JPH01121135A - Parts feeder - Google Patents

Abstract

PURPOSE:To keep off lowering of the operation efficiency for parts feed by installing a replacing means which replaces a housing emptied by a housing means with that separated by a separation means from a temporary storage means. CONSTITUTION:Pallets P on plural number of stages housed in a stocker 24 are drawn out by a drawer part 154 in order, and feed parts housed onto an assembly block 224 by a robot. When a certain pallet P becomes emptied, a corresponding pallet Pa among pallets P1-P4 transferred onto a buffer 22 from an unmanned vehicle 20 in a stepped pile state is separated by its lifting action and separate claws 66, 68, and transferred onto an elevator 26 and opposed to the stocker 24, thereby receiving the emptied pallet P, and thus is replaced with the new pallet Pa. Next, the elevator 26 goes down, stacking an empty pallet P1' on a delivery mechanism 76, and puts it back to the unmanned vehicle 20. Thus, lowering of operation efficiency is preventable.

Description

[Detailed description of the invention]

[Industrial Application Field] The present invention stores a storage box containing articles replenished from the outside in a temporary storage means, replenishes the storage means as needed, and stores the goods from the storage means. The present invention relates to an article supply device configured to supply an article to a supply section. [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. Article supply devices have already been proposed in Japanese Patent Application No. 61-200949 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 a convenient device as it 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 items are supplied to the robot and there are no more items in the storage box, the robot's assembly operation will stop unless the empty storage box is replaced with a storage box full of items. You end up doing it. As a result, robots and the like have to wait for work, resulting in a problem of reduced work efficiency. This invention has been made in view of the above-mentioned problems, and an object of the invention is to provide an article supply device that can prevent a decrease in work efficiency. [Means for Solving the Problems and Their Effects] In order to solve the above-mentioned problems and achieve the purpose, the article supply device according to the present invention receives replenishment of the storage box in which the articles are stored from the outside. and a temporary storage means for temporarily storing a plurality of storage boxes in a stacked state; and a storage means for storing the storage boxes in order to supply the goods to the supplied section; The means is provided with a table that is movable up and down and on which the plurality of storage boxes are placed in a stacked manner, and a means that is arranged above the table with its vertical position fixed, and that separation means for separating a storage box placed directly on the storage box from other storage boxes; and replacement for replacing an empty storage box in the storage means with a storage box separated by the separation means in the temporary storage means. It is characterized by having the means. [Embodiment] Hereinafter, the configuration of an embodiment of the present invention will be described 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 (Overview of structure) 10 (Explanation of unmanned vehicle) 11 (Explanation of pallet) 13 (Explanation of buffer) 17 (Operation of buffer) 24 Basic separation operation 24 Position correction operation 29 (Explanation of elevator)
37 Configuration of exchanging mechanism 40 - Loading operation from buffer - 49 - Pulling in empty pallet operation - 51 - Pushing out operation of pallet - 54 - Carrying out operation of empty pallet - 55 (Description of stocker) 57 (Description of robot) 71 (System operation) 78 <Configuration of control unit> 78 (Input of assembly environment> 8゜ <Variation factors for efficiency of parts supply> 87 <Other display elements> 93 <Variables used for control> 94 <Each Vertical movement range of modules〉95 Outline of pallet exchange operation〉98 <Detailed explanation of each module control> 100

[Robot and stocker control] 103 Until the remaining number becomes 1 103 When the remaining number becomes 1 1
11 [Pallet replacement] 113*
Pallet minute by buffer 'f811* 113*
Pallet drawer by elevator*117*Elevator replacement standby position*120*Operation to standby position*
126*Detection of remaining number O*
128*Pallet exchange* 129*
Stacking empty pallets * 135 * Replacing the final shelf * 136

[Queuing of replacement preparation instructions] 139

[Initial operating state settings]
140 (Description of modification)
143 Description of the first modification 143 *Configuration of the stage unbending mechanism* 144*Operation of the stage unbending mechanism* 149 Description of the second modification
152 *Elevator explanation* 152
Explanation of third modification 160*Explanation of switching mechanism* 16°*Control*
164 Description of the fourth modification
167*Configuration* 167*Control* 174 [Other Examples]
179*Composition*
179*control*
191 Other examples of downstream shapes 199
*First modification 200 *Second modification 204-1 [Others]
204-7 (Lock of pallet in stocker) 204-7 (Replenishment of parts to FAC) 209 *Replenishment by unmanned vehicle*
212 *Manual replenishment*
218 [Effects of Examples] 2
23 (Schematic Configuration) First, the outline of the flexible assembly center (hereinafter referred to as FAC) 10 of this embodiment will be described with reference to FIGS. 1 and 2. This FACIO has multiple parts XI + X2 +×3
An automatic assembly device (hereinafter simply referred to as a robot) 12 for automatically assembling a predetermined product from ..., and parts XI + required for this robot 12 according to the assembly order.
x2. A parts supply system 14 that automatically supplies X3..., this robot 12, and the parts supply system 14
A control unit 16 is connected to the robot 12 to drive and control both of them so that assembly operations in the robot 12 can be executed efficiently, and an input/output device is connected to the control unit 16 and inputs assembly information data by the operator. It is generally equipped with 18. This parts supply system 14 supplies various parts X I + X2 + x3 stored in an automated warehouse (not shown).
... are configured to be transported via a plurality of unmanned vehicles 20 (shown in FIG. 1). That is, this parts supply system 14 supplies unmanned vehicles 20IJ) and parts X =
2 + A stocker 24 as a storage means for sequentially supplying parts
1 + X2 + X3 . . . from the buffer 22 to the stocker 24. (Description of unmanned vehicle) This unmanned vehicle 20 has many parts X stored in an unmanned warehouse.
From among I + X2 + X3..., parts XI + X2 * are provided for assembly in this robot 12
x3 . . . are provided for selectively conveying them to the buffer 22. That is, as schematically shown in FIG. 1, each unmanned vehicle 20 includes a housing 28 formed from a frame into a rectangular parallelepiped shape, wheels 30 attached to the lower surface of this housing 28, and wheels 30 attached to the upper surface of this housing 28. The pallet mounting table 32 is attached to the pallet mounting table 32. This wheel 30 is configured to be rotationally driven by a drive mechanism (not shown). Furthermore, each unmanned vehicle 20 moves between the unmanned warehouse and the buffer 22 with its wheels 30 along a running path that has been provided in advance on the road surface.
This running state is optimally controlled by a production control computer, which will be described later. In addition, the part X 1 transported to the buffer 22
, X2 + X3... and each unmanned vehicle 20
The placing operation is also optimally controlled by the control unit 16 described above. Further, on the pallet mounting table 32 described above, a plurality of pallets P+ + P2 + p3, etc., which will be described later, are stacked up, each containing parts xl + x2 + x3, etc. inside. On the other hand, on the bottom surface of the casing, there is an empty pallet l' P + ′+ P2
An empty pallet mounting table 34 is provided so that a plurality of pallets '+P3'... can be placed in a stacked state. In the following explanation, when a palette is representatively indicated, it is simply expressed as 'pJ' without a subscript, and when an empty palette is representatively indicated, it is simply expressed as 'pJ' without a subscript. It is expressed as "p'". Here, on the pallet mounting table 32, there is a pallet p containing parts xI + 2 + X 3... placed here.
H1) In order to carry out 21P3..., carry out roller 3
2a is provided. Moreover, the empty pallet p+ '+ P2 placed here is placed on the empty pallet mounting table 34.
A carry-in roller 34a is provided to carry in '+ps'... These, unloading roller 3
2 a + & large roller 34a is configured to be rotationally driven by a drive motor (not shown). (Explanation of pallets) Pallet configuration Here, each component X1 + 2 + X3... is housed in a corresponding pallet Pr + p2 + P3...
The robot 12 is placed in the unmanned vehicle 20, temporarily stored in the buffer 22, and stored in the stocker 24 via the elevator 26.
It is configured to be provided to That is, each pallet P
lIP21P3... has the same type of parts xl +
X 2. X3... are accommodated, respectively, and as shown in FIG. 3, the corresponding parts XI + x2
+ p3... are integrally provided with flange portions 38 formed to extend outward at least on both side edges along the conveyance direction d. Furthermore, as is clear from the illustrated shape, this flange portion 3
8 is actually formed over the entire circumference of the pallet body 36. Further, a lid body 40 is placed on each pallet body 36 so as to releasably close the upper surface thereof. As shown in the figure, each flange portion 38 has first and second notch portions 38a and 38b located at both ends.
However, the third notch examination part 3 is also located in the center.
8c are formed respectively. Here, the first and second notches 38a and 38b on both sides allow the pallets PI I p21 p3... to be connected to the buffer 2.
2 to the elevator 26, and also from the stocker 24 to the robot 12 or the elevator 26/
It is designed to be pulled in. On the other hand, the third notch 38C in the center allows the lid body 40 to be lifted upward and the pallet body 36 stored in the stocker 24 to be placed on the side toward the robot 12 with its top surface open. A lifting body, which will be described later, is inserted therethrough so that it can be taken out. Note that each of the first and second notches 38a. The recess 38b is formed into a substantially isosceles trapezoidal planar shape, and is formed such that its shorter base defines the bottom of the recess. That is, this lid body 40 is made by the robot 12 as part X+ +
The final step, which deals with X2 + x3...
In other words, palette p, + P2 + P3...
The parts X l
This prevents X2 + X3... from being contaminated by dust or the like. The dimensions of the pallets are these pallets p+ + P2 + Ps...
・As shown in Fig. 4, the thickness is 25+am, 50Iln depending on the size of the parts accommodated in it.
+, 100mm 3 fffi type. Here, in the following explanation, for the sake of simplification, part
With the maximum number of parts set to 38 on pallet p2 having a thickness of m, and with the maximum number of parts x3 set to 13 on a pallet p3 with a thickness of 100 mm,
It is assumed that each of them is accommodated. Also, each palette p1. In P21P3...,
The thickness of the flange portion 38 is set to a common value of 12 mm. In addition, as shown in FIG.
A recess 36a (indicated by a broken line in the figure) is formed over the entire circumference, into which the lower portions of the recesses 36a are fitted to prevent lateral displacement. Here, the depth of this recess 36a is set to 7 mm. In this way, for example,
Three types of palette PI, p2. When P3 is stacked one by one, the height of this stack is 25+50+
It will be set to 100-7X2=161mm. In addition, the flange part 3 of each pallet PIIP21P3...
As shown in Figure 3, on the side of 8, each pallet P
1. P2. P3... Parts stored inside X l
+X2+x3... A barcode B is drawn that indicates information on the type and number of pallets, and information on the height of the pallet. (Description of Buffer) Next, pallets PIIP21P3... containing parts X l + X2 + , empty palette P+ ′, P2 ′+p
Buffer 2 for sending 3'... to the unmanned vehicle 2o
2 will be explained with reference to FIG. Structure of Buffer Stand This buffer 22 includes a base 42 fixed on a base (not shown), and pillars 4 erected at each of the four corners of this base 42.
4a, 44b, 44c, 44d and pallets P+, p
A pair of supports 44 along the conveyance direction d of 2+ P3...
a, 44b; 44c, 44d are provided with upright plates 46a, 46b which are placed on the inner surfaces thereof in an upright state. A kite member 48 is fixed along each upright side edge of each of the upright plates 46a, 46b on surfaces facing each other. A sliding member 50 is attached to each guide member 48 so as to be movable up and down along the guide member 48. A buffer stand 52 is attached with its four corners supported by these four sliding members 50, respectively. This buffer stand 52 is a pallet containing parts XI + 2 + X3... from the unmanned vehicle 20 described above.
21P3... are placed thereon, and on this buffer stand 52 are the parts X+ + X2 placed here.
* A group of carry-in rollers 54 for receiving pallets PlIP2゜p3... containing X3- from the unmanned vehicle 20 is disposed with both ends rotatably supported by roller guides 56. Note that these carry-in rollers 54 are configured to be rotationally driven by a drive motor (not shown). On the other hand, a slit 58 is formed in a portion of the opposite upright plate 46b in FIG. 6 between the guide members 48 and extends in the vertical direction. A protruding piece 52a is integrally formed on the buffer stand 52 described above so as to protrude into the slit 58. Here, this buffer stand 52 is selected from among the pallet group P+ + P2 + P3... placed on this buffer stand 52.
As will be described later, it is configured to be able to move up and down in order to replenish or replace a pallet p with only one component X left in the stocker 24, or to separate a predetermined pallet p. . 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 MB is provided for vertically moving the guide member 48 along the guide member 48. This servo motor M is
It is provided with a rotating shaft extending along the vertical direction, and this rotating shaft is rotatably disposed between the compatible pillars 44c and 44d, and is configured to rotationally drive a ball screw 60 extending along the vertical direction. It is connected to the. On the other hand, this ball screw 6
0 is screwed into the aforementioned protruding piece 52a. In this way, the ball screw 60 is rotationally driven by the rotation of the rotating shaft of the servo motor MIl, and the buffer table 52 is thereby moved up and down. Incidentally, an encoder 62 is attached to the servo motor MB to detect the rotational position of the servo motor MB, that is, the height position of the buffer stand 52. Structure of Separation Mechanism With the above structure, the buffer table 52 can be moved up and down to any height position.
In order to separate a specific pallet p from ..., this buffer 22 is equipped with a separation mechanism 64. The separation mechanism 64 includes a pair of first separation claws 66 provided at the upper end of each upright plate 48a, 46b, and a pair of second separation claws 66 disposed a predetermined distance below the first separation claws 66. A separation claw 68 is provided. In addition, both standing plates 46a,
The first and second separation claws 66, 68 in 46b are set at the same height position. Here, each of the first and second separating claws 66 and 68 is connected to the pallet group PI stacked on the buffer table 52.
It is provided so that it can be hooked onto the flange portion 38 of IP21P3... from both sides. In other words, each standing plate 46a, 4
The first and second separation claws 66 and 68 provided on 6b are
A group of pallets P stacked on the buffer table 52
The flange portions 38 of ++92IP3... are provided so as to be able to reciprocate between a protruding position where they are latched from below and a retracted position spaced apart from these flange portions 38. That is, the first separating claws 66 of each pair are connected to the corresponding upright plate 46.
A and 46b are integrally provided with a support rod 70 that protrudes from them and reaches the back surface. Both support rods 70 are connected to the upright plates 46a, 4
6b, they are integrally connected via a connecting plate 72, as shown in the figure. A first air cylinder CB+ for reciprocating the first separation claw 66 is connected to the connection plate 72. In this way,
In response to the drive of this first air cylinder Cal, the first
The separating claw 66 is reciprocated between an extended position and a retracted position. On the other hand, regarding the second separation claw 68, a second separation claw 68 is used as a driving source.
The configuration is the same as that for driving the first separating claw 66 except that it includes the air cylinder CB2, so a description thereof will be omitted. Note that the distance between the first separating claw 66 and the second separating claw 68 described above is set to 110 mm, which is slightly longer than 100 mm, which is the maximum height in the pallet PIIP21 p3. Furthermore, a barcode reader 74 is disposed on the side of the pallet p that is hooked to the first separation claw 66 described above to read the barcode B drawn on the pallet p. . Since this barcode reader 74 has a well-known configuration, its explanation will be omitted. Here, on the base 42, the lower position of the elevator 26 (
That is, the carry-out mechanism 76 is provided in an extended state to a position adjacent to the stocker 24. This unloading mechanism 76
is the empty pallet P+ in the stocker 24
Z P2 Z p3 '... is the unmanned vehicle 2 described above.
It is provided to carry out the empty pallet 0 to the empty pallet mounting table 34, and is composed of a plurality of carry-out rollers 78. These delivery rollers 78 are configured to be rotationally driven by a drive motor (not shown). The height position of this unmanned vehicle 20 is set to be the same as the empty pallet mounting table 34 of the unmanned vehicle 20, and the standby position of the buffer table 52 is set to be at the same height as the empty pallet mounting table 34 of the unmanned vehicle 20.
The height position is set to be the same as the height position of the pallet mounting table 32 of No. 0. (Buffer operation) More than basic separation operation! Buffer 2 with IlIm structure 64
In the configuration of 2, the operation when separating a predetermined pallet Pa from the pallet group PIIP21 p3... placed on the buffer table 52 based on a request from the robot 12, which will be described later, will be described below. This will be explained with reference to FIGS. 7A to 7D. First, as shown in FIG. 7A, on the buffer stand 52,
A total of 12 pallets are f'++p 21 from the bottom.
P3I pHp 21 P 3 + p
It is assumed that IT P21p31 Pl and P21 p3 are placed in this order. Furthermore, on this buffer stand 52, there is a pallet group pHP21P with a height of 800 mm.
