received from the unmanned vehicle,
Calculate the number of types required for the 8 pallets loaded on the rack and prepare for the next pallet.
Calculate the shelf number to insert the let. Step
In step 5314, check if there are any remaining pallets on the buffer stand.
If there are any remaining pallets, separate them to separate the next pallet.
Then, return to step 5300. In this way, the initial operating state setting is completed. [Margins below] (Description of modification) The present invention is based on the structure of the embodiment described above.
without departing from the gist of this invention.
It goes without saying that various modifications can be made within the range. Below, various modifications of the above-mentioned embodiment will be described.
This will be explained in detail. In addition, in the following explanation, the above-mentioned
The same reference numerals are used for parts that are the same as those in the other embodiment.
The explanation thereof will be omitted. First Prefecture's Theory First, in the buffer 22 of the above-mentioned embodiment, the
The bot 12 determines the remaining number of parts X in pallet p.
It is recognized that this part was done in one piece, and then this part
Once the pallet has been emptied from being used in an assembly operation,
This empty pallet p′ is replaced by a pallet p full of parts
The movement of the robot 12 to be replaced with
In order to be able to execute without
When it is recognized as a piece, there is only one piece left.
A pallet p full of parts
Minute lI so that it can be taken in from 22! I! machine
The other pallet p is stored in the buffer 22 via the structure 64.
It is configured to be separated from the However, this invention is limited to the above configuration.
Instead, this buffer 22 may be provided with a separation mechanism 64.
Instead, the first modification shown in FIGS. 31 to 34 is
A plurality of pallets are stacked on the buffer table 52 so that
Bound Pl, P2゜p3... and separate them from each other.
A configuration may also be provided in which a step removal mechanism 250 is provided. *Configuration of the stage unwinding mechanism* That is, as shown in FIG. 31, this stage unwinding mechanism 250
Above the buffer stand 52, each standing plate 46a,
46b, along the conveying direction d, respectively.
A plurality of separation claw mounting plates 252 extend vertically.
They are arranged along each side. Here, one facing each other
The pair of separation claw mounting plates 252 are attached to the flange of each pallet p.
It is configured so that it is not hooked to the hinge portion 38 in the vertical direction.
It is. In addition, in this first modification, the above-mentioned
In one embodiment, the buffer stand 52 is different from that of the unmanned vehicle 2.
It is fixed at the same height position as the pallet mounting table 32 of 0.
Ru. Here, all the separation claws on each upright plate 46a, 46b
The mounting plate 252 has both ends thereof extending in the vertical direction.
It was fixed to the corresponding upright plates 46a and 46b so as to
Guide shaft 254a. 254b, it is supported so that it can move up and down 8 times.
Ru. Note that the upper ends of each guide shaft 254a, 254b are fixed.
The corresponding upright plate 4 is inserted through the tools 256a and 256b, respectively.
6a, 46b, and the lower end is fixed to the buffer stand 5.
It is fixed at 2. Furthermore, as shown in FIG. 32, each separation claw mounting plate 252 is
The air cylinder CDI is integrally installed in the center.
The piston 258 of this air cylinder CDI
is configured to extend downward. This pin
The lower end of the stone 258 is attached to the separation claw mounting plate located directly below.
At the upper end of air cylinder C91 attached to 252
It is fixed. Here, each air cylinder CDI is
It has two input ends 260a and 260b, one of which
The input end 260a is connected to the cylinder above the piston 258.
The other input end 260b is connected to the piston 258.
It communicates with the lower cylinder chamber. On the other hand, one input end 26 of all air cylinders CDI
0a is switched via one introducing vibe 262a.
Connected to one output end 264a of the valve 264 and connected to the other input end.
The force @ 260b is applied via the other introducing vibe 262b.
The other output end 264b of the switching valve 264 described above
It is connected to the. Here, the switching valve 264 is turned on.
The force end 264C is connected via the introduction vibe 262C to the
Not connected to a compressor. With the above configuration, for example, the switching valve 264
so that high pressure air comes out from one output end 264a.
When this switching valve 264 is switched,
This high-pressure air is passed through one of the introducing vibes 262a.
above the piston 258 of each air cylinder CDI.
is introduced into the cylinder chamber of the cylinder, and each piston 258 is attached downwardly.
You will be forced to do so. In other words, this high pressure air
- Supplied to one input end 260a of cylinder CDI
By doing so, as shown in Fig. 32, the adjacent parts
The distance between the detachable claw mounting plates 252 will be widened. On the other hand, in the switching valve 264, the other output 1264
This switching valve 264 is set so that pressurized air comes out from b.
When switched, this high pressure air is
Each air cylinder C91 is connected via the introduction vibrator 262b.
is introduced into the cylinder chamber below the piston 258 of the
Piston 258 will be forced upwardly. paraphrase
If so, this high pressure air enters the other input of air cylinder CDI.
By being supplied to the force end 260b, as shown in FIG.
As shown in FIG.
It will be done. Here, in the narrowed state shown in FIG.
For example, all pallets p are 25 mm thick.
p, the arrangement pitch of the separation claw mounting plate 252
is set to 2525-7=18. Also, the third
In the unfolded state shown in Figure 2, there is a mating allowance of 7 mm.
Since it has to be separated from the separation claw mounting plate 25
The arrangement pitch of No. 2 is longer than the above-mentioned 25 mm, e.g.
, 30+nm. In other words, the
33 From the state shown in Fig. 33, one input of each cylinder Ctll is
By supplying high pressure air to the force end 260a, the piston
ton 258 is pushed downward by 1.2 mm and
The arrangement pitch of the detachable claw mounting plates 252 will be widened.
. Moreover, as shown in FIG. 34, this stage opening mechanism 250
is perpendicular to the transport direction d on the bottom surface of each separation claw mounting plate 252.
Separation claws 26 are provided to move forward and backward along the direction of
It is equipped with 6. That is, a pair of separating claws 2 facing each other
66 is attached to the flange portion 38 of each pallet p from below.
The protruding position to be latched and the pull apart from the flange portion 38
It is configured to be able to freely move forward and backward from the cutting position. Also,
The lower surface of each separation claw mounting plate 252, and the corresponding separation claw
266, remove this separation claw 266.
Air cylinder CI, 2 for forward and backward movement is installed.
ing. The piston 268 of this air cylinder CD2 is
, which is driven back and forth along the direction perpendicular to the transport direction d.
The tip of this is connected to the corresponding separation claw 266.
has been done. With the above configuration, high pressure is applied to the air cylinder CO2.
In the absence of air supply, the piston 168
are biased to the retracted position, and all separation claws 266
is separated from the flange portion 38 of the corresponding pallet P+.
is set to the same state. Here, air cylinder CD
By supplying high pressure air to 2, the separation claw 266
, each separation claw 2 is projected from the retracted position to the extended position.
66 is attached to the flange portion 38 of the corresponding pallet pI.
It can be hung from either direction. *Operation of the step-breaking mechanism* In the step-breaking mechanism 250 configured as above,
The withering and discharging operation will be explained below. First, a plurality of pallets p1 are stacked on the buffer stand 52.
When it is transported in a state where the
High pressure air is supplied to the cylinder CD2, and the separation claw 266
, the corresponding part is biased from the retracted position to the extended position.
A state where it can be hooked onto the flange portion 38 of let p1 from below.
is set to After this, the first air cylinder CDI
High pressure air is supplied to the input end, and each separation claw 266
is biased upward to widen the arrangement pitch. child
As shown in the figure, each separation claw 266 opens the flange portion from below.
38, each pallet pI is located directly below
Separated so that it can be pulled out to the side from pallet p1
will be set to . As detailed above, according to this first modification, the battery
The plurality of pallets p1 placed on the facilitator 52 are
By using the step removal mechanism 250, the entire
All pallets p1 can be separated from each other and pulled out to the side.
You can now set it to a state where it is possible. For this reason
, as mentioned above, the robot! From 2, the remaining number is
The same part as the part recognized as one piece is stored.
At what height position on the buffer stand 52 is the pallet P1 placed?
Even if the pallet p1 is in the elevator from that position,
Now it can be pulled out at 26, and the operating time is shortened.
better than the case where the separation mechanism 64 of the embodiment is used.
It will be shortened. In addition, the control of the FAC system equipped with such a buffer
, but the pallet elevations separated by buffers
The pull-out position for each pallet is also fixed.
has been done. Therefore, it is necessary to replace the elevator pallet.
The waiting position in the preparation is determined by which pallet is pulled from the buffer.
It depends on how you export it. To do this, the elevator side
Similarly to the buffer side, the information shown in Figure 25A is also applied.
If the robot also has the information, the robot will give instructions to prepare for the replacement.
If so, what position does the stocker need the parts in?
From this information, you can find out whether Dislocation of the second cedar tree Next, in the elevator 26 of the above-mentioned embodiment, the entrance
Three hooks 108°116.126 of switching mechanism 96
As a drive source for moving along the conveyance direction d,
Although it was explained to use the common servo motor ME2,
This invention is not limited to such a configuration, but can be
As shown in FIGS. 35 to 39 as a second modification,
A pallet p full of parts X is moved along the transport direction d.
for driving hooks 108, 116 to move
The drive motor and the empty pallet p' are moved along the transport direction d.
a drive motor for driving the hook 126 to move the hook 126;
The configuration may be such that the data is provided separately. *Description of the elevator* That is, as shown in FIG.
The elevator 300 has guide grooves 1 on its upper and lower surfaces.
02 and 132 are not formed, respectively.
Elevator body 8 similar to the elevator body 86 of the embodiment
It is equipped with 6. Moreover, the exchange mechanism 96 is a top plate of the elevator main body 86.
A pallet full of parts X attached to the bottom of 88a
and a real pallet exchange mechanism 96a for exchanging pieces p.
, attached to the lower surface of the lower plate 86b of the elevator main body 86.
Empty pallet replacement for replacing empty pallet p'
It is composed of a mechanism 96b. This real pallet exchange mechanism 96a is shown in FIGS.
As shown in FIG. 37, the upper plate 86a of the elevator main body 86
A pair of first guide members 302a, 302b are provided on the lower surface of the
is provided in a state extending along the conveyance direction d. stop
The guide members 302a and 302b of the paintbrush 1 have a first
The slide plate 1304 can reciprocate along the conveying direction d.
is supported by Here, in the center part of this first slide plate 304, there is a
A protrusion 308 into which the first ball screw 306 described above is screwed.
are integrally formed. This first ball screw 306
is a pair whose front and rear ends are fixed to the lower surface of the upper plate 86a.
rotation via the first rotation support members 310a, 310b of
Possibly supported. In addition, this first ball screw 3
06 is rotatably driven by a first servo motor M.
It is composed of In this way, the first servo motor
The first ball screw 30 is rotated by the rotation of the rotating shaft of the motor M.
6 is rotationally driven, so that the first slide plate 304
It will be reciprocated along the conveyance direction d. This first slide plate 304 is perpendicular to the transport direction d.
It is formed to extend along the direction, and this first
At both ends of the slide plate 304, the same as in the embodiment described above are provided.
The first hook 108 is placed on the side of the buffer 22, and
The stocker 2 can move forward and backward freely via the cylinder CE□.
4 side with the second hook 116 and the air cylinder CE2
They are equipped so that they can move forward and backward freely. The first of this pair
The first and second hooks ioa and tts are
Shape on the flange part 38 of let p++ p2+p3...
The first notch 38a on the elevator 26 side
, and the second notch 38b on the unmanned vehicle 20 side, respectively.
It is formed in a shape that can be engaged from both sides. Here, on the lower surface of the upper plate 86a of the elevator main body 86,
engaged with the first or second hook 108.116;
Pull/push according to the rotational drive of servo motor M1.
A pair of fixings that slidably support the pallet p being taken out.
A slide guide 316 is provided. That is, both fixed
The slide guide 316 is used to guide the part being pulled in/out.
It is slidably installed on the lower surface of the flange portion 38 on both sides of the let p.
has been established. Note that the elevator on the upper edge of both fixed slide guides 316
The height of the main body 86 from the lower plate 86b is the maximum height.
Slideably supports pallet p3 with a height of 100 mm.
It is set high enough to hold it. On the other hand, the empty pallet exchange mechanism 96b described above is
A pair of second gaskets are provided on the lower surface of the lower plate 86b of the beta main body 86.
The side members 322a and 322b extend along the conveyance direction d.
It is in a state of readiness. And the guide member 3 of both sides 2
22a, 322b, the second slide plate 324 is conveyed.
It is supported so as to be able to reciprocate along the direction d. Here, in the center part of this second slide plate 324, there is a
A protrusion 328 into which the second ball screw 326 described above is screwed.
are integrally formed. This second ball screw 326
is a pair whose front and rear ends are fixed to the lower surface of the lower plate 86b.
rotation via the second rotation support members 330a, 330b.
Possibly supported. Also, this second ball screw 3
26 is rotatably driven by a second servo motor M2.
It is composed of In this way, the second servo motor
Due to the rotation of the rotating shaft of the motor M2, the second ball screw 32
6 is rotationally driven, so that the second slide plate 324
It will be reciprocated along the conveyance direction d. This second slide plate 324 is perpendicular to the transport direction d.
It is formed to extend along the direction, and this second
At both ends of the lower surface of the slide plate 324, there is a
A hook member 332 integrally equipped with a third hook 126
is slidable along the direction perpendicular to the transport direction d.
are installed respectively. This third hook 126 is
Each of the aforementioned palettes p1. P2. Flange of p3...
Second notch portion 3 formed in portion 38 on the unmanned vehicle 20 side
8b, and is formed in a shape that can be engaged from both sides. On the other hand, at both ends of the slide plate 324, there are
The second air cylinder extends along the direction of
Da C2 is attached. This second air cylinder
The above-mentioned flange is attached to the tip of the second piston 334 of the cylinder C2.
A hook member 332 is connected. In this way, the
In response to the drive of the second air cylinder C2, the third hook
126 is the second notch portion 3.8 of the flange portion 38
It will be driven back and forth to engage and disengage from b. Further, on the lower plate 86b of the elevator main body 86, this
3 was taken out from the stocker 24 by the hook 126.
A pair of movable legs for slidably receiving an empty pallet p'
A ride guide 336 is provided. Here, both
The dynamic slide guide 336 receives the empty pallet p.
