JPH01121136A - Parts feeder - Google Patents

Abstract

PURPOSE:To surely prevent the dislocation of a housing and the pollution of part in this housing from occurring by locking each housing mounted on multiple racks of a stocker at the time of moving a feeding means, and removing a cover body advance of delivery operation. CONSTITUTION:Each pallet being mounted on multiple rack plates 156 of a lifting frame 152 of a stocker 24 and housing each of different parts goes up or down with a ball screw 164 according to a command, and each corresponding pallet is opposed to a delivery mechanism 172. At this time, a cover of the pallet is removed by a cover opener mechanism. Then, a pair of hooks 186 of the delivery mechanism 172 are situated at a backward position by an endless belt 192, engaged with a flange groove of the pallet by operation of an air cylinder CS1, drawn out onto a drawer part 154 by travel of the belt 192, and parts are fed onto an assembly block by a robot. Afterward, the pallet is put back onto the rack plate 156 by reverse rotation of the belt 192, and closed again by a cover body. Thus, any dislocation in a housing and pollution due to dust or the like of storage parts are surely 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 device, patent application No. 61-2009'49
No. 61-200950. These conventional article supply devices adopt a non-line method, and when combined with a multifunctional work mechanism such as a robot, they occupy a small area and can be used for many different types of articles. It is an easy-to-use device that allows mixed storage of items. [Problems to be Solved by the Invention] Here, in the conventional article supply device as described above, a storage box containing articles is supplied to an assembly line or an assembly stage, and the robot The apparatus is configured to take out articles from a stored storage box and assemble them. However, the top surface of the storage box is open so as not to interfere with the robot's work to take out the articles when the articles are supplied to the robot. For this reason, there is a risk that the components accommodated in the storage box may become contaminated with dust or the like while they are stored in the storage means. Particularly when the article is an optical component, such contamination due to dust must be avoided as much as possible. This invention has been made in view of the above-mentioned problems, and an object of the invention is to avoid a decrease in work efficiency, and to
It is an object of the present invention to provide an article feeding device that can reliably prevent dirt from dust on articles in a housing box without causing displacement of the housing box. [Means for Solving the Problems and Their Effects] In order to solve the above-mentioned problems and achieve the purpose, an article supply device according to the present invention has an article feeding device in which articles are housed inside and the inside can be opened by a lid body. a supply means that is provided with a plurality of storage shelves on which storage boxes that have been closed can be placed so as to be able to be carried out and carried in along one direction, and that is movable along a direction that intersects with the one direction; and the storage shelf. locking means for locking the storage boxes placed thereon in their respective placement positions when the supply means is moved; and removal for removing the lid from the storage box to be carried out prior to the carrying out operation. It is characterized by having the means. [Embodiment 1] Below, the configuration of an embodiment according to 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 configuration) 10 (Explanation of unmanned vehicle) 11 (Explanation of pallet) 13 (Explanation of buffer) 17 (Operation of buffer) 24 (Explanation of elevator) 37 Configuration of elevator body 37 Configuration of exchange mechanism 40 - Taking in from buffer - 49 - Pulling in empty pallet - 51 - Pushing out pallet - 54 - Taking out empty pallet - 55 (Description of stocker) 57 (Description of robot) 71 (Operation of system) 78 Control unit configuration〉78 Human power in assembly environment〉80〈Variable factors for efficiency of parts supply〉87〈Other display elements〉93〈Variables used for control〉94〈Vertical movement range of each module〉95 Pallet exchange operation overview〉98 (Detailed explanation of each module control)〉 10゜

[Robot and stocker control] 100 Until the remaining number becomes 1 103 When the remaining number becomes 1
111 [Pallet replacement] 113
*Palette molecule lJl by Batsuhua* 113*
Pallet drawer by elevator * 117 * Elevator exchange standby position * 12° * B movement to standby position *
126*Detection of 0 remaining pieces*
128 *Pallet replacement* 129
*Stacking empty pallets* 135 *Replacing the final shelf* 136

[Quiet and ng of replacement preparation instructions] 139

[Initial operating state determination] -1
40 (Description of modification) 143 First modification
Explanation of example - 143* Structure of step separating mechanism
* 144 * Operation of step separating mechanism *
149 Explanation of second modification 152*E
Explanation of the elevator * 152 Theory of the third modification
Akira 160 *Explanation of the exchange mechanism*
160*control* 164
Explanation of the fourth modification 167*Configuration*
167*control*
174 [Other Examples
179*Composition* 1
79*Control* 191 Grave Husband
Family Seal Ben Mengetsu 1 199 [Others]
204〈Pare in the stocker
204 (Parts replenishment for FAC) 2
09-3 *Replenishment by unmanned vehicle* -212 *Replenishment by hand* 218 [Example
Effects] 223 (Schematic configuration) Previously, flexible assembly of this embodiment
・About the outline of the Center (hereinafter referred to as FAC) 10
, will be explained with reference to FIGS. 1 and 2. This FACIO has multiple parts X I + X2 +x
3 Automatic assembly to automatically assemble a predetermined product from...
Standing device C will hereinafter be simply referred to as a robot. )12 and this lo
Parts X l required for the bot 12 according to the assembly order
, X2 + X3... parts supply automatically
system 14, this robot 12 and parts supply system
is connected to the system 14 to effect the assembly operation in the robot 12.
Control to drive and control both so that they can be executed efficiently
unit 16 and is connected to this control unit 16 and operated.
Input/output device 18 into which assembly information data is input by the author
It has roughly the following. This parts supply system 14 is a private warehouse (not shown).
Various parts stored in xl + x2 + x3・
... via a plurality of unmanned vehicles 20 (shown in FIG. 1).
Configured to receive transportation. In other words, this part supply
The supply system 14 supplies parts xl + x2 from the unmanned vehicle 20.
＋
A buffer 22 serving as storage means and a buffer 22 adjacent to the robot 12
The robot 12 is equipped with parts necessary for assembly.
Stocker as a storage means for supplying items sequentially according to the order in which they are placed
24, disposed between this buffer 22 and stocker 24
Part X that was in short supply in the stocker 24
+ * X 2 +x3... is stored from the buffer 22.
Elevator as one mode of transfer means for transferring to car 24
Basically, it is equipped with a data 26. (Description of unmanned vehicle) This unmanned vehicle 20 has many parts X stored in an unmanned warehouse.
This robot 12 is selected from +, X2, X3...
Parts XI + x2 +X, ・
... selectively transported to the buffer 22.
There is. That is, each unmanned vehicle 20, as schematically shown in FIG.
, a casing 28 formed into a rectangular parallelepiped shape from a frame, and this casing.
Wheels 30 attached to the lower surface of 28 and this housing 28
and a pallet mounting table 32 attached to the top surface of the
There is. This wheel 30 is rotated by a drive mechanism (not shown).
It is configured to be driven. Moreover, each unmanned vehicle 20 is located between the unmanned warehouse and the buffer 22.
The wheels 30 are moved along a running path previously provided on the road surface.
The driving condition is as follows.
, is optimally controlled by the production control computer described later.
ing. In addition, the parts X l transported to the buffer 22
+ X2 + x,... selection and each unmanned vehicle 2
The placing operation on the IIJ control unit 16 described above also
more optimally controlled. Also, on the pallet mounting table 32 mentioned above, there is a package to be described later.
Let pHp21P3... is inside the part X l +
Multiple product with each containing X2 + xs...
It is looked up to. On the other hand, there is an empty space on the bottom of the housing.
Palette t-P+ ′+ P2 ′+ p3
′... are placed in a stacked state.
An empty pallet mounting table 34 is provided at the top. In addition, in the following explanation, when the palette is shown as a representative
is simply represented as 'PJ, without any subscript, and also as an empty pad.
When indicating a representative let, simply use it without a subscript.
It will be expressed as "p'". Here, the parts placed on the pallet mounting table 32 are
Pallet p1 containing item XI + 2 + x3...
+ p2 * p3...
A roller 32a is provided. Also, empty pallets can be placed
On the stand 34, there is an empty pallet p1”+ placed here.
In order to import p2 ”+ 93 ′...
, carry-in rollers 34a are provided. These are taken out
The roller 32a and the 1 liter roller 34a are driven by a driver (not shown).
It is configured to be rotationally driven by a dynamic motor. (Description of Pallet) The configuration of the pallet is as follows: Each part XI, X2. X3... corresponds to each
Palette P1. It is housed within p21P3...
, this palette p+ P2 + P3... respectively.
In the accommodated state, it is placed on the unmanned vehicle 20, and the barafa 2
Once stored in the stocker 2, it is transferred to the stocker 2 via the elevator 26.
4 and provided to the robot 12.
It is configured. That is, each pallet PIIP21P3・
... has parts of the same type X H + X 2 + X
3... are housed in each case, as shown in Figure 3.
As shown, the corresponding parts x+ l ×21 X3...
is housed so that it can be inserted and removed vertically, and the top is open.
The released pallet body 36 and this pallet body 36
Palette P + + P 21 P 3... less
Both edges extend outward on both sides along the conveyance direction d.
It is integrally provided with a molded flange portion 38. still,
As is clear from the shape shown, this flange portion 38 is
, the actual shape is around the entire circumference of the pallet body 36.
It is formed by In addition, each pallet body 3
6 includes a lid body 4 to releasably close the top surface of the lid body 4.
0 is placed. Each flange portion 38 is located at both ends as shown in the figure.
In this state, the first and second notches 38a and 38b
However, the third notch is also located in the center.
38c are formed respectively. Here, the first and
The second notches 38a and 38b are, as described later,
Palette pIl p21P3... from buffer 22
In order to take it out to the elevator 26, the stocker 24 or
to the robot 12 or elevator 26
It is set up for the purpose of On the other hand, the third notch in the center
38c lifts the lid body 40 upward and removes the stocker 24.
The top of the pallet main body 36 stored in the
In the released state, it can be taken out to the side robot 12 side.
It is provided so that the lifting body described later can pass through.
It is being Note that each of the first and second notches 38a. 38b is composed of a concave portion formed in a planar substantially isosceles trapezoidal shape.
so that the shorter base defines the bottom of the recess.
It is formed. That is, this lid body 40 is assembled by the robot 12 as part xI +
The final step, which deals with x2-X3...
In other words, palette P+ + P2, p3...
It is moved to the drawer standby position described later in the stocker 24.
on the corresponding palette PIIP21p3... until
It is covered to cover the surface opening, and part XI +
X2 + X3... may be contaminated by dust etc.
is prevented. The dimensions of the pallets are pIIP21P! ... is Fig. 4
As shown in the figure, depending on the size of the parts to be accommodated,
The thickness is 25mm, 50mm, 100mm
3 fffi is set. Here, the following theory
In Ming, for the sake of simplicity, part X! is 25mm thick
The maximum number of pieces is set to 54 for pallet P+ with
In this state, the part x2 is placed on a pallet with a thickness of 50 mm.
With the maximum number set to 38 on p2,
Part X is placed on pallet p3 having a thickness of 100 mm.
With the large number set to 13, each is accommodated.
shall be In addition, each palette Pl', 'P2, p3...
, the thickness of the flange portion 38 is a common 12 mm.
is set to . In addition, on the inner peripheral edge of each pallet body 36,
As shown in Figure 5, the pallets are stacked directly above each other.
The lower part of the kit body 36 (indicated by the broken line in the figure) is fitted.
, four parts 36a for preventing mutual lateral positional displacement.
is formed all around. Here, this recess 3
The depth of 6a is set to 7 mm. Do it like this
For example, three types of pallets pHP21 p3 are 1
When stacked one by one, the height of this stack is
, set to 25+50+10O-7X2-161mm
That will happen. In addition, each pallet P+ + p21 P3...
As shown in FIG.
Let P+ + P2 + p3... accommodated inside
The type and number of parts XI + x2 + X3...
information, and barcode B indicating pallet height information is drawn.
It's dark. (Description of buffer) Next, the unmanned vehicle 20 configured as described above is loaded on a pallet.
The package containing parts XI, X2, X3... from the mounting table 32
In response to Let P I + P2 + p3..., -
At the same time, the empty pallet PI '+ P2
′+p3 ′... to the unmanned vehicle 20
The buffer 22 will be explained with reference to FIG. Structure of Buffer Stand This buffer 22 is a base fixed on a base (not shown).
A stand 42 and pillars 4 erected at each of the four corners of this base 42
4a, 44b, 44c, 44d and pallet pHP21
A pair of supports 44a, 4 along the conveyance direction d of p3...
4b; hang on the inner surface of each of 44c and 44d in an upright position.
It is provided with upright plates 46a and 46b that are passed over each other. each
Each of the opposing surfaces of the upright plates 46a and 46b
A guide member 48 is fixed along the upright side edge.
Ru. Each guide member 48 is provided with a
These four slide members 50 are movably attached.
With each of the four corners supported by the sliding member 50,
A support stand 52 is attached. This buffer stand 52 is a component from the aforementioned unmanned vehicle 20.
Palette pHP2. containing X+, X2', X3...
p3... is placed on this buffer stand 5.
2, the parts to be placed here are X I + X2
Palettes P+ and 'P2 containing +X3... A group of carry-in rollers for receiving p3... from the unmanned vehicle 20
54 is rotatably supported at both ends by roller guides 56.
It is placed in the condition. Note that these carry-in rollers 54 are
It is configured to be rotationally driven by a drive motor (not shown).
has been completed. On the other hand, both guides of the upright plate 46b on the opposite side in FIG.
In the portion sandwiched between the side members 48, there is a portion extending in the vertical direction.
In this state, a slit 58 is formed. this slit
The buffer stand 52 mentioned above is in a state of protruding into the inside of the
, a protruding piece 52a is integrally formed. Here, this buffer stand 52 is used for the pallet placed on it.
Kit group PlIP2. I will explain later from P3...
uni, the remaining number of parts X in the stocker 24 is 1.
In order to replenish the missing palette p, I will replace it with this one.
can be moved up and down in order to separate a predetermined pallet p.
It is configured. That is, the pair of support columns 4 to which the opposite upright piece 46b is attached
Between the upper ends of 4c and 44d is the buffer stand 52 mentioned above.
A servo motor for vertically moving the
Data M8 is provided. This servo motor MB is
It is equipped with a rotating shaft that extends along the vertical direction.
The rotating shaft is rotatably arranged between the two branches 44c and 44d.
, rotationally drives a ball screw 60 extending along the vertical direction.
As in, connected. On the other hand, this ball screw 6
0 is screwed into the aforementioned protruding piece 52a. In this way, due to the rotation of the rotating shaft of the servo motor M,
As a result, the ball screw 60 is rotationally driven, and the buffer is rotated.