In the above case, the 12 pallets are (25+50+
100)X4-7xi 1=623mm and has a height of 623mm. In such a state, when the robot 12 requests to separate the pallet p1 containing the parts Therefore, by applying the first-in, first-out principle,
An instruction is sent to separate the pallet p1 located third from the top. In addition, in the following explanation,
The third pallet p1 from the top is labeled p and l, and the pallet immediately above it, that is, the second pallet from the top, is labeled b. As mentioned above, when a request is issued from the robot 12 to separate pallets p and l, first, the pallet p placed directly above the pallet p8 to be separated is
As shown in FIG. 7B, the servo motor M
B is rotated to move the buffer stand 52 (in this case, lower it). In addition, the first and second separation claws 66, 68
are both moved to the retracted position in the initial state. In the state shown in this diagram M2R, the first air cylinder CBI is activated, urges the first separation claw 66 from the retracted position to the latching position, and pushes it out. As a result, the flange portion 38 of the pallet Pb becomes capable of being hooked onto the first separating claw 66 from below. After this, as shown in FIG. 7C, the servo motor MB
From the state shown in FIG. 7B, the buffer table 52 is rotated so as to be lowered by 94 mm. As a result, the pallet p8 is brought to a position where it is latched onto the second separating claw 68, and the pallet P8
b will be hooked to the first separation claw 66. That is, the pallet positioned above pallet pb is hooked onto this first separating claw 66. In the state shown in FIG. 7C, the second air cylinder e'B2 is activated and urges the second separation claw 68 from the retracted position to the latching position, without pushing it out. As a result, the flange portion 38 of the pallet pa becomes capable of being hooked onto the second separating claw 68 from below. After this, as shown in FIG. 7D, the servo motor MB
From the state shown in FIG. 7C, the buffer table 52 is rotated so as to be lowered by 15 mm. As a result, only the pallet Pa is latched onto the second separating claw 68, and the pallets located below this pallet Pa are brought to the device constituted by the pallet pa. In this way, only the pallet pa can be taken out independently at the position where it is latched onto the second separation claw 68 (hereinafter simply referred to as the separation position) in a state where it is separated from other pallets. The state will be set. Incidentally, after the pallets pa separated in this way are taken out to the elevator 24, which will be described later, all the pallets are placed on the buffer stand 52 so that any pallet can be separated next. The operation will be performed to return to the initial state. That is, during this return operation, first, the second work cylinder C11□ operates to pull the second separating claw 68 from the latching position to the retracting position, contrary to the previous operation. After this, the servo motor Mll rotates and the buffer stand 5
2 is raised by 134 mm (that is, the sum of 94+15=109 mm, which is the downward stroke of the buffer table 52, and 25 mm, which is the thickness of the pallet Pa taken out). As a result of this elevation, the pallet in the uppermost position of the group of pallets on the buffer table 52 is brought to a lifted state with the pallet pb hooked on the first separating claw 66 placed thereon. In this state, the first air cylinder CIl+ operates in a manner opposite to the previous operation to pull the first separating claw 66 from the latching position to the retracting position. As a result, the pallet p that was hooked on the first separating claw 66 and the pallet group above are placed on top of the pallet group that was already placed on the buffer table 52, and the entire pallet group is , it will eventually be placed on the buffer stand 52. At this position, the robot enters a standby state and waits for the next separation instruction from the robot 12. Pallet Position Correcting Operation in Separation Operation The operation of the buffer 22 detailed above is basic and does not take into account manufacturing errors of each pallet. That is, each pallet is allowed a manufacturing error of ±0.3 mm. Therefore, if this manufacturing error is accumulated when a large number of pallets are stacked on the buffer table 52,
An error may occur in the operation of moving the pallet Pb to the latching position by the first separation claw 66 in the above-mentioned basic operation, and the pallet pb may not be accurately moved to the latching position by the first separation claw 66. . In detail, assuming the worst case, all loaded pallets have a minimum thickness of 25 mm.
1, and the maximum mounting height is 800 mm as described above, so the maximum cumulative error amount is 800÷(25-7)xo, 3=13.3 mm. When the height position changes with this maximum cumulative error amount, the servo motor MB rotates and drives the predetermined pallet Pb to move it to the latching position of the first separating claw 66 according to the basic operation described above. Even if I did,
In reality, due to the above-mentioned error, there will be cases where the locking position cannot be located. For this reason, in this embodiment, as shown in FIG. A sensor 80 is provided. This sensor 80 is composed of a well-known reflective photocoupler, and although a detailed explanation thereof will be omitted, it is composed of a pair of light emitting element and light receiving element, and is located adjacent to the circumferential surface of the flange portion 38 of the pallet. It is configured to turn on when it receives light from the light emitting element, and turn off when it is adjacent to the side surface of the pallet body 36 because it cannot receive light from the waste light element. In addition, the arrangement position of this sensor 80 is, in detail, as shown in FIG. The setting is such that Pb is brought to the latching position by the first separation claw 66. In a state where the sensor 80 as described above is provided, the pallet pb is
The content of control of the sliding movement of the first separation claw 66 to the latching position 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, in the case of a pallet P+ with a height of 25 mm, the thickness of the flange portion 38 is 12 mm, which is the amount of fitting into the fitting recess 36a of the pallet main body 36 located on the lower side. Considering 7mm, 2525-12-7=6. Therefore, considering the accumulation of the maximum manufacturing error mentioned above, the relative positional relationship between the pallet P a + P b calculated by the servo motor MB and the sensor 8o is as shown in FIG. 8B, FIG. 8C, Furthermore, as shown in FIG. 8D, three modes are envisaged. That is, as shown in FIG. 8B, the circumferential surface of the flange portion 38 of the pallet Pa to be separated (in other words, the pallet pa hooked on the second separating claw 68) is exposed to the sensor 80.
as shown in FIG. 8C.
The peripheral surface of the flange portion 38 of the pallet Pb to be hooked to the separation claw 66 is in a second aspect facing the sensor 80, and is hooked to the first separation claw 66 as shown in FIG. 8D. 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.
In the state where the peripheral surfaces of 8 are adjacent to each other, the ON operation is performed, and in this ON state, the first mode shown in FIG. 8B,
A second mode shown in FIG. 8C is considered. For this reason,
The buffer stand 52 is connected to the sensor 8o as shown in FIG. 8E.
is lowered until it detects the upper end surface of the flange portion 38, in other words, until the sensor 80 is turned off. Then, when the sensor 80 is turned off in this manner, the barcode B drawn on the pallet whose upper end surface has been detected is read via the barcode reader 74. As a result, if it is determined from the read barcode B that this pallet is the to-be-separated pallet p8, as described above, the pallet Pb placed on this pallet to be separated is , the first separation claw 66 is brought to the latching position, so the first air cylinder CBI is activated according to the basic operation described above, and the first separation claw 66 is brought to the latching position.
6 will be pushed out to the latching position. On the other hand, as a result of reading the barcode B drawn on the pallet whose upper end surface was detected, if it is determined that this pallet is not the pallet P or l that should be separated, this barcode B is read. Since the pallet that is placed is automatically determined to be the pallet p directly above the pallet p8, the servo motor Mb is rotated so that the buffer stand 52 moves up by the height of the pallet Pb. Driven. In this way, the sensor 80
As shown in the figure, the upper end surface of the flange portion 38 is detected again, and this upper end surface is detected by the flange portion 38.
8 should be the pallet p3 to be separated, so after confirming this via the barcode reader 74, the first
The air cylinder CB+ is activated, and the first separation claw 66
will be pushed out to the latching position. In addition, as a result of reading the barcode B of the pallet that has been lifted and detected, if it is determined that it is not the pallet pa that should be separated, there may be a clear control error, or a pallet different from the requested pallet may be unattended. Since this is a case where the vehicle is transported by the unmanned vehicle 20 from the warehouse, the control operation is stopped at that point, and a predetermined warning operation is started. The sensor 80 is turned off when the side surface of the pallet body 36 is adjacent to it, that is, when the pallet is moved 8 times according to the calculated value. In this off state, as shown in FIG. 8C, Only the third aspect shown will be considered. Therefore, the buffer stand 52 is raised until the sensor 80 detects the upper end surface of the flange portion 38, in other words, until the sensor 80 is turned on, as shown in FIG. 8E. Then, when the sensor 80 is turned on in this manner, the barcode B drawn on the pallet whose upper end surface has been detected is read via the barcode reader 74. As a result, if it is confirmed from the read barcode B that this pallet is the pallet Pa that should be separated, as described above, the pallet PB placed on the pallet Lumi that should be separated is Since the first separation claw 66 has been brought to the latching position, the first air cylinder CB+ is activated according to the basic operation described above, and the first separation claw 66 is moved to the latching position.
6 will be pushed out to the latching position. By executing the pallet position correction operation detailed above, even if there is a manufacturing error in the pallet, the pallet I placed on top of the pallet Pa to be separated can be fixed regardless of the manufacturing error. )b is reliably latched by the first separating claw 66. [Left below] (Description of elevator) Next, the elevator is placed between the buffer 22 and the stocker 24,
The structure of the elevator 26 for replacing an empty pallet p' in the stocker 24 with a pallet p full of parts X will be described with reference to FIGS. 9 to 13G. Structure of the Elevator Body As shown in FIG. 9, the elevator 26 is fixed on a base 142 that is common to a stocker 24, which will be described later. , a pair of pillars 82a standing adjacent to the pillars 44a, 44c on the robot 12 side in the buffer 22 described above. 82b, and a pair of support columns 82C182d that stand upright at a predetermined distance from the robot 12 side. These four wooden supports 82a, 82b, 82c, 8
The upper ends of 2d are connected to each other by connecting members 84, respectively. In this way, the basic frame of the elevator 26 is constructed. Note that this connecting member 84 is also configured in common with the stocker 24, which will be described later. Here, an elevator main body 86 is disposed vertically movably between a pair of columns 82a; 82c and a pair of columns 82b, 82d along the conveyance direction d. This elevator main body 86 has pallets p++p2+P3
It is composed of a box body with a pair of open faces perpendicular to the transport direction d. The elevator main body 86 removes the separated pallet Pa from the buffer 22 at the separation position based on a request from the robot 12 (a request issued when the remaining number of parts in a predetermined pallet reaches "1"). In response to this, it is held in the elevator main body 86, and next, a request from the stocker 24 (a request issued when the remaining one part mentioned above is used for assembly and there is no part left) ), the held pallet Pa is transferred to the stocker 24. Here, palette I)ll p21P3...
· Support columns 82a, 82c in each row along the conveyance direction d; 82
A guide member 88 is fixed to the opposing surfaces of b and 82d, respectively, along the vertical direction. A pair of sliding members 90 is attached to each guide member 88 so as to be vertically movable along the guide member 88 and spaced apart from each other by a predetermined distance in the vertical direction. Here, the upper four corners are each supported by the four sliding members 90 in the upper horizontal plane, and the lower four corners are supported by the four sliding members 90 in the lower horizontal plane.
The above-mentioned elevator main body 8 is supported at each corner.
6 is installed. 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,
A protruding piece (not shown) is integrally formed on the elevator main body 86 mentioned above. Furthermore, a servo motor M61 for moving the elevator main body 86 up and down along the guide member 88 is disposed in a portion of the connecting member 84 that connects the upper ends of the pair of columns 82b and 82d on the opposite side. ing. The servo motors MF and I are provided with rotating shafts that extend along the vertical direction, and the rotating shafts are rotatably disposed between the two branches 82b and 82d and extend along the vertical direction. It is connected to rotate the ball screw 92. On the other hand, the midway portion of this ball screw 92 is screwed into the aforementioned protruding piece. In this way, the ball screw 92 is rotationally driven by the rotation of the rotating shaft of the servo motor ME+.
As a result, the elevator main body 86 is moved up and down. Note that this servo motor MCI has a mechanism for detecting its rotational position, that is, 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. As described above, the elevator body 8 is movable up and down.
6 is for taking in a pallet pa full of separated parts from the buffer 22, pushing out this pallet Pa from there into the stocker 24, and also pulling in an empty pallet p' from the stocker 24. A replacement mechanism 96 is provided. This exchange mechanism 96 includes a servo motor ME2 as a drive source fixed on the upper surface of the elevator main body 86 via a stay 98. A swing arm 10 is attached to the drive shaft of this servo motor ME2.
0 is fixed at one end, and is driven to swing according to the rotation of the drive shaft. 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, along the above-mentioned transport direction d, on the upper surface portion of the elevator main body 86 in the range where the swing arm 100 swings, the long groove 100a has a
A guide groove 102 is formed. This guide groove 102
is formed over almost the entire length of the elevator main body 86 in the transport direction d. Here, the guide pin 104 is inserted into the long groove 100a and the guide groove 102 along the vertical direction.
is provided. The head of the guide bin 104 is formed to have a large diameter, and is prevented from falling off the bases 100a and 102. With such a configuration, the servo motor M. 2 is reciprocatingly rotated,
The swinging arm 100 is driven to swing, so that the guide pin 104 is moved along the guide groove 102, that is, in the conveying direction d.
It will be driven back and forth along the Further, as shown in FIGS. 10 to 12, a slide plate 106 is fixed to the lower end of the guide bin 104 while being located within the elevator main body 86. This slide plate 106 is attached to the guide bin 104 so as to extend along a direction perpendicular to the transport direction d. At both ends of the side surface of the slideable 106 on the buffer 22 side, a first hook 108 is attached via a first Fuchslite member 110 along the longitudinal axis direction of the slide plate 106, in other words, in the conveying direction. It is attached so that it can slide along the direction orthogonal to d. The pair of first hooks 108 are formed in a shape that can be engaged from both sides with the first notch 38a on the elevator 26 side formed in the flange portion 38 of each of the aforementioned pallets P+, p2+P3... has been done. That is, the tip of the first hook 108 is formed into an isosceles trapezoid shape that complementarily matches the isosceles trapezoid shape that is the notch shape. On the other hand, air cylinder support plates 112 are fixed to both ends of the slide plate 106 so as to extend along the conveyance direction d. A first air cylinder CEI for reciprocating the first hook 108 is attached to the end of the air cylinder support plate 112 on the buffer 22 side. The aforementioned first hook 108 is connected to the tip of the first piston 114 of the first air cylinder C port. In this way, the first hook 108 is reciprocated to be engaged with and disengaged from the first notch 38a of the flange portion 38 in accordance with the driving of the first air cylinder CEI. In addition, a second hook 116 is attached to both ends of the side surface of the slide plate 106 on the side of the stocker 24 via a second hook slide member 118 along the longitudinal axis direction of the slide plate 106. It is attached so that it can slide along the direction orthogonal to the conveyance direction d. This pair of second hooks 116 is connected to each pallet PI I described above.
It is formed in a shape that can be engaged from both sides with a second notch 38b formed in the flange portion 38 of P2 + P3 . . . on the side of the unmanned vehicle 2o. On the other hand, a second air cylinder CE2 for reciprocating the second hook 116 is attached to the stocker 24 side end of the air cylinder support plate 112 fixed to both ends of the slide plate 106. The second hook 116 described above is connected to the tip of the second piston 120 of the second air cylinder C62. In this way, the second hook 116 is moved to the second notch 38 of the flange 38 in response to the drive of the second air cylinder CE2.
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 servo motor M is engaged with a first or second hook 108, 116.
A pair of fixed slide guides 122 are provided to slidably support the pallet p that is pulled in and pushed out according to the rotational drive of E2. That is, both fixed slide guides 122 are slidably set on the lower surfaces of the flange portions 38 on both sides of the pallet p to be drawn in/pushed out. The height of the upper edge of both fixed slide guides 122 is set to a height sufficient to slidably support the pallet p3 having a maximum height of 100 mm, and
The standby position of the elevator main body 86 is such that the upper end surfaces of both fixed slide guides 122 are at the branch store position.
It is set at a height that allows it to be received horizontally. Further, at the bottom of each of the air cylinder support plates 112 described above, a third hook is attached to a plate 124 extending in the same direction as the slide plate 106.
is fixed. Here, for this installation, third hooks 126 are provided at both ends of the side surface of the plate 124 on the stocker 24 side.
is attached via the third hook slide member 128 so as to be slidable along the longitudinal axis direction of the slide plate 106, in other words, along the direction orthogonal to the transport direction d. This pair of third hooks 126 are connected to the stocker 2.
Each empty palette P+ ′+ emptied in 4
It is formed in a shape that can be engaged with the second notch 38b formed in the flange portion 38 of P2'+P3'... from both sides. On the other hand, a third hook 126 is attached to the lower end of the air cylinder support plate 112 fixed to both ends of the slide plate 106.
A third air cylinder CE3 is attached for reciprocating. The third hook 126 described above is connected to the tip of the third piston 130 of the third air cylinder CE3. In this way, the third hook 12
6 is reciprocated to be engaged with and disengaged from the second notch portion 38b of the flange portion 38. The hook 126 of the paintbrush 3 is attached to a guide groove 132 (
It is shown in FIG. ) is taken out below the elevator main body 86. Here, under the lower surface of the elevator main body 86, the stocker 24 is connected by this third hook 126.
A pair of movable slide guides 134 are provided to slidably receive the pallet p' taken out from the pallet p'. Here, both movable slide guides 134 move along the direction perpendicular to the transport direction d in order to place the empty pallet p' received thereon the group of transport rollers 78 of the transport mechanism 76 described above. Then, it is configured to be able to slide so as to separate from the empty pallet p' received here. That is,
As shown in FIGS. 10 and 11, both movable slide guides 134 are slidably attached under the lower surface of the elevator main body 86 via slide members 136, respectively. 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 fourth air cylinder C for reciprocating the movable slide guide 134.
I:4 is installed. The above-mentioned movable slide guide 134 is attached to the tip of the fourth piston 140 of the fourth air cylinder CE4. In this manner, the movable slide guide 134 is reciprocated to engage and disengage from the flange portion 38 of the empty pallet p' in accordance with the drive of the fourth air cylinder CE4. Operation of exchanging mechanism In the exchanging mechanism 96 configured as described above, the exchanging operation of pallets p and pallets p' will be explained with reference to FIGS. 13A to 13G. First, in the initial state, the height position of the elevator main body 86 is set so that the upper end surface of the fixed slide guide 122 and the upper end surface of the second separating claw 68 of the buffer 22 are at the same height. has been done. In addition, the exchange mechanism 9
6, the initial state of the swing arm 100 is set so that it is at an intermediate position of the guide groove 102, as shown in FIG. In addition, each air cylinder CE1. CE2+ CE3+ CE4 is not supplied with high pressure air and the corresponding hooks 108, 116°1
26 and the movable slide guide 134 are each set to a retracted position. -Fetching operation from the buffer- When such an initial state is set, as described above, the robot 12 receives a request from the robot 12 to retrieve the remaining part X on a predetermined pallet p in the stocker 24. When the number reaches one, based on a request to prepare for replacement, an operation is started to separate a predetermined pallet Pa in the buffer 22, and
In this elevator 26 as well, an operation is performed to take the pallet Pa separated in the buffer 22 into the elevator main body 86. That is, when the above-mentioned request is issued from the robot 12, in the elevator 26, first, from the state shown in FIG. 13A, the servo motor MF, 2 is rotationally driven in the direction shown by the arrow A in FIG. The exchange mechanism 96 is moved to the buffer 22 side. By this Ota Edict, the 13th B.