' is placed on the group of carry-out rollers 78 of the carry-out mechanism 76 mentioned above.
In order to place the
In other words, I will leave the empty palette p′ received here.
It is designed to be able to slide. That is, FIG. 38 and
As shown in FIG. 39, both movable slide guides 336
, the elevator main body 8 via the slide members 338, respectively.
6 is slidably attached to the lower surface of the lower plate 86b.
Ru. On the other hand, movable slides are provided on both sides of the lower surface of the lower plate 86b.
Third air cylinder for reciprocating the guide 336
Da C3 is attached. This third air cylinder
At the tip of the third piston 340 of the da C3, there is a
A moving slide guide 336 is connected. in this way
According to the drive of the third air cylinder C3, the movable
The slide guide 336 is attached to the flange portion 3 of the empty pallet p'.
8 and is driven back and forth to engage and disengage. Actual pallet exchange mechanism 96a configured as described above
and an empty pallet changing mechanism 96b.
In structure 96, pallet p and pallet p' are exchanged.
The first and second hooks 108, 116 are operated at the same time.
In one embodiment described above, except that
Since the switching operation is similar to that of the switching mechanism 96,
The explanation of is omitted. As detailed above, this second modification fI! ++ smell
In this case, the drive source and the empty
A separate drive source is used to replace the pallet p'.
It consists of servo motors M+ and M2.
However, the same effect as the configuration of the above-mentioned embodiment can be achieved.
It is possible to do this. Note that the control according to this second modification is the same as that of the first embodiment.
One elevator motor drives three hooks.
It was said that it was driven by two motors.
Since this is just a simple explanation, I will omit the explanation. note 3 < 7 and [form (1+) a and Reiri] In the elevator 26 of the above-mentioned embodiment, the input
Three hooks 108° 116.126 on the switching mechanism 96
is installed, for taking in and pushing out the actual pallet p.
The first and second hooks 108 and 116 are arranged on the upper stage,
A third hook 12 is provided for pulling in an empty pallet P'.
6 was explained as being disposed on the lower part, but this invention
40 and 4.
As shown in Figure 1 as a third modification, this replacement machine
The structure 350 has the first and third hooks removed.
It is configured to include only the second hooks 108, 116.
It's okay. *Explanation of the exchange mechanism* That is, as shown in FIG.
The center portion of the lower plate 86b of the elevator main body 86 is
A cutout portion 86c is formed along the feeding direction d,
The pallet P passes through this cutout 86c in the transport direction.
It is formed so that it can be passed along. Here, at both ends of the slide plate 106 mentioned above, there are
The air cylinder support plate 1 extends along the direction d.
12 are fixed respectively. This air cylinder support plate
A first hook 108 is attached to the end of the buffer 22 of 112.
The first air cylinder CE+ for reciprocating the
is attached. This first air cylinder Ctl
At the tip of the first piston 114, the above-mentioned first foot is attached.
108 is connected. In this way, the first
In response to the drive of the arc cylinder CE+, the first hook 10
8 engages and disengages from the first notch 38a of the flange portion 38.
It will be driven back and forth as much as possible. Also, the side surface of this slide plate 106 on the stocker 24 side is
At both ends, a second hook 116 is attached to a second hook slide.
in the longitudinal axis direction of the slide plate 106 via the door member 118.
In other words, along the direction perpendicular to the transport direction d.
It is attached so that it can slide. The first of this pair
2 hooks 116 are attached to each of the aforementioned pallets P1. p2.
The unmanned vehicle 20 side formed on the flange portion 38 of P3...
shape that can be engaged from both sides with the second notch 38b of
is formed. On the other hand, air cylinders fixed to both ends of the slide plate 106
A second holder is provided at the end of the stocker support plate 112 on the stocker 24 side.
A second air cylinder for reciprocating the rack 116
CE2 is installed. This second air cylinder
At the tip of the second piston 120 of DaC8□,
A second hook 116 is connected. In this way
, the second air cylinder C■ is driven.
The hook 116 is the second notch 38b of the flange portion 38.
It will be driven back and forth to engage and disengage. Here, on the lower plate 86b of the elevator main body 86, a first
The actual data fetched from the buffer 22 by the hook 108 of
The second hook 116 of the pallet p and
The empty pallet p' drawn in from the mechanism 24 is slidably received.
A pair of movable slide guides 352 are provided for
ing. Here, both movable slide guides 352 are received here.
The empty pallet p' is transferred to the unloading roller of the aforementioned unloading mechanism 76.
In order to place it on the 78th group, the direction perpendicular to the conveying direction d
In other words, if the empty palette p' received here is
It is configured to be slidable so that it can be removed from the That is,
On the lower plate 86b of the elevator main body 86, there is a
Slide the movable slide guide 352 along the orthogonal direction
A sliding member 354 is attached for support.
There is. Further, on the lower plate 86b, there is a cutout portion 86c in the conveying direction.
The movable slider is placed adjacent to the center of both edges along d.
a fourth air series for reciprocating the guide 352;
CE4 is installed. This fourth air seat
At the tip of the fourth piston 256 of the cylinder Cε4,
A movable slide guide 352 is connected thereto. this
In this way, according to the drive of the fourth air cylinder CE4,
The movable slide guide 352 moves the empty pallet p'
It is driven back and forth to engage and disengage from the hinge portion 38. As described above, the replacement mechanism 35 according to the third modification example
By configuring 0, this movable slide guide 35
2, pull the -danku pallet p' from the stocker 24.
After loading, this empty pallet p' is temporarily transferred to the unloading mechanism.
76 and remove it from this exchange mechanism 350.
Descend as you wish. And like this, this swap
Release the empty pallet p' from the mechanism 350 and remove the elevator
With the body 86 emptied again, this time the buffer
In order to take the separated real pallet p at 22,
Raise it to a height position adjacent to the separation position for 8 shifts.
Ru. At this separation position, the actual pallet is removed from the buffer 22.
The receiver takes the top p and replaces this real pallet p with an empty pallet.
The predetermined position of the stocker 24, which is emptied by pulling in the cut p'
It will be pushed out to the position. In this way, the series of pallet swapping operations is completed.
do. *Using control vehicle Figures 42A to 42H, this third modification example
The operation of the elevator will be explained along with the movement of the stocker.
. Regarding the control of this modified example, the robot, stocker, and
Regarding the buffer, the robot in step S26
The control of the basic embodiment does not require modification, so the robot
23A and 23B, and the stocker is shown in FIGS. 24A and 2.
Figure 4B is used for the buffer, and Figures 25B and 25C are used for the buffer.
Ru. For elevators, see Figures 42A to 4.
The sequence of control operations will be explained using a 2H diagram. this
The modified elevator has the lower empty panel that was in the basic example.
Since the let drawer mechanism has been removed,
First, pull out the empty pallet from the stocker.
The sequence of inserting a pallet that interrupts the stacking of blocks is followed.
Ru. In FIG. 42A, the pallet (II) of process number L0
IrS [placed on Loco] becomes the remaining number Z [Loco = 1]
At this point, the robot will have buffers,
Instructs Beta to prepare for pallet replacement. this
The buffer that received the preparation instruction is the buffer of the basic embodiment described above.
From the part name etc. of process Lo (=Do) according to fa control,
At what level on the buffer stand 52 is the supply pallet placed?
(see Figure 25A) and separate the pallets.
Attend to the location. Meanwhile, I received instructions to prepare for the replacement.
The modified elevator will be in its replacement standby position for eight shifts.
. The standby position is the stocker S [
LO] position. The elevator arrives at this waiting position
In this case, the stocker process is as shown in Figure 42B.
It will probably move on to another step L'. The process has come full circle
, the pallet on the shelf S [L, ] is the robot's drawer.
When the table reaches the 154th position, the remaining number Z [L0] becomes zero.
It has become. Then, here, the stocker of the empty pallet
Drawing is performed from the side to the elevator side (42nd
Figure C to Figure 42D). Elevator picks up empty pallets
Then, the elevator descends and the empty pad is placed on top of the transport mechanism 76.
Stack the letts (Figure 42E). In this state, the
The elevator does not hold any pallets. The elevator then rises to the buffer separation position,
Bring in a new separated palette. This import
When finished, the elevator sends this buffer to the buffer.
Sends a notification that the import is complete, then stops the movement and waits.
The stocker is lowered to the S [Lo position (
Figure 42F). The object that has descended to the standby position of this stocker
The elevator pushes the new pallet into the stocker (
Fig. 42G, AH), replacement for the stocker is completed.
Send notifications. The stocker that receives this notification goes to the robot side.
The supply of parts will be resumed. As mentioned above, in this third modification, the empty palette
The above-described
Although it takes some time compared to the case of one example,
The configuration of the exchange mechanism 350 is simplified and costs are reduced.
It becomes possible to aim for. $ 40 and [J type
The empty pallet p' separated from the descending elevator 26 is
Keep it in a stacked state, and the number of stacked
When the predetermined value is reached, the unloading mechanism 76 is driven.
, below the buffer stand 52, that is, the empty pallet of the unmanned vehicle 20
It is configured to be carried out to a position adjacent to the loading table.
In particular, this unloading mechanism 76 is fixed at the bottom.
I explained that it would be set (unable to move up and down), but this
The present invention is not limited to such a configuration, and the configuration shown in FIG.
As shown in the fourth modification in FIGS.
The portion of the unloading mechanism 76 located below the motor 26 is
It is configured to be movable and is configured to include a so-called lift mechanism.
You may do so. That is, as shown in FIG.
The unloading mechanism 76 is located below the buffer stand 52.
Located below the constant conveyance mechanism 400 and the elevator 26
A lift mechanism 402 is provided. Here, fixed conveyor
The structure 400 is similar to the transport mechanism 76 described in one embodiment.
Since the configuration is similar, the explanation thereof will be omitted. On the other hand, the lift mechanism 402 is an elevator as shown in the figure.
struts 82a and 82b that constitute the holder 26; The guide member 88 attached to 82c and 82d includes
Below the sliding member 90 to which the elevator main body 86 is attached
In the state where the other sliding member 404 is slidably attached.
It is worn. These four sliding members 404 have four corners attached.
The lift platform 406 is arranged to be movable up and down in the state where the
It is. This is the lowest position on this lift platform 406.
The stationary unloading mechanism 400 is provided with the
The conveyor rollers 78a are arranged in horizontal alignment with the group of conveyor rollers 78a.
A group of carry-out rollers 78b is provided. In addition, in the space between the pillars 82b and 82d on the opposite side in the figure,
There is a protrusion on the side of this lift platform 406 when it is inserted.
A projecting piece 408 is attached integrally. And both branches 8
With the racks passed to 2b and 82d, install the air cylinder.
A mounting member 410 is provided extending horizontally.
. This air cylinder is attached to the top surface of the member 410.
With the piston 412 protruding downward, press the air cylinder.
DaCL is attached. Below this piston 412
The end is fixed to the upper surface of the above-mentioned protruding piece 408. Note that this air cylinder CL has a piston 412 of this air cylinder CL.
A brake mechanism (not shown) allows the protrusion amount to be set arbitrarily.
It is equipped with the following. Also, this air cylinder C
L is the maximum amount that the piston 412 protrudes in the normal state.
high pressure air is supplied to it.
By doing so, the piston 412 is pulled up.
In other words, the amount of protrusion is reduced and the lift platform 406 is driven upward.
It is configured to allow On the other hand, the above-mentioned cylinder mounting is performed on the lower surface of the member 410.
, the sensor is attached to the member with it extending downward.
414 is attached. This sensor is attached to member 41.
4, a state where it can face the lift platform 406 that is moved up and down.
The three sensors S+, S2, and Ss are arranged vertically.
They are arranged side by side. These sensors Sr, S2, and Ss are connected to this lift table 4.
Lifting of the top position of the empty pallet group p' placed on 06
There are three types of positions (rise standby positions) for the reasons described below.
In other words, in order to change and control only the
When releasing the empty pallet p' from the elevator main body 86,
The lift table 406 is placed in advance at a position of 3.
It is arranged to control changes in kind. That is, as shown in Fig. 44, the elevator at the lowest position
Empty pallet P+ ”+ held at the bottom of the data center body 86
Depending on the height of P2' + P3', the base
From this empty palette P+ ', P2 '+ Pz
The height to the bottom of ′ will change. this
Therefore, the empty pallet held at the bottom of the elevator main body 86
P+ '+ P2 '+ P3 ' is
When released onto the empty pallet group p' on the foot stand 406,
When the descending control of the elevator main body 86 becomes complicated,
Also, how high should the lift platform 406 be raised?
It becomes difficult to judge. In other words, the empty barrel 1”P+ in the elevator 26
'r P2', P3' pull-in operation is performed.
While the robot is moving, the lift platform 406 is moved to a predetermined rising standby position.
If the elevator body 86 is raised to the
The period will be as short as possible, and subsequent operations will be performed quickly.
It will be. In this way, these sensors S,...
S2. S, simplifies the descending control of the elevator main body 86
The purpose is to reduce the descent time.
The lift table 406 can be stacked on top of the lift table 406.
Empty palette P+ ”, P2 ”r p3
Depending on the height of the
It is set up for the purpose of Therefore, the sensor S1 at the highest position is located at the elevator main body 8.
6 is in the lowest position, under the elevator main body 86.
If the height of the empty pallet p' held in the
In this case, the height of the bottom surface of this empty pallet p+′
It is set so that it is located below by a predetermined pressure of 11L from the position.
It is. Moreover, the sensor S2 located at the second height position is a sensor,
It is set to be located 25mm lower than
. That is, the second sensor S2 detects that the elevator main body 86 is
, at the bottom of the elevator main body 86 in the lowest position.
When the height of the held empty pallet p' is 50 mm,
Is this the height position of the bottom surface of this empty pallet P2'?
, and set it so that it is located a predetermined distance below.
has been done. Furthermore, the sensor S3 at the third height position is the sensor S3.
It is set to be located 50111[0 lower than 2.
It is. That is, the third sensor S3 is the elevator main
When the elevator body 86 is in the lowest position, the elevator body 86
The height of the empty pallet p' held at the bottom of is 100 mm.
In some cases, the bottom surface of this empty pallet 93'
Located below the above-mentioned predetermined pressure ML from the height position.