The stand 52 will be moved up and down. Note that this servo motor MB has its rotational position, that is,
, an encoder for detecting the height position of the buffer stand 52.
A carder 62 is attached. With the above configuration of the separation mechanism, the buffer stand 52 can be moved to any height position.
It can move up and down, but as mentioned above,
The pallet group PI+ P 21 placed on top of this
To separate a specific palette p from P3...
Additionally, this buffer 22 is equipped with a separation mechanism 64. This amount Mmas4 is placed at the upper end of each standing plate 46a, 46b.
A pair of first separation claws 66 provided, and these first separation claws 66,
A pair of third teeth are disposed a predetermined distance below the release claw 66.
2 separation claws 68. In addition, the re-erecting plate 46a,
The first and second separation claws 66, 68 in 46b are the same.
It is set at one height. Here, each of the first and second separation claws 66 and 68 is a bar.
Pallet group PI stacked on buffer stand 52
- From both sides to the flange part 38 of P2 + P3...
It is provided so that it can be hung. In other words, each upright board 46
a, 46b provided on the first and second separation claws 6'6.
68 is a stack of pallets on the buffer table 52.
The group pr. The flange portions 38 of P21P3... are hung from below.
a protruding position and a pull apart from these flange portions 38.
It is provided so that it can reciprocate between the closed position and the closed position. That is, the multiple pairs of first separating claws 66 are connected to the corresponding upright plates 46.
The support rod 70 that protrudes from a and 46b and reaches the back surface is integrated.
We are preparing for Both support rods 7° are the upright plates 46a, 4
6b through the connection plate 72 as shown in the figure.
and are connected together. Then, on this connection plate 72
is a first air supply for reciprocating the first separation claw 66.
-Cylinder CB+ is connected. In this way,
In response to the drive of this first air cylinder CBI, the first
The separation claw 66 reciprocates between the protruding position and the retracted position.
It will be driven. On the other hand, regarding the second separation claw 68, a second separation claw 68 is used as a driving source.
The first separation is equipped with an air cylinder CB2.
Since it is the same as the configuration for driving the pawl 66, its explanation is as follows.
omitted. Note that the first separation claw 66 and the second separation claw 68 described above are different from each other.
The distance between pallets f)+, p2. p3's
110, which is slightly longer than the maximum height of 100mm inside.
It is set to mm. In addition, the package in a state of being latched to the first separating claw 66 described above is also
On the side of the palette p, there is a bar code drawn on this palette p.
A barcode reader 74 is provided to read code B.
has been done. This barcode reader 74 has a well-known configuration.
Therefore, its explanation will be omitted. Here, on the base 42, the lower position of the elevator 2nd (
In other words, it extends to a position adjacent to the stocker 24).
A carry-out mechanism 76 is provided. This unloading mechanism 76
is the empty pallet P+ in the stocker 24
′+ P2 ′+ p3 ′..., as described above
It is installed to carry out the empty pallet to the loading platform 34 of the passenger car 20.
It is constructed of a plurality of unloading rollers 78.
Ru. These delivery rollers 78 are driven by a drive motor (not shown).
It is configured to be driven more rotationally. Note that the height position of this unloading mechanism 76 is determined based on the empty position of the unmanned vehicle 20.
It is set to take the same height position as the lettuce mounting table 34.
In addition, the standby position of the buffer stand 52 is
The height position of the pallet mounting table 32 is set to be the same as that of 0.
There is. (Operation of buffer) Configuration of buffer 22 equipped with separation mechanism 64 as described above for basic separation operation
, the pallet group p placed on the buffer stand 52
＋ ＋P2 ＋P3..., select the rotor described later.
Based on a request from the bot 12, a predetermined pallet Pa is
Regarding the operation when separating, Figures 7A to 7D are shown.
Refer to and explain. First, as shown in FIG. 7A, on the buffer stand 52,
A total of 12 pallets are shown below. p2 1 P 3 1 P+ ・p 2
・ p 3 ・ P+ ・ p 2 ・ P3 ,
They are placed in the order of P+, P2'l p3
Assume that In addition, on this buffer stand 52, there is a height
Palette group of 800■ p1+ P q + P 3
... is set to be placed, and in the above case
In , the 12 palette groups are (25+50+1
00)X4-7Xt1=623mm and has a height of 623mm. And this
In such a situation, part XI is collected from robot 12.
When requested to separate the contained pallet p1
First, a plurality of pallets placed on the buffer table 52 are
From top p1, by applying the first-in/first-out principle,
Instruct to separate pallet P+ located third from the top.
An indication will be sent. In addition, in the following explanation,
Add the code Pa to the third pallet from the top, P+, and
The pallet located directly above this, i.e. the second pallet from the top.
Let us assign the symbol pb to the pallet. As mentioned above, the pallet Pa is separated from the robot 12.
If a request is made to
The pallet p placed directly above the pallet lpH
, by the first separating claw 66 as shown in Figure 7B.
the servo motor until it is brought into the latched position.
The buffer table 52 is moved by rotating the MR (in this case,
lower). Note that the first and second separation claws 66,
6a both move to the retracted position in the initial state.
has been done. In this state shown in FIG. 7B, the first air cylinder
dacn+ starts and pulls the first separation claw 66 into the position
Press it to the latching position and push it out. This allows pare
The flange portion 38 of the cut Pb is attached downward to the first separating claw 66.
It becomes ready to hang. After this, as shown in FIG. 7C, the servo motor MB
From the state shown in Figure 7B, move the buffer stand 52 by 94mm.
It is rotated so that it descends. As a result, the pallet pa is caught on the second separation claw 68.
Pallet P
b will be hooked to the first separation claw 66. That is,
, the pallet located above pallet pb is
It will be latched onto the first separating claw 66. In this state shown in Fig. 7C, the second air cylinder
da CB2 starts and pulls the second separation claw 68 to the retracted position.
Then move it to the latching position and do not push it out. This allows the
The flange portion 38 of the let p8 is attached to the second separating claw 68.
It can be hung from either direction. After this, as shown in FIG. 7D, the servo motor MB
From the state shown in Figure 7C, the buffer stand 52 is set to 15 mm.
It is rotated so that it descends. As a result, only the pallet p1 is caught on the second separating claw 68.
A pallet that is stopped and located below this pallet pa
is brought to a device consisting of pallets p, l
It turns out. In this way, only the pallet pa is
When the pallet is separated from the pallet, the second separating claw 68
At the latched position (hereinafter simply referred to as the separated position),
It will be set to a state where it can be taken out independently. Note that the pallet p1 separated in this way is
After being taken out to the elevator 24, what happens next?
All pallets are
It is operated to return to the initial state placed on the buffer stand 52.
That will happen. That is, during this return operation, first, the second air
CB2 moves the second separation claw 68 to the latching position, contrary to the previous time.
It operates to pull in from the position to the retracted position. After this
, the servo motor MB rotationally drives the buffer stand 52.
134 mm (i.e., the straw when the buffer stand 52 is lowered)
The pallet that was taken out is placed in the 94+15-109mm
The value is the addition of 25mm, which is the thickness of top pa. ) rose by
let Due to this rise, the pallets in the pallet group on the buffer stand 52 are
The pallet in the uppermost position is hooked to the first separating claw 66.
It can also be lifted with the pallet p on top of it.
will be subject to change. In this state, the first air cylinder Cal is
On the contrary, move the first separation claw 66 from the latching position to the retracted position.
It operates as if pulling it into the position. As a result, the first separation claw
Pallet above pallet pb that was hung on 66
The group is loaded with barrels and clips that have already been placed on the buffer table 52.
The entire pallet group is placed on top of the pallet group.
brought to a state where it is placed on the buffer stand 52.
Become. Then, at this position, the robot enters the standby state.
The next separation instruction from 12 will be awaited. The pallet position correction operation during separation operation has been explained in detail above.
The operation of the buffer 22 is basic, and each palette
This does not take into account manufacturing errors. That is, each parameter
The manufacturing error is allowed to be ±0.3mm.
It is. Therefore, a large number of pallets are placed on the buffer table 52.
When this manufacturing error is accumulated,
The first separation claw of pallet Pb in the basic operation described above
An error occurred in the 8-movement movement by 66 to the latching position, and the part
The let Pb is accurately caught at the position by the first separating claw 66.
There may be cases where it is not moved. In detail, assuming the worst case, all the installed
Pallet p where the pallet has a minimum thickness of 25mm
, and the maximum mounting height is 800+n+ as mentioned above.
n, so 800÷(25-”7), Xo, 3=13.3mm is the best
This results in a large cumulative error amount. With this maximum cumulative error amount, the height position
When the servo motor Mll changes as described above,
According to the basic operation, a given pallet pb is separated into the first
Rotationally driven to move the pawl 66 to the latching position.
However, in reality, due to the above-mentioned error, this latching position may vary.
There will be cases where it is not possible to locate the Therefore, in this embodiment, as shown in FIG.
actually (calculated) at the latching position by the first separating claw 66.
) disposed adjacent to the side of the brought pallet body 36
A sensor 80 is provided. This sensor 80
It consists of a well-known reflective photocoupler.
A detailed explanation is omitted, but a pair of light emitting element and light receiving element
and adjacent to the circumferential surface of the flange portion 38 of the pallet.
When touched, it receives light from the light emitting element, turns on, and lights up the panel.
When adjacent to the side surface of the cutter body 36, light from the light emitting element
is configured to turn off without being able to receive
. In addition, the arrangement position of this sensor 80 is shown in FIG. 8A in detail.
As shown in FIG.
Place it on this Barre Lumi with the top end surface detected.
The pallet p, which is
It is set to be brought into position. In a state where the sensor 80 as described above is provided, the above-mentioned
Pallet pb after considering the manufacturing error of the pallet
The contents of the 8-motion control to the latching position by the first separating claw 66 are as follows.
, will be explained with reference to FIGS. 8A to 8E. Here, the range where the side surface of the pallet main body 36 appears is the eighth
As shown in figure A, for pallet p1 with a height of 25 mm,
In this case, the thickness of the flange portion 38 is 12 mm, and the lower side
into the fitting recess 36a of the pallet main body 36 located at
Considering 7mm, which is the insertion length, 25-12-7 = 6mm. Therefore, considering the maximum cumulative manufacturing error mentioned above,
Then, the power calculated by the servo motor MB is
Relative relationship between the positions of the lets P'a and Pb and the sensor 80
As shown in Figure 8B, Figure 8C, and Figure 8D.
There are three possible modes. That is, as shown in FIG. 8B, the pallets to be separated
pa (in other words, it is hung on the second separation claw 68
The peripheral surface of the flange portion 38 of the pallet pa) is connected to the sensor 80
as shown in FIG. 8C.
The flange of pallet Pb to be hung on the separation claw 66 of
A second aspect in which the peripheral surface of the portion 38 faces the sensor +80;
Then, as shown in FIG. 8D, the first separating claw 66 is hooked.
The side surface of the pallet body 36 of the pallet p to be
A third aspect opposite the sensor 80 occurs. Here, the sensor 80 is attached to the flange portion 3 of the pallet.
When the peripheral surfaces of 8 are adjacent to each other, it turns on, but this
In the on state, the first aspect shown in FIG. 8B,
A second mode shown in FIG. 8C is considered. For this reason,
The buffer stand 52 has a sensor 80 as shown in FIG. 8E.
In other words, until detecting the upper end surface of the flange portion 38,
, is lowered until the sensor 80 is turned off. Then, when the sensor 80 is turned off in this way, the upper end
Barcode B drawn on the pallet whose surface was detected is barcoded.
Read via code reader 74. This results in reading
This pallet should be separated from barcode B
If it is determined that the palette is p2, then the
uni, the pallet placed on this pallet lumi to be separated.
The cut pb is brought to the latching position of the first separating claw 66.
Therefore, following the basic operation described above,
1 air cylinder CB□ is activated, and the first separation claw 6
6 will be pushed out to the latching position. On the other hand, the bar drawn on the pallet whose top end face was detected
As a result of reading code B, this palette is separated.
If it is determined that the palette Pa is not the one that should be used, this
The pallet whose barcode B is read will be automatically palletized.
It is determined that the pallet p is directly above the pallet Pa.
Therefore, the buffer should be increased by the height of this pallet pb.
The servo motor Mb is rotated so that the base 52- moves upward.
Driven by rotation. In this way, the sensor 80
As shown in the figure, the upper end surface of the flange portion 38 is detected again.
However, this upper end surface is the detected flange part 3.
The pallet with 8 is the pallet Pa to be separated.
There should be one, so check this with the barcode reader 74.
After checking the
The air cylinder CB+ is activated, and the first separation claw 66
will be pushed out to the latching position. In addition, read the barcode B of the pallet that has been lifted and detected.
As a result of the inspection, it was determined that the pallet pa should not be separated.
If the
A different pallet from the unmanned warehouse is transferred to the unmanned vehicle 20.
At that point, the control
The operation is stopped and a predetermined warning operation is started. Further, the sensor 80 is connected to the side surface of the pallet main body 36.
In the adjacent state, that is, the pallets are as calculated.
When a moving operation is performed, it will turn off, but this
In the closed state, only the third aspect shown in FIG. 8C is considered.
You will be able to receive Therefore, the buffer stand 52
As shown in Figure 8E, the sensor 80 is placed above the flange portion 38.
In other words, the sensor 80 remains on until the end face is detected.
It will be raised until it is done. When the sensor 80 is turned on in this way, the upper end
Barcode B drawn on the pallet whose surface was detected is barcoded.
Read via code reader 74. This results in reading
This pallet should be separated from barcode B
If it is confirmed that the palette is p8, please proceed as described above.
uni, the pallet placed on this pallet Pa to be separated.
The cut pb is brought to the latching position of the first separating claw 66.
Therefore, following the basic operation described above,
1 air cylinder CBI is activated, and the first separation claw 6
6 will be pushed out to the latching position. To execute the pallet position correction operation detailed above.
Therefore, even if there is a manufacturing error in the pallet,
, regardless of this manufacturing error, the number of pallets Pa to be separated is
The pallet Pb placed on the upper side is connected to the first separating claw 6
6 will achieve a state where it is securely latched.
. [Left below] (Description of elevator) Next, the elevator is placed between the buffer 22 and the stocker 24,
The empty pallet p' in the stocker 24 is
E to replace pallet p with X fully stored.
Regarding the structure of the elevator 26, see Figures 9 to 13G.
Refer to and explain. Structure of the Elevator Body As shown in FIG. 9, this elevator 26 has the following structure.
It is fixed on a common base 142 with the stocker 24.
, and on the part of this base 142 on the buffer 22 side.
is the support on the robot 12 side in the buffer 22 mentioned above.
A pair of supports stand adjacent to the pillars 44a and 44c.