As shown in the figure, the first hook 108 on the buffer 22 side of the exchange mechanism 96 is connected to the first notch on the elevator 26 side formed in the flange portion 38 of the pallet Pa to be separated at the separation position in the buffer 22. 38a, so that it can be engaged from the side. Note that, when the first hook 108 is in the engageable state, the first hook 108 is set so as not to impede the separation operation in the buffer 22 in any way. In this state, the operation of the elevator 26 is in a take-in standby state, and this take-in standby state is continued until the buffer 22 completes the separation operation. Then, upon completion of the separation operation, when a separation completion signal is output from the buffer 22, the exchange mechanism 96 starts an operation of taking in the separated pallet pa in response to the output of this separation completion signal. That is, first, high pressure air is supplied to the first air cylinder CEI, and the first hook 108 is released from the pallet p.
The first notch portion 38 formed in the flange portion 38 of a
engage a from the side. After this, servo motor M! 2 is rotated as shown by arrow B in FIG. 9, and the exchange mechanism 96 is taken into the elevator main body 86 along the conveyance direction d. Then, as shown in FIG. 13C, when the pallet Pa is completely taken into the elevator main body 86, the servo motor M is activated. 2 is stopped, and after this, the first air cylinder CEI is connected to the first hook 10.
8 moves away from the first notch 38 of the pallet p, . In this way, the pallet p separated by the buffer 22
a is taken into the elevator 26. In this loading state, the exchange mechanism 96 is brought into a state in which a part thereof protrudes from the elevator main body 86 toward the stocker 24 side. Therefore, servo motor M
E2 is rotationally driven in the direction shown by arrow A, and as shown in FIG.
6. Retracting operation of an empty pallet - After this, the servo motor M, 1 is driven to rotate, and the elevator main body 86 is moved into the pallet p stored in the stocker 24, and the parts X stored therein are removed and the pallet becomes empty. The pallet p' is lowered to the retracting position, and is kept at this retracting position, waiting for a request from the stocker 24 to replace the empty pallet p'. Note that this retracted position is based on the stocker 24, which will be described later.
The position is defined as a position one box of pallets above the position at which the pallet p is supplied to the robot 12. Here, as mentioned above, since the height of this pallet p is set to three types, there are also three types of pull-in positions depending on the difference in height. Moreover, the elevator main body 86 facing this retracted position
The standby position is set so that the third hook 126 of the exchange mechanism 96 can engage with the second notch 38b of the flange 38 of the pallet p' in the retracted position. There is. In this way, elevator 2
The pull-in standby position of the empty pallet p' at 6 is defined. On the other hand, in the exchange mechanism 96 in the elevator main body 86 brought to the drawing standby position, as described above, the pallet pIl fully stored with the parts is held in In such a retracting standby position, when the empty pallet p' is moved to the retracting position in the stocker 24, the servo motor M is activated in response to completion of movement to the retracting position. 2 is rotationally driven in the direction shown by arrow B, and as shown in FIG. It is moved to a position where it can engage with the notch portion 38b. After that, high pressure air is supplied to the third and fourth air cylinders C63+CE4, respectively, and the third
The hook 126 is attached to the second notch 3 of the empty pallet p'.
8b, the movable slide guide 134 is pushed out to a state where it can support the drawn-in empty pallet p' below the elevator main body 86. Thereafter, the servo motor ME2 is driven to rotate in the direction indicated by arrow A, and draws the empty pallet p' below the elevator main body 86. In this way, the empty pallet p' is supported by the movable slide guide 134 at the 13th floor.
As shown in the figure, the empty pallet p' is held below the elevator main body 86, and the retraction operation of the empty pallet p' is completed. and,
The third air cylinder CE3 is operated such that the third hook 126 is separated from the second notch 38b of the empty pallet p'. - Pallet push-out operation - Here, in the retracted state of this empty pallet p',
The second hook 116 of the exchange mechanism 96 is brought into a state where it can engage with the second notch 38b of the pallet Pa supported on the fixed slide guide 122. Therefore, from this state, high pressure air is supplied to the second cylinder CE2 to operate the second hook 116 to engage with the second notch 38b of the pallet p. On the other hand, in parallel with the engagement operation of the second hook described above, in the elevator 26, the servo motor ME+ is rotationally driven to lower the elevator main body 86, and the pallet Pa therein is moved to the pull-out position in the stocker 24. Bring to opposing position. Then, the servo motor ME2 rotates in the direction shown by arrow B, and as shown in FIG.
4. Push it out to the empty storage position. Thereafter, the second air cylinder CE2 is operated so that the second hook 116 is separated from the second notch 38b of the pallet p. Then, the servo motor ME2 is rotationally driven in the direction shown by arrow A to draw the switching mechanism 96 into the elevator main body 86. In this way, the operation of pushing out the pallet p to the stocker 24 is completed. Unloading operation of an empty pallet - As described above, when the exchange operation between the empty pallet p' and the pallet p8 full of parts ' is supported. Therefore, in order to place this empty pallet p' on the carrying out roller 78 of the carrying out mechanism 76, the pulse motor M e + is rotationally driven to lower the elevator main body 86, and this empty pallet p' is placed on the carrying out roller 78 of the carrying out mechanism 76. If there is no empty pallet p' placed on it, then directly above this carry-out roller 78, and if an empty pallet p' is already placed on the carry-out roller 78, this already placed It is moved directly above the empty pallet p'. Then, after this, the fourth air cylinder CE
4 operates to pull in the movable slide guide 134, and the empty pallet p supported by the elevator main body 86
' will be piled up on the carry-out roller 78. In this way, when the number of empty pallets p' stacked on the carry-out rollers 78 reaches a predetermined number, each discharge roller 78 is driven to rotate, and the stack of empty pallets p' is transferred to the buffer table 52. The pallet is conveyed to the lower part and then carried out onto the empty pallet mounting table 34 of the unmanned vehicle 20. In this way, the series of empty pallet unloading operations is completed. On the other hand, on the second day of the elevator after discharging the empty pallet p' to the unloading mechanism 76, the servo motor M,1 rotates to raise the elevator main body 86 and return to the above-mentioned initial position, that is, separation at the buffer 22. It will be moved to the opposite position and will be put on standby here. (Description of Stocker) Next, the configuration of the stocker 24, which is provided adjacent to the robot 12 and supplies parts xI+x2+x3, etc. necessary for assembly to the robot 12 in sequence according to the assembly order, will be explained in FIGS. This will be explained with reference to FIG. Structure of Stocker As shown in FIG. 14, this stocker 24 is fixed on a base (not shown), and includes a base 142 that is common to the elevator 26 described above, and columns 144a erected at each of the four corners of this base 142. , 144b. 144c, 144d, and these supports 144a. Above 144b, 144c, 144d

[It is provided with a connecting frame 84 that connects the II6 to each other. Here, each row of columns 144a, 14 on the elevator 26 side and the robot 12 side
4b; In order to face each other at 144c and 144d, the guide member 1 is extended along the vertical direction.
48 is fixed. A sliding member 150 is attached to each guide member 148 so as to be movable up and down along the guide member 148. A shoulder-lowering frame 152 having a substantially rectangular parallelepiped shape is attached with its four corners supported by these four sliding members 150. This elevating frame 152 accommodates multiple stages of pallets p that are pushed out from the elevator 26 described above and are pulled out to a drawer section 154 (described later) to be assembled by the robot 12, and also serves as a drawer standby (described later). It is configured such that it can be pulled out one by one from its position. Therefore, on the inner surface of the lifting frame 152 along the conveyance direction d, a plurality of shelf boards 156 on which the flange portions 38 of the pallet p are hung extend horizontally, and also along the vertical direction. They are fixed at equal intervals of about 30 mm. Here, each shelf board 156 has a third notch 3 formed at its center (in other words, at the center of the flange part 38 of the pallet p placed on each shelf board 156), as shown in the figure.
A notch 158 is formed in the portion facing 8C. That is, this notch 158
It is formed so that a lifting arm 160 of a later-described opening mechanism 170 (shown in FIG. 15) for opening the lid 40 of the pallet p pulled out by the pallet 54 is inserted therein. On the other hand, a pair of support columns 144b on the opposite side in FIG.
; A space is defined in the portion sandwiched between 144d and extending vertically. The above-mentioned elevating frame 152 has a protruding piece 16 in a state protruding into this space.
2 are integrally formed. Furthermore, a servo motor MS for moving the above-mentioned lifting frame 152 up and down along the guide member 148 is disposed in a portion of the connecting frame 84 that connects the upper ends of the pair of columns 144c and 144d on the opposite side. has been done. This servo motor Ms1 is equipped with a rotating shaft extending along the vertical direction, and this rotating shaft is connected to both branches 144c;
44a, and is connected to rotate a ball screw 164 extending along the vertical direction. On the other hand, a midway portion of this ball screw 164 is screwed into the aforementioned protruding piece 162. In this way, the rotation of the rotating shaft of the servo motor MsH causes the ball screw 1 to
64 is rotationally driven, and thus the elevating frame 152 is moved up and down. Note that the vertical movement of the lifting table 152 is set so that the feed amount is set at an integral multiple of 30 mm, which is the arrangement pitch of the shelf boards 156 described above. Incidentally, an encoder 94 is attached to the servo motor MS1 to detect the rotational position of the servo motor MS1, that is, the height position of the elevating frame 152. With the above configuration, the elevating frame 152 can be moved up and down to any desired height position. Structure of the Carp Pulling Out Section Next, referring to FIG. 14, the above-mentioned drawing out section 154
The configuration of is explained below. This drawer part 154 is provided to receive and hold a pallet p storing parts Drawer stand 1 fixed to
68, and on this pull-out table 168, there is provided a take-out mechanism 172 for taking in and out the pallet p from which the cover 40 has been removed by a cover opening mechanism 170 (shown in FIG. 15), which will be described later, from the lifting frame 152. ing. 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. A stopper 176 is attached to the end of the pull-out table 168 on the robot 12 side, which abuts the tip of the pallet p that has been pulled out and defines the pull-out position of the pallet p. Furthermore, a pair of slide guides 178 are numbered on both sides of the drawer table 168 along the conveying direction d. Note that the upper end surface of these slide guides 178,
That is, the support surface is set to be horizontally aligned with each fence plate 156 of the elevator frame 152 that is stopped during intermittent feeding. It should be noted that the pallet p supported by the shelf board 156, which is horizontally aligned with the slide guide 178 in this way, is defined as the pallet in the drawer standby position. Further, the above-mentioned insertion/removal mechanism 172 has a drawer joint 16.
The guide members 180 are arranged symmetrically on both sides of the drawer table 168 and extend along the conveying direction d on the side edge of the drawer table 168. It includes attached sliding members 182 and a support plate 184 fixed to the upper surface of each sliding member 182. On each support plate 184, a hook 1 is provided that can be engaged with a first notch 38a formed in the flange 38 of the pallet p which is in the pull-out standby position of the lifting frame 152.
86 is provided to be movable back and forth along the direction perpendicular to the conveyance direction d. On the other hand, on this support plate 184, there is a holder for driving the hook 186 back and forth while being located outside of the hook 186. An air cylinder Cs□ is attached.The piston of this air cylinder CS+ is attached to the corresponding hook 186.
The notch portion 38a is connected to the air cylinder C5I and is set to be pushed out to a position where it engages with the above-mentioned notch portion 38a by supplying high pressure air to the air cylinder C5I. Furthermore, a drive roller 188 is rotatably fixed to the end of each side edge of the drawer table 168 on the robot 12 side, and an idle roller 188 is rotatably fixed to the end on the elevator 26 side.
90 is rotatably fixed on the shaft. An endless belt 192 is wound around the drive roller 188 and the idle roller 190 at each side edge, and the endless belt 192 is driven to run by the rotation of the drive roller 188. In addition, the drive rollers 1 on both side edges
88 are connected to each other via a connecting shaft 194 so as to rotate together. Here, the support plate 184 at each side edge is fixed to the corresponding endless belt 192, and is reciprocated on the drawer table 168 along the conveyance direction d in accordance with the running of the endless belt 192. Become. Further, a driven roller 196 is fixed to the drive roller 188 and coaxially therewith. On the other hand, a servo motor M3□ is attached via a stay 198 below the central portion of the side edge of the drawer stand 168. The drive shaft of this servo motor Ms2 has
A drive roller 202 is fixed coaxially. An endless belt 204 is wound around this driving roller 202 and the aforementioned driven roller 196. With the above configuration, when the servo motor MS2 is rotationally driven, the drive rollers 188 and 202 are rotationally driven, and therefore the endless belt 192 is driven to run, so that the hook 186 reciprocates along the conveyance direction d. will be moved. Structure of the Lid Opening Mechanism Next, the lid opening mechanism 170 will be explained with reference to FIGS. 15 and 16. This lid opening mechanism 170 is
In the elevating frame 152 , before the pallet p in the drawer standby position is pulled out to the drawer position via the take-out mechanism 172 , the lid body 40 covering the pallet p is lifted upward and the pallet p is placed on the drawer table 194 . The pull-out position is provided so that only the pallet p, in other words, the pallet p set in a state in which the robot 12 can take out the parts X stored therein, is pulled out. Here, as shown in FIG. 15, this lid opening mechanism 17
0 is a pair of supports 144a and 144c on the robot 12 side.
The air cylinder C32 is attached to the side surface of the elevator 26 side, and the lifting arm 160 is attached to the tip of the piston 206 of the air cylinder C52. This air cylinder CS2 is installed so that the sliding direction of its piston 206 is inclined upward toward the lifting frame 152 by 45 degrees from the horizontal direction in a plane perpendicular to the conveyance direction d. . Further, the lifting arm 160 attached to the tip of the piston 206 includes a main body portion 160a that is fixed to the piston 206 and extends along the direction in which the piston 206 extends;
The main body portion 160a is integrally formed at the distal end thereof, has a horizontal upper surface 160b, and includes a protrusion 160C that protrudes upward on the outer portion of the upper surface 160b. Here, this air cylinder CS2 has two input ends 208a and 208b for high-pressure air, and the negative input end 2
When high pressure air is supplied to 08a, the piston 206
When the tip of the lifting arm 160 is biased to the retracted position separated from the lid body 40 by retracting the piston 206, and when high pressure air is supplied to the other input end 208b, the piston 206 is pushed out and driven. Lifting arm 16
0 is configured to be biased to the push-out position where the tip engages with the lid body 40. The arrangement position, that is, the height position, of the air cylinder C52 configured as described above is such that the top surface 160b of the tip of the lifting arm 160 in the pushing position is above the flange portion 38 of the pallet p in the pulling out standby position. It is set so that it can pass through the third notch 38c and engage with the lid 40 placed over the third notch 38c from below. Operation of the lid opening mechanism In the lid opening mechanism 170 configured in this way,
When it is detected that the pallet p has been brought to the drawer standby position according to the vertical movement of the lifting frame 152, the lid opening mechanism 170 is activated. is started. That is, high pressure air is supplied to the second input ends of the air cylinders Cs□ on both sides, and the respective pistons 206 are pushed diagonally upward. As a result, the tips of the lifting arms 160 connected to the tips of the pistons 206 each pass through the third notches 38c formed at the center of the corresponding flange portions 38 of the pallet p in the pull-out standby position. , the upper surface 160b of the tip of both lifting arms 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. 16, the lid body 40 is biased upwardly away from the pallet p in the pull-out standby position, so that the pallet p can be pulled out to the pull-out position. It becomes a state. On the other hand, when the robot 12 finishes taking out the component In the air cylinder C52, high pressure air is supplied to the first input end. In this way, the lifting arm 160 is pushed diagonally downward, and during this pushing down operation, the lid body 40 is placed on the pallet p so as to cover the top surface of the pallet p that has been returned to the pull-out standby position. become. In this way, the series of lid opening operations is completed. Operation of the drawer section As described above, the pallet p from which the cover body 40 has been removed is pulled out from the drawer standby position by the cover opening mechanism 170 to the drawer position, and then returned to the original drawer standby position. The operation will be explained below. First, in the initial state, the hook 186 is moved in the direction opposite to the conveying direction d by the drive of the servo motor Ms2, and the hook 186 is moved to the first notch 38a of the flange 38 of the pallet p in the pull-out standby position. is brought into a position where it can be engaged with. In this state, the air cylinder C5I is attached to the hook 18.
6 is set in the retracted state. From such an initial state, the lifting operation of the lid body 40 is started, and at the same time, the air cylinder C5I is operated.