It is set as follows. Here, this predetermined pressure ML is, while maintaining this interval,
Empty pallets from elevator main body 86 'r '92'
r P3 ′ is an empty pallet placed on the lift table 406
well, this emission
empty palette p,′. P2'IP3' is the empty pallet p on the lift platform 406
′ is set at a small enough distance to be superimposed on top of the
. In this way, the elevator body 86 is supported on it.
Empty palette P+ '+ P2', P3'
on the empty pallet p' placed on the lift table 406.
When lifting, the lift table 406 is placed on this in advance.
The top position of the empty pallet p' placed on the elevator is
The lowest position of the body 86 and the empty pallet PI held there
'+ P2 Z p3 ' corresponding to the height
It is brought to the rising standby position. As a result, the elevator
The main body 86 simply moves downward to its lowest position.
This makes descending control easier and reduces descending time.
will be done in the shortest possible time. *Controlled vehicle In this fourth modification configured as above, the following
The outline of the operation control will be explained below using Fig. 45.
. The control of this modification is from step 3226 in FIG. 26A to
Step 5236 is changed. That is, strike
Step S76 or Step 3108 of controlling the printer
, a request to replace an empty pallet p' is sent to the elevator.
When the elevator is brought out to
and then empty it in step 5220 (Figure 26A).
Swap palette p' with a new palette p
. On the other hand, the lift mechanism side also issues the replacement request in step 54.
20 (Figure 45) and when this request is made,
The empty pallet held in the elevator in step 5422
Know the thickness of the cut. Once you know the type of thickness, step
At 5424, drive the air cylinder CL to adjust its thickness.
Any of the three corresponding sensors S, ~S3 positions mentioned above
The lift table 406 is raised to . and step
At 5426, a waiting position arrival notification is sent to the elevator side.
First, wait for the empty pallet p′ release notification from the elevator side.
. On the other hand, the elevator, which has undergone pallet replacement, is
Add this notification to the stocker using step 5222 (Figure '126A).
In step 5400 (Figure 45), Figure 43
Lower the elevator main body to the position shown in . and
, at this position, waits for the waiting position arrival notification from the lift mechanism.
One. When notified by the lift mechanism, the elevator
The empty pallet p' held at the bottom of the motor and the lift platform 40
The distance to the topmost empty pallet p' on 6 is approximately close.
As mentioned above, Therefore, step 54
At 04, release the empty pallet held at the bottom of the elevator.
and sends a release notification to the lift mechanism in step 5406.
Ru. Upon receiving the release notification, the lift mechanism side performs step 3428.
Proceed to step 5430 to move the lift platform 406 to the floor position.
lower to. At this point, the empty pallets that have just been piled up
Check whether the cut p' reaches the maximum height sensor position. most
If the large position height is reached, it will interfere with the vertical movement of the elevator.
Therefore, in step 5434, the fixed transport mechanism 400
drive to transport out stacked empty pallets. By controlling elevators and lift mechanisms like this,
The elevator body 86 is simply lowered to its lowest position.
As long as it works, it will work fine, making lowering control easier and lowering
The downtime will be minimized. In addition, in the elevator control of the basic embodiment described above, the empty
The thickness of the pallet is given as H[L]
However, if the thickness is incorrect, the elevator body may be damaged.
As a means of checking the thickness of the empty pallet in order to
Additional mechanisms may be provided, i.e., the elevator body
Empty pallet P+ '* pulled into the bottom of 86
To detect the respective heights of P2' and P3'
Although not shown, there is a
Empty pallet P+ ', 92'+ pulled in here
A group of sensors is provided to detect the height of p3'.
, by detection of the above H[L] and these sensors (not shown)
This is done by checking the thickness type. Also, the three sensors S1 to S3 can be omitted to one.
In such cases, the maximum height
It may also be used as S4. However, in this case, the elevator
Empty pallets and stacked empty pallets held at the bottom of the main unit
The pallet has three different distances depending on the thickness of the pallet.
In order to
There is no problem even if the elevator body releases an empty pallet.
It is necessary to shorten the distance. [Margins below] [Other embodiments] *Configuration* In the explanation of the above-mentioned embodiment, the robot 12 has the necessary components.
The parts supply system 14 for supplying the necessary parts
Broadly speaking, parts are received and taken from the unmanned vehicle 20, and then stored.
A buffer 22 is provided adjacent to the robot 12.
Then, the robot 12 is given the parts necessary for assembly in the assembly order.
The stocker 24 and this buffer 22 supply sequentially according to the
and the stocker 24, and the stocker 24 is
The parts that are in short supply are transferred from the buffer 22 to the stocker 2.
4 and an elevator 26 for transporting the
It is. In particular, in this embodiment, in the stocker 24
, the pallet p′ becomes empty because there are no more parts remaining.
is replaced with an actual pallet p full of corresponding parts.
The switching position for the robot 12 in the process is
The position of the empty pallet at the unloading position in process L+1
It is a place. In other words, this exchange position is the process [L
and the pallet shelf position S [L] corresponding to that process.
This exchange position and buffer 2
The separation position in 2 is often at a different height.
. During this period, the actual pallet p is transferred from the buffer 22.
Elevator 26 is required to transport to stocker 24
becomes. However, the present invention does not require the configuration of such an embodiment.
46 to 49.
It may be configured as shown in the example. That is, in other embodiments, the portion in buffer 22 may be
The release position and the exchange position in the stocker 24 are the same.
At the same time as setting at one height position, the portion at the buffer 22 is
By setting the release position directly above the buffer stand 52
, the elevator 2 required in the above-mentioned embodiment
6 can be made unnecessary. Below, the configuration of FACIO related to other embodiments will be explained in detail.
explain. In addition, in the following explanation, one embodiment mentioned above will be used.
The same members used in the configuration and various modifications
The same reference numerals will be given to the same reference numerals, and the explanation thereof will be omitted. That is, as shown in FIG. 46, the parts necessary for the robot 12 are
The parts supply system 14 that supplies parts can be roughly divided into unmanned
A buffer for receiving and storing parts from the car 20.
between the buffer 450 and the robot 12
The robot 12 is provided with parts necessary for assembly.
The stocker 24 is equipped with a stocker 24 for sequentially supplying the
Ru. Note that this buffer 450 is the same as the buffer of the above-mentioned embodiment.
Unlike the case 22, empty pallets p' can be removed from the stocker 24.
The pallet p is taken out and the separated pallet p is transferred to the stocker 24.
It has the function of pushing out to the replacement position of the
On the buffer stand 52, the number of parts in the stocker 22 is displayed.
Pallets p are stacked from the bottom in the order of ;
Ru. Moreover, this buffer stand 52 has a fixed vertical position.
It is installed in a state. Specifically, this buffer 450 is configured as shown in FIG.
, the space is sandwiched between both the upright plates 46a and 46b.
The buffer stand 52 is connected to the unmanned vehicle via the sub-lock 452.
It is fixed at the same height as the pallet mounting table 32 of 20.
There is. In other words, the spacer block 452 is provided.
Therefore, the side surface of the buffer stand 52 has a corresponding upright plate 4.
6a. 46b. This buffer stand 52 is positioned above it.
This is the pallet p placed directly on the facilitator 52.
In order to separate the pallets independently from the upper pallet group,
A second separation mechanism 454 is provided. This separation mechanism 454 includes both upright plates 46a. Each of the attachments secured to the upper end of 46b includes a member 456.
In addition, each attachment is made at both ends of the member 456 along the conveyance direction d.
is with the guide shafts 458 falling parallel to each other.
installed. Then, a pair of
A separation claw mounting plate 460 is attached to the lower end of the guide shaft 458.
has been done. The lower surface of each separation claw mounting plate 460 is provided with a pallet.
A pair of portions can be hooked onto the flange portion 38 of the top p from below.
The release claws 462 each extend along a direction perpendicular to the conveyance direction.
It is attached so that it can move forward and backward. On the other hand, each attachment is attached to the center of the member 456 in the vertical direction.
The ball screw 464 is rotatable while extending along the
It is pivoted. The lower end of this ball screw 464 is
Standing board 46a. It is rotatably supported by a support plate 466 fixed to 46b.
ing. Here, the central part of the separation claw mounting plate 460 mentioned above is
The intermediate portion of this ball screw 464 is screwed into the ball screw 464.
A part 468 is provided for the lug catch. Also, in the installation on the opposite side of the figure, there is a strip on the top surface of the member 456.
The servo motor MT is attached via the tie 470.
ing. The drive shaft of this servo motor M has the above-mentioned bolt.
The upper end of the wheel screw 464 is connected, and its rotation
Accordingly, the ball screw 464 is configured to be rotationally driven.
has been done. Here, a drive pulley 472 is coaxially attached to this drive shaft.
It is worn. On the other hand, the ball screw 464 on the near side in the figure
A driven pulley 474 is coaxially attached to the upper end. These driving pulley 472 and driven pulley 474
A timing belt 476 is wound around. this
In this way, the pair of ball screws 464 are synchronized with each other.
It will be driven to rotate. That is, both separation claw mounting plates 4
60, therefore, both separation claws 462 have the same height as each other.
Then, it will be moved up and down. Then, each separation claw 462 described above is connected to a corresponding separation claw.
In order to move forward and backward from the attached plate 460, this separation claw mounting plate
Air cylinders CA are provided on the rear surfaces of 460, respectively.
It is. A piston (not shown) of this air cylinder CTI
The tip of the ton is connected to the corresponding separation claw 462
. Here, each separation claw 462 is connected to a pair of guide pins 478.
It is supported so that it can move forward and backward freely. In addition, each air cylinder CTI is supplied with high pressure air.
When the corresponding separation claw 462 is not
It is biased to the retracted position away from the flange portion 38, and the high pressure
Hooked on the flange part 38 in the state where air is supplied
It is configured to be biased into a possible protruding position. Since the separation mechanism 454 is configured as described above, the
A plurality of pallets 2 stacked on a buffer table 52
From the group, the lowest pallet p2, that is, the buffer stand 5
2 and then transferred to the stocker 24.
When separating a pallet p, which is intended to be
First, the separation claw 462 is biased to the retracted position.
Then, move this separation claw 462 to the second pallet Pb from the bottom.
From the flange portion 38 to a position immediately below, the servo
6 shifts via motor MT. After this, high pressure air is supplied to the air cylinder CTI,
The separation claw 462 is biased to the protruding position. This allows each minute
The release claw 462 is the part located second from the buffer base 52.
A state where it can be hooked onto the flange portion 38 of the let Pb from below.
becomes. From this state, the servo motor MT starts,
Move the separation claw mounting plate 460, that is, the separation claw 462 upward six times.
do. In this way, the second pallet Pb from the bottom is
It can be lifted up with two groups of pallets stacked on top.
It becomes. In other words, the pallet p1 at the bottom position
While remaining on the buffer stand 52, the second or higher from the bottom
The pallet group p is lifted and the lowest pallet p
, will be separated from Therefore, the bottom separated
Location palette pa-t! In other words, next is stocker 24.
The pallet p, which is to be transported 8 times along the transport direction d, is
, set to be able to be withdrawn independently. On the other hand, this buffer 450 is placed around the buffer stand 52.
Equipped with a mechanism 480 for replacing the pallet p in the positioned state.
It is growing. This exchange mechanism 480 is shown in FIGS.
As shown in FIG. 49, below the buffer stand 52
, via a pair of guide shafts 482a, 482b,
A horizontal slide plate that is reciprocally movable along the direction d.
It is equipped with 484. The lower surface of the buffer stand 52 mentioned above
In the central part, as shown in FIG.
The ball screw 486 connects both ends to the rotation support member 488a.
, 488b, and is rotatably supported.
It is. Here, this slide plate 484 has a pair of rods.
484a. 484b, so as to make contact with the lower surface of the buffer stand 52.
It is configured as follows. This ball screw 486 is located at the center of the slide plate 484.
It is screwed into an integrally formed screwing portion 484c. still,
Although not shown, this ball screw 486 is a servo motor.
As a result, the ball screw 486
The slide plate 484 is screwed into the screw portion 484c.
is configured to be driven back and forth along the conveying direction d.
There is. On the bottom surface of this slide plate 484, the stocker 24 is empty.
Pull in the pallet p' and support it at the bottom of the buffer stand 52.
A pair of first hooks 490a, 490b for holding the
, installed so that it can move forward and backward along the direction perpendicular to the conveyance direction d.
I'm being kicked. Further, a first hook 490a is provided on this lower surface. Air cylinder CT for reciprocating each 490b
□ is attached. Piston of each air cylinder CT2
The hook 492 is connected to the first hook 490a, 490b described above.
It is connected to the. Here, this air cylinder CT2 is equipped with high pressure air.
is not supplied, the corresponding first foot
490a and 490b, which are the flanges of pallet p.
operates to be biased to a position laterally away from the portion 38;
In addition, when high pressure air is supplied to this
Attach the first hooks 490a and 490b to the pallet.
engages with the second notch portion 38b of the flange portion 38 of the top p.
Work as you move. On the other hand, the exchange mechanism 480 has hooks 490a of both N1.
, 490b, it was pulled in from the stocker 24.
Movable slide guide 49 for receiving empty pallet p'
4a and 494b. Double movable slide guide 49
4a and 494b are attached to the corresponding upright plates 46a and 46b,
in the transport direction d via guide pins 496a and 496b.
It is provided so that it can move forward and backward along orthogonal directions. Each movable slide guide 494a, 494b has a corresponding
Air cylinder CT fixed to upright plates 46a and 46b
It is attached to the tip of the piston 498 of No. 3. Here, this air cylinder 0-3 is connected to high-pressure air.
is not supplied, the corresponding movable slide
Place the guides 494a and 494b on the empty pallet that has been drawn in.
at a protruding position where it is hooked onto the flange portion 38 of top p' from below.
When the air is biased and high pressure air is supplied to it, the
Pull the corresponding movable slide guides 494a, 494b.
Separate laterally from the flange portion 38 of the loaded empty pallet p'.
The retracted position (!4)
Ru. Further, the above-mentioned exchanging mechanism 480
The actual pallet p is placed in the upper side of the stocker.
a pair of second hooks 500a, 5 for pushing into 24;
00b. Both sides 2 hooks 500a, 500
b is the second part of the flange portion 38 of the actual pallet p from both sides.