Pillar 82a. 82b and the robot 12 at a predetermined distance.
A pair of pillars 82c are provided vertically. 82d is provided. These four wooden supports 82a, 8
The upper ends of 2b, 82c, and 82d are connected to connecting members 84, respectively.
are connected to each other. In this way, the elevator
26 basic frames are constructed. In addition, this connecting member 8
4 is also configured in common with the stocker 24, which will be described later. Here, a pair of support columns 82a and 82c along the conveyance direction d and
, between the pair of pillars 82b and 82d, there is an elevator main
A body 86 is arranged to be movable up and down. This elevator main body 86 consists of pallets P1+P2. p
A pair of surfaces perpendicular to the transport direction d of 3... were opened.
It consists of a box body. This elevator main body 86 is
Request from robot 12 (remaining parts on a given pallet)
Based on the request issued when the number of pieces exceeds 1)
and buff the separated pallets pa at the separation position.
received from the elevator 22 and held in the elevator body 86.
In addition, next, the request from the stocker 24 (the remaining
A state where one part is used for assembly and there is no part left.
This held in response to the request issued when
It is configured to transfer the pallet pa to the stocker 24.
It is. Here, the palette P+, p2 + ps
... multiple pairs of support columns 82a, 82c along the conveyance direction d;
The mutually opposing surfaces of 82b and 82d have upper and lower surfaces, respectively.
A guide member 88 is fixed along the direction. and
, each guide member 88 is movable up and down along the guide member 88.
A pair of sliding members 90 are spaced apart from each other by a predetermined distance in the vertical direction.
is attached. Here, the four objects in the upper horizontal plane
With the four upper corners supported by the sliding members 90, respectively,
In addition, the four sliding members 90 in the lower horizontal plane are
The above-mentioned elevator book is supported at each of the four corners of the
A body 86 is attached. On the other hand, a pair of columns 82b, 8 on the opposite side in FIG.
In the part sandwiched by 2d, it extends vertically,
Space is defined. While protruding into this space,
The elevator main body 86 mentioned above has a protruding piece (not shown).
It is formed in one piece. Also, the upper ends of the pair of columns 82b and 82d on the opposite side are connected to each other.
The part of the connecting member 84 that is connected to the
Move the beta main body 86 up and down along the guide member 88
A servo motor MCI is provided for this purpose. This server
Bomota M. 1 is a rotating shaft extending along the vertical direction.
This rotating shaft is located between both supports 82b and 82d.
A ball that is rotatably arranged and extends vertically.
It is connected to rotate the screw 92. on the other hand
, the middle part of this ball screw 92 is screwed into the above-mentioned protruding piece.
It matches. In this way, the servo motor M! , times
Due to the rotation of the rotating shaft, the ball screw 92 is rotationally driven.
Thus, the elevator main body 86 is moved up and down. Note that this servo motor MCI has its rotational position, immediate
First, for detecting the height position of the elevator main body 86,
An encoder 94 is attached. With the above configuration
The elevator main body 86 can move up and down to any height position.
It is something that can be done. Configuration of the switching mechanism - The elevator main body 8 is provided so as to be able to move up and down as described above.
6 contains parts shunted from the buffer 22.
A fully loaded pallet is taken in, and this pallet is
Push out the stock p2 from this to the stocker 24, and
Replacement to pull in empty pallet p' from Tokka 24
A lifting mechanism 96 is provided. This switching mechanism 96 uses a servo motor as a driving source.
ME2 is placed on the top surface of the elevator main body 86 via the stay 98.
It is provided in a fixed state. A swing arm 10 is attached to the drive shaft of this servo motor ME2.
One end of 0 is fixed and swings according to the rotation of the drive shaft.
It is designed to be driven. This swing arm 100
A long groove 100a is located in the middle of the groove along the longitudinal axis of the groove.
is formed. Moreover, the swinging arm of this long groove 100a
Elevator books that cover the area covered when the arm 100 swings
On the upper surface portion of the body 86, along the above-mentioned conveyance direction d,
A guide groove 102 is formed. This guide groove 102
is the entire length of the elevator main body 8 along the transport direction d.
It is formed across. Here, the long groove 100a and the guide groove 102 have a common
A guide pin 104 is provided so as to be inserted in the vertical direction. This guide bin 10
4 is formed with a large diameter, and these grooves 100a
, 102 is prevented from falling. This way
With this configuration, the servo motor ME2 is driven in reciprocating rotation.
By this, the swinging arm 100 is driven to swing, and accordingly
Therefore, the guide pin 104 immediately moves along the guide groove 102.
In other words, it is driven back and forth along the conveyance direction d. In addition, as shown in Figures 10 to 12, this guide
At the lower end of the bin 104 is located within the elevator body 86.
In this state, the slide plate 106 is fixed. This space
The ride plate 106 extends along the direction perpendicular to the conveyance direction d.
It is attached to the guide bin 104 so as to extend. Both ends of the side surface of this slide plate 106 on the buffer 22 side
, the first hook 108 is connected to the first hook slide member.
110 along the longitudinal axis direction of the slide plate 106.
In other words, along the direction perpendicular to the transport direction d,
Mounted so that it can be ridden. This pair of first hooks 108 are connected to each of the aforementioned pallets.
Flange portion 38 of P+ + P2 I P3...
The first notch 3 on the elevator 26 side is formed in the first notch 3.
8a is formed in a shape that can be engaged from both sides. Immediately
The tip of this first hook 108 has a notch and shape.
Formed into an isosceles trapezoid shape complementary to the isosceles trapezoid that is
has been done. On the other hand, at both ends of the slide plate 106, along the conveyance direction d,
In the extended state, the air cylinder support plates 112 are
It is fixed. This air cylinder support plate 112
A first hook 108 is reciprocated at the end of the buffer 22.
The first air cylinder Cal is installed for
ing. The first piston of this first air cylinder CEI
The aforementioned first hook 108 is attached to the tip of the tongue 114.
It is connected. In this way, the first air cylinder
In response to the drive of the DaCEI, the first hook 108 is attached to the flange.
The reciprocating drive is used to engage and disengage the first notch 38a of the joint 38.
will be moved. Also, the side surface of this slide plate 106 on the stocker 24 side is
At both ends, a second hook 116 is attached to a second hook slide.
in the longitudinal axis direction of the slide plate 106 via the door member 118.
In other words, along the direction perpendicular to the transport direction d.
It is attached so that it can slide. The first of this pair
The hook 116 of 2 is connected to each pallet pHp21P described above.
3... is formed on the flange portion 38 of the unmanned vehicle 2o side.
The shape allows engagement with the second notch 38b from both sides.
It is formed. On the other hand, air cylinders fixed to both ends of the slide plate 10B
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 DaC52, the above-mentioned
The second hook 116 is connected. In this way
, the second air cylinder C62 is driven.
The hook 116 is connected to the second notch 38 of the flange portion 38.
It will be driven back and forth to engage and disengage from b. Here, on the lower surface of the elevator main body 86, a first or a first
2 hook 108.11-6 is engaged, and the servo motor
It is pulled in/pushed out according to the rotational drive of ME2.
A pair of fixed slides that slidably support the pallet p.
A guide 122 is provided. Immediately, both fixed slides
The guide 122 guides the pallet p to be pulled in/pushed out.
is slidably set on the lower surface of the flange portion 38 on both sides of the
There is. Note that the height of the upper edge of both fixed slide guides 122 is the maximum height.
Pallet p3 with a large height of 100mm
It is set at a height sufficient to slidably support it, and
The standby position of this elevator main body 86 is on both fixed slides.
The upper end surface of the guide 122 supports the pallet p in the separation position.
, is set at a height that allows it to be received horizontally.
. In addition, each of the above-mentioned air cylinder support plates 112
At the bottom, there is a line along the same direction as the extending direction of the slide plate 106.
In the extended state, the mounting for the third hook is attached to the plate 124.
is fixed. Here, this installation is performed by the plate 124
A third hook 126 is provided at both ends of the side surface on the tocker 24 side.
slides through the third hook slide member 128-.
In other words, along the longitudinal axis direction of the board 106,
It is attached so that it can slide along the direction perpendicular to the direction d.
It is. This pair of third hooks 126 are connected to the stocker.
Each empty pallet P+ '+ emptied in 24
At the flange part 38 of P2', 93'...
The formed second notch 38b can be engaged from both sides.
It is formed into a flexible shape. On the other hand, air cylinders fixed to both ends of the slide plate 106
A third hook 126 is provided at the lower end of the conductor support plate 112.
The third air cylinder CE3 for reciprocating the
is attached. This third air cylinder CE3
The aforementioned third foot is attached to the tip of the third piston 130.
126 is connected. In this way, the third
In response to the drive of the arch cylinder CE3, the third hook 12
'6 is the second notch part 38 b k of the flange part 38
:i It will be driven back and forth to engage and disengage. Note that the hook 126 of the paintbrush 3 is located under the elevator main body 86.
A guide groove 132 (
It is shown in FIG. ) below the elevator main body 86.
It has been taken out. Here, below the elevator main body 86
Under the surface, this third hook 126 allows the stocker 24
In order to slidably receive the pallet p' taken out from the
A pair of movable slide guides 134 are provided. Here, both movable slide guides 134 are received here.
The empty pallet p' is transferred to the unloading roller of the aforementioned unloading mechanism 76.
In order to place it on the 78th group, the direction perpendicular to the conveying direction d
In other words, if the empty palette p' received here is
It is configured to be slidable so that it can be removed from the That is,
As shown in Figures 10 and 11, both movable slide guides
The id 134 is connected to the element via the slide members 136, respectively.
It is slidably attached to the lower surface of the beta main body 86.
There is. On the other hand, on both sides under the lower surface of the elevator main body 86,
Air cylinder support plates 138 are fixed to each. Each air cylinder support plate 138 has a movable slide guide.
A fourth air cylinder C for reciprocating the door 134
E4 is installed. This fourth air cylinder
At the tip of the fourth piston 140 of CF:4
A movable slide guide 134 is connected. like this
Then, in accordance with the driving of the fourth air cylinder CE4,
The movable slide guide 134 is attached to the flange of the empty pallet p'.
It will be driven back and forth to engage and disengage from the portion 38. Operation of the swapping mechanism In the swapping mechanism 96 configured as described above, the part
Regarding the exchanging operation of let p and pallet p',
This will be explained with reference to FIGS. 13A to 13G. First, in the initial state, the elevator main body 86 is
The height position of this is the same as the upper end surface of the fixed slide guide 122.
, the upper end surface of the second separating claw 68 of the buffer 22 is at the same height.
It is set to take In addition, the exchange mechanism 9
6, the swinging arm 100 of this is shown in FIG.
so that it is at the middle position of the guide groove 102.
The initial state has been set. Also, each air cylinder
CEI+CE2=cE3. cE4 has high pressure air
supply . corresponding hook 108,136°712
6 and the movable slide guide 134 are respectively in the retracted position.
It is set to a state where it is pulled into. −Import operation from the buffer− When such an initial state is set, the loading operation
From the bot 12, as mentioned above, from the robot 12
request, i.e. for a given pallet p in the stocker 24.
When the remaining number of part X reaches 1,
Based on the request to prepare for the change, the buffer 22
The operation of separating the specified pallet p2 is started, and
In this elevator 26 as well, in the buffer 22
The separated pallet Pa is taken into the elevator main body 86.
The embedding operation is performed. That is, when the above-mentioned request is issued from the robot 12, this
First, in the elevator 26 shown in FIG. 13A,
From the state, the surf motor M, 2 is indicated by the arrow in FIG.
The exchange mechanism 96 is rotated in the direction indicated by A to buffer the exchange mechanism 96.
22 side. Due to this movement, Figure 13B
As shown in FIG.
The first hook 108 of
Flange portion 3 of pallets p, l separated at position
The first notch 3 on the elevator 26 side formed in 8
8a, so that it can be engaged from the side.
Ru. Note that this first hook 108 is in an engageable state.
In this case, this first hook 108 is connected to the buffer 22.
It is set so as not to insult or inhibit the separation action. In this state, the operation of the elevator 26 is in the waiting state.
This process continues until the separation operation is completed in the buffer 22.
The capture standby state continues. Then, upon completion of the separation operation, the buffer 22
When the separation completion signal is output, the
Therefore, the exchanging mechanism 96 replaces the separated pallets p and l.
Start the import operation. That is, first, high pressure air is supplied to the first air cylinder CEI.
Pallet p supplied and separated from the first hook +08
The first notch portion 38 formed in the flange portion 38 of No. 2
engage a from the side. After this, Su-bo-ta ME2
, is rotated as shown by arrow B in Fig. 9, and the switching machine
The structure 96 is moved inside the elevator main body 86 along the transport direction d.
Incorporate into. Then, as shown in Figure 13C, the palette
Pa' (completely taken into the elevator main body 86)
In this state, the driving of servo motor ME2 is stopped, and
After that, the air cylinder CEI of 'jtS1 is
The hook 108 is inserted from the first notch 38 of the pallet pa.
Moves to move away. In this way, the pallet p separated by the buffer 22
, l are taken into the elevator 26. In this loading state, the switching mechanism 96
A part protrudes from the elevator main body 86 toward the stocker 24 side.
has been brought to a state of Therefore, servo motor M
E2 is rotated in the direction shown by arrow A, and as shown in Fig. 13D.
As shown, this exchange mechanism 96 is connected to the elevator main body 8.
6. Empty pallet retraction operation - After this, the servo motor MCI rotates and lifts the elevator.
When the pallet p is loaded with the main body 86 in the stocker 24,
Inside, the part X stored in this will disappear and become empty.
Lower the let p′ to the retracting position, and
The empty pallet p' from the stocker 24 is
will wait for a replacement request. Note that this retracted position is the same as in the stocker 24, which will be described later.
From the supply position of the pallet p to the robot 12,
The position above one pallet after parts have been supplied to port 12.
stipulated by. Now, as mentioned earlier, this palette
The height of cut p is set to 3 fffi, so
There are also three types of retracting positions depending on the height difference.
It will exist. Moreover, the elevator main body 86 facing this retracted position
The standby position is the flap of pallet p' in the retracted position.
A replacement mechanism is provided in the second notch 38b of the hinge part 38.
The third hook 126 of 96 assumes an engageable height position.
So, it's set. In this way, elevator 2
The pull-in standby position of the empty pallet p' at 6 is defined.
It will be done. Meanwhile, the elevator brought to this pull-in standby position
In the exchange mechanism 96 in the main body 86, the above-mentioned
As shown above, part X is inside this elevator main body 86.
A fully loaded pallet pa is moved through a pair of fixed slides.
is held on the id 122. In this pull-in standby position, the stocker 24 is
Empty pallet p' is moved to the retracted position.