The hook 186 engages with the first notch 38a of the pallet p in the drawer standby position. After this, as the lifting operation of the lid body 40 is completed, the servo motors M and 2
The hook 185 is rotated in the opposite direction to the previous time, and as a result, the hook 185 moves along the conveyance direction d. That is, this hook 18
61)) The engaged pallet p in the pull-out standby position will be pulled out from the Y-lowering frame 152 onto the pull-out stand 168. Note that this pulled out pallet p slides on a pair of slide guides 178. While sliding on the slide guide 178 in this way,
The pallet p that has been pulled out along the transport direction d is stopped by coming into contact with the stopper 176, and the driving of the servo motor Ms2 is also stopped. In this way, the pallet p is held in the pulled out position. Thereafter, the robot 12, which will be described later, receives the work of taking out the part The hook 186 is rotated and moved in a direction opposite to the transport direction d. In this way, the pallet p is returned toward the lifting frame 152 again. Then, when the pallet p is completely returned to the elevating frame 152, the servo motor M
The drive of s2 is stopped, and the pallet p is held within the lifting frame 152. After this, the lid 40 in the lid opening mechanism 170 described above is
The putting operation is performed, and a series of putting in and taking out operations is completed. (Description of the robot) Next, referring to FIGS. 1 and 2, parts 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.
The assembly stage 210 includes a portion located below the drawer section 154 of No. 4 and is horizontally disposed. On one side of this assembly stage 210, a pair of pedestals 2 are provided.
12 is erected, and an X-axis robot arm 214 that defines the X-axis (an axis extending along the transport direction d) of the robot 12 is placed on both frames 212 . Also, on this X-axis robot arm 214, there is a Y-axis (an axis extending in a direction perpendicular to the transport direction d) of the robot 12.
One end of a Y-axis robot arm 216 that defines the Y-axis is supported so as to be movable along the X-axis direction. Furthermore, a robot arm 218 that defines the Z-axis (an axis extending along the vertical direction) of the robot 12 is provided on the side surface of the Y-axis robot arm 216 on the supply system side. This robot arm 218 is configured to be movable in the vertical direction, and is configured to be movable and rotatable along the Y axis. That is, a servo motor MRI for moving the Y-axis robot arm 216 along the X-axis direction (transfer direction d) is disposed on the X-axis robot arm 214. Also, on the Y-axis robot arm 216, the robot hand 2
18 along the Y-axis direction (direction perpendicular to the transport direction d), and a servo motor MR3 for moving it along the Z-axis direction (vertical direction).
and a servo motor Ml14 for rotating the robot arm 218. Here, fingers 220 corresponding to the parts X I + X2 + X3 . . . are detachably attached to the lower surface of the robot hand 218. This finger 220 is configured to grip the corresponding part X, and the remaining parts X l +x2 , Xs
The other fingers 220 corresponding to... are finger stations 222 provided on the X-axis robot arm 214.
It is housed in a container that can be taken out at will. Incidentally, an assembly table 224 for assembling the component X held by the fingers 220 is provided on the assembly stage 210 described above. Further, the input device 18 described above is adjacent to one side of the pedestal 212. Operation of the Robot The operation of assembling a product using the part X in the robot 12 configured as described above will be described. First, in the initial state, the robot hand 218 is positioned above the drawer part 154. From this state, according to a predetermined assembly order, when the pallet p containing the necessary parts From this point on, the servo motor MR3 is rotationally driven to lower the robot hand 218, and the gripping operation of the component X by the fingers 220 is executed. Then, when the gripping operation of the part
R2 is rotated appropriately and placed on the assembly table 224 during the day. Then, the servo motor MR3 is driven to rotate again, the robot hand 218 is lowered, and the assembly operation of the part X is performed on the assembly table 224. When this assembly operation is completed, the robot finger 220 is released from gripping the component X, and the servo motor MR3 is driven to rotate in the opposite direction to raise the robot hunt 218. Thereafter, the servo motors M R1 and M R2 are rotationally driven, and the robot hand 218 is returned to the above-mentioned initial position. In this way, a series of assembly operations when focusing on one component X is completed. Note that while such a series of assembly operations is being executed, the pallet p that has received the part X gripped by the robot hand 218, that is, the pallet p that has finished supplying the part X to the robot 12, is During the time when the hand 218 reaches the assembly position from the position above the pallet p and returns to the position above the pallet p, the hand 218 moves in and out of the pallet p containing the parts X required for the next assembly process. is executed. Here, the time required for the robot 12 described above to assemble one part 0.3 seconds for the upward movement, 0.5 seconds for the upward movement of the assembly table 224, 0.3 seconds for the downward movement of 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 from the assembly table 224, and 0.5 seconds for the upward movement of the pallet p, so the total time is 2 seconds. .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.
In the second operation time, the robot hand 218 must be executed from the position above the pallet p after being lifted from the pallet p until it is returned to this above position again. In other words, until the robot hand 218 descends from the standby position above the pallet p, grips the part is prohibited, and the pallet p must be put in and taken out at other times. Therefore, the allowable time for loading and unloading the pallet is 0.5+0.3+0.2+0.
3+0.5=1.8 seconds will be defined as the maximum time. In other words, if the loading/unloading operation of the pallet p is completed within this 1.8 seconds, the next feeding operation of the part X will be accomplished without stopping the assembly operation in the robot 12. For this reason, in the stocker 24 described above, the operation time is set so that the operation of loading and unloading the pallet p is executed within this 1.8 seconds. [Margins below] (Operation of the system) How to control the operation of the FAC system of this embodiment will be described below. <Configuration of Control Unit> FIG. 18 shows a module configuration of the control unit 16 (FIG. 2) that controls the FAC system of the embodiment. As mentioned above, the main components of the tree FAC system are robots, stockers, elevators, buffers, etc. These constituent elements are modularized mechanically as described above, and also modularized in terms of control. That is, the control unit 16 includes four microprocessor boards: a microprocessor board that controls the robot, a microprocessor support that controls the stocker, a microprocessor board that controls the elevator, and a microprocessor board that controls the buffer. However, these microprocessor boards are connected by a well-known multipath interface. The four microprocessor supports are system-managed by a management microprocessor board located above them. The management microprocessor has an input/output device 18 shown in FIG.
The input/output device 18 is connected via a 5232 interface and utilizes this general personal computer.
From here, the assembly environment of the wood FAC system (for example, designation of parts included in a pallet, process order, etc.) is input and designated. The fact that the inside of the control unit 16 is modularized for each controlled object as shown in FIG.
The A'C system is designed so that the above-mentioned module can be selected as an option in consideration of various conditions of the installation site, such as the environment, constraints, etc., and furthermore, the above-mentioned assembly environment is inputted from the input/output device 18. As the name suggests, the tree FAC system also allows for the freedom to change the settings of processes, etc., making it possible to reorganize the "flexible" system environment. This will become clear from the explanation of the control unit program for the above-mentioned basic configuration of the FAC system, and also from the explanation of various modifications of the equipment configuration and program variations developed from this basic configuration. Will. <Inputting the assembly environment> The technical concept of the Zero FAC system is not limited to manufacturing, but ultimately involves the assembly of multiple groups of articles prepared in advance (each group of articles includes only articles of the same means). After selecting the items one by one according to a predetermined order determined in advance, the selected item is
Then, from the plurality of items prepared in advance, the above-mentioned -
When supplies are supplied to a point, the articles themselves in the article group become insufficient. Therefore, the technical concept of the wood FAC system is focused on how to efficiently "replenish" this group of goods with new goods without stopping the supply to the above-mentioned point. Ru. The application of the technical concept of the wood FAC system to product assembly is automatic assembly by robots in the narrow sense of FAC, which will be detailed below. This corresponds to "the supply of r parts to the robot", and the supply of r goods j is a buffer. This corresponds to the supply of new parts to stockers by elevators (and also by unmanned vehicles, unmanned warehouses, etc.). Therefore, the "r assembly environment in the FAC system in this narrow sense" will be explained below. 19A to 19C show display screens of the input/output device 18. This display screen is a screen for the operator to input and change various assembly environments using the attached keyboard, and is also a screen for displaying the current control status as the control progresses. The assembly environment of the wood FAC system is, for example, pallet information, etc., that is, for a certain part, the part name, the shelf position S in the stocker of the pallet that accommodates the part,
The total number of parts that can be accommodated on the pallet T1 The thickness of the pallet Hl The program number P used by the robot to assemble the parts into a product, the bar code B attached to a predetermined location on the pallet, the number of parts attached to the part This is the number F of the finger attached to the robot's hand for use. The wood FAC system uses standard size pallets as shown in FIG. Therefore, once a part is decided, the assembly program P (for example, screw tightening, etc.) for that part and the specifications of the pallet that accommodates the part are decided. Determining the pallet means determining the number T of parts accommodated in the pallet, the thickness H of the pallet depending on the height of the parts, etc. The used parts table in Figure 19A is independent of the process order.
While the operator is looking at the CR7 display screen of the input/output device 18,
The name of the part, the total number of pallets that accommodate the part T, the thickness of the pallet Hl, the bar code B of the part, the robot finger number F and the program number P necessary for assembling the part. It is. Other,
The process order number G and stocker shelf position S are determined by the management module program (first
(Fig. 8) automatically inputs and displays on behalf of the operator, and since the remaining number Z changes as the process progresses, the above management module program also inputs and displays this Z on behalf of the operator. The latest updated number of remaining items is displayed. During the parts table input process, each part is given an index number I.
DX is assigned. Once the IDX is assigned, the IDX number can be used to identify the part in the manual process of the tree FAC system (Figure 19B), making it easier than directly inputting the part name. In the specific example shown in FIG. 19A, the parts index ID
The pallet with X as "1" has the part name "screw", the number of pieces stored in the pallet is 38, the pallet thickness is 50 mm, the program number is rloOJ, and the part index IDX is "2". The part name is "Natsuto"
The number of items stored in the pallet is 13, and the pallet thickness is 25 m.
m, the program number is entered as r200J, the part index IDX is "3", the part name is "washer", the number of pieces stored in the pallet is 54, the pallet thickness is 100 mm, and the program number is entered as r300J.・
It is... It should be noted that all of the assembly environment information input by the operator is uniquely determined once the parts are determined. Since the parts necessary for assembling a certain product are usually known in advance, the pallets, programs, fingers, etc. that accommodate those necessary parts are also uniquely determined. Therefore, this information may be provided from a central production control computer system (FIG. 18) that manages a plurality of zero FAC systems simultaneously. To assemble parts into a product, information about the parts alone is not enough; it is important to know which parts to assemble and in what order. Therefore, when assembling various products, the operator of the wood FAC system restores all the parts necessary for each process and inputs them into the process order table (FIG. 19B) on the CRT. In the input process, the process order is assigned as 1, 2, 3, etc. from the beginning in the input order, and the numbers are assigned to the variable G.
It is said that Manual input of instructions as to which parts to use in each process is performed by an operator inputting a part index IDX. Furthermore, in the process order cheaple, which shelf position S [G
] and enter it. The necessity of inputting this S[G] is determined by the following points. In other words, even if the processes are different, the same parts may be used and these same parts are stored on the same pallet, so the above-mentioned processes may require pallets on the same shelves. . A specific example of the process order table created manually in this manner is shown in FIG. 19B. FIG. 19B is displayed manually for inputting the parts and process order necessary for assembling a specific product from a plurality of parts. The process order is 64 processes from 1 to 64 are wood F.
Can be defined in AC system. The operator inputs the component IDX and the shelf position S[G] one after another in accordance with the process order while viewing the display of the component table in FIG. 19A. The program number P1 part name in the process order table is inserted by the management program. When the process number G and the parts index IDX are associated in this process order table, the process number G and the pallet used for that process are associated in the parts table (FIG. 19A). In addition, S[G] human power for inputting the process order table is required for one part/one process/one shelf.In other words, if the same type of part is used in different processes, the pallet must be placed on a different shelf. In this case, the process order is the pallet shelf order s [
G], and once the parts are determined, the pallet thickness H
Since the management program can know this from the parts table, the management program can calculate the shelf position S[G] on behalf of the operator and input it into the table even if the operator does not input S[G]. When intentionally arranging a process order so that the same parts are taken out from pallets on the same shelf even in different processes, the operator needs to input S [G] while taking into account the pallet thickness H. It will come out. As with the manual production of parts tables, the process order for a certain product is determined in advance in the production plan, so the predetermined process order is transmitted from the central production control computer system via a communication line. It may also be input into a tree FAC system. <Variable factors for efficiency improvement of parts supply> Now, what about the FAC system? Supply of goods in j order (i.e.
The process order, which is the assembly order, has a very large effect on the efficiency of replenishing r articles. The premise of the assembly environment of the wood FAC system is one part/one process. The factors that affect the supply of parts and the efficiency of parts replenishment are the pallet thickness H[
G] and which pallet should be placed on which shelf position S[G]. The pallet thickness H limits the total number of pallets that can be stored in the stocker. This FAC system assembles products from parts within the range of the number of pallets that can be stored in the maximum number of stockers. Therefore, the number of pallets is limited by the pallet thickness H. If the same parts are used in multiple processes to assemble one product, the same parts should be taken out from the same pallet. There is a need to reduce the total number of pallets. If parts from the same pallet are taken out in multiple different processes, the vertical movement of the stocker becomes random, which leads to a reduction in the speed at which the stocker feeds the robot. In this way, the process order G, pallet thickness H, and shelf position S[G] have a great deal to do with efficiency, so when creating the process order table, these various factors should be taken into consideration. It needs to be created carefully. In addition, since the number of accommodated pieces T [G] is determined for each part, the frequency and order in which empty pallets occur will be affected according to assembly, and the replacement of empty pallets, that is, the efficiency of elevator and buffer operations will also be affected. This is because it gives FIGS. 17A to 17E explain how the total number of accommodated pieces T [G] and the shelf position S [G] affect efficiency, assuming that the pallet thickness H is the same. 1st
Figure 7A is the simplest example. Even though the parts are different, the pallets in each process have the same T[G], and each pallet is placed on the shelf in the order of the process (i.e., S[G]). G
] is in normal order). In this case, the parts are emptied on the pallet in the order of the process sequence,
Further, the movement of the stocker also moves upward. Next, if parts A and B are required for assembly, and the order of assembly must be A e3A c3 B, 100 parts can be stored on a pallet, and 50 parts can be stored in a pallet. Assume that FIG. 17B shows the case where parts A->A=3B are taken out from each pallet in sequence in step 1 e=>2+=33. In this case, the stocker moves upward in an orderly manner and pallets are replaced less frequently, but there is the disadvantage that a large number of pallets are required. Figure 17C shows that A on the same pallet in step 1.2.
It involves using parts. In this case, the movement of the stocker is orderly, the frequency of replacing pallets is low, and there is no waste of necessary pallets. Special characteristics of assembly, process order G
, which is an ideal one that takes into consideration the parts storage capacity T of the pallet. If the assembly order is AφB port A, and the process order and shelf position are as shown in Figure 17D, the number of pieces will be wasted, but
The stocker moves in an orderly manner. When the arrangement is as shown in FIG. 17E, there is no waste in the number of pallets and pallets are replaced continuously, but the stocker moves violently up and down. Above, using specific examples, it has been explained how the assembly order, process order G, number of parts T[G], and shelf position S[G] affect the efficiency of parts supply and replenishment. The Zero FAC system does not analyze the factors mentioned above that affect efficiency and provide the optimal assembly order and parts supply plan, but once such assembly plans and process orders are As determined by the production control computer,
It can be flexibly adapted to any process order or plan, and within that range, it can most efficiently supply parts to robots and replenish parts to stockers. That is, the process order G1 shelf position S[G], etc. are converted into variables as shown in FIG. 21A to allow flexible handling. For example, as shown in Figure 17A, the purpose of manually creating a process order table such as the process order of pallet placement in the stocker is that this FAC system has "flexibility" for changes as well as the ability to use robots. This is because the main focus is on how to efficiently supply parts to the robot without interfering with assembly operations. That is, the pallets in the stocker need not be placed in the order of the processes, but may be arranged, for example, in the order in which the number of parts in the pallet reaches zero and needs to be replaced. However, the main focus of this system is control for supplying parts to the robot without interfering with the robot's operation, since the number of parts stored on a pallet varies depending on the parts, and therefore the pallet replacement period is not always the same as the number of parts stored in the stocker. It is difficult to predict because it does not follow the arrangement, it is possible to flexibly respond to changes in the number of parts remaining due to parts big mistakes made by robots, and human labor in the process order is ergonomically appropriate as shown in Figure 19B. In view of this, in this embodiment, the pallets are placed in the order of the process. Therefore, it is possible to easily modify the program so that robots, stockers, elevators, etc. can be controlled appropriately in anticipation of cases where the pallets in the stocker are not arranged in the order of the process. This will become clear from the explanation of the control of the basic configuration embodiment and its modified configuration embodiment. Shelf board 1 of the stocker shown in Figure 14 of this FAC system
In this embodiment, 56 has a total of 20 stages,
The 1st stage, the 2nd stage, and so on are the 20th stage from the top. As shown in Figures 14 and 20, each shelf board is spaced evenly (
approximately 30 mm). Therefore, when pallets of three different thicknesses (25 mm, 50 mm, and 100 mm) are housed in a stocker, for example, a 100 mm thick pallet will occupy four shelves. In the specific example shown in FIG. 19A, the IDXrlJ in the first step is “
The pallet containing the "screws" is placed on the first shelf board, the pallet containing the "washer" which is the IDX r3J of the second process is placed on the third shelf board, Third
The pallet containing "Natsu", which is IDXr2J in the process, will be placed on the seventh shelf. As mentioned above, the management program takes into consideration the thickness of each pallet and calculates which shelf board a certain pallet is placed on (that is, stocker position number S in FIG. 19A). Either the operator determines them manually, taking efficiency into consideration, and displays them in order in the table of FIG. 19A. In this way, when the operator inputs the prescribed minimum information into the parts table and process order table, the management program
Since the process order, position number S in the stocker, etc. are calculated and displayed in the parts table, complex and huge assembly environments can be set up with extremely high operability, and changes can be made without changing the above-mentioned human power information. This allows for flexible response to process changes and parts changes. <Other Display Elements> FIG. 19C shows icons (pictogram keys) on the display screen of the input/output device. r continuous J is a key that instructs the normal continuous assembly/parts supply operation mode, and this r continuous 1
When a key is pressed, the management microprocessor (Figure 18)
The SI NGLE flag in a memory (not shown) is set to 0°. If the continuous operation mode is set and the "Start 1" key is pressed, the system will operate continuously until the ?Stop J key is pressed or an error occurs and the system stops. is the single operating mode, and when this key is pressed, the S r N
The GLE flag is set to °′1°′ and the “Start 1
Each time you press a key, a single action (depending on each module)
(different in the scope of that single action) are performed. <Variables used for control> The z2iA diagram shows common variables (global variables) that are commonly used (accessible) by the microprocessors of each module. These variables are arranged in a two-dimensional array and are indexed by the argument G (process number). The replacement flag ■[G] is a flag indicating that the pallet in process order G (that is, the Gth shelf from the top in the stocker) is empty. Many of the other common variables are
Since it is the same as that shown in FIG. 9A and FIG. 19'B, the explanation will be omitted. FIG. 21B shows a queuing process for instructing the preparation of a replacement pallet to be sent from the robot to the elevator and buffer (when the remaining number Z in the pallet becomes one, the pallet will be delivered to the elevator and buffer). ) in order to
This is the evacuation area for the process number (E+, E2+ Dl, D2). As can be seen from FIG. 21B, the number of queues is two. The reason why there are two queues is because, considering the machine speed (for example, motor speed) of each module used in this embodiment, at worst three or more queues will not occur. Of course, the actual speed will vary depending on the device used, so the number of queues may be increased to three or more. Note that how this queue is used in this embodiment will be described later. <Vertical movement range of each module> The range in which each module can move vertically will be explained using FIG. 22A. Regarding the buffer, a buffer stand 52 receives pallets stacked from unmanned vehicles at a position 900 mm above the floor. The position where the first separation claw hooks the pallet one above the pallet to be separated (referred to as the "temporary holding position") is 1410 mm above the floor, and the position where the second separation claw hooks the pallet to be separated ( (referred to as the "separation position") is 1300m above the floor.