It is provided so as to be able to engage with the notch portion 38b. here
, the hooks 500a and 500b of both sides 2 are attached to the slide plate 4
The support stay 502a is integrally connected to the support stay 502a. The pin of air cylinder CT4 fixed to the top surface of 502b
They are attached to the tips of stones 504, respectively. This air cylinder CT4 is supplied with high pressure air.
When the corresponding second hook 500
a, 500b laterally away from the flange portion 38h)
It is biased to the retracted position and high pressure air is supplied to it.
In this case, the corresponding second hooks 500a, 500b
is engaged with the second notch 38b of the flange portion 38.
It is configured to be biased to a protruding position. Incidentally, as described above, if such a buffer 450 is provided,
The stocker 24 in other embodiments is similar to one embodiment described above.
Similar to the example configuration, but slightly different in its behavior.
It is something that That is, the stocker 24 in one embodiment is
, the pull-out position of each pallet p in the lifting frame 152 is
, move up and down to the extent that they can each face the drawer table 168.
However, the storage in this other embodiment
While performing the above-described operations, the buffer 24 also
Each pallet p in the lifting frame 152 is placed at a separation position of 50.
Operates so that the drawer positions can face each other.
It is. Here, in such other embodiments, the buffer stand
The empty pallet p' received at the bottom of
In order to place the
Same as the lift mechanism explained in the fourth modification of the example
The lower part of the buffer stand 52
This is what we are preparing for. *Control vehicle Stocker 2 according to another embodiment configured as above
4 and the control operation for the buffer 450 will be described in the 50th section below.
This will be explained based on FIG. A and FIG. 50B. Furthermore, the robot side
The outline of the control is shown in FIGS. 24A and 24B.
Use the program shown in . The characteristics of these controls are
, since there is no elevator like in the previous embodiment, the pallet
Even if the robot issues a request to prepare for the
Only the stocker 24 side performs the preparation operation, and the stocker 24 side
The robot knows that the number of parts in the set has become zero.
At the time when the replacement request flag I[L] = 1),
The supply of parts to the robot is temporarily stopped (i.e., the next process is stopped).
(without proceeding to ), the palette is divided by the buffer described above.
The stocker elevator frame 152 is moved to the released position. and
, At this separation position, the empty pallet and real pallet are exchanged.
Let's do it. Then, follow the original process order again.
Pull the pallet on the shelf position of the process by pulling out the drawer part 154.
Move the robot until it aligns with the output position, and
This will restart the supply of parts to. FIG. 50A shows a stocker control program according to another embodiment.
2 is a flowchart of the program. Step 5600=
>Up to step 3608, the process number received from the robot
According to the number G (=L), the shelf position corresponding to that number is
Slide the pallet to the pull-out position on the pull-out stand 154.
Move the lifting frame 152 of Tokka 24 up and down 8 times and pull out the drawer.
At position 154, pull the desired pallet.
Indicates control until release. Step 5610 for robot
will notify you that the pallet drawer is ready and follow the steps.
At 5611, wait for the robot to complete parts picking. Pi
When the check is completed, steps 5611 to 56
12, move the pallet on the drawer section 154 to the lifting frame 1.
52 and entered by the robot in step 5614.
Replacement request flag I [L] is not set to 1”.
Check out the squid. If this flag is not set, step 56
28 to step 5634, and then step 560
Returning to step 6, the above control is replaced in step 5614.
Do not repeat until request flag I [L] becomes “1”.
. In the above repeating process, if the robot side
A pallet with only one component left was discovered (No.
If step 522 in Figure 23A), then step 526 (
(Fig. 23A), indicate the preparatory operation for switching to the buffer side.
There should have been an indication. In other words, if there is such a replacement preparation instruction, the 50B
From step 5650 of the buffer control program in FIG.
, proceed to step 5652 and process step number D (FIG. 23A).
In step S24, since D=G), the new
The pressure H [D] of the pallet is determined from the variable table (Fig. 21A).
), and in step 5654
Separate the pallet in the lowest position. That is, H[D
] to raise the separation claw 462,
At that point, the actual pallet you are trying to separate is one or more levels above the actual pallet.
In order to hang the pallet of the step by the separating claw 462.
Then, drive the air cylinder CT+. After this hanging, change
The motor M? . Rotate the pallet to select one or more pallets above the pallet to be separated.
Raise the cutter and separate the pallets to be separated. child
After separating the actual pallet from other pallets,
In step 5655, a separation completion notification is sent to the stocker.
In step 5656, the stocker must be replaced.
wait for instructions. On the other hand, the robot sets flag I [L] to “1”.
When the stocker discovers in step 5614 that
Proceed to step 5616 and select the process on the S [L] shelf.
Place the empty pallet in the empty drawer as shown in Figure 50C.
position. In other words, the empty pallet at the time of rising
The position of the shelf with the cutter from the floor is determined by the slide guide 49.
4a (494b). Therefore, the station
Replacing the empty palette with the buffer in step 5618
Notify the request. Then, in step 5620, the buffer
Wait until the pull-out mechanism at the bottom of the tray pulls out the empty pallet.
. On the buffer side that received this exchange request, step 5
At 658, an empty pallet retraction operation is performed. That is,
Drive the air cylinder C-3 to move the slide guide 494.
bias a. Then, rotate a motor (not shown),
The state in which the first hooks 49Oa and 490b are not biased.
Then slide this hook into the stocker. and,
Driving the air cylinder CT2, the hook 490a. 490b is biased and the empty pallet is hung on this hook.
, the motor (not shown) is reversed, and the empty pallet is transferred to the back.
Pull it to the bottom of the fan. Proceed to step 5660 and
inform the customer that the empty pallet has been removed.
so that it knows and moves to the pushing position of the actual pallet.
Encourage stocker. At this point, control of the buffer becomes two parallel controls.
. That is, the above from the stocker in step 5662a.
Waiting for notification of extrusion position movement completion and step 566
At 2b, the lift mechanism causes the buffer to release the empty pallet.
Wait until it has risen to a point where it is safe to do so.
It is. Here, control on the lift mechanism 402 side will be explained. This lift mechanism 402 is equivalent to the fourth modification described above.
It has a unique structure. This is the buffer for this other example.
Because the empty pallet pull-out mechanism is fixed, the 43rd
As shown in Fig. 44, accurate detection of the lift position is possible.
This is because it becomes necessary. Therefore, the library shown in Figure 50B
The control on the foot mechanism side is almost the same as that in Fig. 45.
. That is, the replacement request notification from the stocker is sent in step 5.
The lift mechanism 402 received at step 700
Proceed to , find out the thickness of the empty pallet currently in the stocker,
In step 5704, the sensor position (fourth
Raise the lift platform 406 to S, , S2゜S3) in Figure 3.
let Upon arrival at this standby position, in step 5706
, notifies the buffer of this fact, and in step 3708 the buffer
Waits for empty pallet release notification from buffer. The arrival of the lift mechanism 402 at the standby position and the actual palletization of the stocker
No matter which one happens first, the cut arrives at the closet position.
Also, they may occur at the same time. Now, the lift mechanism 402 arrives at the standby position first.
Then, the buffer is transferred from step 5662b to step 56.
Proceed to 62c and release the empty pallet. In other words, air
Return the printer CT3 and release the empty pallet. vinegar
The lift mechanism 402 is notified of this in step 5662d.
Ru. Upon receiving this notification, the lift mechanism 402 performs step 57.
Proceed to step 10 and lower the lift platform 406 to the floor position.
, step 5712. The empty palette in step 5714
Check whether the items are stacked on the lift platform to the maximum height.
Perform the action to investigate. Meanwhile, in step 5620, an empty pallet is pulled from the buffer.
The stocker that was waiting for the stocker to receive the notification will
, as shown in Figure 50D, empty shelves are placed on real pallets.
Raise it to the closet position. and arrived at this position
Then, in step 5624, the movement completion notification is stored in the buffer.
Notify and push a new pallet from the buffer into the stocker.
Wait for the completion notification. The buffer that received the movement completion notification in step 5662a
, in step 3664, the actual pallet is pushed into the stocker.
and start the operation. In other words, the air cylinder CT4 is biased.
Let's hook 500a. 500b to the flange of the pallet, where it
Rotate the motor shown and move this real pallet to the stocker.
(Figure 50D). Furthermore, air cylinder
Return the da CT4, reverse the motor, and push the
Return mechanism to buffer. In step 3666, the
Sends a replacement completion notification to the driver. Furthermore, step
At 5668, the motor M is reversed to rotate the guide 460°.
The pallet that had been lifted by 462 is transferred to roller 54.
Return the air cylinder CT to the top, and then release the separation claw 46.
Disengage from 2. In this way, the withdrawal of empty pallets in a fixed position,
The push control of the actual pallet at the fixed separation position is completed. In addition, in the control program shown in FIG. 50B, the lift mechanism 402
The start of the rise on the side was a replacement request (remaining number; pieces).
, when there is only one item left in the pallet.
You may do so. In the configuration of the other embodiments described above, the buffer stand 52
The first group of pallets placed on top is stored in the stocker 24.
It is set so that they are stacked sequentially from the bottom in the order in which they are requested to be replaced.
has been established. In this way, the
The pallets separated to be transferred to the stocker 24 are
, a pallet p placed directly on the buffer stand 52,
In other words, it must be specified for the pallet p located at the lowest position.
become. For this reason, the element described in one embodiment
Beta 26 is no longer needed and is placed near the buffer stand 52.
, to include a separation mechanism 454 and a replacement mechanism 480.
It would be a good idea to configure it. However, the present invention is not limited to the configuration of the other embodiments described above.
Without being limited to, FIG. 51 shows a modification of another embodiment.
As shown in FIG.
It may be configured such that various pallets p are placed thereon. That is, as shown in FIG.
The configuration is the same as that described in the above-mentioned embodiment.
A buffer 22 is provided. Therefore, in this modification
In this case, a plurality of layers arbitrarily stacked on the buffer stand 52 are used.
from the pallet p to the second separating claw 68 of the buffer 22.
Then, a predetermined pallet p is separated. On the other hand, in this modification, the separation of this buffer 22
separated in this buffer 22 adjacent to the position.
The separated pallet p is raised to the same height as the separation position.
In addition to the transfer means for transferring to the stocker 24
A transfer 550 is provided as an embodiment. Here, this transfer 550 is one of the embodiments described above.
In an elevator mechanism with a configuration of
with the body 86 adjacent to the separation position of the buffer 22;
Moreover, it is provided in the same state although its position is fixed. That is, in this transfer 550, the elevator
The main body 86 serves as the transfer main body 552 and has four pillars.
It is provided in a fixed state at 82a to 82d. Ma
In addition, this transfer body 552 has the above-mentioned implementation.
Exchange mechanism 9 having the same configuration as the exchange mechanism in the example
It is equipped with 6. In other words, in this modification, the other implementations described above are
In the example, buffer 450 includes swapping mechanism 480.
In contrast to what was previously known, independent of the buffer 22,
The transfer 550 is provided with a switching mechanism 96.
It can be said that it has been constructed. As described above, by configuring this modified example, the
Pallets p are placed on the fan table 52 in any order.
buffer according to the request of the stocker 24.
After separating the requested pallet p from 22,
via Spha 550 to the same height as the separation position.
Place the parts in the predetermined replacement position of the stocker 24.
It will be possible to replenish a fully loaded pallet p.
. In addition, from the stocker 24 to the bottom of this transfer 550,
The empty pallet p' that has been pulled in is placed on the unloading mechanism 76.
In order to
Equipped with the lift mechanism 402 described in the fourth modification example.
It is something that Here, in one embodiment, the above-mentioned exchanging mechanism 96 is
I explained that it should have the same configuration as the replacement mechanism.
, for example, without limitation, the second
Actual pallet changing machine as explained in the modification of
A mechanism 96a and an empty pallet exchange mechanism 96b are independently provided.
It goes without saying that it is good to adopt a configuration that allows The control according to the modification of this other embodiment is the input of an empty pallet.
The switching position is fixed, and movement to that position requires an electric
What is done by the stocker side due to lack of beta
Therefore, its basic operation is shown in FIG. 50A mentioned above.
It is similar to the control In addition, the buffer is shown in Figure 6.
The buffer side is the same as the buffer
The operation is controlled by the control program shown in Figures 25A to 25C.
Gram can be used. (Left below) [Others (Locking of pallets in the stocker)] In the above two embodiments and various modifications,
Inside the stocker 24, the packages hung on each shelf board 156 are
Let p attach the flange part 38 of this to the shelf plate from below on the car.
156.
Ru. For this reason, the stocker 24 transfers the pallet p to the robot 12.
When moving up and down to supply the
There is a possibility that the supporting position of the pallet p may shift. here
If the support position of pallet p shifts in this way, the pull
Hook 18 of the take-out mechanism 172 in the take-out portion 154
6 is a pallet supported by the shelf board 156 in the pull-out position
A situation may arise in which the first notch 38a of p cannot be engaged.
There is a possibility that For this reason, as shown in Figures 52 to 54,
Then, each pallet p is loaded into the support position in the stocker 24.
By including a locking mechanism 600 that locks the
Effective. Note that this locking mechanism 600 is not activated.
As shown in FIG.
The rear end of the lower surface of the flange portion 38 (i.e., in relation to the conveyance direction d)
A second notch 38b is formed on the opposite side.
(the end on the opposite side) is locked by a locking mechanism 600.
A locking hole 38d is formed. On the other hand, the locking mechanism 600 described above is shown in FIGS.
As shown in FIG. 4, this locking mechanism 600 is
Attached to the lifting frame 152 in the tocker 24
At the rear of this elevating frame 152, the vertical
A lock rod 602 is provided in a state extending along the direction.
There is. This lock rod 602 has both upper and lower ends raised.
Guide members 6 attached to both upper and lower ends of the rear part of the lowering frame 152
Can reciprocate along the vertical direction via 04a, 6046
It is located in Noh. This lock rod 602 is reciprocated along the vertical direction.
Therefore, the air cylinder CR is attached to the air cylinder mounting plate.
606 to the lower end of the rear part of the lifting frame 152.
It is. The piston 608 of this air cylinder CR
The upper end is connected to the lower end of the rock rod drawer 02 mentioned above.
ing. Here, this air cylinder CR has a high
In a state where compressed air is not supplied, the piston 60
8 is biased to the retracted position, and high pressure air is supplied.
configured to be biased to a protruding position when
ing. The lock rod 602 that is moved up and down in this way has the above-mentioned structure.