Then, in response to the completion of the heart motion to this retracted position, the servo
Motor ME2 is rotationally driven in the direction shown by arrow B, and
As shown in Figure 13E, the third foot of the exchange mechanism 96
126 is the flange of the empty pallet p' in the retracted position.
Can be engaged with a second notch 38b formed in the portion 38
is moved to a certain position. After this, the third and fourth air seats
High pressure air is supplied to each cylinder CE3+CE4,
The hook 126 of No. 3 is attached to the second notch of the empty pallet p'.
3.8b and at the same time the movable slide
4 carries the drawn-in empty pallet p' to the elevator main body 8.
6 into a supportable state. After this, servo motor ME2 rotates in the direction shown by arrow A.
The empty pallet p' is moved under the elevator main body 86.
pull towards the side. In this way, the empty palette p' can be
The 13th F is supported by the dynamic slide guide 134.
As shown in the figure, it is held below the elevator main body 86.
, the retraction operation of the empty pallet p' is completed. and,
Third air cylinder C! :3 is the third hook 126
is separated from the second notch 38b of the empty pallet p'.
It is operated as follows. Pushing out operation of one pallet - Here, in the retracting state of this empty pallet p',
The second hook 116 of the exchange mechanism 96 is attached to the fixed slider.
The second cut of the pallet pa supported on the guide 122
It is brought into a state where it can be engaged with the notch portion 38b. Therefore, from this state, high pressure air is supplied to the second cylinder CE2.
supplying air, the second hook 116 connects the pallet f'a.
It is operated so as to engage with the second notch portion 38b. On the other hand, in parallel with the above-mentioned second hook engagement operation, the
In the elevator 26, the servo motor MEI rotates.
to lower the elevator main body 86 and remove the pallets inside.
Place the kit Pa opposite the pull-out position in the stocker 24.
position. Then, the servo motor ME2 is
Rotate in the direction shown by B, as shown in Fig. 13G.
, the pallet Pa is placed in the stocker 2 from inside the elevator main body 86.
4. Push it out to the empty storage position. After this, the second
The air cylinder CE2 has a second hook 116 attached to the pallet.
operation to separate from the second notch 38b of the top p.
be done. Then, servo motor Ml:2 is indicated by arrow A.
The switching mechanism 96 is rotated in the direction of the elevator.
It is pulled into the main body 86. In this way, the palette p
The pushing operation to the stocker 24 is completed. Unloading operation of an empty pallet - As described above, the empty pallet p' and the parts X are fully loaded.
Completed: When the exchange operation with pallet Pa is completed
At the bottom of the elevator main body 86, there is a
An empty palette p' is supported. Therefore, this empty pad
Place the let p' on the carry-out roller 78 of the carry-out mechanism 76.
The pulse motor ME1 rotates to rotate the elevator.
The main body 86 is lowered and this empty pallet p' is placed on the unloading roller.
If an empty pallet p' is not placed on the rack 78,
, directly above the carry-out roller 78, and the carry-out roller 78.
If an empty pallet p' is already placed on 8,
8 moves directly above this empty pallet p' that has already been placed.
let After this, the fourth air cylinder CEi
l operates to pull in the movable slide guide 134.
The empty pallet p supported by the elevator main body 86
' will be piled up on the carry-out roller 78. In this way, the empty space piled up on the carry-out roller 78
When the number of pallets p' reaches the predetermined number, each discharge row
The roller 78 is driven to rotate, and the stack of empty pallets p' is
is transported below the buffer table 52, and then unmanned.
The empty pallet is carried out onto the empty pallet mounting table 34 of the vehicle 20. This way
In this way, the -th series of empty pallet unloading operations is completed. On the other hand, after the empty pallet p' is discharged to the unloading mechanism 76,
In the elevator 26, the servo motor ME+ rotates.
Move the elevator main body 86 up E-, and then
the initial position, i.e., opposite the separation position in the buffer 22.
It will be moved 8 times to the specified position, and will be put on standby here.
. (Description of Stocker) Next, the stocker is installed adjacent to the robot 12, and this robot
12. Parts required for assembly xl + x2 + x3...
The structure of the stocker 24 that sequentially supplies the
This will be explained with reference to FIGS. 14 to 16. Structure of Stocker As shown in FIG.
It is fixed on a base and is common to the elevator 26 mentioned above.
The base 142 and each of the four corners of this base 142 were erected.
Pillar j44a, 144b. 14-4c, +44d, and these branch offices 144a. Connect the upper ends of 144b, 144c, and 144d to each other
A connecting frame 84 is provided. Here, elevator 2
Multiple pairs of supports 1j4a, 144 on the 6 side and the robot 12 side
b; Mutually opposing positions in 144c and 144d
In this case, the guide member is extended along the vertical direction.
148 is fixed. And each guide member 148
A sliding member 150 is attached to the sliding member 150 so as to be able to move up and down along this.
has been done. 41F3 to these four sliding members 150.
Y-lowering frame 1 configured in a substantially rectangular parallelepiped shape in a supported state
52 is attached. This elevator frame 152 is pushed from the elevator 26 mentioned above.
As will be described later, the robot 12 is used to assemble the robot 12.
A plurality of pallets p are pulled out to the drawer part 154.
It can be stored in a row, and can also be stored in a drawer standby as described below.
It is configured such that it can be pulled out one by one. Therefore, the inner surface of the lifting frame 152 along the conveying direction d is
is a plurality of shelves on which the flange portion 38 of pallet p is hung.
With the plates 156 each extending horizontally, and in the vertical direction
They are fixed at equal intervals of approximately 3On+m along the
has been established. Here, each shelf board 156 has a center portion as shown in the figure.
(In other words, the pallets p placed on each shelf board 156
A third notch 3 formed in the center of the flange portion 38
A notch 158 is formed in the part opposite to 8C).
ing. That is, this notch 158
54 for opening the lid 40 of the pallet p pulled out.
Lifting of the opening mechanism 170 (shown in FIG. 15), which will be described later.
The arm 160 is formed to be inserted therethrough. On the other hand, a pair of support columns 144b on the opposite side in FIG.
; In the part sandwiched by 144d, there is a
When it is out, the space is defined. Rush into this space
In the extended state, the protruding piece 1 is attached to the above-mentioned A, descending frame 152.
62 is integrally formed. Also, on the opposite side of the pair of supports 144c: 144d
The portion of the connecting frame 84 that connects the ends to each other has the above-mentioned parts.
The lifting frame 152 is moved up and down along the guide member 148.
A servo motor MSI is provided for this purpose. This service
The motor Ms1 rotates along the vertical direction.
The shaft is provided with a shaft, and this rotation shaft is connected to both supports 144c;
Rotatably arranged between 4d and extending along the vertical direction
connected to rotate the ball screw 164.
There is. On the other hand, the midway portion of this ball screw 164 is
It is screwed into a protruding piece 162. In this way, the server
Due to the rotation of the rotating shaft of the motor M sH, the ball screw 1
64 is rotationally driven, and the elevating frame 152 is moved up and down.
To become, to become. In addition, the vertical movement of this Z-descending platform 152 is
, the above-mentioned arrangement pitch of the shelf boards 156 is 30 mm.
The feed amount is set to be multiplied by several times. Note that this servo motor MsI has its rotational position, immediate
In addition, an encoder for detecting the height position of the lifting frame 152 is used.
94 is attached. With the above configuration, R1
The lowering frame 152 can be moved up and down to any height position.
It is something that Structure of the drawer section Next, referring to FIG. 14, the above-mentioned drawer section 154
The configuration of is explained below. This drawer part 154 is used for assembly by the robot 12.
The pallet p containing the part
Basically, it is provided to receive and hold the
A drawer stand fixed at a predetermined height from the base
168, and on this drawer base 168, there is a lid opening which will be described later.
The lid body 40 is removed by the release mechanism 170 (shown in FIG. 15).
The removed pallet p is taken in and out of the lifting frame 152.
It is equipped with a loading/unloading mechanism 172. This drawer stand 168 is attached to the support column 144 on the robot 12 side.
A pair of support stays 174 fixed to a and 144c, respectively.
It is fixed in horizontal position through. this drawer stand
The pulled out pad is attached to the end of the robot 12 side of 168.
The tip of the pallet p is brought into contact and the pallet p is pulled.
A stopper 176 is attached to define the ejection position. Further, on both sides of this drawer stand 168, there are
A pair of slide guides 178 are provided along the
ing. Note that the upper end surface of these slide guides 178,
In other words, the slide support surface is stopped during intermittent feeding.
In the horizontal direction, each shelf board 156 of the elevator frame 152 in the state
It is set to be consistent. In addition, like this
Shelf board 1 in horizontal alignment with side guide 178
Pallet p supported by 56 is in the drawer standby position.
It is defined as a palette. Further, the above-mentioned loading/unloading mechanism 172 is connected to the pull-out table 16.
They are arranged symmetrically on both sides of the drawer stand.
168, extending along the conveyance direction d.
The provided guide member 180 and each guide member 180
A slidably attached sliding member 182 and each sliding part
A support plate 184 is fixed to the upper surface of the material 182.
Ru. On each support plate 184, there is a drawer stand for the elevating frame 152.
Formed on the flange portion 38 of pallet p in the machine position
Hook 1 capable of engaging with first notch 38a
86 can move forward and backward along the direction perpendicular to the conveyance direction d.
It is provided. -0 direction, on this support plate 184 there is a
To drive the hook 186 forward and backward while it is located on the side.
Air cylinder CS+ is installed. This
The piston of the arc cylinder CS+ has a corresponding hook 18.
6 and high pressure air to air cylinder C5I.
By supplying air, it engages with the above-mentioned notch 38a.
It is set to be pushed into position. Also, the end of each side edge of the drawer stand 168 on the robot 12 side
A drive roller 188 is rotatably fixed to the shaft.
, and an idle roller 1 at the end on the elevator 26 side.
90 is rotatably fixed on the shaft. Drive at each side edge
The roller 188 and the idle roller 190 have an endless roller.
The belt 192 is wound, and the drive roller 188
This endless belt 192 is driven by rotation.
will be moved. In addition, the drive rollers 1 on both side edges
88 are mutually connected so as to rotate together through the connecting shaft 194.
It is connected to Here, the support plate 184 at each side edge is
It is fixed to the dress belt 192 and is an endless bell.
As the cart 192 moves, the carriage moves on the drawer table 168.
It will be reciprocated along the feeding direction d. Also, driving
A coaxial driven roller 196 is fixed to the roller 188.
has been established. On the other hand, below the central part of the side edge of the drawer stand 168
The servo motors M and 2 are attached via the stay 198.
I'm being kicked. The drive shaft of this servo motor MSjJ is
, a drive roller 202 is coaxially fixed. and,
This drive roller 202 and the above-mentioned driven roller 196
An endless belt 204 is wound around the belt. With the above configuration, this servo motor M52 rotates.
By rotating, the drive roller 188.202 rotates.
Therefore, Endless Bell I-192 runs
The hook 186 is driven along the conveying direction d.
It will be moved back and forth. Next to body 4, with reference to FIGS. 15 and 16, the i-body opening mechanism
170 will be explained. This lid opening mechanism 170 is
Inside the lift frame 152, the pallet in the drawer standby position
The kit p is moved to the pull-out position via the pull-out mechanism 172.
Prior to the pulling out operation, the pallet p was covered with
Lift the lid 40 upwards and release the puller on the drawer base 194.
In other words, only the pallet p is at the unloading position, in other words, the robot
It is possible to take out part X stored inside by cut 12.
The pallet p set in the state will be pulled out.
It is set up for the purpose of Here, as shown in Fig. 15, this lid opening machine $1t
17Q is a pair of supports 144a and 14 on the robot 12 side.
Air installed on the side of 4c on the elevator 26 side
-Cylinder CSa and the piston of this air cylinder Cl12
Lifting arm 160 attached to the tip of stone 206
It is equipped with This air cylinder C11j is
The sliding direction of the piston 206 is perpendicular to the conveyance direction d.
In the plane, lift frame 15 at an angle of 45 degrees from the horizontal direction
It is installed at an angle so that it rises towards 2.
Ru. Also, a lift attached to the tip of this piston 206
The arm 160 is fixed to the piston 206 and
A main body portion 160a extending along the extending direction of 206;
It is integrally formed at the tip of this main body part 160a, and
It has a surface 160b and an outer part of this upper surface 160b.
and a protrusion 160C that protrudes upward.
There is.゛Here, this air cylinder CS2 is a high pressure air cylinder.
It has wooden manpower T442OAA, ZOSB, and - direction input.
When high pressure air is supplied to the force end 208a, the piston
Retract and drive the pin 206 to lift the lifting arm 160.
The tip is biased to a retracted position away from the lid body 40,
Also, when high pressure air is supplied to the other person h#208b
To do this, drive the piston 206 to lift it up.
Push-out position where the tip of the arm 160 engages with the lid 40
It is structured so that it is biased towards Furthermore, the arrangement of the air cylinder CS2 configured in this way
The position, i.e. the height position, is the lifting position in the extrusion position.
The upper surface 160b of the tip of the arm 160 is in the pull-out standby position.
The third notch 1 of the flange portion 38 of the pallet p located at
The lower portion passes through the portion 38c and is placed on the lid body 40 that is placed over the portion 38c.
It is set so that it can be engaged from both sides. Operation of the lid opening mechanism In the lid opening mechanism 170 configured in this way,
According to the vertical movement of the lifting frame 152, the lift frame 152 is moved to the drawer standby position.
In this drawer standby position for the pallet p that has been
As soon as it is detected that pallet p has arrived, the lid opening machine
The operation of the system 170 is started. In other words, the air cylinders on both sides
High pressure air is supplied to the second input end of the conductor C52, and each
The piston 206 is pushed diagonally upward. As a result, the handles connected to the tips of the piston 206 respectively
The tip of the raising arm 160 is attached to the pull-out standby position.
formed at the center of the corresponding flange portion 38 of the let p.
passing through the third notch 38c, respectively, and both lifting abutments.
The upper surface 160b of the tip of the arm 160 is connected to the lid body 40 from below.
You will have to lift both sides of each side. In this way
, as shown in FIG.
The pallet p is biased upward away from the pallet p located at the
Therefore, this pallet p can be pulled out to the pull-out position.
It becomes possible to do so. On the other hand, in the pallet p pulled out to the pull-out position
, the operation of taking out part X by the robot 12 ends.
Then, this pallet p is placed in this drawer standby position again.
It will be returned, but at the time it is returned, the air
In the converter C32, high pressure air is supplied to the first input end.
be done. In this way, the lifting arm 160 is
During this downward movement, the odor is
Then, the lid body 40 is attached to the pallet that has been returned to the pull-out standby position.