It is m. However, the above temporary storage position and separation position are nominal positions, and as mentioned above, there is a tolerance for the thickness of the pallet, and the vertical movement amount control of the buffer that takes this error into consideration will be described later (Figure 25B). be made to do. The maximum downward descending position of the buffer stand 52 is 500 mm above the floor, and this position is used as the origin of teaching for buffer movement control. The maximum number of pallets that can be loaded on the buffer stand is determined by the thickness of each pallet so that when the buffer stand 52 is raised to the temporary storage position when multiple pallets are stacked, the top pallet does not exceed 2225 mm above the floor. It is set taking into account the following. The installation position of the unloading mechanism 76 is 350 mm above the floor. As mentioned above, the buffer stand 52 is at the lowest position 500 above the floor.
This buffer can be lowered down to
The buffer platform is raised during transportation so as not to obstruct the transportation of empty pallets when the container is fully loaded with empty pallets. The vertical movement range of the elevator will be explained. The highest ascending position of the elevator is the position where the second separation claw is aligned with the slide guide 122 and the pallet full of parts to be separated at the separation position (“pallet removal position”);
This pallet take-out position is used as the teaching origin for elevator control. With this setting, the stroke range of the elevator is 800 mm. The movement range of the stocker will be explained. As mentioned above, the stocker has 20 shelves spaced at 30 mm intervals, so
The vertical width of the stocker is 600 (=30 x 20)
It is mm. The pallet on the first shelf is the drawer part 1
The position of the 20th shelf when pulled out to 54 is the lowest lowered position, and this position is set as the origin of teaching at 300 mm above the floor. The origin of vertical movement of robot teaching is on the floor 12
25 ('900+175+150) mm, and the fingers of the robot hand grasp one component from the pallet on the drawer section 154, move upward, further move horizontally to the assembly position, and then descend. <Outline of pallet replacement operation> Here, using FIG. 22B, a description will be given of how one pallet full of parts is taken out from the buffer by the elevator and further replaced with an empty pallet in the stocker. When the number of parts in the pallet is reduced to one, the robot prepares the buffer to separate the pallet and instructs the elevator to move to the separation position. Then, the pallets separated by the buffer at the separation position (this position is fixed) wait to be taken out by the elevator. When the elevator moves to the separation position (take-out position) and takes the pallet from the buffer into the elevator body, the slide guide 134 of the elevator
The pallet that will be (or has already been) emptied in the stocker (usually at the drawer 154 to the robot)
It descends to a position that aligns with the pallet (which is located one level above the pallet being pulled out) and waits. This waiting position differs depending on the process order and shelf position S[G], but when the pallets are arranged from the top in the process order, this waiting position is the position indicated by the solid line 230 as shown in FIG. 22B. becomes. Thus, preparations for replacing empty pallets in the elevator are completed. The pallet with one component remaining is pulled out from the stocker main body again to the drawer portion 154, and when the robot grasps this last one, the number of components remaining in the pallet becomes 0°. Then, pallet exchange between the stocker and the elevator begins. That is, in the standby position state 230, the elevator first pulls an empty pallet into the lower part of the elevator. The elevator then moves down one step and pushes the pallet full of parts onto an empty stocker shelf. This extruded position is indicated by dashed line 232 in FIG. 22B. Thereafter, the elevator further descends and stacks empty pallets on the transport mechanism 76. In this way, the replacement of empty palettes is completed. <Detailed explanation of control of each module> Now that the general operation of each module of the FAC system is understood, detailed control operation of each module will be explained below with reference to FIG. 23A and subsequent figures. As described above, this control program is complex because it has a structure that allows it to flexibly deal with cases such as those shown in FIGS. 17A to 17E. Therefore, in explaining the operation of each module below, we assume a general configuration (assembly order, process order, pallet placement, etc.), and if necessary, explain the specific initial state of each module. Starting from
The process by which the initial state changes under the control of each module will be explained in detail. The initial state is as follows: (1) Pallets of the same thickness are placed on all the shelves in the stocker (that is, all 20 shelves), and the number of parts in the pallets varies. ■: The process also follows this petition, and one process uses only one part in one pallet. That is, the total number of processes M is 20 processes, which is equal to the total number of shelves in the stocker. (2) Necessary spare pallets are also stacked on the buffer table 52 in advance. Is there a configuration with such an initial state for convenience? This will be referred to as simplified configuration example j. The expected operation of the module starting from this r-simplified configuration example 1 is as follows: ■: The robot will assemble one piece/process of parts from each pallet; ■: The stocker will move to the first shelf. to the 20th shelf,
The pallets are pulled out to the drawer part 154 while ascending in order, and when the 20th pallet is pulled out, the entire stocker is lowered and the pallet on the first shelf is pulled out again. ■: Regarding elevators and buffers, the number of remaining parts Z may be 1 or 0 for each pallet, so a request from the stocker to replace an empty pallet does not necessarily occur. etc. Now, the explanation will start from the point where the robot starts assembly work. (Margin below) [Control of robot and stocker] The robot is controlled according to the program shown in the flowcharts of FIGS. 23A and 23B until the remaining number becomes 1. Also, the stocker is controlled according to the programs shown in the flowcharts of FIGS. 24A and 23B. This is done according to the program shown in the flowchart of Figure 24B.These two modules will be described together because until the number Z of parts remaining on any pallet in the stocker reaches 1°°,
This is because elevators, buffers, etc. do not operate. As described above, the program of the management microprocessor starts the program of each module when the "start" button on the input/output device 18 is pressed. The microprocessor of the robot module receives the process number argument G in step S8.
is initialized to Pa1°'. If this process number G is "1'°," it means that the robot requests the part with process number 1, that is, it requests the stocker for the pallet on the S[1]th shelf of the stocker. In step SIO, check the state of the aforementioned SIN0LE flag (Fig. 19C). If it is SIN0LE mode, step S10
Proceeding to step S12 from h), the following control is executed to perform a single operation only when the "start" key is pressed. In the following explanation, continuous operation will mainly be explained. In step S14, the stocker is activated and started. Commands to such other modules are performed via the multipath described above. After the robot starts the stocker, in step S16, the stocker waits for the pallet numbered S[G] to be pulled out to the drawer section 154 (that is, the pallet is ready). On the other hand, in the stocker which has been waiting for activation from the robot in step S60, when this activation occurs, the process proceeds to step S62 to check whether any pallet has already been pulled out onto the pull-out section 154. This confirmation is confirmed by a sensor (not shown) on the drawer section 154. This kind of confirmation is for confirmation when restarting the stocker after it has stopped for some reason, and for confirmation when restarting the stocker after it has stopped for some reason.
This is for when in LE mode. Therefore, if the pallet has already been pulled out to the drawer section 154, the process advances to step S64 and the pallet that has been pulled out (
It is determined whether the pallet (which pallet is known from a variable) is the pallet for process G=1 requested by the robot. If the pallet is the one requested by the robot, there is no need to pull out the pallet, so the process advances to step S84, and a notification of pallet preparation completion is sent to the robot via multipath. In step S64, the pallet that has already been pulled out is placed in the process G (shelf S [G
If it is not the first palette, step S6
At step 6, return the pallet to the stocker. It should be noted that how the air cylinder C54Bt and motor Ms2 operate in order to return the material to the stocker has been described above.
The explanation will be omitted. If it is determined in step S62 that the pallet has not been pulled out, or if the pallet that had already been pulled out is returned in step S66, the process advances to step 368.
Store in a variable whether the robot is requesting a particular pallet. The reason why the stocker stores the variable G indicating the pallet requested by the robot in L is so that the robot and stocker can basically operate in parallel independently while synchronizing occasionally in the tree FAC system. It's for a reason. Proceeding to step S70, move the stocker up and down 8 times,
The amount of rotation of the motor Ms1 required to align the pallet requested by the robot with the drawer section 154 is calculated. The origin of each column of the stocker (from Figure 22A, 300m above the floor)
The positions from m) are taught in advance, as shown in FIG. Therefore, the pallet of process G (=L=1) requested by the robot is stored in the stocker shelf number S [L] indexed by the number L, so it is stored in the 21st A.
From the variable S CL shown in the figure, L = 177) S [L
] and take that value as an argument.
Find P [S [L]] from the tazing point in Fig. 20, and use that value to calculate the movement of the servo motor.
shall be. That is, 5TP=TP [S [L] ]. Then, in step S72, stocker movement is performed according to the daytime shift amount. When the servo motor MS rotates to the STP position, the shelf containing the pallet requested by the robot reaches the pull-out position.The CH flag in step S74 is a flag indicating that there has already been a replacement request from the robot. In the case of G=L=1, the state is reset since the state requiring replacement has not yet occurred, and the process proceeds to step 378.In step S78 and step S80, the lid of the pallet is opened, and in step S82, the lid of the pallet is opened. , the pallet with the lid opened is pulled out to the drawer section 154 by the previously described control.
When the pallet contacts the stopper 176, the robot is notified in step S84 that the pallet is ready on the drawer section 154. The stocker then waits for a predetermined notification from the robot. Now, when the robot, which was waiting for the completion of preparation from the stocker in step 516 (FIG. 23A), receives the notification of completion, it proceeds to step 318 and picks up the parts in the pallet placed on the drawer section 154. move over the part to pick the part, then descend and try to pick the part. Next, in step S20, the remaining number Z[G] of parts with the relevant process number G is not reduced by one. In step S22, it is checked whether this remaining number Z has become 1. Still remaining quantity Z [
G] is greater than or equal to 1, in step 528 it is determined whether the robot's fingers were able to pick the part. The failure to pick a component normally includes a case where the fingers fail to grip the component, a case where the component is not inserted at the relevant location in the pallet, and the like. In such a case, the picking is retried in step S18 until the component can be gripped normally or until there is only one component remaining. After confirming that the part was picked successfully,
In step S32, a notification of pick completion is returned to the stocker. When receiving notifications that the robot is operating and that the pick is complete,
On the stocker side, the process proceeds to step S86→step 388→step S90, and the pallet on the drawer portion 154 is returned to the stocker. Furthermore, in step S92, the CH
Examine the flag. Since this flag is still reset, the process advances to step 5100. 1 [L] at step 5100 is
Since this flag indicates that the remaining number Z of the L-th pallet detected by the robot as described above has become zero and a replacement request has been issued from the robot, this flag is currently reset. Therefore, proceed to step 5118 and increment L by one, ie, L=L+1. From step 3118 to step 8126, while the robot is assembling the parts picked in step 818 (Fig. 23A), the stocker picks up 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, and if it is not the final process (in the r-simplified configuration example J mentioned above, the total number of processes is 20, so L-20). In step 5126, the robot moves to the shelf of the pallet next to the pallet on which the parts were picked up (L is in step 511).
8 has already been incremented by 1) in the drawer section 1.
Calculate the amount of movement by 54 positions. Step 512
8゜S 130 Ha, S I NGLE Mo F and”r
k:,? This control moves the stocker every time the "start key" is pressed. From step 5130, return to step S72 in FIG. 24A to step 5126.
The STP calculated in is sent to the motor Msl to align the next shelf with the drawer section 154 position. The following control repeats the control described above. The above IJ ill is repeated until the remaining number Z [G] of one of the pallets becomes one. The stocker control program shown in FIG. 24B is based on the assumption that the assembly requires parts in all steps. However, in reality, there may be processes that do not require parts, such as finger replacement, and in such cases, stocker shelf movement (step 5126)
is not necessary. Therefore, a flag is set in the control variable of the description (Figure 21A, etc.) to determine whether or not the process requires parts (or the parts index is set to an alphabet), and the process is executed before step 5126. , check the value of this flag, and if the process does not require parts,
Instead of proceeding to step 8126, the process may be returned to step 5118 to proceed one step. When the number of remaining pallets becomes one, the remaining number Z [G] of pallets on the shelf S [G] eventually becomes one in a certain process G. That is, if one component is picked up in step 318 from a pallet with two components remaining, the remaining number becomes one, so the process advances from step S22 to step S24, and the process number G is
It is saved in process number variables E and D so that it can be used in the elevator and buffer control programs. Then, in step S26, the buffer and elevator are instructed to start preparing a replacement pallet because an empty pallet will soon be available. This replacement preparation instruction is stored in the queue area mentioned above, and if the elevator
If the buffer is not busy with pre-swapping operations, the elevator buffer will retrieve this queue and
Start the replacement preparation operation. Even after giving instructions to prepare for replacement to the buffer and elevator, the robot continues to perform the picking operation as long as it is notified in step S16 that the pallet has been pulled out from the stocker to the pullout section 154 position. On the other hand, in the control of this embodiment, the stocker stops its movement when the robot detects that the remaining number of pallets Z has reached τ in a certain process G (=L), and this fact is indicated by (I [L]), the stocker pulls out the pallet of the next process G+1 (-L+1) to the drawer part 154, and the robot surprises the parts on the pallet of G+1, which were discovered in the previous process G. This is the case when the work after loading the pallet with the remaining number of drops has not been completed (step 594). That is, the stocker waits until the operation after loading is completed. this is,
Remaining number Z: Next process G+1 after process G where [G] is 7
Since there are parts left on the pallet, in that case, the robot will assemble parts in process (G+1) and process L (=
This is because the replacement of empty palettes in G) can be performed in parallel.

[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 B1 by reader and each stage
Information on the height of each pallet, its part name, etc. Mogami
The number of the next pallet row can be determined by these variables or by
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.
Tree FAC system is unmanned via 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 manually from the input/output device 18.
do. Now, the robot at step 526 (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.
Find the distance (rho). This is the palette or
Thickness of all pallets at (from table in Figure 25A)
), and calculate the total value below the current position of the buffer stand 52.
Knowing the distance of 11ft (assumed to be m) from the floor at the end, these
The begi pallet to be replaced from m and fl is in the separated position.
In step 3156, the 8-movement distance until the
Calculate from (1410-(m×ρ)) mm. In step 3158, 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 8160, the sense state of sensor 8o 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 5168, 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 8168
Otherwise, proceed from step 8176 to step 5178.
, energizes the first separating claw 66, and in step 5180,
Predetermined distance Ll (distance greater than or equal to the maximum pallet thickness,
In the example shown in Figure 22A, lower the buffer stand by 94 mm).
to the state shown in FIG. 7C, and in step 5182
The separation claw 68 of No. 2 is energized, and further predetermined separation claw 68 is applied in step 5184.
Lower the distance L 2 and move the buff as shown in Figure 7D.
Separate the Then, in step 8186, the elevator
The step
At step 5188, the elevator picks up this separated pallet.
Wait for it to pull into the elevator body. . *Pallet withdrawal 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 (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 526 (Figure 23A), for the elevator as well,
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 number 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 5206,
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 8188, the elevator picks up the pallet.
I'm waiting for you to get into it. Therefore, the elevator that received this notification performs step 52.
At step 08, the pallet is pulled out. This withdrawal operation is related to FIGS. 13A to 13D.
As detailed above, first, the elevator motor ME2 is
direction to connect the first hook 108 to the pallet.
Move to the latching position and then drive the air cylinder CEl
to engage said hook 108 to the pallet, and then said hook 108 to the pallet.
Rotate motor ME2 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 8212 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, +L2+H[D] height buffer table 52 is raised to separate the upper and lower parts.
The first pallet group is combined in step 3196.
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 (L, 10L2 + H [D) at 5192
not the position, but the origin position (500 m above the floor in Figure 22A)
m) may be used. This is similar to this example.