Each pallet is placed at the same pitch as the shelf boards 156.
The lock member 610 is attached in a state corresponding to p.
Ru. Each lock member 610 is fixed to a lock rod 602.
The attached mounting piece 610a and the tip of this mounting piece 610a
A lock bin that is integrally formed with an upwardly protruding surface.
610b. Here, this lockbi
The pin 610b is attached to the flange portion 38 of the pallet p described above.
Shaped so that it can be inserted and removed freely into the locking hole 38d formed on the lower surface of the rear end.
has been completed. In addition, each lock bin 610b has an air cylinder CR.
With the piston 608 biased to the retracted position, the fifth
As shown in Figures 3 and 54, from each pallet p
The air cylinder is regulated to the unlocked position that is spaced downward.
The state in which the cylinder CR biases the piston 608 to the protruding position
Although not shown, the locking holes of each pallet p
38d is inserted from below to the locked position.
It becomes. Here, this air cylinder CR is used to raise the stocker 24.
The pallet p is pulled from the lowering frame 152 onto the drawer stand 168.
The supply of high pressure air may be stopped prior to being discharged.
is biased from the locked position to the unlocked position.
It is configured as follows. This lock mechanism 600 is configured as described above.
Then, the lifting frame 152 moves up and down within the stocker 24.
While the air cylinder CR of the locking mechanism 600 is
Pressurized air is supplied. For this reason,
Each lock bin 610b of the lock mechanism 600 is connected to a respective pallet.
is inserted into the locking hole 38d of the top p, and as a result, all
The pallet p is secured to the shelf board 15 by this locking mechanism 600.
6 and will be locked in a supported state. Therefore, by providing this locking mechanism 600, example
Well, even if the lifting frame 152 moves up and down, the pallet p
The support position will be well fixed. That is, the palette
When the top p is pulled out, it is securely engaged by the hook.
It will be combined. On the other hand, since the pallet p is pulled out, the lifting frame 152
When the machine is stopped, high pressure air is supplied to the air cylinder OR.
The supply of Qi will be stopped. In this way, each
The lock bin 610b is inserted from the corresponding locking hole 38d.
After being pulled out, each pallet p moves on the shelf board 156 in the transport direction.
It will be set so that it can slide freely along d.
. In this way, this locking mechanism 600 is provided.
Therefore, the pallet p is supported based on the vertical movement of the lifting frame 152.
The positional shift no longer occurs, and the drawer part 154
The hook 186 of the loading/unloading mechanism 172 is in the pulled out position.
The first notch of the pallet p supported by the shelf board 156 of
It is always reliably engaged with the portion 38a. In addition, the control in the stocker with this locking mechanism is as follows:
Just add the following points: In other words, the target at the stocker
The shelf was moved to the drawer position of the drawer section 154.
If the pallet is equipped with M2O, open the lid.
Drive the air cylinder 0.2 (Fig. 16) and open the lid.
Furthermore, drive the air cylinder CR to open the lock bin 610.
Pull it out. Step 582 (Figure 24A) Pallet Pull
The withdrawal to the withdrawal section 154 is started. In addition, the vertical movement of the stocker workpiece can be started by using, for example, a step.
At step S72, air cylinder C82 (Fig. 16)
Reset the air cylinder, close the lid, and then restore the air cylinder CR.
, the lock bin 610 has returned to the locked state.
Change it so that it starts with (Parts replenishment for F A, C) The FAC system of the above basic embodiment
Efficient supply of parts from the stocker and from the buffer to the stocker
The goal is to efficiently supply parts to
. However, the FAC system alone will eventually become a robot.
It is no longer possible to supply parts to the warehouse or to the stocker.
, therefore, there is some form of external access to the FAC system.
Parts need to be replenished. Parts replacement for FAC system
As mentioned above, Mitsuru is developing unmanned vehicles and production management computers.
Automatic replenishment by data and manual replenishment are available.
Ru. It is not possible to definitively decide which one to choose; each has its own merits.
There is a short one. This is an opportunity for external parts replenishment for the FAC system.
Possible causes include: ■: Supplying a new pallet to the stocker causes other
Even if there is a pallet of parts, there is only one pallet of that part.
If it runs out, ■: Load it on the transport mechanism 76.
Empty pallets are so large that they obstruct the vertical movement of the elevator.
When the number reaches to the degree. The occurrence of these conditions is at least immediately
When the above conditions occur to result in the stoppage of the
must immediately replenish the pallet buffer.
do not have. In addition, the conditions for replenishing the buffer with pallets are
, ■: Whenever an empty pallet occurs in the stocker,
There is a way to replenish with unmanned vehicles. However, this is an unmanned
Frequent back and forth between FAC and warehouse by personnel, or
This necessitates the complicated replacement of empty pallets. The robot detects the remaining number τ by robot control (
Step S36 or Step S30 of FIG. 23A)
It is. Therefore, at the same time as this detection, a new palette is created.
Robots will now issue a replenishment request to order replenishment.
do. Now, the destination of this replenishment request can be one aspect.
Central production control that directs unmanned vehicles to replenish
For computers. Other aspects include operation
It is a warning and light to alert people to the occurrence of empty pallets.
Ru. The former is automatic replenishment, and the latter is manual replenishment.
Ru. By the way, replenishing the buffer with a new pallet is
Adding a new palette to the existing palette on the faucet
buffer stop operation for
This includes the operation to move the empty palette that was in the buffer to the buffer side.
be caught. Therefore, the preparation and actual replenishment of this pallet
At what stage should the pallet buffer be refilled?
is important from the point of view of efficient robot operation. *Replenishment using unmanned vehicles* Using Figures 55A and 55B, new parts will be refilled using unmanned vehicles.
Explain replenishment of let. Figure 55A shows the central production control computer and unmanned vehicle.
FAC, which shows an overview of the pallet supply system including
In step 5770, during the assembly process,
Send the above replenishment request to the production control computer
Ru. There is no replenishment preparation instruction from the production control computer.
For example, proceeding from step 5772 to step 5776,
Empty pallet by elevator unloading mechanism 76 in FAC
Check whether unloading has started. Not started
If not, return to step 3770 to continue assembly.
. At step 5750, the replenishment request from the robot described above is
As the count continues, the requests are recorded. This means that the production control computer grasps the production control plan.
Because of this, there may be no parts on the pallet of one stocker.
Even if the same parts are on the buffer, they are on other pallets.
production management computer.
This is because the computer recognizes and manages the information. Therefore, the robot
Even if a replenishment request is received from
Replenishment will not be carried out using people's carts. Instead,
At step 5752, the production control computer
Track record of pallets loaded in the buffer of
Examine the information and, if necessary, unattend at step 5754.
Issue instructions to the car to start. Furthermore, in step 5750, if a replenishment request is received from the robot,
The driverless vehicle will not be launched immediately, but the driverless vehicle will be
On top of the car are loaded the requested pallets taken from the warehouse.
and have a system in place so that the train can depart at any time. Also, this
Each time a pallet is loaded onto an unmanned vehicle, the warehouse
, information regarding the palette (Figure 25A) is given. Other elements of the predetermined state occurrence in step 5752 are
For example, if the robot fails to pick a part,
The parts in the set were consumed more than the production plan, and the production
onto the transport mechanism 76 earlier than expected by the management computer.
, empty pallets are piled up so much that they obstruct the vertical movement of the elevator.
This is the case as described above. Now, when such a predetermined condition occurs, step 575
In step 4, issue a departure instruction to the unmanned vehicle, and in step 5
7550 Step 5756 - Performs periodic progress monitoring.
Now. This fixed period of time is the time required for the unmanned vehicle to reach the FAC.
This is slightly shorter than the time required for This time has passed
If so, in step 3758 the FAC is
Instructs the start of preparation for replenishing the kit. Multiple FACs installed
Even if the production control computer is
The time required for the unmanned vehicle to travel to C is known in advance. So
So, shortly before the unmanned vehicle arrived at FAC,
If the replenishment preparations for the unmanned vehicle have been completed, the unmanned vehicle will be immediately refilled upon arrival.
This is because replenishment can be initiated from an unmanned vehicle.
Ru. In other words, during this certain period of time, preparations for replenishment are made within the FAC.
robot assembly by avoiding
This is because it has the advantage of being able to continue
be. On the other hand, the unmanned vehicle uses the production management computer in step 5762.
After receiving the departure instruction from the taxi, the vehicle begins traveling towards the FAC.
It's starting. Additionally, the FAC system performs production management in step 5772.
When receiving the instruction to start replenishment preparation from the computer, the screen
At step 5774, the preparation operation begins. This preparation
Details of operation are shown in Figure 55B. On the other hand, if
FAC system discovers the need for replenishment preparation operation by itself
Then proceed to step 57760 and step 8778.
, starts its preparatory operation. Once this preparation is complete
, in step 5780, waits for the unmanned vehicle to arrive. This wait
The time should be the minimum time for the reasons mentioned above. unmanned
When the car arrives, the buffer is removed from the unmanned car in step 8782.
actual replenishment of the pallet to the pallet, step 578.
4, information about the newly added palette is added to the second
Additional updates are made in the memory area shown in Figure 5A. Replenishment preparation will be explained using FIG. 55B. This first
Figure 55B shows the FAC system management microprocessor and
, an elevator microprocessor that controls the unloading mechanism 76.
and the microprocessor control processor that controls the buffer.
This shows the part related to replenishment of Gram pallets. In step 5800, the management microprocessor performs production management.
Upon receiving replenishment preparation instructions from the computer, the step
At 5802, the operation of the elevator etc. is stopped. step
At 5804, the buffer is instructed to start raising the buffer platform.
to complete the ascent from the buffer in step 5806.
Wait for notification of completion. The buffer that received this rising instruction in step 5840
At step 5842, the buffer platform is raised. buff
If the platform is raised, if it is separated at that point.
If a pallet is hung on the separation claw 68, then
Release the latches, combine the separated pallets, and attach the
At step 5846, the lowest pallet on the buffer table is
It is latched by the separation claw 68. After this latching step 88
48, even if the buffer table is lowered, the pallet will not be
It will be hooked on the release claw 68, and the pad will not be placed on the buffer stand.
Rhett does not exist. Then, in step 5850,
Notify the sending mechanism 76 that the buffer is ready. The transport mechanism 76 that received this notification in step 5822
At step 5824, the rollers are rotated to remove the empty pallet.
8 to the buffer side, and in step 5826,
Send the notification to the buffer side. The buffer that received this notification performs step S8520.
Proceed to Tsupu 5854 and wait for the unmanned vehicle to arrive. I mentioned earlier
Well, the driverless car should arrive soon. When the unmanned vehicle arrives, the empty pallet is handed over to the unmanned vehicle.
In addition, the robot receives a new pallet from an unmanned vehicle.
, and simultaneously drive each roller. Step 58
57, the buffer table is moved together with the newly loaded pallet.
and remove the existing package that was caught on the separation claw 68.
Combines with Rhett. In step 3858, newly added
Receives information about the created pallets from the unmanned vehicle and
Step 3860 updates the memory contents of Figure 25A.
Ru. In this way, the preparation for replenishing new pallets can be done as quickly as possible using unmanned vehicles.
By doing this just before arriving, the unmanned vehicle can be stopped as much as possible.
Downtime can be kept to a minimum. Manual replenishment* Manual replenishment of pallets is performed by the robot mentioned above.
Turn on the warning light every time a refill is requested and check the warning display.
The operated vehicle manually ejects empty pallets and replaces them with new pallets.
Stacking and inputting pallet information from the input/output device 18
The gist of this operation is: Figure 56A shows a manual display screen on the input/output device 18 mentioned above.
, the placement of human oysters in Figure 56B, and Figure 56C.
An outline of the operation sequence is shown below. As shown in Figure 156B, the human key is
-'' and r ready key j. Outline of replenishment operation
This will be explained according to FIG. 56C. When there is a replenishment request from the aforementioned robot, step 59
At 00, a warning etc. lights up. The operator who saw this
Check the request palette in step 5902 and proceed to step 5904.
Turn on the r pallet replenishment key j. In this way, on the buffer side, in step 5906,
Move the buffer stand to the exchange position (separation claw 68 position).
and hook the existing pallet to this claw. Unloading mechanism
Side 76 is cleared of empty pallets thereon in step 5908.
put out At this point, the operator selects the empty palette in step 5910.
the requested palette in step 5912.
Place the paper on the buffer stand. In step 5916, information as shown in FIG. 56A is provided.
It is manually operated from the input/output device 18. Each time you make these inputs
In step 3918, the data in FIG. 25A is updated.
, the updated palette order is the CRT screen of the input/output device
displayed above. Step 3916 to Step 5918
The routine is repeated for as many pallets as are needed. In step 5922, the operator selects "Turn on ready key 1".
do. In this way, the buffer side performs the above steps in step 5924.
From the release claw position 68, the top part placed on the buffer stand.
Calculate the stroke of the step to the pallet, step 59
At 26, start descending by this stroke and create a new pallet.
Combine the pallet with the existing pallet. And zero FAC
The system resumes operation. In this way, manual replenishment of pallets is completed. In addition, the above-mentioned 25 embodiments and various modifications (hereinafter,
They will simply be referred to as examples. ), it is installed so that it can move up and down.
The elevator main body 86 and M-Va frame 152 are located at the four corners.
so that it is slidably supported, in other words from both sides.
described as being supported and slidably disposed.
Ta. However, this invention is limited to this configuration.
For example, the elevator main body 86 and
Slidably supported by a pair of columns corresponding to the lifting frame 152;
In other words, it is arranged so that it can slide freely with so-called cantilever support.
Needless to say, it may be configured in any way. In addition, in the above-mentioned embodiments, one pallet p
, explain so that multiple common parts X are accommodated.
However, the present invention is not limited to such a configuration.
For example, multiple types of parts
It is constructed so that a plurality of each of l + X 2 can be accommodated.
Needless to say, there is nothing good about it. Furthermore, in the embodiments described above, the buffer 22 is
A plurality of pallets p are stacked on a buffer table 52
However, this invention
For example, each pallet p
Hold multiple items horizontally in a standing position.
Needless to say, it may be configured. In addition, in the above-mentioned embodiments, etc., on the buffer stand 52,
Separate only one pallet stacked on the pallet using the separating claw.