It is placed over the pallet p so as to cover the top surface of the pallet p.
Become. In this way, the series of lid opening operations is completed.
. As described above, the lid 40 is removed by the lid opening mechanism 17-0.
Pull the pallet p from the pull-out standby position to the pull-out position.
The drawer can be pulled out and returned to its original drawer standby position.
The loading/unloading operation in the loading section 154 will be explained below.
Ru. First, in the initial state, the hook 186 is connected to the servo motor.
Move in the direction opposite to the transport direction d by driving the motor Ms2.
and the flap of pallet p in the drawer standby position.
A position where the first notch 38a of the hinge part 38 can be engaged
is being brought to. In this state, the air cylinder CSI is attached to the hook 18.
6 is set in the retracted state. From this initial state, the lifting operation of the lid body 40 is started.
At the same time as the air cylinder CSI is started,
The hook 186 is attached to the pallet p in the drawer standby position.
1 notch 38a. After this, the lid body 40 is
Upon completion of the push-up operation, servo motor MS2
The hook 185 is rotated in the opposite direction to the previous time, and as a result, the hook 185 is
, moves along the transport direction d. That is, this hook 18
The pallet p in the drawer standby position where 6 is engaged is
, is pulled out from the lifting frame 152 onto the drawer stand 168.
It turns out. In addition, this pulled out pallet p has a pair
It will slide on the slide guide 178 of. While sliding on the slide guide 178 in this way,
The pallet p that has been pulled out along the conveyance direction d is
It stops when it comes into contact with the topper 176, and the servo motor
Driving of the motor Ms2 is also stopped. In this way, the palette
The top p is held in the pulled out position. After this, a robot 12, which will be described later, moves this pull-out position.
Work to take out part X from pallet p brought to the location
With the completion of this retrieval work, the
The motor MS2 rotates in the opposite direction again, and
186 in a direction opposite to the transport direction d. this
In this way, the pallet p is directed toward the lifting frame 152 again.
It will be returned to you. Then, palette p is completed.
When the servo motor M is completely returned to the elevating frame 152,
The drive of S2 is stopped, and the pallet p is moved inside the lifting frame 152.
will be held. After that, the lid 4o in the lid opening mechanism 170 described above is
The insertion operation is executed, and the series of insertion and removal operations is completed.
Ru. (Description of the robot) Next, referring to Figures 1 and 2, the buffer described above will be explained.
Parts supply equipped with 22, elevator 26, and stocker 24
Receives part X from system 14 and manufactures the specified product.
The configuration of the robot 12 to be assembled will be schematically explained. Robot Configuration As shown in FIG. 2, this robot 12 has a stocker 2.
4 including the part located below the drawer part 154.
It is equipped with an assembly stage 210 arranged horizontally.
Ru. On one side of this assembly stage 210, a pair of pedestals 2 are provided.
12 is erected, and on the drawing stand 212 is a robot.
12 X-axis (axis extending in the direction along Ift feeding direction d)
The X-axis robot arm 214 that defines the
Ru. Also, on this X-axis robot arm 214, a robot
Y-axis of cut 12 (extending in the direction perpendicular to the conveying direction d)
One end of the Y-axis robot arm 216 that defines the
It is supported so as to be movable along the axial direction. Also, the supply system side of this Y-axis robot arm 216
The Z-axis (extending along the vertical direction) of the robot 12 is shown on the side of the
A robot arm 218 is provided that defines the output @).
ing. This robot arm 218 moves along the vertical direction.
It is configured to be movable along the Y axis.
and is configured to be rotatable. That is, the Y-axis robot is mounted on the X-axis robot arm 214.
The arm 216 is moved along the X-axis direction (m feeding direction d).
A servo motor MR4 is provided for the purpose of adjusting the position. Also
, the robot hand 2 is mounted on the Y-axis robot arm 216.
18 along the X-axis direction (direction perpendicular to the feeding direction d- of 12).
servo motor M for moving. 2 and Z-axis direction
servo motor M for moving the
R3 and a server for rotating the robot arm 218.
A motor motor MB4 is provided. Here, on the bottom surface of this robot hand 218, there is a
Finger 2 compatible with parts X+, X2, X3...
20 is detachably attached. This finger 220 is designed to grip the corresponding part
The remaining parts are X l + X 2 +
Other fingers 220 corresponding to X3...
Finger station provided on robot arm 214
It is housed in the container 222 so as to be removable. In addition, as mentioned above
On the assembled stage 210, there is a
An assembly table 224 is provided for assembling the assembled part X.
Ru. In addition, the input device 18 described above is connected to one of the mounts 21.
Adjacent to the 2 sides. The part X in the robot 12 configured as described above is
This section explains how to assemble the product. First, in the initial state, the robot hand 218 is
It is positioned above the extraction section 154. this state
The necessary parts X are stored according to the predetermined assembly order.
The loaded pallet p is moved from the stocker 24 to the pull-out position.
As it is being pulled out, the pallet p will be in the pulled out position.
From the moment the positioning is detected, the servo motor
The MH rotates and lowers the robot hand 218.
, the gripping operation of the part X by the fingers 220 is executed.
. When the gripping operation of part X is completed, the servo motor
The robot hand 2 is rotated in the opposite direction.
18, and servo motors M,..., M R2.
It is rotated as appropriate and moved onto the assembly table 224. Then, the servo motor Ml11 is rotated again,
Lower the robot hand 218 and place it on the assembly table 224.
Then, the assembly operation for part X is executed. This assembly operation is completed.
When finished, the robot finger 220 grasps the part
The condition is canceled and servo motor MR3 is driven to rotate in the opposite direction.
and raise the robot hand 218. After this,
The servo motors MHI and MR2 are rotationally driven, and the above-mentioned
The robot hand 218 is moved back to the initial position.
. In this way, when focusing on one part
A series of assembly operations are completed. In addition, while this series of assembly operations is being executed,
Then, the robot hand 218 receives the grip of the part X.
Supply of girder pallet p1, that is, part X to robot 12
The robot hand 218 removes the pallet p that has been finished with the pallet p.
from the upper position of the cut p to the assembly position, and again this pallet
Until it returns to the upper position of the cut p, the next assembly work
A pallet p containing parts X required in the process and
The loading and unloading operations are executed. Here, one part X in the robot 12 mentioned above is
The time required for assembly is the descending movement to pallet p-
0.3 seconds for gripping part X, 0.2 seconds for gripping part X, pallet p
It takes 0.3 seconds for the upward movement of the assembly table 224 to move upward.
0.5 seconds for operation, 0.3 seconds for lowering to assembly table 224
, 0.2 seconds for assembly operation on the assembly table 224, assembly table 224
It takes 0.3 seconds for the upward movement from the top of the pallet p.
Since it takes 0.5 seconds to move to , the total time is 2.
It is set to 6 seconds. °The operation of putting in and taking out the pallet p is carried out by the robot mentioned above.
During the operation time of 12, the robot hand 218
Upper position of pallet p after being lifted from pallet p
must be executed before returning to this upper position again.
Must be. In other words, the robot hand 218
The pallet p is lowered from the standby position above the pallet p.
Grip part
It is prohibited to take in or take out pallet p until it rises at
The pallet p is put in and taken out at other times.
must be done. For this reason, loading and unloading of pallets
The allowable time for operation is 0.5+0.3+0.2+0
．． 3+0.5'=1.8 seconds is defined as the maximum time. In other words, this
1. The operation of loading and unloading pallet p must be completed within 8 seconds.
For example, without stopping the assembly operation in the robot 12.
The next supply operation of part X will be accomplished. others
Therefore, in the stocker 24 mentioned above, within this 1.8 seconds
so that the operation of putting in and taking out pallet p is executed.
The operating time is set. [Left below] (System operation) Below is how to control the operation of the FAC system in this example.
I will explain about this. <Configuration of control unit> Figure 18 shows the control unit that controls the FAC system of the embodiment.
The module configuration of the knit 16 (FIG. 2) is shown. mentioned above
As mentioned above, the tree FAC system has robots, stockers, and machines.
The main components are a elevator and a buffer. This above
These components are mechanically modularized as described above.
It is also modularized in terms of control.
. That is, the control unit 16 includes a controller for controlling the robot.
Microprocessor board, microcontroller that controls the stocker
Processor board, microprocessor that controls the elevator
Microprocessor support that controls support boards and buffers
It has four microprocessor boards called
The microprocessor board uses the well-known multi-bus interface.
connected by a face. 4 microprocessor sabots
The management microprocessor board is located above it.
System management is performed by the code. The above management My
The input/output device 18 shown in FIG.
3232 interface, and this general
Input/output device using a personal computer 18
from the assembly environment of the wood FAC system (e.g. pallet
Manually specify parts included in the process, process order, etc.)
Ru. The inside of the control unit 16 is shown in FIG.
The fact that each controlled object is modularized means that the tree F
The AC system is subject to the installation light conditions, e.g. environment, constraints.
Considering the above, the above module can be selected as an option.
In addition, the above assembly environment can be input/output
You can freely change process settings etc. by inputting from the device 18.
As the name suggests, the tree FAC system
, allowing you to reorganize your “flexible” system environment.
This is what I did. This is based on the previously mentioned basis of the FAC system.
Description of the control unit program for the main configuration,
Furthermore, various changes in equipment configurations developed from this basic pattern configuration.
From the explanation of example formats and program variations, it is obvious that
It will become clear. <Input of assembly environment> The technical philosophy of the wood FAC system is not limited to manufacturing only.
, ultimately, multiple groups of items prepared in advance.
(Each group of goods includes only goods of the same means)
items one by one in a predetermined order that had been previously determined.
After selecting , the selected item is -
This means that r is supplied to the point. And above
From a plurality of groups of articles prepared in advance, the above-
When an item is fed towards a point, the item itself in the group of items is
Add. So, what is the technical philosophy behind the wood FAC system?
For this group of goods, efficiently and moreover, the above-mentioned point
Replenish new supplies without stopping supply to
It can be summarized in the following points: Wood FAC system technology
The application of this idea to product assembly is detailed below.
Automatic assembly by robots in the narrow sense of roller FAC
In this narrowly defined FAC system, the supply of r goods is
This is compatible with the supply of r parts to the robot by the stocker.
In this case, "replenishment of goods" is a buffer. In elevators (including unmanned cars, unmanned warehouses, etc.)
This corresponds to the supply of new parts to the stocker. Therefore
, r assembly environment in this narrow sense FAC system
j will be explained below. 19A to 19C show the display screen of the input/output device 18.
shows. This display screen is displayed when the operator uses the included keyboard.
This is a screen for manually editing and changing various assembly environments.
It also displays the current control status as the control progresses.
It is also a screen for viewing. The assembly environment of the Zero FAC system is, for example, pallet information.
etc., that is, for a certain part, its part name, its
Placement shelf position S in the stocker for 5 pallets that accommodate parts
, the total number of parts that can be accommodated on a pallet, and the pallet.
Thickness of the piece HlThe robot assembles the parts and finishes them into a product.
Program number P for raising the specified number of pallets
Barcode B1 attached to the location Because it is used for that part
The number F of the finger attached to the robot hand is
etc. In the tree FAC system, as shown in Figure 3,
A standard size pallet is used. Therefore, the parts
Once decided, the assembly program P for that part (for example, screw
(clamping, etc.), and the specifications of the pallet that will accommodate the parts have been decided.
It ends up. Determining the pallet means determining the number of pieces that can be accommodated in the pallet.
The number T, the thickness H of the pallet that depends on the height of the parts, etc. are determined.
Is Rukoto. The used parts table in Figure 19A is independent of the process order.
While the operator is looking at the CRT display screen of the human blade device 18,
The part name, the total number of pallets that accommodate the part T, and
The thickness of the pallet Hl The bar code of the part B, the part
Number F of the robot finger necessary for assembling the product and
The program number P is manually generated. Other,
The process sequence number G and stocker shelf position S are based on the process sequence table described later.
At the time of the blueprint, the program for the management module - (
'fj-ts diagram) automatically displays the sky in place of the operator.
However, the remaining number Z changes as the process progresses.
Therefore, this 2 also has the above management module program.
displays the latest updated remaining quantity on behalf of the operator.
It is something. The parts table is manually indexed to each part.
A box number IDX is assigned. Assigned by TDK
When the process order input process of the tree FAC system (19th
(Figure B), the part can be identified by this TDX number.
, it is easier than manually inputting the part names. In the specific example shown in FIG. 19A, the parts index ID
The pallet with X as “1” has the part name “screw” and the pallet with
The number of items stored in the kit is 38 pieces, the pallet thickness is 50 mm, and the professional
The gram number is entered as "100" and the part index is
The pallet with IDX of “2” has the part name “Natsuto j”.
, the number of items stored in the pallet is 13, the pallet thickness is 25 mm
, the program number was manually set to r200J, and the parts index was
The pallet whose box IDX is "3" has 15 parts names "wa
The number of items stored in the pallet is 54, and the pallet is
Thickness 100mm, program number r300J and manual labor...
...There's a lot of yelling. Note that the assembly environment information manually generated by the operator mentioned above is
If we do, everything will be uniquely determined. be
The parts needed to assemble a product are usually known in advance.
Therefore, the package that accommodates those necessary parts is
Lets, programs, fingers, etc. are also uniquely determined. Therefore, when managing multiple FAC systems at the same time,
Central production control computer system (Figure 18)
You may also provide this information. Assembling parts into products requires more than just information about the parts.
There are not enough parts, and it is important to assemble which parts and in what order.
. Therefore, the operator of the wood FAC system uses various products.
During assembly, we restore all the parts necessary for each process.
and input it into the process order table (Figure 19B) on the CRT.
To go. In that manual process, the process order - is the first in the input order?
are assigned as 1゜2.3..., and the numbers are assigned as variables.
It is considered to be G. To instruct which parts to use in each process
Human power is reduced by the operator inputting the parts index TDX manually.
It is done by In addition, there is a
In which shelf position S of the stocker should the pallet containing the parts be placed?
Decide whether to place it on [G] and input it. This S [G]
The necessity of inputting is required for the following points. That is, the process
Even if they are different, the same parts may be used, and this
Identical parts are stored on the same pallet, so the above difference
Is there a case where pallets from the same shelf are required in a different process?
It is et al. The process order table created manually in this way
A specific example is shown in FIG. 19B. Figure 19B shows how to assemble a specific product from multiple parts.
Enter the parts needed to complete the process and their process order.
Is displayed. The process order is 64 processes from 1 to 64 are wood F.
Can be defined in AC system. The operator follows the process order.
So, while looking at the parts table display in Figure 19A,
The product IDX and shelf position S[G] are input one after another. Engineering
The program number P1 part name in the process table is the management program.