The number of parts on a pallet varies depending on the pallet.
If there is, there may be a time when there is only one remaining (it is possible to predict)
However, this is because it is random. *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 r simplified configuration example mentioned above, the robot
The pallet with parts picked up moves upward. Considering that the stocker always moves upwards,
Then, while the robot is using another pallet,
Improved efficiency by replacing pallets with 2 drops left.
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 r simplified configuration example 1, the buffer
The pallet is about to be pulled out into the elevator.
When the pallet has 0 pieces left, the replacement preparation instruction is normally given.
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 (=c) becomes Z[G]-1
Indicates the Then the elevator will be replaced with the buffer.
Start preparing the buffer and create a new buffer at a location separate 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 is not triggered.
The pallet of process L+1 is pulled out from the extraction unit 154.
It is. The pallet that was processed at this time was No. 27C.
It has moved to the position shown in the figure. Note here
The power is that when the process G goes around from 1 to its maximum value,
Again in the same order starting from 1 and following the same order, change
do. In other words, after a certain cycle process, there is only one piece left.
The pallet (placed on S [L]) is transferred to the next process L.
With +1, the S [L+1] pallet is placed in the drawer section 154.
When it is pulled out, the existing position is
Then comes the next cycle, and the process comes around again.
The number of remaining pieces on the pallet that was 1 piece is now 7 pieces, and the number of pieces left is 7.
In step L+1, the pallet S [L+1] is pulled out.
Processing pallet when pulled out to section 154
is equal to the position of Therefore, when the remaining number is 1,
, predict the replacement standby position when the remaining number is 7.
Doing so is consistent with the - 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 from the floor of the 20th shelf when it is 18It
to is also 300 mm from FIG. 22A. a certain process
Now there is only one pallet left on shelf S [L], and further
, in process L+1, pallet S[L+1] is placed in drawer section 1.
The knife pulled out at 54 is the pallet on the shelf where the process has been done.
The cut has been moved to the position shown in Figure 27D. Like this
If you look at the child from the elevator side, as shown in Figure 27D.
, when the shelf S [E+1] is in the drawer position,
Equivalent to calculating the position of the pallet on shelf S [E]
be. That is, from FIG. 27D, the exchange standby position is
, the distance between shelves is 30III11. The total number of packages is 20 pieces.
Considering that, 30X (20+S [E+1] -S [E] )+
t. It is. In this way, the waiting position for exchange by elevator
is determined. In addition, in Fig. 27C, the pallet or drawer part of process L+1
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. *Move 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. Total shelf of this example
Pallets are stacked on all shelves of the 20-tier stocker.
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]) Ten tons. Calculate. The replacement position is determined as described above.
Then, in step 3216, the elevator is moved. stop
At the exchange standby position, the stocker is not loaded.
Wait for replacement 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 0 pieces remaining) The robot side detects 1 piece remaining on the pallet in 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. Discovery of the remaining number 0 is performed in step 534 (FIG. 23A). With this detection, the step
At S36, set flag I[G] to 1 and continue the next control.
do. In other words, the robot completes one cycle of the entire process.
then proceed to the process of requesting the same parts as the empty pallet.
By the time the pallet is in the stocker, it will be taken to the elevator.
I hope it will be replaced. And less
If both have not been replaced, in step S16,
The robot will stop after waiting for the preparation from the stocker to be completed.
It turns out. *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. [Blank below] In this state, the robot completes the assembly (all processes).
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 582c3
Proceed to step S84 and have the robot pull out the pallet.
Notify completion. The robot that receives this notification will
Step 5160 Step 31B・・・・・・Middle step
In step S36, the I[G] flag is set. On the stocker side, step 584 => step S86
Step S88 φ Step 590 => During step S92
Proceed to step 5100 and detect I[L]=1
. In other words, the stocker side stores the pallet with one piece remaining.
the robot.
is shocked, and the stocker receives the pallet with 0 pieces left.
When returning to the part, I[L] = 1 is detected.
. When I [L] = 1 is detected in step 5100, the step
Proceed to step 5102 and set the CH flag to "1"°
. Just by setting the CH flag, the switching operation will start immediately.
At this point, the reason why the robot does not perform the operation is to
There are pallets with the remaining number Z of zero on the stocker shelf at the unloading position.
There are parts on the pallet of the -1st process.
Since it exists, the stocker is used as a pull to the robot.
Advance the pallet for this next process to the unloading position and place it on the robot.
At that point, replace the
All you have to do is make a request. From Step 5102
Proceed to step 5104 and step 5 of the elevator mentioned above.
For the same reason as 212, is S [L] the maximum value?
In other words, the stocker shelf for the pallet with zero remaining pieces is
Check whether it is the last shelf in the stocker. If it is not the last shelf, proceed to step 3106 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
This is to preserve the original flat process number.
be. Then, step 3118 to step 5 described above.
In step S72, the process number is advanced.
Move the stocker to the shelf position for the next process. Step S
In 74, the CH flag is already set, so the
At step 576, an empty pallet and a new pallet are placed in the elevator.
Send a request to exchange with Rhett. At this point, if the elevator has already arrived at the replacement standby position with a new bar, the
Immediate palletization by the elevator, independent of the control of the
This should start replacing the parts. As previously mentioned
, prepare to replace the pallet when there is only one piece left.
In step 37B, the elevator
When requesting the elevator to be replaced, the elevator is already in use.
It is highly expected that the vehicle has arrived at the replacement location.
It is. See Figure 27E in this regard. After sending this replacement request to the elevator,
Control is performed to determine the remaining number of copies in steps 378 to S82.
The pallet for the next process is placed on the pull-out section 154.
Step 884~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 5218
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 3240 to step 82 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 5246, 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.
The remaining number of animals will be restored to the original number. Then, in step 398, CH
The flag is reset, and the same (I[P] is also reset. Then, proceed to step 5100-5 and step 3118.
Then, proceed to the next step L=L+1, and in step 5120,
... Middle step 3130 => 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 co − 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 5
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 tree 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 shelf* One method for improving efficiency is to replace the final shelf and
This is a change in the procedures. The stocker of the tree FAC system is
The total number of shelves is 20. Therefore, the palletization process is performed from top to bottom in order of process.
If the knife is placed on the shelf, there is a knife under the 20th shelf.
, 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
Until the pallet replacement is completed, step S16
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 8 in FIG.
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.
Pull-out position of Tokka (sliding plate of drawer part 154)
178). Replacement in this case
The standby position is 30Xs [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 above formula.
Calculate the machine position, move to the pull-out position, and step 8
At step 218, a replacement request from the stocker is awaited. 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
5104c=5 Proceed to step 8108 and move to stocker
In response, 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 the shelf positions S [L ko and S [L 11] are not consecutive,
The stocker moves up and down, making it difficult to change pallets.
It takes time. In such a case, in Figure 21B
As shown, when queuing the swap preparation instruction,
The robot's motion is never stopped. In the buffer,
Separate the pallets in preparation for one replacement.
and handed the separated pallet to the elevator.
The next replacement instruction that is immediately queued after
from the queue and perform the next pallet separation operation.
This is because it can be done. In addition, on the Kinomi style side, the cue
The number is set at 2, but you can increase it if necessary.
. *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
pallets to the separation position, and in step 5306
Separate that pallet. In step 8308, the element
In step 5310, 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, the day shift is carried out to the separation position and the step
5354, waiting for notification of completion of separation from the buffer.
Ru. When this notification is received, the buffer sets the counter.
Then, calculate the stocker shelf position from 5TP=TP [nl, move to that position during the day shift, and proceed to step S358.
Then push this pallet into the shelf. and step
At 3360, 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 required number of shelves for the pallets loaded on the rack and prepare for the next pallet.
Calculate the shelf number to insert the let. Step
5314, are there 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. [Margin below (description of modification) This invention is based on the structure of the above-mentioned embodiment.
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. Description of the first modified example First, in the buffer 22 of the embodiment described above, 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
Separation mechanism 64 is installed so that it can be taken in from 22.
separated from other pallets p in buffer 22 via
It is configured to do so. 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
p I + P 2 . A stage separating mechanism 25 that bundles p3 and separates them from each other.
It may be configured to include 0. *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 latched to the hinge part 3B in the vertical direction.
It is. Incidentally, in this first modification, the above-mentioned
In one embodiment, the buffer stand 52 is used for unmanned vehicles.
It is fixed at the same height position as the pallet mounting table 32 of 20.
There is. 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.
2). Furthermore, as shown in FIG. 32, each separation claw mounting plate 252 is
Air cylinder C91 is integrally attached to the center part.
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.
The upper end of the air cylinder C11+ attached to 252
is fixed to. Here, each air cylinder CDI is
, two tree input ends 260a, 260b, and one
The input end 260a of the cylinder is located above the piston 258.
The other input end 260b communicates with the piston 25.
It communicates with the cylinder chamber below 8. 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;
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 size of this switching valve 264 is
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.
each piston 258 is introduced into the cylinder chamber of the
” In other words, this high pressure air
is supplied to one input end 260a of the arc cylinder C91.
By doing so, as shown in FIG.
The space between the separation claw mounting plates 252 will be widened. On the other hand, in the switching valve 264, the other output end 264
This switching valve 264 is set so that pressurized air comes out from b.
When switched, this high pressure air is
Each air cylinder CDI is connected via the introduction vibe 262b.
is introduced into the cylinder chamber below the piston 258 of the
Piston 258 will be forced upwardly. paraphrase
This means that this high pressure air enters the other side of air cylinder C81.
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.
If p1, 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.
, 30mm. In other words, the third
From the state shown in Figure 3, one input end of each cylinder C8I
By supplying high pressure air to 260a, the piston
25B is pushed downward by 12mm and the separation claw is attached.
The arrangement pitch of the 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 CD2 is attached to drive forward and backward.
There is. The piston 268 of this air cylinder CD2 is
Something that is driven back and forth along a direction perpendicular to the conveyance direction d
The tip of this is connected to the corresponding separation claw 266.
It is. With the above configuration, high pressure is applied to air cylinder CD2.
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 C8
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 downward to the flange portion 38 of the corresponding pallet p1.
It becomes possible to hang from. *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 P+ are stacked on the buffer table 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 p1 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 described above, the remaining number is determined from the robot 12.
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 Description of Second Modified Example Next, in the elevator 26 of the above-mentioned example, the input
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 common servo motors M and 2,
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 86a
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 conveying direction d. stop
The first guide members 302a, 302b include a first guide member 302a, 302b.
The slide plate 304 can reciprocate along the conveying direction d.
Supported. 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. Also, this first ball 3
06 is rotationally driven by the first servo motor M1.
It is composed of In this way, the first servo motor
Due to the rotation of the rotating shaft of the motor M1, the first ball screw 30
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 108 and 116 are connected to each of the aforementioned parts.
Shaped on the flange part 38 of Let pHP21 p3...
The first cutout part 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,
without engaging the first or second hook 108, 116;
Pull/push according to the rotational drive of the servo motor M.
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 second guide member 3
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 pallets P I+ J'2 r Pa...
A second cut formed on the flange portion 38 of the unmanned vehicle 2o side
The cutout portion 38b is formed in a shape that can be engaged from both sides.
ing. 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 aforementioned 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 attached to the second notch portion 38b of the flange portion 38.
It will be driven back and forth to engage and disengage. 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, in this second modification, the actual
Drive source when replacing pallet p and empty pallet
A separate servo motor is used for the drive source when replacing p′.
Even if it is configured from the data M, , M2, the above-mentioned one
It is possible to achieve the same effect as the configuration of the embodiment.
be. 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. Description of Third Modified Example Next, in the elevator 26 of the above-mentioned example, the input
Three hooks 108° 116.126 on the switching mechanism 96
is provided 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 CEI for reciprocating the
is attached. This first air cylinder CEI
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 CEI, 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
The second hook 116 is connected to each pallet PHP21 described above.
Unmanned vehicle 20 formed on the flange portion 38 of p3...
A shape that can be engaged with the second notch 38b on the side from both sides.
It is formed in the shape of 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 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 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 CE4, the above-mentioned
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.
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 has been emptied after pulling in the stocker 24
It will be pushed out to the position. In this way, the series of pallet swapping operations is completed.
do. *Control* Using 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
With respect to buffers, the robot in step 326
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, step numbers are shown. pallet (shelf S [
(placed on Lol) becomes the remaining number Z [Lo] = 1.
At this point, the robot has the buffer, elevator
Instructs the controller to prepare for pallet replacement. This standard
The buffer that received the preparation instruction is the buffer of the basic embodiment described above.
Based on the part name etc. of the process LO (=DO) according to the
The replenishment pallet is placed on the opening of the buffer stand 52.
(see Figure 25A) and move the pallet to the separation position.
Separate at . On the other hand, after receiving instructions to prepare for replacement,
The shape elevator moves to its replacement standby position. The standby position is the process. Stocker S [Lo
] is the position. The elevator has arrived at this waiting position
When the stocker process is different, as shown in Figure 42B,
It will probably move on to step L'. After the process has completed one cycle,
The pallet of storage shelf S [Lo] is the robot's drawer stand 15
When it reaches the 4th position, the remaining number Z [Lo] becomes zero.
ing. Then, here is the stocker side of the empty pallet.
The pullout is performed from the side to the elevator side (Fig. 42C).
~Figure 42D). Elevator takes in empty pallet
Then, the elevator descends and places the empty pallet on top of the transport mechanism 76.
(Figure 42E). In this state, the elevator
data does not hold any palettes. 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 has finished, 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.
parts supply 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. Description of fourth modification *Configuration* Also, in the unloading mechanism 76 of the above-mentioned embodiment, the lower
The empty pallet p' separated from the descending elevator 26 is
It is kept in a stacked state, and when the number of stacked 16 stacks reaches a predetermined value, this unloading is carried out.
By driving the mechanism 76, the lower part of the buffer stand 52, that is, the empty
It will be carried out to a position adjacent to the empty pallet loading table of the passenger car 20.
In particular, this unloading mechanism 76 is configured to
It will now be set to a fixed state (impossible to move up and down).
Although described, this invention is limited to such a configuration.
43 to 44 as a fourth modification example.
As shown, the unloading mechanism is located below the elevator 26.
The part 76 is configured to be able to move up and down, and has a so-called lift mechanism.
It may be configured to include. 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 balance pillar 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
1, in the normal state, the piston 412 is pushed to the maximum amount.
It is held in the open position and high pressure air is supplied to it.
so as to pull up the piston 412 by
In other words, the amount of protrusion is reduced and the lift platform 406 is driven upward.
It is configured to move. 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 S3 are arranged vertically.
They are arranged side by side. These sensors 3+, S2, and S3 are connected to this lift platform 4.
Lifting of the top position of the empty pallet group p' placed on 06
There are three types of rising standby positions for the reasons stated 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
From the base depending on the height of P2' and P3'
This empty palette '91' + p2 '+ 9
The height to the bottom of 3' will vary. child
Therefore, the empty pallet held at the bottom of the elevator main body 86
p+ ′・P2 ′+ 93′ force (,
riff) ~ is released onto the empty pallet group p' on the platform 406
The lowering control of the elevator main body 86 at this time becomes complicated.
At the same time, how high should the lift platform 406 be raised?
It becomes difficult to judge whether In other words, the empty pallet P+ in the elevator 26
′+ 92 ′+ 93 ′ pulling operation is performed.
While the lift table 406 is being moved to a predetermined rising standby position
If the elevator body 86 is raised to
is performed in the shortest possible time, and subsequent actions are performed promptly.
That will happen. In this way, these sensors S+,
S2 and S3 simplify the descending control of the elevator main body 86.
The purpose is to reduce the downtime and reduce the descent time.
Then, the lift table 406 is stacked on top of the lift table 406.
Empty palette p1 ′+ P2 ′+ P3 ′
Depending on the height of the vehicle, keep it in the rising waiting position as much as possible.
It is set up for. 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+′
Set to be located a predetermined distance 11tL below from the
has been done. 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
, the height of the empty pallet p' held at the bottom of the rubeta main body 86.
is 50+nm, this empty palette P2
' from the height position of the lower surface by the predetermined distance fiL mentioned above.
It is set to be located at the bottom. Furthermore, the sensor S at the third height position is the sensor S
It is set to be located 50mm lower than 2.
Ru. That is, the third sensor S3 is connected to the elevator main body 86.
is at the lowest position, the lower part of the elevator main body 86
If the height of the empty pallet P' held at
In this case, the height position of the bottom surface of this empty pallet P3'
, the position is located below by the predetermined distance tilt L described above.
It is set as follows. Here, this predetermined distance 11iltL includes this interval.
In this state, the empty pallet p1' is removed from the elevator main body 86.
+P2'+p3' is placed on the lift stand 406.
When released on an empty pallet p′,
, this released empty palette p1'. P2 Z P3' is the empty pallet on the lift platform 406
is set at a small enough distance to be superimposed on p′.
ing. In this way, the elevator body 86 is supported on it.
empty palettes P+ ′, P2 ′, p3 ′
, on the empty pallet p' placed on the lift table 406.
When lifting, the lift stand 406 is placed on it in advance.
The top position of the empty pallet p' placed on the elevator body
The lowest position of 86 and the empty pallet P+ held there
'+92', corresponding to the height of p3'
It is brought to the raised standby position. As a result, the elevator
The main body 86 is simply moved downward to its lowest position.
This makes descending control easier and reduces descending time.
It will be done as soon as possible. *Control* 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 5108 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 OL to adjust its thickness.
Any of the three previously mentioned sensor S1 or S3 positions corresponding to
Wait until then to raise the lift platform 406. and step
At 3426, 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
This notification is stored in the stocker using step 5222 (Figure 26A).