In order to absorb manufacturing errors, the separation position is
When making adjustments, fix the installation position of the separation claw and
Although it has been explained that the buffer table 52 is moved up and down, this invention
is not limited to such a configuration, for example,
The buffer stand 52 is fixed and the separation claw is configured to move up and down.
Needless to say, it's a good thing. Also, on the buffer,
If multiple pallets containing the same parts are loaded,
If the pallet loaded first (or higher)
Prioritize and separate the pallet (the one in the highest position)
Good too. *Modified example of replenishment using unmanned vehicles* The order in which empty pallets occur is basically random. Ma
In addition, in warehouses, empty pallets are placed on unmanned vehicles in the order they occur.
It cannot be loaded with actual pallets. Because it's unmanned
In a warehouse, the most efficient retrieval method is
There is a sequence, so one by one the unmanned vehicles are
There is no problem if you replenish the buffer with let, but F
If there is a request for replenishment of multiple real pallets at once from the AC side.
For example, according to the above retrieval order on the warehouse side, the actual
This is because the LETs are loaded onto unmanned vehicles. That is, F
Order of requests from AC side and order of pallets loaded on unmanned vehicle
It is better to think that there are many cases where there is a discrepancy with the order.
. Additionally, the number of pallets that can be loaded onto an unmanned vehicle is limited.
Therefore, the unmanned vehicle may not be able to load what the FAC requests.
There is also potential. Therefore, when replenishing the buffer with real pallets from an unmanned vehicle,
What pallets are replenished and in what order?
It is necessary to check whether Figure 57 shows an embodiment to eliminate such inconvenience.
It explains the concept of In addition, Figure 58 shows the replenishment
Control flowchart for checking the created palette
It is. This flowchart follows the steps in Figure 55B above.
This is an alternative to steps 5856 to 5862. In order to confirm the replenished pallets, as shown in Figure 6.
Sensor 6 for checking the position of the pallet in the buffer
50 and a reader 6 that reads the barcode attached to the pallet.
51 are provided. These sensors 650. The reader 651 is shown in FIG.
Even if the buffer table 52 moves up and down, the
It is installed in a position that does not interfere with vertical movement, and
44c and 44d are fixed at predetermined positions. Figure 59 shows the buffer microprocessor (see Figure 18).
) is an area provided in a predetermined memory in (a).
The minute is for the new pallet requested by the FAC side (robot).
Information is arranged in a list in the order of request occurrence. Ma
(b) is the information regarding the pallet received from the unmanned vehicle.
This is an area for writing information. The state in FIG. 57(a) is the step 585 in FIG. 55B.
As shown in 4, an unmanned vehicle (not shown in Figure 57) has arrived.
It shows the condition. That is, until then, on the buffer stand 52
The remaining fruit pallets are hung on the separating claw 68.
The buffer table 52 is filled with pallets that are replenished from unmanned vehicles.
has been lowered to a position where it can be carried in. In this state,
The positions of the sensor 650 and reader 651 are as follows:
The lowest pallet is the thinnest pallet (in this example
is 25mm thick), its existence can be confirmed,
and located in a position where the barcode can be read.
It is something. Figure 57 (b) shows a 25mm thick pallet from an unmanned vehicle.
and a 75 mm thick pallet are carried onto the buffer table 52.
Indicates the status of The flowcharts shown in Figures 57 and 58 are as follows:
I will explain this while relating it to the chart. Step 5930
Then, the actual pallets loaded on the unmanned vehicle are placed on the buffer table.
8. Confirm that it has been sent. Step 8932 ~ Step
The loop of 5944 moves the pallet on the buffer stand 52 to the stand.
While lowering 52, its position was confirmed and confirmed.
Scan the barcode at the dot to identify the type of parts in that pallet.
This is to obtain information regarding the class. Of course this information
Also includes information about the pallet, such as its thickness. First, in step 5932, the buffer stand 5 is
Lower 2. In step 5934, this descending distance
Accumulate. In step 3936, this accumulated lower
Check whether the descending distance has reached a predetermined distance. This predetermined distance
The lower the pallet, the lower the pallet.
This indicates that there are no stacks. Therefore, the
As in this example, the distance is 75 mm for the maximum thickness of the pallet.
mm, the length exceeds 75 mm, for example 100 m
It may be about m. In step 8938, it is determined whether sensor 650 is turned on.
Bell. If it is not turned on, the lowering operation described above will be performed as a step.
Step 5936 determines whether the descending distance exceeds the predetermined distance or
Repeat until the sensor 650 is turned on. sensor 650
When turned on, there is a pallet at the reader 651 position.
Since the barcode has arrived ((C) in Figure 57),
At step 5940, read the barcode and
5942 to the memory (FIG. 59(b)). So
Then, in step 5944, the cumulative distance is cleared. By doing this, the items loaded on the buffer stand 52
The barcode information of the pallet is stored in memory one after another from the top.
I'll write it down. Figure 57 (d) shows the second pallet.
Indicates that a barcode is being read. Therefore,
When exiting from step 5936 to step 5946
, to know information about all pallets in loading order.
Ru. In step 5946, the buffer stand 52 is raised and the
The old pallet that was hung on the claw 68 at step 5948
Merge the group with the newly replenished pallet group. this
corresponds to (e) in FIG. And step 59
50, the two data of (a) and (b) in Fig. 59 and
Update the palette information (Figure 25A). That is, the 59th
Compare the two data in (a) and (b) in the figure and replenish.
The requested pallet and the pallet actually replenished
If they match, the information is deleted from the memory shown in Figure (a).
leave Then, the information in FIG. 59(b) is transferred to the information in FIG. 25A.
Update by combining with palette information. Please do not request replenishment.
You can issue a warning or
You can leave it as is in the buffer. [Blank below <Effects of Example> The following effects can be obtained by the example described above.
. A: Effects obtained in the FAC system. This FACIO accommodates multiple parts X in a horizontal plane.
Multiple pallets p are stored on shelves, and these pallets are
One desired item can be pulled out from a fixed drawer position.
A stocker 24 that moves up and down to pull out the
Take part X from the pallet 24 pulled out to the unloading position.
The robot that takes out the part and assembles it into a product from that part
Basically, it is equipped with the following. For this reason, the robot
12 is a pallet that is always pulled out to a fixed position.
In order to be able to receive parts quickly from TopP.
become. That is, specifically, in order to supply parts to the robot 12.
(1) Pull out the pallet p to the drawer section. this
At the drawer section, the robot takes out parts.
(2) Pull the pallet back to the stocker 24;
(3) The lifting frame of the stocker 24 is then jointly supplied with parts.
The storage position of the pallet containing the
All it takes is three commands: move it up and down until it responds.
be. In this way, one part of the robot 12 is assembled.
The assembly operation time required for
The effect of simplifying control is achieved. On the other hand, Japanese Patent Application No. 61-200949 explained in the prior art
and in the article supply device related to No. 61-200905.
In this case, the stocker is fixed and the drawer can move up and down.
possible. Therefore, the robot is removed from the stocker.
In order to supply pallets to
Pull it out to the drawer section. (2) Turn the drawer into a robot
Move up and down to the parts removal position;
At the pick-up position, the robot takes out the parts.
(3) Pull out the drawer section and the pallet.
(4) Place the pallet in the stocker.
24; (5) pull out part to be fed next;
Move the pallet containing the parts up and down to the storage position
This requires the following 5 imperial edicts. In addition, by further providing the following configuration, the storage
Parts can be efficiently supplied from the machine 24 to the robot 12.
becomes. A-Improving the efficiency of supplying parts to the robot A-1-■=3
Pallet with kind of thickness P+ + P21 P
3 in any combination as long as the capacity of the stocker 24 allows.
It can be stored. In this way, the size of each part
You can select the appropriate palette p, for example, deep
The pallet accommodates only one layer of short parts.
In other words, an inefficient containment state is avoided. Additionally, a flange portion 3 is provided on the upper side edge of this pallet p.
8 are integrally formed. This flange portion 38 is
Next, place the unit in the stocker 24 to temporarily hang it on the shelf.
It is designed for the purpose of However, this
The lunge portion 38 does not have such a single function.
and a notch for moving it along the conveyance direction d.
It has a section. Then, move this palette p
In this way, the hook is engaged with the notch.
performed through a mechanically engaged state by
It will be. Therefore, this palette p0')8 is
, will be executed reliably, and its stopping position will also be
Accurately defined effects will be achieved. In particular, in the configuration of one embodiment, the first and second notches
38a, 38b and corresponding hooks 108, 116
, 126 is a substantially isosceles base that engages in a complementary manner with each other.
It is formed into the shape of a shape. In this way, it will be slightly pared.
Even if the position of the hook is off, the hook will be cut securely.
It will engage with the notch. In addition, this engaged state is
The slope of the trapezoidal shape of the hook is the trapezoidal shape of the notch.
It will be held in contact with the slope in the
. That is, in the state where the hook is engaged with the notch,
There should be no gap between the hook and the notch.
It becomes a state. In this way, the hook is aligned along the conveying direction d.
When transporting pallets,
, the movement of the hook is directly transmitted to the pallet, and the pallet
The pallet is transported smoothly without any impact being applied to the pallet.
It will be sent. A-1-■: Parts necessary for product assembly,
The order in which the parts are processed, and the pallets on which shelves the parts are placed for each process.
You can arbitrarily choose or change what is stored in top p.
For example, parts can be changed from top to bottom according to the process order.
In order, it can be accommodated in the form of 1 pallet/1 part.
, for example, from the same pallet p in different processes
, it can also be set to take out the same part X. like this
You can flexibly set assembly factors.
It is something that can be effective. A-1-■: The process order etc. can be determined by the manual or by the host computer.
It can also be set automatically from a computer, so for example, if the factory
Depending on the size of the project, it can be handled in a variety of ways. Also
In response to the special characteristics of the product, even at factories and other sites,
It is changeable and easy to use. A-1-■: Inside each pallet stored in the stocker
By having the robot manage the nine parts Z,
Trigger for starting pallet exchange preparation operation, loading empty pallet
The robot itself can manage the trigger for starting the switching operation. In other words, the robot that is the main body of the assembly receives the trigger for starting the above operation.
By managing the machine, you can prevent any problems from assembling.
The robot itself can select the optimal start timing.
. A-2 In addition to the above-mentioned stocker 24, this space is used as the basic configuration for supplying two parts at 9 rates.
Buffer 2 for supplying parts to the stocker 24
It is equipped with 2. Then, the buffer 22 is placed in the stocker 24.
When replenishing the necessary part X from stocker 2, first
4, it became empty because parts were supplied to robot 12.
At the same time as pulling out the pallet and carrying it out,
Place the actual pallet from the buffer into the empty storage position.
By taking out the stocker and replacing it, you can always keep the stocker
At 24, a state is realized in which no parts are lost. In particular, if part X is used up on a given pallet p,
The need to replace empty pallets (9 pieces = 1)
Make a predictive judgment and determine that it will be necessary
Then, prepare a new palette to replace the empty one.
(Preparation for replacement) improves the efficiency of parts supply.
It is planned. This efficiency is basically achieved by preparing multiple spare pallets.
Then collect the same parts as the used part X from among them.
A buffer that has the function of selectively separating the palette p that contains
22. Here, this buff
When the pallet p is instructed to prepare for the replacement, the pallet p
This is achieved by performing selective separation of . in this way
Therefore, even if the number of nine items on pallet p becomes zero,
At this point, preparations for replacement have been completed, so please proceed immediately.
Immediately, an exchange operation is performed, and the total pallet p is
Replacement time is shortened and robot 12 is prevented from stopping.
, or the effect of minimizing the time even if it stops.
is played. This effect is due to the following specific
This will become more clear depending on the aspect. A-2-■: Regarding the separation position in the buffer 22,
The following effects are achieved: That is, A-2-■-1: separation position
If the device is fixed in place, it should be separated.
Only pallet p is to be separated at that separation position.
Ru. For this reason, after being separated, this separation must be removed.
Then, set the remaining pallets to the stacked state again.
After that, the pallet at any height position can be
It will be possible to separate. There are two types of separation positions that can be set at this predetermined position.
It is something that will be done. That is, A-2-■-1-a: This separation position is the buffer stand 52
If it is set at any height above the
From among the pallets p stacked on the buffer stand 52,
Any palette will be selected and separated. In addition, each pallet stacked on the buffer table 52 is
has a manufacturing error, so the separation position
The height of the pallets to be separated is precisely defined.
It will not be possible. Therefore, in this embodiment,
Equipped with senna 80 to accurately define separation position
Therefore, even if this manufacturing error accumulates, it is certain that
The desired pallet p is then separated. A-2-■-1-b: This separation position is the buffer stand 52
Specified to separate pallets placed directly on top.
is placed on this buffer stand 52.
The pallets p are stored in the stocker 24 in order from the bottom.
They are stacked in the order in which they are requested to be replaced. in this way
By configuring the buffer 22 itself, as described later,
The body becomes equipped with the ability to swap,
The late Haga, which can realize a configuration that does not require the elevator 26,
It is something that can be played. A-2-■-2: The separation position is stacked on the buffer stand 52.
is set for all palettes p that are being viewed.
In some cases, along with the separation operation, all the pallets are
This will result in separation of parts. In this way, any
It is possible to pull out the pallet and replace it with an empty pallet.
This makes it possible to simplify the switching operation.
Ru. A-2-■: Buffer 22 having the separation function of A-2 and
A replacement preparation operation is performed with the stocker 24.
At this time, the separation position of the pallet in the buffer 22 and the
It is necessary to match the shelf position of empty pallets in Tokka 24.
There is. Examples of this matching include the following. A-2-■-1: The stocker 24 has a movement (up and down) function.
, and the separation position of pallet p is fixed in buffer 22.
If the separation position and the space in the buffer 22 are
The shelf position of the empty pallet p' in the stocker 24 is aligned.
The stocker 24 itself is located at a position adjacent to the separation position so that
Move up to. In this way, the stocker 24 itself is
I will receive a valet and go to pick it up, so I will replace the empty pallet.
The shorter the time set, the better the effect will be achieved.
. A-2-■-2: Equipped with the separation function explained in A-2 above.
The buffer 22 to be prepared and the replacement preparation instruction 4 <every time
, separation position of buffer 22 and replacement at stocker 24
The separated pallets are stored by moving back and forth between the positions.