The program is inserted. This process order table
The process number G and parts index IDX are associated in the
Once completed, the parts table (Figure 19A) shows the process.
The number G is associated with the pallet used in that process.
Ru. In addition, the input of S [G] in the process order table is for one part.
/ 1 process / 1 shelf, that is, the same type of parts are different
When using in a process where pallets are placed on different shelves.
If the process order is pallet S [
G], and once the parts are determined, the pallet thickness H
Since the management program can be known from the parts table, the operation
The management program can operate the S [G] without any manual effort by the person
Calculate the shelf position WISCGE on behalf of the author and add a person to the table
I can do it. Intentionally processing the same part in different ways
Even the process is like taking it out from the pallet on the same shelf.
When assembling the order, the operator should not take pallet thickness H into consideration.
Therefore, it becomes necessary to input S[G]. Department
As in the case of manual labor in the product table, the process order is
Products are decided in advance through production planning.
From there, the predetermined process order is transferred to the central production pipe.
From the physical computer system to the tree FA via three lines
It may also be input into the C system. Variable factors for increasing the efficiency of parts supply> Now, in the FACAC system, the supply order of parts
The process order, which is the order of assembly, is extremely effective in improving the efficiency of supplying goods1.
have a huge impact. Assembly environment for wood FAC system
The premise is one part/one process. parts supply, parts
The factors that influence the efficiency of replenishment are the pallet thickness H[
G] and which pallet to place on which shelf position S [G]
It's up to you. What is the total pallet thickness H in the stocker?
Limit the number of pallets that can be stored. The wood FAC system can be stored on the maximum number of shelves in the stocker.
Assemble products from parts within the number of pallets. subordinate
Therefore, depending on the pallet thickness H, there is a limit of 3 on the number of pallets.
When assembling one product, multiple
If the same parts are used in the process, the same parts are
Reduce the total number of pallets by removing them from the pallet.
There is a need to control it. Same process for multiple different processes
When you lift a part to take it out, it will appear on top of the stocker.
The lower 8 movements become random and supply the stocker to the robot.
This leads to a decrease in speed. In this way, the process order G and the palette
The shelf thickness H and the shelf position S [G] have a great deal to do with efficiency.
Therefore, when creating a process order table, use this
It is necessary to carefully prepare it, taking into account the various requirements. or
, since the number of accommodated pieces T [G] is also determined for each part,
Depending on the assembly, the frequency and order in which empty pallets occur will also be affected.
replacement of empty pallets, i.e. elevators and buffs.
This is because it also affects the efficiency of the engine's operation. Figures 17A to 17E assume that the pallet thickness H is the same.
The total number of stored items T [G] and the shelf position S [G] are
It explains how it affects the rate. 1st
Figure 7A is the simplest example, and even if the parts are different, each process
The T [G] of the pallets in is the same, and the
Each pallet was placed on a shelf in process order (i.e., S [G]
is in normal order). In this case, the palette
It is a process sequence that the parts become empty at the
, the movement of the stocker also moves upward. Next, parts A and B are required for assembly, and the order of assembly is also
It is necessary to set A->A->B, and A part is placed on the pallet.
It can accommodate 100 pieces, and 50 pieces of B parts can be accommodated.
Assume that Figure 17B shows each pallet in turn in step 1=>2=>3.
This is a case where part A=>A=>B is taken out from. In this case, the stocker moves upward in an orderly manner.
, Pallet replacement frequency is low, but many pallets are required.
This causes the inconvenience of Figure 17C shows that A on the same pallet in step 1.2.
It involves using parts. In this case, the stocker
The 8-movement system is well-organized, with less frequent pallet changes.
There is no waste of pallets. Special characteristics of assembly, process order G
An ideal solution that takes into consideration the parts storage capacity T of one pallet.
It is. If the assembly order is A=>B->A, the process order and shelf position
If you make it as shown in Figure 17D, - there will be waste in the number of shelves.
However, the stocker moves in an orderly manner. As shown in Figure 17E
Nishitatogi eliminates waste in the number of pallets and reduces the number of pallets.
Replacement occurs continuously, but the stocker moves rapidly and
A downward movement occurs. Above are specific examples: assembly order, process order G, number of parts.
T [G], shelf position S [G] is for parts supply and replenishment
explained how it affects the efficiency of Tree FAC
The system analyzes the factors that influence the efficiency of the above factors.
analysis to provide the optimal assembly order and parts supply plan.
However, once such an assembly plan and process sequence is
determined by the author or production control computer
and can be flexibly adapted to any process order or plan.
Within this range, parts can be supplied to the robot in the most efficient manner.
, and for supplying parts to the stocker. In other words, the process order G, shelf position S [G], etc. are shown in Figure 21A.
The idea is to make it variable and deal with it flexibly.
be. For example, as shown in Figure 17A, the pallet in the stocker
Manually create the process order table so that the placement items are in the process order.
The purpose of this is to ensure that the zero FAC system is
In addition to "flexibility", how to assemble the robot with
Efficiently supply parts to the robot without causing any interference.
This is because the main focus is on In other words, in the stocker
Pallets may be placed in the same order as the pallets, even if they are not in the order of the process.
]・In the order in which the parts in the box become zero and need to be replaced.
You can also line them up. However, the robot, which is the main focus of this system,
How to supply parts to the robot without interfering with robot operation
control is possible depending on the number of parts stored in the pallet.
Therefore, the pallet replacement period is not necessarily
It is difficult to predict because the placement does not follow the instructions in the tocker, and the robot
Flexible to changes in the number of component rows due to component picking errors caused by
It is possible to respond flexibly, and as shown in Figure 19B.
Considering that the human power required in the process order is ergonomically suitable, etc.
Therefore, in this example, the pallets are placed in the order of the process.
It is. Therefore, the placement of pallets inside the stocker is
The robot, stock
To ensure proper control of cars, elevators, etc.
1. It is easy to modify the program. Basic configuration actual
By explaining the control of the embodiment and its modified configuration embodiment, it is obvious that
It will become clear. Stocker shelf board 1 shown in Figure 14 of the wood FAC system
In this embodiment, 56 has a total of 20 stages,
From top to bottom: 1st row, 2nd row, etc. 20th row
. As shown in Figures 14 and 20, each shelf board is spaced evenly (
approximately 30 mm). Therefore, three types of thickness
(25mm, 50mm, 100mm) pallets
When storing sheets in a stocker, for example, 100mm thick
This pallet occupies four shelves. Figure 19A
In the specific example shown in , the IDXrlJ in the first step is “
The pallet containing the screws is placed on the first shelf.
Insert the "washer" which is IDXr3J in the second process.
The pallet is placed on the third shelf and the pallet is placed on the third shelf.
The palette containing "Natsuto", which is IDXr2J, is
It will be placed on the seventh shelf. a certain palette
is on which shelf (i.e., the stocker position number in Figure 19A)
As mentioned above, whether it will be placed in No. S) depends on each palette.
The management program calculates and determines the thickness of the cut.
or the operator determines and inputs it in consideration of efficiency, and the 19th
Display them in order in the table in Figure A. In this way, the operator can view the parts table and process order table.
After entering the required minimum information, the management program will:
In the parts table, process order, stocker position number S, etc.
It calculates and displays it, so you can easily understand complex and huge assembly environments.
The settings are extremely easy to operate, and changes can be made as described above.
Since you only need to change the input information, there are no process changes or parts changes.
You can respond more flexibly. <Other display elements> Figure 19C shows the icons (pictures) on the display screen of the input/output device.
character keys). ``Continuous'' means normal continuous assembly/part.
This is a key that instructs the product supply operation mode, and - this r continuous
- When a key is pressed, the management microprocessor (Fig.
) in the memory (not shown) is set to O”.
be done. Set to continuous operation mode, then r star
When the top j key is pressed, the r top 1 key is pressed.
9 Continuously until the system stops due to failure or an error occurs.
The system works properly. rSingle 1 is a single operation model.
mode, and when this key is pressed, the S
The LE flag is set to “1” and the r start key is pressed.
Each press performs a single action (depending on each module,
(with a different scope of operation) are executed. <Variables used for control> Figure 21A shows the variables used for control by the microprocessor of each module.
Common variables (global) that are commonly used (accessible)
variable). These variables are arranged in a two-dimensional array.
Arranged and indexed by argument G (process number)
. Replacement flag ■[G] is the process order G (i.e. stock
The pallet on the Gth shelf from the top in the car is empty.
This is a flag indicating. Many of the other common variables are
The explanation is omitted as it is the same as shown in Figure 9A and Figure 19B.
Omitted. Figure 21B shows robot to elevator and buffer
Preparation instructions for the exchange i<-let to be sent (instructions on the preparation of
When the remaining number Z becomes 1, the elevator and buff
for queuing (to be served on a
, the process number (E+, E2, I)+,
D2) is the evacuation area. As can be seen from Figure 21B
In this case, the number of queues is two. The reason why I chose 2 is to be honest.
The machine speed of each module used in the example (e.g.
Considering factors such as motor speed), at worst there will be three or more queues.
This is because it does not occur above. Of course, the device you use
The speed actually changes depending on the number of queues.
The number may be increased to three or more. Note that this queue is used in this example.
How it is used will be explained later. <Vertical movement range of each module> Using Figure 22A, determine the vertical movement range of each module.
Explain the surroundings. As for the buffer, it is unmanned at about 900mm above the floor.
Buffer stand 52 receives pallets stacked from cars.
Take. The first separation claw is the one above the pallet to be separated.
The position where the let is latched (referred to as the "-time holding position") is
1410mm above the floor, the pallet to be separated is moved to the second separating claw.
The position where it is latched (referred to as the "separation position") is 130 above the floor.
It is 0 mm. However, the above temporary storage location and separation location
is the nominal position, and as mentioned earlier, depending on the thickness of the pallet
has a tolerance, and the upper and lower buffers take into account that error.
Cardiac motion control is performed as described below (FIG. 25B). The maximum downward position of the buffer stand 52 is 500 above the floor.
mm, and this position is taught for buffer movement control.
This is the origin of the group. Maximum pallet load on buffer stand
The number of pieces is determined when multiple pallets are stacked on top of each other.
When the buffer stand 52 rises to the temporary storage position, the top
Make sure that each stage of pallets does not exceed 2225mm above the floor.
It is set taking into account the pallet thickness, etc. The installation position of the unloading mechanism 76 is 350 mm above the floor. mentioned above
As shown, the buffer stand 52 is 5' above the floor at the lowest position.
This buffer can be lowered to OOmm, but the transport mechanism
Empty pallet when 76 is full of empty pallets
The buffer table is raised during transportation so as not to obstruct the transportation of
do. The vertical movement range of the elevator will be explained. elevator
The highest raised position is the separation position and the second separation claw is the separation target.
A pallet full of parts, a slide guide 122, and
is the position where the ``pallet removal position'' matches,
Teach the elevator control this pallet removal position.
as the starting point. With this setting, the elevator straw
The range is 800mm. The movement range of the stocker will be explained. The stocker is mentioned above.
As shown, there are 20 shelves spaced at 30mm intervals, and therefore,
The vertical width of the stocker is 600 (=30 x 20)
It is mm. The pallet on the first shelf is a drawer.
The 20th shelf position of the Togi pulled out to 154 is the lowest
This is the lowering position, and this position is the origin of teaching.
and set it at 300 mm above the floor. The origin of the 8 vertical movements of robot teaching is 12 on the floor.
25 (900+175+150) mm-, and the robot
The finger of the cut hunt touches the pallet on the drawer 154.
From the top, grasp one part, move it upwards, and then
Move horizontally to a standing position and descend. <Operation outline of pallet exchange> Here, using Figure 22B, one pallet full of parts will be replaced.
is removed from the buffer by the elevator.
, and how it is replaced with an empty pallet in the stocker.
Explain. When the number of parts in the pallet is reduced to one, the robot
Prepare the pallet and separation in the elevator, and prepare the separation in the elevator.
Instruct them to move to a certain position. Then, in the buffer
Separated parts at a more separated position (this position is fixed)
Rhett waits to be taken out by the elevator. workman
The elevator has moved to the separation position m<removal position).
, takes the pallet from the buffer into the elevator body
In this elevator, the slide guide 134 is
will be empty in the stocker (or - already empty)
Palette

[Normally, the drawer part 15 to the robot
4) and waits until it aligns with the pallet (one of the pallets being pulled out above). 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. When the pallet with one component remaining is again pulled out from the stocker main body to the drawer portion 154, and the robot grasps this last one, the number of components remaining in the pallet becomes O'°. 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. ■: Processes also follow this fence order, and one process uses only one part on one pallet. That is, the total number of processes M is 20 processes, which is equal to the total number of packages in the stocker. (2) Necessary spare pallets are also stacked on the buffer table 52 in advance. For convenience, a configuration having such an initial state is referred to as 'PM
This will be referred to as simplified configuration example J. The expected operation of the module starting from this r-simplified configuration example J is as follows: ■: The robot will assemble one piece/process of parts from each pallet; ■: The stocker will be placed on 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 robot is about to start assembly work [blank space below] [Robot and stocker control] The robot is controlled according to the program shown in the flowcharts in Figures 23A and 23B until the number of pieces remaining is 1. . Further, the stocker is controlled according to the program shown in the flowcharts of FIGS. 24A and 24B. These two modules will be described together because the elevator, buffer, etc. will not operate until the remaining number Z of parts on any pallet in the stocker reaches 1'. As described above, the management microprocessor program starts the programs 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 1°'. This process number G is °゛1'°, which means that the robot requests the part with process number 1 from the stocker. means to request. In step SIO, the state of the aforementioned SIN0LE flag (FIG. 19C) is checked. If it is the S T N0LE mode, the process advances from step SIO to step S12, and only when the "start" key is pressed, the following control is executed to perform a single operation. 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 that was waiting for activation from the robot in step S60, when this - activation occurs, the stocker waits for activation from the robot in step S60.
Proceed to Step 3 to check whether any pallet has already been pulled out onto the drawer section 154. This confirmation is confirmed by a sensor (not shown) on the drawer section 154. This type of confirmation is for confirmation when restarting the stocker after it has stopped for some reason, and for SIN.
This is for when you are in 0LE 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 (which pallet can be known from the variable) is transferred to the process G= 1 palette. If it is the pallet requested by the robot, there is no need to pull out the pallet, and the process proceeds to step 38.4, where a notification that the pallet is ready is sent to the robot via multipath. In step S64, the pallet that has already been pulled out is placed in process G (shelf S) requested by the robot.
If it is not the [G]th pallet), the pallet is returned to the stocker in step S66. It should be noted that the manner in which the air cylinder CS4 and motor M52 operate to return the material to the stocker has already been described above, so a description thereof will be omitted. Either it is determined that the pallet has not been pulled out in step S62, or the pallet that has already been pulled out is in step S62.