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 8406.
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 be fine, the lowering control will be easier, and the lowering will be easier.
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 also be provided. In other words, the elevator body
Empty pallet p+ '+ pulled into the bottom of 86
To detect the respective heights of P2 ”+ ps ”,
For this purpose, although not shown, there is a
, the empty palette P+ ′r p2 drawn here
Sensor for detecting the height of '+93'
A group is provided, and the above H[L] and these sensors (not shown) are connected.
This is done by comparing and confirming the thickness type determined by detection. Also, the three sensors S1 to S3 can be omitted to one.
In such a case, the maximum height sensor
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 embodiment, the robot 12 has the necessary components.
The parts supply system 14 for supplying the necessary parts
Broadly speaking, parts are received and removed 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 due to no remaining number of parts.
is replaced with an actual pallet p full of corresponding parts.
The replacement position for the robot 12 is determined by the process
The position of the empty pallet at the unloading position in process L+1
It is a place. In other words, this replacement position is
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.
. Therefore, 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 drops.
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.
The side of the buffer stand 52 has a corresponding upright plate.
46a. 46b. This buffer stand 52 is positioned above it.
The pallet l-P placed directly on the fan table 52 is
Separate the pallets independently from the pallet group located above it.
A minute 5tst mechanism 454 is provided for this purpose. 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.
The screw receiver is provided with a portion 468. 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 MT has the above-mentioned bolt.
The upper end of the ring 464 is connected, and the rotation of this
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 two ends.
. These drive pulley 472 and driven pulley 474
A timing belt 476 is wound around the belt. child
The pair of ball screws 464 are synchronized with each other as shown in FIG.
It will be rotated and driven. In other words, both separation claw mounting plates
460, therefore, both separation claws 462 are at the same height as each other.
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
An air cylinder CTI is provided on the rear surface of each of the 460s.
It is. A piston (not shown) of this air cylinder CT+
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 bins 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 p stacked on the buffer table 52
From the group, the lowest pallet Lumi s, that is, the buffer stand 5
2 and then transferred to the stocker 24.
When separating pallet p8 which is supposed 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
It moves via motor M7. 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.
do. In this way, the second pallet from the bottom p. is raised together with nine groups of pallets stacked on top of it.
It will be done. In other words, the bottommost palette
2 from the bottom while leaving the top Pa on the buffer stand 52''2.
The pallet group p from the
It will be separated from pallet p2. Therefore, separation
In other words, the pallet p2 at the lowest position
The pallet p3 to be transported to the rack 24 during the day is transported in the transport direction d.
It is set so that it can be pulled out 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 has both ends connected to the rotation support member 488a,
488b and is rotatably supported.
ing. Here, this slide plate 484 is connected to a pair of rollers.
La 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. Furthermore, a first hook 490a is provided on this lower surface. Air cylinder CT for reciprocating each 490b
2 is attached. Piston of each air cylinder CT2
The hook 492 is connected to the first hook 490a, 490b described above.
It is sold as a glue. 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 like a day shift. On the other hand, the switching mechanism 480 has both first hooks 490a
, 490b, it was pulled in from the stocker 24.
Movable slide kite 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 bins 496a, 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 CT3 is equipped with 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 is configured to be biased to a retracted position between the two. 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 second hooks 50'Oa, 50
0b is the second part of the flange part 38 of the actual pallet p from both sides.
It is provided so that it can be engaged with the notch portion 38b of. here
So, the hooks 500a and 500b of plan 2 are slide plates.
Support stay 502a integrally connected to 484. 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 38.
It is biased to the loading position and high pressure air is supplied to it.
, the corresponding second hooks 500a, 500b are
, engages with the second notch 38b of the flange portion 38
It is configured to be biased to the 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* 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 as in the above-mentioned 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 reached τ.
(replacement request flag I[L] = 1), the
Temporarily stop supplying parts to the bot (i.e., move on to the next process)
(without proceeding), separation of palettes by buffers mentioned above
Move the E-lower frame 152 of the stocker to the 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 in the shelf position of the process from 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 5608, 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 elevating frame 152 of the tocker 24 up and down to remove 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. B
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 set to 1°'.
Check to see if there are any. If this flag is not set, step 36
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] reaches 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
] Rotate the motor M7 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 MT. 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 3656, the stocker needs to be replaced.
wait for instructions. On the other hand, the robot sets the 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 C13 to move the slide guide 494
bias a. Then, rotate a motor (not shown),
The first hooks 490a, 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 3660 and
inform the customer that the empty pallet has been removed.
the slider so that it knows and moves to the pushing position of the actual pallet.
Urges Tokka. 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 completion, 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 link 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 reaching this standby position, in step 3706
, 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 to step S662 b h).
Proceed to step 3662c and eject the empty pallet. That is,
Return the air cylinder CT3 and hang the empty pallet.
solve. In step 5662d, the lift mechanism 402
to notify. Upon receiving this notification, the lift mechanism 402
Proceed to step 5710 and lower the lift platform 406 to the floor level.
step 5712. At step 5714,
Empty pallets are stacked on the lift platform to the maximum height.
Perform an operation to check whether the Meanwhile, in step 5620, an empty pallet is pulled from the buffer.
The stocker that was waiting for the release 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 3662a
, in step 5664, 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 5666, the
Sends a replacement completion notification to the driver. Furthermore, step
At 3668, the motor M is reversed to guide the guide 46o. Pallet roller 54 lifted by 462
Return the air cylinder c7 to the top and 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 due to a request for replacement (zero pieces remaining).
, when there is only one item left in the pallet.
You may do so. Modifications of other embodiments In the configuration of the other embodiments described above, the buffer stand 52
The second 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
The pallet p1 placed directly on the buffer table 52
Therefore, it is always specified for the pallet p located at the lowest position.
Become. For this reason, the elevator as described in one embodiment
The motor 26 is no longer necessary, and a
The structure includes a separation mechanism 454 and a replacement mechanism 480.
It will be a good thing if you do it. However, the present invention is not limited to the configuration of the other embodiments described above.
Without being limited to, FIG. 51A shows the first example of another embodiment.
As shown as a modification example, on the buffer stand 52, any
It is configured to place various pallets p in an arbitrary order.
Also good. That is, as shown in FIG. 51A, the first variation of the other embodiment
In the example, as explained in the above-mentioned embodiment.
A buffer 22 having the same configuration is provided. Therefore, this
In the modified example 1, the buffer table 52 can be arbitrarily stacked.
The second pallet p in the buffer 22 is
At the separating claw 68, a predetermined pallet p is separated.
It becomes. On the other hand, in this first modification, this buffer 22
In this buffer 22, adjacent to the separation position of
Raise the separated pallet p to the same height as the separation position.
A hand for transporting the material to the stocker 24 that has been raised
Another aspect of the stage includes a transfer 550.
There is. 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, the position is kept in the same state as if it were fixed. That is, in this transfer 550, the elevator
The main body 86 serves as the transfer main body 552, and is supported by four wooden supports.
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 first modification, the above-mentioned and other
In this embodiment, buffer 450 is connected to swapping mechanism 48
0, it is independent from the buffer 22.
The transfer 550 is equipped with an exchange mechanism 96.
It can be said that it is configured as follows. As described above, by configuring this first modified example,
, pallets p are placed on the buffer table 52 in any order.
Regardless of whether the stocker 24
After separating the requested pallet p from the buffer 22,
via transfer 550 to the same height as the separation position
At the predetermined replacement position of the stocker 24 that has been raised,
It is now possible to replenish pallets p full of parts.
become. 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
Similar to the lift mechanism 402 described in the fourth first modification
The lift mechanism 402 is provided with a lift mechanism 402. 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
As explained in the first variant of
The exchange mechanism 96a and the empty pallet exchange mechanism 96b are independently operated.
It goes without saying that it is good to adopt a configuration that prepares for the situation. The control according to the first modification of this other embodiment is based on an empty pallet.
The replacement position of the tip is fixed, and movement to that position is
, due to the lack of an elevator, this was done by the stocker.
Therefore, its basic operation is shown in Fig. 50A described above.
This is similar to the control shown in . Also, the buffer is the sixth
The buffer is the same as the one shown in the figure.
The operation control on the front side is as shown in Figures 25A to 25C.
You can use your own program. Further, according to the other embodiments described above, the buffer stand 52 is
, this bag can be installed in a fixed vertical position.
This buffer stand 5 is positioned above the buffer stand 52.
Pallet p placed directly on top of 2 is placed above this.
Separation to separate independently from a group of pallets located in
The separation claw 462 of the mechanism 454 is provided to be movable up and down.
Therefore, an elevator as described in one embodiment
26 is no longer necessary, and it is installed separately near the buffer stand 52.
The system is configured to include a mechanism 454 and a replacement mechanism 480.
It is something that can be done. However, the present invention is not limited to the configuration of the other embodiments described above.
51B to 51F, etc., without being limited to
It may be configured as shown as a second modification of the embodiment.
stomach. That is, as shown in FIG. 51B, this second modification example
In this case, the top of the buffer table 52 is movable up and down.
The release claw 462 is fixed in the upper and lower positions, and
The structure 76 also has its vertical position fixed at the lowest position.
It is installed so that In detail, this buffer stand 52 is as shown in FIG. 51C.
uni, a pair of supports along the conveyance direction d on the opposite side in the figure.
44c, 44d so as to extend along the vertical direction on the inner surfaces.
is slidably attached to a guide member 506 attached to the
It is attached so that it can be moved up and down via the sliding block 508 that
I'm being kicked. In addition, the opposite side of this buffer stand 52 in the figure
It protrudes into the space between the pair of side supports 44c and 44d.
In this state, a protruding piece 510 is integrally formed. Then, connect the pair of supports 44c and 44d on the opposite side to each other.
At the center of the upper end of the connecting upright plate 46b is the above-mentioned bar.
Move the buffer stand 52 up and down along the guide member 506
A servo motor MT2 is provided for this purpose. This server
Bomotor MT2 has a rotating shaft that extends vertically.
This rotating shaft is located between the compatible pillars 44c and 44d.
A ball that is rotatably arranged and extends vertically.
It is connected to rotate the screw 512. On the other hand, the midway portion of this ball screw 512 has the aforementioned protrusion.
It is screwed into piece 510. In this way, the servo motor
The rotation of the rotary shaft of the motor M72 causes the ball screw 512 to rotate.
The buffer table 52 is rotated, and the buffer table 52 is moved up and down.
It becomes. Note that this servo motor MT2 has its rotational position, immediate
First, the engine for detecting the height position of the buffer stand 52 is
A coder 514 is attached. With the above configuration
, the buffer stand 52 can be moved up and down to any position.
It is coming. Here, regarding the separation mechanism, it is similar to the other embodiments described above.
The separation mechanism 454 that
A bar is attached to the upright plates 46a and 46b via a spacer 516.
Except that it is fixed above the buffer stand 52.
A similar configuration is adopted in this second variant.
ing. That is, in this second modification, the other implementations described above are
From the configuration of the example separation mechanism 454, the drive motor MT, guide
drive shaft 458, ball screw 464, support plate 466, ball
The screw receiver part 468, the stay 470, the drive pulley 472,
The driven pulley 474 and timing belt 476 were removed.
configuration has been adopted. In addition, regarding the exchange mechanism, it is adopted in other embodiments.
The structure substantially similar to the exchanging mechanism 480 used in the 51st
This is adopted as shown in Figures D to 51F. here
The difference from the exchange mechanism 480 of other embodiments is that
In this embodiment, as shown in FIG.
cT3 is fixed to each upright plate 46a, 46b.
Unlike the above, in this second modification, the 51st F.
As shown in the figure, this air cylinder cT3 has a buffer
These are fixed to both ends of the lower surface of the base 52.
. That is, in this second modification, the movable slide guide
Ids 494a and 494b move the buffer table 52 up and down.
It is configured to similarly move up and down accordingly. Second modification of another embodiment configured as above
Regarding the separation operation in the example, the separation operation in other embodiments is explained.
The change in the relative distance between the release claw 462 and the buffer stand 52 is
Unlike what was performed by the vertical movement of the release claw 462,
The vertical position of this separation claw 462 is fixed, and the buffer stand 5
2 moves up and down. In other words, the pallet placed directly on the buffer table 52
Pallets p group stacked above p are stacked from below.
A separation claw is provided directly below the flange portion 38 of the second pallet p.
462 enters and the buffer stand 52 subsequently descends.
As a result, the second or higher pallet from the bottom is attached to this separation claw 462.
The cut p group is to be latched and held in that position.
Ru. -On the other hand, it was placed directly on the buffer stand 52.
Only the lowest pallet p is separated and placed on its own.
will be placed. In this way, the buffer stand 52
The separation operation of pallet p above is completed. In addition, it is possible to replace pallets separated in this way.
In this case, there is a buffer stand at the exchange position of the stocker 24.
Pallets p placed on 52 and separated are arranged side by side.
Either the buffer stand 52 is lowered or the stocker
24 lift frame 1529nt - moves up and down, or both move up and down as appropriate.
I'm going to do it. The switching operation in the switching mechanism 480 is as follows:
It is executed in the same manner as the other embodiments described above. On the other hand, in the operation of carrying out the empty pallet p', the lifting frame 1
The empty pallet p' in 52 is placed in a bag that can be moved up and down.
Movable slide guide 49 provided on the lower side of the fan base 52
4a and 494b, and in this supported state, the bar
The buffer table 52 descends and discharges onto the unloading mechanism 76.
Therefore, it will be transferred onto this unloading mechanism 76.
Ru. Then, after this, the unloading mechanism 76 starts up.
The empty pallet p' is the empty pallet mounting table 34 of the unmanned person 2o.
It will be taken upstairs. In this way, the empty palette
The unloading operation of p' is completed. As detailed above, in this second embodiment as well, the above
As with the other embodiments described, no elevator is required.
This effect will be achieved. [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 simply attach the flange part 38 of this to the shelf plate from below.
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. Please 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 cutout portion 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 R
- Guide members attached to both upper and lower ends of the rear part of the lowering frame 152
Reciprocating motion along the vertical direction via 604a and 604b
possible. This lock rod 602 is reciprocated along the vertical direction.
Therefore, the air cylinder CR is attached to the air cylinder mounting plate.
606, and is fixed to the lower end of the rear part of the R-descending frame 152.
It is. The piston 608 of this air cylinder CR
The upper end is connected to the lower end of the above-mentioned Rotsu Chlorad 602.
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 lockpi
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 pin 610b is connected to the 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.
It is inserted into the locking hole 38 (1) of the top p, and as a result, all
The pallet p is secured to the shelf board 1 by this locking mechanism 600.
It will be locked in the supported position on 56. 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 person is taken out, the hook will ensure that the person is engaged.
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 CR.
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 shelves were moved to the drawer position of drawer section 154 during the day.
If the pallet is equipped with a lid 40, open the lid.
Drive air cylinder C$2 (Fig. 16) to 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 C52 (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 FAC) 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 customers and stockers.
,Therefore, in some form, there is no external connection 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.
What can be done is: ■: Because of supplying new pallets to Stotsuka, 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
, ■: Each time an empty pallet occurs in Stashka,
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 number of remaining pieces is zero by robot control
Step S36 or step 530 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 a 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 an existing palette on the fan table
buffer stop operation for loading and unloading mechanism 76
Includes an operation to move the empty palette that was previously stored to the buffer side.
It will be done. Therefore, the preparation and actual pallet replenishment of this pallet
At what stage should the let buffer be refilled?
, which 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.
An overview of the pallet replenishment system is shown below. F.A.C.
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 5770 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,
What the production control computer has in step 5752
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,
If the vehicle is unmanned, the unmanned vehicle will be launched immediately.
On top of the car are loaded the requested pallets taken from the warehouse.
We have a system in place so that we 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 3
755g At step 5756, - Perform 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 the
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 3762.
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 you receive an instruction to start replenishment preparation from the computer, the step
At step 5774, the preparation operation begins. This preparatory movement
Details of the operation are shown in Figure 55B. On the other hand, if F
The AC system discovers the need for replenishment preparation operation by itself.
If so, proceed to step 5776->step 8778.
, starts its preparatory operation. Once this preparation is complete
, in step 3780, 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 5782.
actual replenishment of pallets to the container, step 378.
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 you raise the platform, if it is separated at that point.
If the pallet is hung on the separation claw 68,
Release the latch, combine the separated pallets, and step
At 3846, the lowest pallet on the buffer table is
It is latched by the release claw 68. After this latching step 384
8, even if the buffer table is lowered, the pallet will not be separated as described above.
It will be hung on the claw 68, and the pallet will be placed on the buffer stand.
There is no cut. Then, in step 5850, the transport
The mechanism 76 is notified 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.
starts moving to the buffer side, and in step 8826,
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 5858, newly added
Receives information about the created pallets from the unmanned vehicle and
Step 8860 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 done 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. The input key is the r pallet replenishment key as shown in Figure 56B.
-1 and "r ready key". 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''. 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 3908.
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.
Input from the input/output device 18. Every time you perform these human efforts
In step 8918, 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 turns on the r ready key J.
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 stage to the pallet, step 39
At 26, start descending by this stroke and create a new pallet.
Combine the pallet with the existing pallet. And wood 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 four corners of the elevator main body 86 and elevator frame 152 are
movably supported, in other words supported from both sides.
It was explained that it is arranged so as to be able to slide in a state where it is closed. However, this invention is limited to this configuration.
For example, the elevator main body 86 and the elevator
Supported slidably on a pair of supports corresponding to the frame 152, in other words
Then, it can be slidably arranged with so-called cantilever support.