In combination with the elevator 26 that carries the car up to the car 24,
You can make preparations. In this case, A-2-■-
As explained in 1, the stocker 24 makes the actual bullet by itself.
Since the receipt does not operate, it is placed in the stocker 24.
The operation of pulling out the pallet to the robot 12 at the
The effect is that there is no more chance of being exposed. A-2-■: A battery having the separation function explained in A-2 above.
buffer 22, and adjacent to this buffer 22,
A switch with an exchange function that is fixedly located in the separation position of the
Transfer 550 and a location adjacent to transfer 550
The stocker 24 is provided with a stocker 24 that moves up and down to the position.
Even in this case, the same effect can be achieved. A-2-■: On the pallet loaded on the buffer table
By storing identifying information about the
Replenishment from the fa to the stocker becomes easy and reliable. That is, the bar
The order in which new palettes are needed from the buffer is
This is because it has nothing to do with the order in which they are loaded on the counter.
Ru. Therefore, when replenishing the buffer table with pallets,
Gives the buffer the identity of each pallet to be replenished.
You need to be aware of the loading order of replenishment pallets.
This has the effect of eliminating As a result, unmanned warehouses
The order in which replacement pallets are loaded onto unmanned vehicles is manual.
There is no need to consider the order of replenishment and loading onto the buffer table.
This makes work more efficient. Conversely, even without such memory information, the data on the buffer stand
Then, in the order of occurrence of empty pallets that are known in advance.
, there is no problem if real bullets are loaded. A-3: Replacing empty pallets with pallets 11 steps
! After preparing to change the approach, empty pallet p′ and new
Due to the configuration that performs the actual exchange operation with pallet p.
, the efficiency of the switching operation can be improved. this
There are three ways to perform the swapping operation:
Yes. A-3-: Stocker 24 and an elevator that moves up and down
26, and a portion l1l of pallets p stacked in an arbitrary order.
a buffer 22 having one mechanism;
26 is equipped with an exchange mechanism 96, as described above.
This will achieve the desired effect. A-3-■: Stacked in any order with Stockka 24
Separation mechanism that separates pallet p at a fixed separation position
a buffer 22 having a
The transfer 550 is equipped with a
Due to the configuration in which the filter 550 is equipped with the exchange mechanism 96, the upper
The effects described above are achieved. A-3-■: Stocker 24 and the steps in the predetermined order of removal.
Separates the stacked pallets p at a fixed separation position.
A buffer 22 is provided to replace the buffer 22.
The above-mentioned effects can be achieved by the configuration including the lifting mechanism 480.
It is something that will be accomplished. A-3-■: This exchange mechanism 96 has hooks 108,
Using 116 and 126, cut out the notch 38 of the pallet p.
Move pallet p while mechanically engaged with a and 38b.
It is configured to move. In this way, put
In the changing operation, the pallet p is reliably moved.
At the same time, the stopping position is accurately defined and the input
The effect is that the switching operation is carried out reliably.
It will be done. Here, there are two modes depending on the number of hooks. Immediately
A-3-■-1: First notch 38a of pallet p
in order to engage with and remove pallet p from buffer 22.
the first hook 108 of the pallet p and the second notch of the pallet p
engages with the portion 38a and pushes the pallet p onto the stocker 24.
A second hook 116 for taking out and an empty pallet p'
with a third hook 126 for retracting from the tocker 24.
, in a configuration with three hooks, the third hook
126 directly below the second hook 116, and
by configuring the first hook 10 to move to
8 and the movement stroke of the second hook 116.
It is possible to set the distance between the rotor and the rotor at the same distance.
Simplification of the structure of the structure 96 and easy control of switching operation
A certain effect will be achieved. In addition, there are the following two aspects as a driving source for the hook. That is, A-3-■-1-a: Three hooks are connected to a common slide plate.
106, and this slide plate 106
By reciprocating drive with one drive motor, three
The hooks will be driven by one drive source, and the control
This results in the effect of simplifying the process. A-3-■-1-b: First and second hooks 108,1
Two hooks (16) are reciprocated by the first pressure motor.
The third hook 126 is reciprocated by the second drive motor.
With this configuration, the number of drive motors can be reduced to the number of drive motors described in A-3-
■Although it increases compared to the case of -1-a, for each drive
This has the effect of simplifying the configuration. A-3-■-2=first notch 38a of pallet p
in order to engage with and remove pallet p from buffer 22.
the first hook 108 of the pallet p and the second notch of the pallet p
engages with the portion 38a and pushes the pallet p onto the stocker 24.
At the same time, the empty pallet p' is pulled in from the stocker 24.
and a second hook 116 for holding the hook.
This switching mechanism 96 also functions in a configuration where
It is. However, in this case, the second hook 11
6 performs two operations, its operation time is
It is longer than the case of A-3-■-1 mentioned above.
be. However, it has a simple structure and is manufactured at low cost.
The effect is what is achieved. A-4: Improving the efficiency of carrying out empty pallets: Stocker 24
Pull out the empty palette p' and insert the actual palette p here.
If you push in and perform a swap operation, the FAC
There will be an empty pallet p' in the system 10.
. Here, in this embodiment, this empty palette p′
Since it is equipped with an unloading mechanism 76 for
’ is carried out well when the number is less than a predetermined number, so
If the number of stacks exceeds a certain number, the next exchange operation will be inhibited.
effect will be achieved. In this unloading operation, the empty pallet p' is transferred to the unloading mechanism 7.
6. When stacking on top of the
There are certain aspects. A-4-■: Elevator main body 86 of elevator 24 itself
is directly above the unloading mechanism 76 or is already on the unloading mechanism 76.
It descends to just above the stacked empty pallets p',
Empty pallet p' supported at the bottom of the elevator main body 86
are stacked on the unloading mechanism 76. You can configure it like this
As a general rule, pallet exchange operations are obstructed.
Without doing so, the empty pallet p' is transferred to the unloading mechanism 76.
It will be piled up. A-4-■: Equipped with ejection mechanism 76 and lift mechanism 402
The lift mechanism 402 is raised to remove the replacement machine.
This lift lifts the empty pallet p' supported by the structure 96.
The mechanism 402 is operative to stack. In this way
, A-4-■ In addition, the switching operation is
This will have the effect of reducing the possibility of interference.
. In addition, in the configuration provided with this lift mechanism 402, the following
There are two types of aspects described in . In A-4-■-, when this lift mechanism 402 is disposed below the elevator main body 86,
, an empty pallet p' is drawn into the elevator main body 86.
Until the lift mechanism 402 reaches the predetermined position,
The elevator itself can go up and wait.
This means that the descending time of 86 can be set shorter.
. In this way, the operation necessary for carrying out the empty pallet p'
By shortening the required time, the next replacement operation can be
The effect achieved is that the delay is avoided.
It will be done. A-4-■-2: This lift mechanism 402 is an elevator
If it is not disposed below the main body 86,
There are the following two aspects. That is, A-4-■-2-a: adjacent to the separation position of the buffer 22
transfer 550 provided in a fixed position with
When the downward lift mechanism 402 is provided,
Transfer in which empty pallet p' is pulled out and supported
Since the transfer body 552 of 550 is fixed in position,
In order to stack this empty pallet p' on the unloading mechanism 76,
Therefore, this lift mechanism 402 becomes an essential component. A-4-■-2-b: Buffer 22 has a replacement function.
When the buffer table 52 is in a state where
When the mechanism 402 is installed, the empty pallet p'
The buffer stand 52 that is pulled out and supported is fixed in position.
Therefore, this empty pallet p' is placed on the unloading mechanism 76.
This lift mechanism 402 is an essential component in order to
Become. A-4-■: As explained in A-4-■ above
In the case where the lift mechanism 402 is provided, the sensor S
t, S2. By providing S3, the following two effects can be achieved.
will be achieved. That is, A-4-■-1: These sensors S, , S2゜S3 are
field used to define the raised position of the lifting mechanism 402.
In this case, this raised position is
It changes depending on the height of the empty pallet p' that is thrown.
be. That is, regardless of the height of pallet p', the maximum height
A predetermined lifting position is defined so that the pallets p3 can be stacked on top of each other.
When stacking pallets p1 with the minimum height
, the bottom surface of pallet p1 having this minimum height and
, lift mechanism 402 or mounted on this lift mechanism 402.
There is a fairly large space between the pallet and the top position of the pallet.
This will result in a large gap. For this reason, through this gap
When trying to overlap empty palette p1', this empty palette
There is a situation where the posture of P+' collapses and it is not possible to stack it properly.
There is a possibility that this will occur. However, Senna S,,S2. By S3, each pallet
The optimum lifting position is specified according to the height of the cut.
This will ensure that this empty palette does not cause the above-mentioned problem.
The cut p′ reaches the effect of being superimposed on the lift mechanism 402.
It will be done. A-4-■-2=This sensor Sl+”2+53
is used to define the raised position of the lift mechanism 402.
In the case where the lower part of the elevator main body 86 is
If this lift mechanism 402 is installed in
The sensors S, , S2 and S3 are located at the top of the elevator main body 86.
In the lower position, the lift is lifted to take up the empty pallet p'.
By specifying the raised position of the lift mechanism 402, the
Transfer the empty pallet p' from the beta main body 86 to the unloading mechanism 76.
Minimizes the descending time of the elevator main body 86 required to
will be set. In this way, the empty palette p
The time required to transfer ' to the unloading mechanism 76 is shortened,
The effect of reducing the possibility of delaying the next exchange operation is achieved.
It will be done. The top surface is opened to take out the part X stored inside.
When transporting part X using pallet p
The stored parts may be transported during transportation or in the buffer 2.
2 and during storage in the stocker 24, protect it from dust etc.
To protect it from dirt, each pallet p is provided with a lid 40.
The top opening of the lid body 40 can be opened.
It is a blockage. In this way, attach the lid to each pallet p.
40 is attached, so the parts housed inside
X does not have the effect of being reliably protected from dirt from dust, etc.
It is something that can be done. A-5-: Here, this lid body 40 is placed in the stocker 24.
, the pallet p is at the pull-out position to the robot 12.
During all periods except during the
It covers the cut p. In this way,
During the period when the top surface of part P is open, part
The withdrawal period, which is the required open period for the
Since it is limited to a limited period, please put dust etc. into the pallet p.
The intrusion of dust is kept to a minimum, and the dirt of part X due to dust etc.
The effect is to prevent this as much as possible. A-5-〇: This lid body 40 is removed from pallet p.
Lifting in the lid opening mechanism 170
The arm 160 moves diagonally upward in a straight line from diagonally downward.
Then, the lid is inserted through the third notch 38c of the pallet p.
It engages with the side edge of the body 40 from below and holds the lid body 40 upward.
I'm trying to raise it up. Lifting arm 1 like this
60 linear movement requires only one drive source
This allows for shorter lifting operation times.
In addition to achieving this, it also has the effect of reducing costs.
It is something to do. In addition, in this way, the third notch 38c of the pallet p is
The lifting arm 160 that has passed lifts the lid body 40 in this way.
When lifted up, the pallet p is moved along the transport direction.
The fact that it is configured so as not to impede the movement of the
Needless to say. A-6: Pallet lock stocker in the stocker
24, each pallet p is lifted and lowered by being driven up and down.
A state in which the frame 152 is supported on the corresponding shelf board 156
It is set to . Here, this shelf board 156
In the state supported above, each pallet p
The locking mechanism 600 allows the
movement is locked. In this way, for example, ascending and descending
Based on vibrations caused by vertical movement of the frame 152, each
Even if the pallet p receives a moving force along the conveyance direction, the pallet p
Since it is locked by the lock mechanism 600, each pallet
The top p is securely engaged in a predetermined position on the corresponding shelf board 156.
It will be stopped. As a result, when the elevator frame 152 is stopped, this
In the state where the lock by the lock mechanism 600 is released
Therefore, each pallet p is always brought to a predetermined position.
The operation of pulling out each pallet to the robot 12 and emptying
Make sure that the retraction operation is performed when the
The effect will be achieved. B: Effect of ease of process change The effect of the FAC example described in the above item is that
Various tokkas, elevators, buffers, lift mechanisms, etc.
Mainly hardware and controls when combined
This is an effect seen from the configuration with the program. control program
Software such as systems should also be characterized by ease of modification.
Therefore, the control used for zero FAC
How flexible is the program to change?
Let's look at the effects from this perspective. That is, in the example, by the variable G called process, the
It associates the parts used in the process. The pallet and the shelf position where the pallet is stored are determined by the variable S.
and associate this shelf position variable S with the above step G.
Sequencing (S[G]) t, Thus, the process
The relationship of 0 shelf position → pallet ← parts is not clarified.
Ru. Therefore, just converting this array changes the process,
What's more, even if the process changes, the location of the shelves where pallets are stored remains unchanged.
No changes necessary. It is also necessary to change the control program.
There is an effect that there is no. Furthermore, display the above array on the CRT screen of the human-powered device.
It is said that it is extremely easy to change the process etc.
It's also effective. C: Zero effect on improving efficiency of replenishment from outside to FAC
The stem is a part in a fixed position from the stocker to the robot.
Based on supply, parts replenishment from buffer to stocker,
The unit of supply and replenishment is the pallet unit. Therefore, F.A.
If there are no parts left in the C system, we will fill them with parts from outside.
It is necessary to replenish new pallets. The Zero FAC system handles the process of parts supply and parts performance.
By making the process of replenishment through rets independent of
There is. By making these two processes independent, the stock
Immediately strike even if it is no longer possible to resupply the
The supply from the car to the robot will no longer be interrupted. So
The preparation process on the FAC side (buffer stand)
The process of attaching all the existing pallets above to the information and the elevator
process of removing empty pallets loaded under the motor) and
, FAC and an external (unmanned vehicle) that supplies parts to this FAC
The above is divided into the actual replenishment process that works jointly with
The process of parts replenishment is replaced by the above preparation process for pallet replenishment.
By matching, the overall parts replenishment time is shortened.
As a result, the time it takes for unmanned vehicles to stop will be shortened.
Effects can be obtained. Also, when replenishing manually,
Although it takes time and effort, it is possible to take into account the effects described in B above.
The number of buffer tables increased due to the replenishment of new pallets.
This makes it easier to update information about the palette. Additionally, the type of pallet that was replenished from the unmanned vehicle. A reader is installed on the buffer stand to read and recognize the order, etc.