If returned at 66, the process proceeds to step 368 where it stores in a variable which pallet the robot is requesting. 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,
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, 300 above the floor)
The position from mm) is previously taught 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 the pallet in the 21st
From the variable S[L] shown in diagram A, S[,L] of L=1
and the teaching position TP using that value as an argument.
[S[L]] is found from the teaching point in FIG. 20, and the value is set as the servo motor movement amount STP. That is, 5TP=TP [S [L]. Then, in step S72, the stocker is moved according to the amount of movement. When the servo motor M s 1 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
This is a flag indicating that there has already been a replacement request from the robot, and if G=L=1, it is reset since the state where replacement is required has not yet occurred, so step S
Proceed to 78. Step S78. In step S80, the lid of the pallet is opened, and in step S82, the pallet with the lid opened is pulled out to the drawer section 154 under the control described above. The pallet is the stopper 17 of the drawer part 154
-6, the robot is notified in step S84 that the pallet is ready on the drawer 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 518 and starts picking up the parts in the pallet placed f2 on the drawer section 154. move above the part and then descend to try to pick the part. Next, in step S20, the remaining number Z[G] of parts with the relevant process number G is decreased by one. In step S22, it is checked whether this remaining number Z has become 1. Still remaining quantity Z
When [G] is 1 or more, it is checked in step 32B whether the robot's fingers were able to pick the part. The failure to properly pick up a component includes cases in which the fingers fail to grip the component, as well as cases in which the component is not inserted into the relevant location within the pallet. 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. When it is confirmed that the parts have been picked normally, in step S32, a notice of completion of picking is returned to the stocker. When receiving notifications that the robot is operating and that the pick is complete,
On the stocker side, the process proceeds to step S86→step 588→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. I [L] in step 5ioo is
This flag indicates that the remaining number 2 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, so this flag is currently reset. Therefore, proceed to step 8118 and increment L by one, ie, L=L+1. From step 5118 to step 5126, while the robot is assembling the parts picked in step 318 (Fig. 23A), the stocker picks up the next pallet (parts).
This is to prepare the information on the drawer section 15410B'. That is, step 5120
Then, it is checked whether the current process is the final process, and if it is not the final process (in the above r-simplified configuration example, the total number of processes is 20, so when L=20), step 812 is performed.
Proceeding to step 6, the robot calculates the amount by which the shelf of the pallet next to the pallet on which the parts were picked up (L has already been incremented by 1 in step 5118) will be moved to the drawer section 154 position. Step 5128° S130 C. This is control for moving the stocker each time the start key J is pressed in the S I NGLE mode. From step 5130 to step S of FIG. 24A.
Returning to step 72, the STP calculated in step 3126 is sent to motor Mgl to align the next shelf with the drawer 154 position. The following control repeats the control described above. The above control is repeated until the remaining number Z['G] of any pallet becomes one. The stocker control program shown in FIG. 24B assumes an assembly in which parts are required in all steps. However, in reality, there may be processes that do not require parts, such as finger replacement, and in such cases, there is no need for the stocker's day shift (step 5126). Therefore, a flag is set (or
(make the parts index alphabetical), check the value of this flag before step 5126, and if the process does not require the part, do not proceed to step 5126, but return to step 5118 and advance the process one step. You can do it like this. When the number of remaining pallets becomes one, the remaining number of pallets Z [G] of fence S [G] will eventually become,
It becomes 1 in a certain process G. That is, if one component is picked in step 318 from a pallet with two component rows, the number remaining is one, so step S
The process proceeds from step S22 to step S24, and the process number G 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 5.26, the buffer instructs the elevator 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 a previous swap preparation operation, the elevator,buffer picks up this queue and
Start the replacement preparation operation. Even after giving instructions to prepare for replacement to the buffer and elevator, the robot continues 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 Z of pallets has become zero at a certain step a (=t, j, I [L]), the stocker pulls out the pallet for the next process G+1 (=+1) to the drawer part 154.The robot picks up the parts on the pallet for G+4, and When the work of stocking a pallet with zero remaining pieces discovered in process G has not been completed (
Step 594). That is, the stocker waits until the operation after loading is completed. This is because there are parts left on the pallet of process G+1, which follows process G where the remaining number Z [G] has become zero, so in that case, the robot assembles 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 by buffer* Diagram M25A shows the changes used in the buffer control program.
Show the number. That is, these variables are set to the current buffer base.
Number and bar code of the highest pallet stage
Read data storage area B by the reader, and each stage
Information on the height of each pallet, its part name, etc. Mogami
The number of the highest pallet row is that these variables
as is removed from the buffer by the elevator
The information about the extracted pallet will be deleted.
, to indicate which parts of these variables are currently in effect.
Ru. As described later, this information is stored without human intervention.
, the wood FAC system is automatically controlled via the production control computer.
When a necessary pallet is requested from a human warehouse, the pallet is left unattended.
If it is passed from the car to the buffer, the system (Fig. 18)
management microprocessor program) in the buffer.
6 On the other hand, it is manually placed on the buffer table 52.
When stacking the
Strengthen. 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.
has been done. The buffer steps through this replacement preparation instruction.
If received at 5150, the process advances to step 5152 and the input
The part name (or part importer) of the pallet that needs to be replaced.
DX) is the process number informed by the robot.
The variable table in FIG. 21A is searched by the number. Then, enter this part name (part IDX) in the table in Figure 25A.
By searching within the
Find out how many pallets are packed. and,
In step 5154, if the buffer stand 52 of this pallet
The distance between us! Find 11f (assumed to be u). This is this step
Thickness of all pallets up to pallet (Figure 25A)
(Known from the table) is calculated by adding up the buffer table 52.
Know the distance 11ff (assumed to be m) from the floor to the bottom of the current position.
Then, from these m, It, the palette to be replaced is
The moving distance until the robot is moved to the separation position is determined in steps.
3156, calculated from (1410-(m+j2))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 5160, the sense state of sensor 80 is checked.
Ru. If sensor 80 is off, step 5162
Until this sensor 80 is turned on, the buffer stand 52 is turned on.
− to make. At step 5160, sensor 80 is turned on.
If so, step 51134 until the lever sensor turns off.
to lower it. This type of control allows for pallet thickness tolerances.
The reason why this is done in relation to this is already explained in Figures 8A to 8E.
Since this has been explained in detail in relation to the above, 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 8168, 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 S17-2 buffer the amount by that amount.
Raise the platform 52 and move the desired pallet to the separation position
let Step 5174. In step 5176, the bar
Retry code read and confirm. Step 8168
Alternatively, proceed from step 3176 to step 8178.
Then, the first separating claw 66 is energized, and step 3180 is performed.
Then, the predetermined distance L+ (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 3182
The separation claw 68 of No. 2 is energized, and further predetermined separation claw 68 is applied in step 3184.
Lower the distance L2 and move the buffer as shown in Figure 7D.
Separate. Then step 3186 and go to the elevator.
to notify the buffer separation is complete and step
At 5188, the elevator lifts this separated pallet.
Wait for it to retract into the elevator body. *Pallet drawer using an elevator *The elevator is
There is no need to replace empty pallets in the stocker.
does not need to work. And this swapping operation is
, always have a pallet full of parts separated by buffers.
The first step is to load the cut into the elevator frame.
It becomes important. Therefore, the normal waiting position of the elevator frame
the position aligned with the separation position by the buffer (22nd
Assuming that the origin position of the elevator is shown in Figure A), then
An instruction comes from the robot to prepare a new pallet.
Moreover, the separation operation was completed immediately on the buffer side.
In case of eel, immediately move to the elevating frame without needing time to move.
The advantage is that you can start importing palettes.
Ru. Therefore, the elevator control of this embodiment is also
As shown in step 5200, the elevator slot is waiting
The position matches the separation position by the buffer. Now, the robot can move the step independently of the buffer movement.
At step 526 (Figure 23A), for the elevator as well,
Instruct replacement preparation via queue (Figure 21'B)
are doing. Corresponds to the pallets necessary for this replacement preparation.
The process number G is set to the variable E in the queue in step S24.
has been evacuated to. The elevator receives this replacement preparation instruction.
If received, the process advances from step 5204 to step 5206.
and notification of completion of pallet separation at separation position using buffer.
Wait for knowledge. As mentioned above, on the buffer side, in step 5186
Send a separation completion notification to the elevator side.
At step 3188, the elevator picks up the pallet.
I'm waiting for you to get into it. Therefore, the elevator that received this notification takes step 32.
At step 08, the pallet is pulled out. This withdrawal operation is related to FIGS. 13A to 13D.
As detailed above, first, the elevator motor ME2 is
direction and attach the first hook 108゛ to the pallet.
Move to the latching position, then drive the nib cylinder CEI.
to engage the hooks 108 on the pallet, then move the front
Rotate the motor M22 in direction B to move the pallet back
It is taken into the elevator frame from the front side. Once the pallet has been pulled out from the barafuna, the
At step 5210, a notification to that effect is returned to the buffer. stop
The process then proceeds to step 3212 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.
In step 5192, the separation claws 68 of
The first pallet group is combined in step 5196.
Return the release claw 66 and return to step 5150 to release the robot.
Wait for the next pallet preparation instructions from. Furthermore, this step
Step 5150 is the standby position for instructions from the robot.
Only (Ll + L2 + H[D] ) higher than 5192
The origin position (50 on the floor in Figure 22A) is not the elevated position.
0 mm). This is the actual implementation
As shown in the example, the number of parts on a pallet varies depending on the pallet.
If it is a loose piece, there may be a time when there is only one piece left (prediction is possible).
This is because even if it is possible, it is 5 random. *Elevator replacement standby position* Before explaining the 8-motion 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 r simplified configuration example J 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,
Improve efficiency by replacing pallets with zero remaining quantity Z
2 in Figure 27A.
When 154 is withdrawn and there is only 1 remaining,
Instructs elevators and buffers to prepare for pallet replacement.
After that, the remaining 1 pallet becomes 0 as follows.
This is when it is pulled out to the drawer section 154.
The pallet with 0 pieces is moved upward and the pallet below is
While the let is being pulled out to the drawer section 154,
Swapping the empty palette with a new palette is
It is the most efficient. That is, in FIG. 27A, the remaining number is 0.
While the pallet is in the position shown, the elevator
It would be nice if they could replace the let. Therefore,
How far does the elevator move and descend?
Consider whether the exchange position of is 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 O pieces remaining is about to be replaced.
However, for convenience of explanation, this is not the case.
In the r simplified configuration example j, the buffer
The pallet is about to be pulled out into the elevator.
When the number of pallets remaining is O, the replacement preparation instruction is usually
The cause should have been the pallet with 1 remaining. What if the process order and pallet shelf position are different?
mosquito. In such a case, the process G is 1.2.3...
・If you infer that, the stacker will move up and down according to S [G].
Moving. In Figure 27B, such - in some instances,
The pallet of process L (=c) becomes Z [G] =1.
This shows the case where Then the elevator enters with the buffer.
Start preparing to change the buffer and read the new
Pick up the pallet and move it to the waiting position of the elevator.
try Now, at this time, the robot has already started the next process (
Since the request is for pallets L+1), the stocker trigger is
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, in a certain cycle process, only one piece remains.
The pallet (placed on S [L]) is transferred to the next process L.
+1 causes the pallet S[L+1] to be pulled into the drawer section 154.
The position that exists when the process is being exported is
Then the next cycle begins, and the process begins again.
Quantity is 1 - The remaining number of only pallets is 7, and gold is given.
Then, the pallet of S[L+1] is moved to the drawer section at +1.
Pallet in process when being pulled out at 1-54
is equal to the position of Therefore, when the remaining number is 1,
, predicting the replacement standby position in 12.3 when the remaining number becomes zero is consistent with the negative direction.
It's ino. 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 l1I from the floor of the 2nd and 0th shelf when the
11to is also 300 mm from FIG. 22A. a certain craft
After that, there is only one pallet left on shelf S [L].
Furthermore, in process L+1, the pallet S[L+1] is pulled out.
When it is pulled out to section 154, the shelf that has been processed
The pallet has been moved to the position shown in Figure 27D. child
If you look at the situation from the elevator side, it is shown in Figure 27D.
Uni, Shelf S [E+1] When the shelf is in the drawer position
Kia, let's calculate the position of the pallet on shelf S [E].
are equivalent. That is, from FIG. 27D, the replacement standby
In terms of location, the distance between shelves is 30m+n, and the total number of shelves is 20.
Considering that, - 30X'(20+S[E+1] =S[E])+1
It is ゜. In this way, the waiting position for exchange by elevator
is determined. In addition, in Fig. 27C, the pallet in process L+1 is in the drawer section.
154 and the remaining number Z[L+1] is 1.
When issued, the second replacement preparation instruction is sent to the robot control.
from step S26, and this is queued.
This is as mentioned above. *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. Overall package 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
ko)+t. Calculate. The replacement position is determined as described above.
Then, in step 5216, the elevator is moved. stop
At this exchange standby position, the exchange from the stocker
wait for instructions. In other words, the robot detects a pallet with one piece left,
According to the detection, the buffer and elevator are replaced.
In response to the instruction, the elevator
receive a new palette from the
the elevator moves to the standby position.
It has come. (Detection of 0 remaining holes) The robot side places 1 piece remaining on the pallet in the continuous process.
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 1 piece left goes □ first;
This means that it should be the case. ;Remaining number O-
Discovery occurs at step 534 (Figure 23A). child
is detected, in step 336 - flag I[G
] to 1 and continue the next control. That is, the robot
, one cycle of the entire process completes, and the pallet becomes empty.
By the time you get to the process that requires the same part as the
The stocker is replaced by an elevator.
Are expected. And at least it hasn't been replaced.
If not, in step S16, the preparation from the stocker is completed.
Waiting for this, the robot will stop. *Pallet exchange* On the stocker side, the robot sets I [G] = 1.
The detection comes at step 5100 (Figure 24B).
It is Togi. When this flag is detected,
In the case of “Simplified configuration example”, what kind of condition 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. - [Margin below] 1-28. In this state, the assembly (all processes) by the robot continues.
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
In order to remove the last part from the
The reason why the let is not pulled into the drawer section 154 is due to the step.
582 (24th All). And step 58
2 => Proceed to step S84, - pallet to robot
notification of completion of withdrawal. Robo-n received this notification.
At step 516c3, step S18...
...The I [G] flag is set in step S36.
to On the stocker side, step 5a4 => step 386
Step S88φ Step S90φ Step S92 Medium step
Proceeding to step 5100, I[L call 1 is detected. In other words, the stocker side receives the pallet with one piece remaining.
the robot pulls it out to the drawer part 154 and
The stocker picks up the remaining O pallets and stores them inside.