Needless to say, it may be configured. 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 I + 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. <Effects of Examples> The following effects can be obtained by the examples 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 parts and assembles them into a product.
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 connected to the next part to be supplied.
Corresponds to storage position or pull-out position of accommodated pallets
It may be necessary to perform the following three operations: move up and down until
Ru. 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 described 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. For this reason, the robot is
In order to supply pallets to the kit, (1) pallet p
Pull it out to the drawer section. (2) Robot drawer
Move up and down to the parts removal position by:
At the pick-up position, the robot picks up the parts.
(3) Pull out the drawer section and the pallet.
(4) Move the pallet up and down to the original position;
(5) Pull the drawer back into the feeder 24;
move the pallet up and down to the storage position where the parts are stored.
This requires the following five actions. 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-1: Improving the efficiency of supplying parts to robots A-1-■:
Pallet PIl with 3 different thicknesses p2. P3
, can be stored in any combination as long as the capacity of the stocker 24 allows.
It is possible. In this way, depending on the size of each part
For example, a deep palette p can be selected.
For example, it is necessary to accommodate more low-profile parts in a
, inefficient containment conditions will be 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 an XL function.
There is no cutout for moving this along the conveyance direction d.
It has a rib. Then, move this palette p.
When moving, engage the hook in the notch like this.
Runs through mechanically engaged state by letting
will be done. Therefore, the movement of this pallet p is
It will be executed reliably, and the stopping position will also be correct.
Precisely 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 causing any insult or shock 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 select or change what is stored in top p.
For example, parts can be changed from top to bottom according to the process order.
It can be accommodated in the form of one pallet/one 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
Various measures will be taken depending on the scale of the project. 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 remaining number of 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 a basic configuration to improve the efficiency of parts supply.
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, the parts were supplied to the robot 12, so it was empty.
While pulling out the pallets and transporting them,
From the buffer to the storage position emptied by the drawer,
By taking out and replacing the bullet, you can always
Achieving a state where no parts are lost in Tokka 24
There is. In particular, if part X is used up on a given pallet p,
The need to replace empty pallets (one remaining)
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
Even if the remaining number on pallet p is 7,
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
The replacement time is shortened and the robot 12 is prevented from stopping.
, or the effect of minimizing the time even if it is stopped.
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.
You can then move the panel to any height.
This means that the parts can be separated. 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 or buffer stand 5
If it is set at any height above 2,
, from among the pallets p stacked on the buffer stand 52.
, any palette will be selected and distributed. 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 a sensor 8o to accurately define the 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 change people,
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-■° A buffer 22 having a separation function of A-2;
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 the empty pallet in the rack 24.
There is a point. Examples of this matching include the following. A-2-■-1 = Stocker 24 has movement (vertical movement) 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
1- The shelf position of the empty pallet p' in the rack 24 matches
so that the stocker 24 itself is located adjacent to the separation position.
Leave it alone and move. In this way, the stocker 24 itself
People with empty pallets, as I go to pick up actual pallets.
nt&e time is set short so that the effect is achieved
become. A-2-■-2 Equipped with the separation function explained in A-2 above.
The buffer 22 is
Separation position of buffer 22 and replacement position in stocker 24
The separated pallets are transferred to the stocker by reciprocating up and down between the
In combination with the elevator 26 that carries 24
You can prepare. In this case, A-2-■-1
As explained, the stocker 24 receives the actual pallet by itself.
Since the receiver does not operate, the stocker 24
The operation of pulling out the pallet to the robot 12 is impaired.
The effect will be that there will be no more problems. A-2-02 A bar with 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-■ If the product is loaded on the buffer table,
By storing identification information about the
Replenishment from the buffer to the stocker becomes easy and reliable. That is,
, the order in which new palettes are needed from the buffer is
It has nothing to do with the order in which they are loaded on the buffer table.
It is. Therefore, when replenishing the buffer table with pallets,
gives the buffer the identity of each refilled pallet.
Become more agile and be conscious of the loading order of replenishment pallets.
This has the effect of eliminating the need for it. As a result, unmanned warehouses
The order in which replacement pallets are loaded onto unmanned vehicles is
Inadequate consideration was given to the order of replenishment and loading onto the buffer table, etc.
This will become the key to improving work efficiency. 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 actual pallets are loaded. A-3: Effect of swapping operation between empty pallet and real pallet
After preparing for rate replacement, the empty pallet p′ and the 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 separator for pallets stacked in arbitrary order.
a buffer 22 having a structure, the elevator 26
The above-mentioned effect can be achieved by the configuration including the exchanging mechanism 96.
results are achieved. A-3-■: Stacked in stocker 24 in any order
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 stacks in a predetermined order
Separates stacked pallets l-p at fixed separation positions
A buffer 22 is provided to store the data.
The configuration including the changing mechanism 480 provides the above-mentioned effects.
It is something that can be achieved. 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
Each time the effect of simplification is achieved. A-3-■-1-b: First and second hooks 108,1
The two hooks (16) are reciprocated by the first drive 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-■: The unloading mechanism 76 includes a 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 . A-4-■-1: This lift mechanism 402 is an elevator
If it is located below the main body 86, the elevator
Until the empty pallet p' is drawn into the main body 86,
This lift mechanism 402 rises to a predetermined position and waits.
Therefore, the descending time of the elevator main body 86
This allows you to set it to a shorter value. Do it like this
This reduces the time required to carry out the empty pallet p'.
The next exchange operation may be delayed by
and is avoided. 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 is equipped with an exchange 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
l+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 pl 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 P+', 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, sensors 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 S, , S2゜S3 is
field used to define the raised position of the lifting mechanism 402.
In this case, the lift body 86 is further provided below the elevator main body 86.
If the lift mechanism 402 is provided, this sensor
S, , S2゜S3 are at the lowest position of the elevator main body 86
Then, in order to pick up the empty pallet p', the lift mechanism 4
By specifying the upper Z-position of 02, the elevator
In order to transfer the empty pallet p' from the main body 86 to the unloading mechanism 76.
The descending time of the elevator main body 86 required for
It will be. In this way, empty pallet p' is transported.
The time required to pass through the output mechanism 76 is shortened, and the next input is possible.
The effect of reducing the possibility of delaying the switching operation is achieved.
That will happen. A-5. Effects of covering the pallet with the lid 40
: 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 4o 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, the pallet
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-■: This lid body 4o is removed from the 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.
Engage with the side edge of the body 4o from below and move the lid body 4o upward.
I try to lift it up. lifting arm like this
160 linear movement requires only one drive source.
This reduces lifting operation time.
At the same time, we have achieved the effect of achieving lower costs.
It is something to play. 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.
It is configured in such a way that it does not insult or inhibit movement.
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 pallet p receives the moving force along the conveyance direction,
Since it is locked by the locking mechanism 600, each pallet
The kit p is securely placed in the predetermined position on the corresponding shelf board 156.
It will be locked. 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
Ensure that the pull-in operation is executed when
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.
Arrayed (S [G]). Thus, process → shelf
The relationship of location → pallet → parts is clarified. Therefore, simply converting this array changes the process and only
Even if the process changes, the location of the shelf where pallets are stored can be changed.
is not necessary. Also, there is no need to change the control program.
There is an effect. 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: Effect of increasing the efficiency of replenishing the FAC from the outside Water FAC system
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 wood FAC system handles the process of parts supply and the part performance of parts.
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. [Effect of the invention] As detailed above, the article supply device according to the present invention has the following advantages:
, after receiving replenishment of storage boxes containing goods from outside,
To temporarily store multiple storage boxes in a stacked state.
and temporary storage means for supplying the goods to the supplied section.
storage means for storing the temporary storage box;
The means is provided to be movable up and down, and the plurality of storage boxes are arranged in stages.
The table on which the stack is placed and the area above the table.
It is placed in a fixed vertical position, and on this table.
A separation hand that separates directly placed storage boxes from other storage boxes.
a stage, an empty storage box in the storage means and the one
and storage boxes separated by separation means in the storage means.
The special feature is that it is equipped with a replacement means for replacing the
It is a sign. Therefore, according to the present invention, reduction in work efficiency can be prevented.
Thus, an article supplying device capable of handling the following items will be provided.

[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 Figure 4 is a front view showing the shape of the pallet with three different heights; Figure 5 is a cross-sectional view showing how the pallets are stacked; Figure 6 7A to 7D are front views sequentially showing the separation operation of a predetermined pallet pa in the buffer; FIGS. 8A to 8E are position correction operations in the buffer separation operation. Fig. 9 is a perspective view showing the configuration of the elevator; Fig. 10 is a side view showing the elevator main body together with the replacement mechanism; Fig. 11 shows the elevator main body partially cut away, and shows the replacement mechanism. FIG. 3 is a front view showing the structure of the 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 a perspective view showing the structure of the stocker; Figure 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 lifted state; FIGS. 17A to 17E are A diagram illustrating changes in the movement of the stocker, etc.: Figure 18 is a diagram showing 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: A diagram showing the input menu to the human power device and its display state; FIG. 20 is a diagram explaining teaching of each shelf position of the stocker; FIG. 21A is a diagram explaining variables commonly used in 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; Figures 23A and 23B are the lohot control program 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 is a buffer control Figures 25B and 25C are flowcharts of the buffer control program; Figures 26A and 26B are flowcharts of the elevator control program; Figures 27A to 27G are FIG. 28 is a diagram illustrating stacking of empty pallets on the transport mechanism; FIG. 29 is a flowchart of control for setting the system to an initial operating state. FIG. 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 step-opening diagram shown in FIG. 31 33 is a front view showing a state in which the arrangement pitch of separation claws in the mechanism shown in FIG. 31 is set to the minimum; FIG. Figures: Fig. 34 is a side view showing the structure of the step separating mechanism; Fig. 35 is a perspective view schematically showing the structure of the elevator according to the second modification; Fig. 36 is the structure of the elevator shown in Fig. 35; A bottom view showing the configuration of the actual pallet exchange mechanism; Figure 37 is the third
Figure 38 is a bottom view showing the configuration of the empty pallet exchange mechanism shown in Figure 35; Figure 39 is a 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 sensor; 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 buffer 50A and 50B are both flowcharts of a control program according to another embodiment; FIGS. 50C and 5
0D is a diagram showing the sequence of the pallet exchanging operation in another embodiment; FIG. 51A is a perspective view schematically showing the configuration of the first modification of the other embodiment; FIG. Second example in another embodiment of the invention
Figure 51C is a perspective view schematically showing the overall configuration of the FAC system in the modified example; Figure 51D is a buffer in the second modified example; FIG. 51E is a bottom view showing the state of the lower surface of the buffer stand shown in FIG. 51D; FIG. 51F is a side view showing the structure of the exchange mechanism provided on the buffer stand; Fig. 52 is a perspective view showing a case in which locking holes are formed on the lower surface of the flange portion of the pallet; Fig. 53 is a front view showing the configuration of a locking mechanism for locking the supporting position of the pallet in the stocker; 54 is a side view of the locking mechanism shown in FIG. 53; FIGS. 55A and 55B are flowcharts showing a control program for replenishing pallets into the buffer via an unmanned vehicle; FIGS. 56A and 56B 156c is a diagram showing an input display in an operation related to manually replenishing a pallet to a buffer; and FIG. 156c is a diagram showing a sequence of operations related to manually replenishing a pallet to a buffer. 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 roller, pallet P (PIIP21P3...) related 36...
Pallet body, 38...flange part, 38a...first notch part, 38b...second notch part, 38
c...Third notch, 40...Lid, X (X
1+ X 21 X 3...)...Parts, B...
- Barcode, buffer 22 related 42... Base, 44 a to 44 d... Support, 46 a; 46 b... Upright plate, 48... Guide member, 50... Sliding member, 52...・・Buffer stand, 52a
...Protruding piece, 54... Carrying-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 lot, 72... Connection plate, 74... Barcode league, 76... Carrying out mechanism, 7B... Carrying out roller, 80... Sensor, B... Barcode, CIll
: Cn2...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 pin, 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: CE4...Air cylinder, M, 1...
Servo motor, Mo2... Servo motor, stocker 24 related 142... Base, 144 a to 144 d-support, 146... Connection frame, 148... Guide member, 15
0...Sliding member, 152...Elevating frame, 154...
Drawer part, 156...Shelf board, 158...Notch part, 160...Lifting arm, 160a...Body part, 160b...Top surface, 160C...Protrusion part, 16
2...Protruding piece, 164...Ball screw, 166...
・Encoder, 168...Drawer stand, 170...
Lid opening mechanism, 172... Insertion/removal mechanism, 174...
- 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... Followed roller, 198... Stay, 20
0... Drive shaft, 202... Drive roller, 204...
・Endless belt, 206...Piston, 208a
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, C8I:C92...Air cylinder, M
S... Servo motor, MS2... Servo motor,
First modification relationship 250... Tier separating mechanism, 252... Separation claw mounting plate, 254 a; 254 b-- Guide shaft, 256
a; 256b... Fixture, 258... Piston,
260a; 260b...input end, 262a;
262b; 262c-introduction vibe, 264a
; 264 b -26! Output end, 264C...Input end, 266...Separation claw,
268... Piston, CD1; CD2... Air cylinder, Second modification relationship 86a... Upper 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...Elevator, 302a; 302b
... first guide member, 304 ... first slide plate, 306 ... first ball shaft, 308 ... protrusion, 310a; 310b ... first rotation support member, 3
16...Fixed slide guide, 322aH322b・
... second guide member, 324 ... second slide plate, 326 ... second ball shaft, 328 ... protrusion,
330aH330b...second rotation support member, 332
... hook member, 334 ... second piston, 33
6... Movable slide guide, 338... Slide member, 340... Third piston, C1; C2; C3.
... Air cylinder, Ml; M2 ... Servo motor, Third modification relation 350 ... Replacement mechanism, 352 ... Movable slide guide, 354 ... Slide guide, 356 ... Fourth piston , Fourth modification relationship 400... fixed conveyance mechanism, 402... lift mechanism,
404...Sliding member, 406...Lift stand, 408
... Projection piece, 410... Air cylinder mounting member, 412... Piston, 414... Sensor mounting member, St; S2; S3... Sensor,
Tomb Δ Kyohu ■ 450...Buffer, 452...Spacer block, 454...Separation mechanism, 456...Mounting parts,
458... Guide shaft, 460... Separation claw mounting plate, 4
62...Separation claw, 464...Ball catch, 468.
...Ball catch is part, 470...stay, 472.
... Drive pulley, 474... Driven pulley, 476...
・Timing belt, 480... Replacement mechanism, 48
2a; 482b... Guide shaft, 484... Slide plate, 484 a: 484 b...-Roller, 48
4 c - Threaded part, 486 - Ball screw, 488
a; 488 b One rotation support member, 490a;
490b...first hook, 492-...piston,
494 a; 494 b =- movable slide guide, 496 a; 496 b... guide pin, 498...
- Piston, 500a; 500b - Second hook, 502a; 502b...Support stay, 504.
...Piston, first modification relation 550 of other embodiments...transfer, 552...transfer body, second modification relation 506 of other embodiments...guide member, 508... sliding block,
510...Protruding piece, 512...Ball screw, 514
... Encoder, 516 ... Spacer, other relations 38d ... Locking hole formed on the lower surface of the flange portion 38 of the pallet, 600 ... Locking mechanism, 602 ...
・Lock rod, 604a: 604b...Guide member, 606...Air cylinder mounting plate, 608...
・Piston, 610...Lock member, 610a...
Mounting piece 610b...lock bin, OR...air cylinder. "River" ME2 Figure 10 Figure 11 Figure 13A Figure 3E Town, 3B Figure 116 d108. 26. 229〒gate■■
] ri 13F figure 19B figure 19C figure 20 e figure 27E figure 27F figure 32 figure 33 figure bundle jΦ 36 figure 37 figure 38 figure 39 figure E2 42A figure 42B figure 42C figure Fig. 42D Fig. 42E Fig. f Fig. 42F +78 156 156 Fig. 42G Fig. 42H Fig. 48 Fig. 51C and Fig. 51D Fig. 5 Old Fig. 51F Fig. 52 Fig. 53 Fig. 55A Fig. FAC I rule Fig. 56A Figure 568 Figure 56C

Claims (4)

[Claims] (1) Temporary storage means for receiving replenishment of storage boxes containing goods from the outside and temporarily storing multiple storage boxes in a stacked state, and for supplying goods to the supplied section. , storage means for storing the storage boxes, and the temporary storage means is provided with a table that is movable up and down and on which the plurality of storage boxes are placed in a stacked state, and a table above the table. , separating means arranged with the vertical position fixed and separating the storage box placed directly on the stand from other storage boxes, and separating the empty storage box in the storage means and the temporary storage box. 1. An article supplying device comprising: exchanging means for exchanging the storage boxes separated by the separating means in the storage means. (2) The storage means is provided so as to be able to reciprocate between a supply position for supplying the article to the supplied section and a position adjacent to the separation position in the temporary storage means, and when replaced by the replacement means. 2. The article feeding device according to claim 1, wherein: is moved to a position adjacent to the separation position. (3) the exchanging means is disposed above the table;
a first storage box transfer means for transferring the separated storage boxes to the storage means; and a second storage box transfer means disposed below the stand and for pulling out the empty storage boxes in the storage means. An article supplying apparatus according to claim 1, characterized in that the article supplying apparatus is equipped with: (4) A carry-out mechanism is provided below the platform for carrying out the empty storage boxes transferred from the storage means by the second storage box transfer means, and this carry-out mechanism is configured to transport the empty storage boxes into stages. 4. The article supplying apparatus according to claim 3, further comprising an unloading table on which the goods are stacked and whose position in the vertical direction is fixed.