By checking the pallet you requested for exchange and the one actually sent.
This allows you to compare and confirm the pallet you received. Therefore, new pallets added to the buffer table are always
It will be accurately recognized by the FAC system and the correct
Parts supply becomes possible. [Margins below] [Effects of the invention] As detailed above, the article supply device according to the present invention has the following advantages:
, storage means for storing a plurality of storage boxes containing a plurality of articles;
, the goods stored in the storage box in this storage means are delivered to the supplied side.
A supply means for supplying goods and a storage box containing multiple goods,
Temporary storage means for replenishing and temporarily storing from outside, and this one
The order and contents of the storage boxes stored in the storage means
storage means for storing the type of article; and storage means for storing the type of article.
and a replenishment means for replenishing storage boxes from the temporary storage means.
A material supply device with a temporary storage means provided with external supplements.
A recognition method that recognizes the order of filled storage boxes and the type of items.
tiers, the order of externally replenished storage boxes, and the type of goods.
and updating means for updating on the storage means.
It is characterized by Therefore, even if the temporary storage means is replenished with storage boxes from outside,
, the type and order of all refilled storage boxes are recognized,
And information about all storage boxes will be updated after replenishment.
After that, a reliable supply of goods will be possible. [Margin below]

[Brief explanation of the drawing]

FIG. 1 is a front view schematically showing the overall configuration of an FAC system according to an embodiment of the present invention; FIG. 2 is a perspective view schematically showing the overall configuration of the FAC system shown in FIG. 1; FIG. 3 is a perspective view showing the configuration of a pallet in which parts are stored; FIG. 4 is a front view showing the shape of a pallet having three different heights; FIG. 5 is a sectional view showing how the pallets are stacked; FIG. 7A to 7D are front views sequentially showing the separation operation of a predetermined pallet p in the buffer; FIGS. 8A to 8E are position corrections in the buffer separation operation Fig. 9 is a perspective view showing the structure of the elevator; Fig. 10 is a side view showing the elevator main body together with the exchange mechanism; Fig. 11 is a partially cutaway state of the elevator main body; A front view showing the configuration of the exchange mechanism; Figure 12 is a perspective view showing the exchange mechanism taken out; Figures 13A to 13G are front views sequentially showing the exchange operation in the elevator; Figure 14 is the configuration of the stocker. FIG. 15 is a side view showing the configuration of the lid opening mechanism; FIG. 16 is a side view showing the lid opening mechanism in a state where the lid is lifted; FIGS. 17A to 17E are steps Fig. 18 is a diagram illustrating the configuration of the control unit of the embodiment and the connection relationship between it and a production control computer, etc.; Figures 19A to 19C are diagrams showing the input menu to the human-powered device and its display state; Figure 20 is a diagram explaining teaching of each shelf position of the stocker; Figure 21A is common to each control module. Figure 21B is a diagram explaining the configuration of the queue; Figures 22A and 22B are diagrams explaining the vertical positional relationship of each module operation in the FAC system; Figure 23A 23B is a flowchart of the robot control program; FIGS. 24A and 24B are flowcharts of the stocker control program; FIG. 24C is a diagram explaining how process numbers change in stocker control; FIG. 25A 25B and 25C are flowcharts of the buffer control program; 26A and 26B are flowcharts of the elevator control program; 27A to 27B are flowcharts of the elevator control program; Fig. 27G is a diagram explaining the pallet exchange operation in sequence, focusing on the elevator; Fig. 28 is a diagram explaining stacking of empty pallets on the transport mechanism; Fig. 29 is a diagram showing the control for setting the system to the initial operating state. 30 is a flowchart of a control program according to the first modification; FIG. 31 is a perspective view schematically showing the configuration of a buffer according to the first modification; FIG. 32 is a flowchart of the control program according to the first modification; A front view showing a state in which the arrangement pitch of the separation claws in the step-unfolding mechanism is set to the maximum; FIG. 33 is a state in which the arrangement pitch of the separation claws in the step-unfolding mechanism shown in FIG. 31 is set to the minimum FIG. 34 is a side view showing the structure of the step-breaking mechanism; FIG. 35 is a perspective view schematically showing the structure of the elevator according to the second modification; FIG. 36 is the structure shown in FIG. 35. A bottom view showing the structure of the actual pallet exchange mechanism in the elevator;
Figure 38 is a bottom view showing the configuration of the empty pallet exchange mechanism shown in Figure 35; Figure 39 is the configuration of the empty pallet exchange mechanism shown in Figure 38. FIG. 40 is a side view showing the configuration of the exchange mechanism in the third modification; FIG. 41 is a partially cutaway front view of the exchange mechanism shown in FIG. 40; FIG. 42A Figures 42H to 42H are front views showing simplified operations of the third modification; Figure 43 is a perspective view showing a buffer equipped with a lift mechanism in the fourth modification; Figure 44 is a diagram showing a buffer equipped with a lift mechanism in the fourth modification; FIG. 43 is a side view showing the arrangement position of the senna; FIG. 45 is a control flowchart of the elevator and lift mechanism in the fourth modification; FIG. 46 is a schematic configuration of another embodiment according to the present invention. Fig. 47 is a perspective view showing the configuration around the buffer stand in the buffer shown in Fig. 47; Fig. 48 is a bottom view showing the state of the lower surface of the buffer stand shown in Fig. 48; Fig. 49 is A side view showing the configuration of the exchange mechanism provided on the buffer stand; Figure 5'OA and Figure 50B are both flowcharts of a control program according to another embodiment; Figure 50C and Figure 50D are both: Figure 51 is a perspective view schematically showing the configuration of a modified example of the other embodiment; Figure 52 is a diagram showing the sequence of pallet exchange operations in another embodiment; A perspective view showing the case where holes are formed; FIG. 53 is a front view showing the configuration of a locking mechanism for locking the supporting position of the pallet in the stocker; FIG. 54 is a side view of the locking mechanism shown in FIG. 53. ; Figures 55A and 55B are flowcharts showing control programs for replenishing pallets into buffers via unmanned vehicles; Figures 56A and 3fS56B are flowcharts showing replenishment operations of pallets into buffers via manual operation; Figure 56C is a diagram showing the input display for operations related to replenishment: Figure 56C is a diagram showing the sequence of operations related to manual replenishment of pallets to the buffer; Figure 57 is replenishment of pallets from outside by an unmanned vehicle. FIG. 58 is a control flowchart; FIG. 59 is a diagram showing the configuration of a memory used for the control. In the figure, 10...Flexible assembly center (FAC system), 12...Robot, 14...
...Parts supply system, 16...Control unit, 18
... input device, 20 ... unmanned vehicle, 22 ... buffer, 24 ... stocker, 26 ... elevator, d.
...Conveyance direction, unmanned vehicle 20 related 28...Housing, 30...Wheels, 32...Pallet mounting stand, 32a...Carrying out roller, 34...Empty pallet mounting stand, 34a... Carrying-in roller, pallet P (P l lp2 r 3 ''') Sekiha 36...Pallet body, 38...Flange portion, 38
a...First notch, 38b...Second notch, 38c...Third notch, 40...Lid, X(X11 2 + X3 "")" ``Parts, B...
・Barcode, buffer 22 related 42... Base, 44 a to 44 d- Support, 46 a
; 46b... Standing plate, 48... Guide member, 50.
...Sliding member, 52...Buffer stand, 52a...Protrusion piece, 54...Carry-in roller group, 56...Roller guide, 58...Slit, 60...Ball screw, 62
...Encoder, 64...Separation mechanism, 66...First separation claw, 68...Second separation claw, 70...Support rod, 72...Connection plate, 74... Barcode reader, 76... Carrying out mechanism, 78... Carrying out roller, 80
...Sensor, B1... Barcode, CBl; CBl.
...Air cylinder, MB...Servo motor, Elevator 26 related 82a-82d...Strut, 84...Connecting member, 86
...Elevator body, 88...Guide member, 90.
...Sliding member, 92...Ball screw, 94...Encoder, 96...Replacement mechanism, 98...Stay,
100... Swinging arm, 100a... Long groove, 102
...Guide groove, 104...Guide bin, 106...
・Slide plate, 108...first hook, 110...
- First hook slide member, 112... Air cylinder support plate, 114... First piston, 116.
...Second hook, 118...Second hook slide member, 120...Second piston, 122...Fixed slide guide, 124...Mounting plate, 126...
- Third hook, 128... Third hook slide member, 130... Third piston, 132... Guide groove, 134... Movable slide guide, 136... Slide member, 138...・・Support plate for air cylinder, 1
40...Fourth piston, 230...Elevator body at empty pallet pull-out position, 232...Elevator body at actual pallet push-out position, A:B...
Servo motor rotation direction, CEl; CE2; C
E3: C Snake,... Air cylinder, ME,...
Servo motor, ME2... Servo motor, stocker 24 related 142-- Base, 144 a to 144 d ---
Support column, 146... Connection frame, 148... Guide member,
150...Sliding member, 152...Elevating frame, 154...
...Drawer part, 156... Shelf board, 158... Notch part, 160... Lifting arm, 160a...
Main body, I Sob...Top surface, 160C...Protrusion, 162...Protrusion piece, 164...Ball screw, 16
6... Encoder, 168... Drawer stand, 170
... Lid opening mechanism, 172 ... Insertion and removal mechanism, 17
4... Support stay, 176... Stopper, 178...
...Slide guide, 180...Guide member, 182
...Sliding member, 184...Support plate, 186...Hook, 188...Drive roller, 190...Idle roller, 192...Endless belt, 194...
Connection shaft, 196... Driven roller, 198... Stay, 200... Drive shaft, 202... Drive roller, 20
4... Endless belt, 206... Piston, 2
08a; 208b... Input end, robot 12 related 210... Assembly stage, 212... Frame, 214
...X-axis robot arm, 216...Y-axis robot arm, 218...robot hand, 220...finger, 222...finger station, 224...
・・Assembly table, Csl; Cs□・・Air cylinder, M
9,... Servo motor, Mg2... Servo motor,
2 YuJ and good shape (FIIISffl Alliance 250... tier release mechanism, 252... separation claw mounting plate, 254 a; 254 b... guide shaft, 25
6a; 256b... Fixture, 258... Piston,
260a, 260b--input end, 262a;
262b; 262c ・-Introduction vibe, 264a
; 264b - output end, 264C...input end,
266... Separation claw, 268... Piston, CDI
; CB2...Air cylinder, second side part 86a...Top plate of elevator main body 86, 86b...
Lower plate of elevator main body 86, 96a...Real pallet exchange mechanism, 96b...Empty pallet exchange mechanism, 3
00 ・xlevator, 302 a; 302 b −
- First guide member, 304... first slide plate,
306... first ball shaft, 308... protrusion, 3
10a; 310b... first rotation support member, 316;
...Fixed slide guide, 322a; 322b...Second guide member, 324...Second slide plate, 32
6... Second ball shaft, 328... Projection, 330
a; 330b... second rotation support member, 332...
Hook member, 334... Second piston, 336...
・Movable slide guide, 338...Slide member, 3
40... Third piston, C1; C2; C3... Air cylinder, Ml; M2... Servo motor, Third furnace side related 350... Swapping mechanism, 352... Movable slide guide, 354... Slide guide, 356... Fourth piston, Fourth furnace side related 400... Fixed conveyance mechanism, 402... Lift mechanism,
404...Sliding member, 406...Lift stand, 408
... Projection piece, 410... Air cylinder mounting member, 412... Piston, 414... Senna mounting member, Sl; S2 r S3... Sensor,
Tomb 2 m life 450...Buffer, 452...Spacer block, 454...Separation mechanism, 456...Mounting member,
458... Guide shaft, 460... Separation claw mounting plate, 4
62... Separation claw, 464... Ball screw, 468...
... Ball screw receiver part, 470... stay, 472.
... Drive pulley, 474... Driven pulley, 476...
・Timing belt, 480... Replacement mechanism, 48
2a; 482b...Guide shaft, 484...Slide plate, 484a; 484b・-o-ra, 484c
...Threaded part, 486-...Ball screw, 488 a
;488b...Rotation support member, 490a;
490b...first hook, 492-...piston,
494 a; 494 b = guide pin, 496a
;496b...Guide bin, 49 ae Stone,
500 a; 500 b --- second 7"/ri,
502a; 502b-・, support stay, 504... piston, other furnace side related 550... transfer, 552... transfer body, other related 38d... on the lower surface of the flange portion 38 of the pallet Formed locking hole portion, 600...Lock mechanism, 602...
・Lock rod, 604a: 604b...Guide member, 606...Air cylinder mounting plate, 608...
・Piston, 610...Lock member, 610a...
Mounting piece, 610b...lock bin, CR...air cylinder. Figure 7A Figure 7B Figure 7C 'X7Dl'#1 ME2 Figure 12 Figure 3E: l'413F Figure 13G Figure 17A Figure 17D Figure 17E Figure 193 Figure 5INOLE=O5INOLE=1 Figure 19C Figure 23A Figure 23B Figure 25C - a26BM S Figure 27E Figure 27F' = j p Figure 27G Figure 28 Figure 30 Figure 264b Figure 32 Figure 33 Figure 35 Figure 36 Figure 37 Figure 38 ME2 Figure 41, 24 (+54) Figure 42A Figure 428 Figure 42C Figure z4 Figure 42D\ Figure 42E Figure 42F Figure 42G Figure 428 Figure 43 Figure 44 Figure 47 Figure 48 Figure 49 St , -fJ-Hazov 1 Nut n-ha/fry Fig. 50D Fig. 52 Fig. 53 Fig. 55A FAC mussel 11 Fig. 56B Fig. 59

Claims (1)

[Claims] (1) A storage means for storing a plurality of storage boxes containing a plurality of articles, a supply means for supplying the articles stored in the storage boxes in the storage means to a supplied side, and a storage box containing a plurality of articles, Temporary storage means for replenishing and temporarily storing from the outside; storage means for storing the order of storage boxes stored in the temporary storage means and the types of articles in the storage boxes; and the storage means for storing the temporary storage means in the storage means. An article supply device comprising: a replenishment means for replenishing storage boxes from outside; a recognition means for recognizing the order and type of articles of the storage boxes refilled from the outside into the temporary storage means; and updating means for updating the order and type of articles on the storage means.