When the value is returned to , I[L]=1 is detected. When I[L]=1 is detected in step 5100, the step
Proceeding to step 5102, the CH flag is set to °1°. Just by setting the CH flag, swapping starts immediately.
The reason for not doing this is that at this point, there is no pull to the robot side.
° indicates a pallet with the remaining number Z of zero on the stocker shelf at the unloading position.
There are parts on the pallet of the next process.
exists, so for now the stocker is the
Advance the pallet for this next process to the drawer position and place it on the robot.
At that point, replace the
All you have to do is make a request. From step 5102
Proceeding to step 5104, the elevator step
For the same reason as 5212, S [L] is the maximum value.
In other words, the stocker shelf of the pallet with the remaining number of 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 process number that became the original drop.
be. Then, step 5118 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, CH flag and flag are already set, so
In step S76, an empty pallet and a new pallet are placed in the elevator.
Send a request to exchange the pallet. At this point, if the elevator has already arrived at the replacement standby position with a new part, then 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 376, 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 S78 to S82.
The pallet for the next process is placed on the pull-out section 154.
Step 884~Step S92φ step
In step S94, the robot selects the parts on the pallet for the next process.
"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 3218
The elevator was waiting for a replacement request from the stocker.
Upon receiving the above request, the printer selects the palette in step 5220.
Exchanging operation is performed. Specifics of step 5220
The control is performed from step 5240 to step 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 5248.
~corresponds to step 8256. 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
Sends a replacement completion notification to the power side (step S-222)
. The stocker side that received this notification starts from step S94.
Proceeding to step S96, the palette of process P to be replaced is
Restore the remaining number of items. Then, in step 398,
Reset the CH flag and also reset 'I[P]
do. Then, from step 5100 to step 8118,
Proceed to the next step L=L+1, step 5120
Φ...Middle step 5130c3 Return to step S72
Then, 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 8226, the previous stack of empty pallets 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.
, :Cancel 4 and stack empty pallets. and,
When piled up, the part will be reduced by the amount of stacking allowance α (=7mm).
Let is at the bottom, so the updated stacked position riQ is
, Q=Q0H[E]−α. Next, in step 5234, the stacked empty pallets are
A sensor that detects whether the elevator is obstructing the movement of the elevator.
S4 position (shown at the bottom of the elevator in Figure 1)
Check to see if it has been reached. If reached, step 8
236 drives the transport mechanism 76 to transfer the empty pallet to the unmanned vehicle.
Transport to the location. In this way, the replacement of empty pallets is completed, and the robot
Supply parts to the robot without stopping operation,
Parts are continuously replenished to the stocker. The basic form of operation control of the 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.
When the item is placed on the shelf, the bottom of the 20th shelf is
, there is no palette. Also, even if all pallets used in all processes are placed on shelves,
, the lowest shelf even if the stocker is not filled.
There is no pallet under it either. In this way, from the top in order of process.
When a pallet is placed on the shelf below, the above-mentioned input
Replace the final shelf according to the determined replacement position.
Even though there are no pallets on the shelf for the next process,
Move the shelf without a pallet to the drawer section 154 position.
, and then insert an empty pallet at the replacement position above it.
It will be replaced. However, in this case, the robot
Step 316 is performed until the pallet replacement is completed.
Do not stop the assembly process while waiting for the drawer to complete.
Must not be too expensive. In order to eliminate this inconvenience, the steps in Figure 2.4B
Steps 5104 to 5116 and the steps in FIG. 26A
5212. There is step 5224. That is, in the final stage
If the pallet needs to be replaced, the replacement location
the stocker pull-out position (slide of drawer part 154)
This is done at the position of the board 178). In this case
The changing standby position is 30XS [E co + t, as shown in Fig. 27G. It is. Therefore, on the elevator side, step 5212
Proceed to step 5224 and wait according to the formula above.
Calculate the position and move to the pull-out position, step 52
At step 18, it waits for a replacement request from the stocker. On the other hand, on the stocker side, in step 5100, the
When it is detected that flag I [L] is set,
Set the CH flag in step 5102, and
5104φ Proceed to step 51o8 and apply to the stocker.
and submit 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.
Each 1,000 ji
Set the operating speed of the motor (e.g. motor rotation speed, etc.)
From robot to buffer to elevator
, multiple replacement preparation instructions (step 326) 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,
In two consecutive processes, if the total number of pieces in the pallet is the same,
If the parts wear out in the same way, replace them consecutively.
Preparation instructions may be issued. In particular, the above two consecutive constructions
(these two steps are taken as L and L+1 in the stocker),
If shelf positions S[L] and S[L+1] are not consecutive,
The stocker moves up and down, making it difficult to 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. Note that in this embodiment, the queue
The number is set to 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
the pallet is moved to the separation position, and in step 8306
Separate that pallet. In step 5308, 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, move to the separation position and
5354, waiting for notification of completion of separation from the buffer.
Ru. When this notification is received, the buffer sets the counter.
Then, calculate the stocker shelf position from 5TP=TP [n], move 8 shifts to that position, 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 pallets transferred to the truck and prepare for the next package.
Calculate the shelf number to insert the let. Step
In step 5314, check if there are any remaining pallets on the buffer stand.
If there are any remaining pallets, separate them to separate the next pallet.
Then, return to step 5300. In this way, the initial operating state setting is completed. [Margins below] (Description of modification) The present invention is based on the structure of the embodiment described above.
without departing from the gist of this invention.
It goes without saying that various modifications can be made within the range. Below, various modifications of the above-mentioned embodiment will be described.
This will be explained in detail. In addition, in the following explanation, the above-mentioned
The same reference numerals are used for parts that are the same as those in the other embodiment.
The explanation thereof will be omitted. First, 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 robot 12's movement is insulted and inhibited.
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 through
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
P1. P2-p3... are grouped together and separated from each other.
A configuration may also be provided in which a step removal mechanism 250 is provided. *Configuration of the stage unwinding mechanism* That is, as shown in FIG. 31, this stage unwinding mechanism 250
Above the buffer stand 52, each standing plate 46a,
46b, along the conveying direction d, respectively.
A plurality of separation claw mounting plates 252 extend vertically.
They are arranged along each side. Here, one facing each other
The pair of separation claw mounting plates 252 are attached to the flange of each pallet p.
It is configured so that it is not hooked to the hinge portion 38 in the vertical direction.
It is. In addition, in this first modification, the above-mentioned
The buffer stand 52 is different from the case of the embodiment, and the unmanned vehicle 2
It is fixed at the same height position as the pallet mounting table 32 of 0.
Ru. Here, all the separation claws on each upright plate 46a, 46b
The mounting plate 252 has both ends thereof extending in the vertical direction.
It was fixed to the corresponding upright plates 46a and 46b so as to
Guide shaft 254a. 254b, and is supported so as to be movable in the vertical direction.
Ru. Note that the upper ends of each guide shaft 254a, 254b are fixed.
The corresponding upright plate 4 is inserted through the tools 256a and 256b, respectively.
6a, 46b, and the lower end is fixed to the buffer stand 5.
It is fixed at 2. Furthermore, as shown in FIG. 32, each separation claw mounting plate 252 is
The air cylinder CDI is integrally installed in the center.
The piston 258 of this air cylinder CDI
is configured to extend downward. This pin
The lower end of the stone 258 is attached to the separation claw mounting plate located directly below.
At the upper end of air cylinder C91 attached to 252
It is fixed. Here, each air cylinder CDI is
It is equipped with two input ends 260a and 260b, one of which is
The input end 260a is connected to the cylinder above the piston 258.
The other input end 260b is connected to the piston 258.
It communicates with the lower cylinder chamber. On the other hand, one input end 26 of all air cylinders CDI
0a is switched via one introducing vibe 262a.
Connected to one output end 264a of the valve 264 and connected to the other input end.
The force end 260b is connected via the other introduction vibe 262b,
Connected to the other output end 264b of the switching valve 264 described above.
It is continued. Here, the input end of this switching valve 264
264C is inserted via the introduction vibe 262C (not shown)
connected to the 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 introduction pipe 262a.
above the piston 258 of each air cylinder C9.
is introduced into the cylinder chamber of the cylinder, and each piston 258 is attached downwardly.
You will be forced to do so. In other words, this high pressure air
- Supplied to one input end 260a of cylinder CDI
By doing so, as shown in Fig. 32, the adjacent parts
The distance between the detachable claw mounting plates 252 will be widened. On the other hand, in the switching valve 264, the other output 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
If so, this high pressure air enters the other input of air cylinder CDI.
By being supplied to the force end 260b, as shown in FIG.
As shown in FIG.
It will be done. Here, in the narrowed state shown in FIG.
For example, all pallets p are 25 mm thick.
p, the arrangement pitch of the separation claw mounting plate 252
is set to 2525-7=18. Also, the third
In the unfolded state shown in Figure 2, there is a mating allowance of 7 mm.
Since it has to be separated from the separation claw mounting plate 25
The arrangement pitch of No. 2 is longer than the above-mentioned 25 mm, e.g.
, 30mm. In other words, the third
From the state shown in Figure 3, one input end of each cylinder C91
By supplying high pressure air to 260a, the piston
258 is pushed downward by 12mm and the separation claw is attached.
The arrangement pitch of the plates 252 will be widened. Further, as shown in FIG. 34, this step removal 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 the air cylinder C92.
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 P1.
is set to the same state. Here, air cylinder CD
By supplying high pressure air to 2, the separation claw 266
, each separation claw 2 is projected from the retracted position to the extended position.
66 is attached downward to the flange portion 38 of the corresponding pallet p+.
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 p1 are stacked on the buffer stand 52.
When it is transported in a state where the
High pressure air is supplied to the cylinder CD2, and the separation claw 266
, the corresponding part is biased from the retracted position to the extended position.
A state where it can be hooked onto the flange portion 38 of Lett P+ 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
A plurality of pallets pI 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 p,
Even if it is, the pallet p from that position. can now be pulled out to the elevator 26,
If the operating time is 11i11 mechanism 64 in one embodiment,
This results in a good shortening compared to the case where the 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, the elevator pallet replacement standard
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 the common servo motor ME2,
This invention is not limited to such a configuration, but can be
As shown in FIGS. 35 to 39 as a second modification,
A pallet p full of parts X is moved along the transport direction d.
for driving hooks 108, 116 to move
The drive motor and the empty pallet p' are moved along the transport direction d.
a drive motor for driving the hook 126 to move the hook 126;
The configuration may be such that the data is provided separately. *Description of the elevator* That is, as shown in FIG.
The elevator 300 has guide grooves 1 on its upper and lower surfaces.
02°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 860.
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 guide members 302a and 302b of the paintbrush 1 have a first
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.
The first rotation support member 31. via oa, 3xob
Rotatably supported. Also, this first ball
The same 306 is rotationally driven by the first servo motor M1.
It is configured to In this way, the first server
The rotation of the rotating shaft of the motor M1 causes the first ball screw to rotate.
306 is rotationally driven, so that the first slide plate 30
4 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, for example,
Similarly, the first hook 108 is placed on the buffer 22 side, and
- Cylinder CF: Can move forward and backward freely through the
A second hook 116 is attached to the air cylinder CE side.
2, so that they can move forward and backward freely. this pair
The first and second hooks 108, 116 of the
Each pallet P+, I)2.1): Flange part of +...
The first notch on the elevator 26 side formed in 38
38a and the second notch 38b on the unmanned vehicle 20 side.
, are each formed in a shape that can be engaged from both sides. Here, on the lower surface of the upper plate 86a of the elevator main body 86,
engaged with the first or second hook 108, 116;
Pull/push according to the rotational drive of 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. Then, the guide member 3 of the paintbrush 2
22a, 322b, the second slide plate 324 is conveyed.
It is supported so as to be able to reciprocate along the direction d. Here, in the center part of this second slide plate 324, there is a
A protrusion 328 into which the second ball screw 326 described above is screwed.
are integrally formed. This second ball screw 326
is a pair whose front and rear ends are fixed to the lower surface of the lower plate 86b.
rotation via the second rotation support members 330a, 330b.
Possibly supported. Also, this second ball screw 3
26 is rotatably driven by a second servo motor M2.
It is composed of In this way, the second servo motor
Due to the rotation of the rotating shaft of the motor M2, the second ball screw 32
6 is rotationally driven, so that the second slide plate 324
It will be reciprocated along the conveyance direction d. This second slide plate 324 is perpendicular to the transport direction d.
It is formed to extend along the direction, and this second
At both ends of the lower surface of the slide plate 324, there is a
A hook member 332 integrally equipped with a third hook 126
is slidable along the direction perpendicular to the transport direction d.
are installed respectively. This third hook 126 is
Each of the aforementioned palettes P+ + p2 + p3...
A second cut on the unmanned vehicle 20 side formed in the flange portion 38
It is formed in a shape that can be engaged with the notch 38b from both sides.
There is. On the other hand, at both ends of the slide plate 324, there are
The second air cylinder extends along the direction of
Da C2 is attached. This second air cylinder
The above-mentioned flange is attached to the tip of the second piston 334 of the cylinder C2.
A hook member 332 is connected. In this way, the
In response to the drive of the second air cylinder C2, the third hook
126 is the second notch portion 3.8 of the flange portion 38
It will be driven back and forth to engage and disengage from b. Further, on the lower plate 86b of the elevator main body 86, this
3 was taken out from the stocker 24 by the hook 126.
A pair of movable legs for slidably receiving an empty pallet p'
A ride guide 336 is provided. Here, both
The dynamic slide guide 336 receives the empty pallet p.
' is placed on the group of carry-out rollers 78 of the carry-out mechanism 76 mentioned above.
In order to place the
In other words, I will leave the empty palette p′ received here.
It is designed to be able to slide. That is, FIG. 38 and
As shown in FIG. 39, both movable slide guides 336
, the elevator main body 8 via the slide members 338, respectively.
60 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. Explanation of the third modified example Next, in the elevator 26 of the implementation example lσ described above,
, three hooks 108°116.1 on the exchange mechanism 96
26 is provided for taking in and pushing out the actual pallet p.
Then, the first and second hooks 108 and 116 are arranged on the upper stage.
A third hook is provided for pulling in the empty pallet p'.
Although it was explained that 126 is disposed in the lower section, this invention
, without being limited to such a configuration, FIGS.
As shown in FIG. 41 as a third modification, this replacement
The hook mechanism 350 is configured to move the first hook with the third hook removed.
and the second hook 108, 116 only.
You can do it. *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 CE1
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
2 hooks 116 are attached to each of the aforementioned pallets P1. P21
The unmanned vehicle 20 side formed on the flange portion 38 of P3...
shape that can be engaged from both sides with the second notch 38b of
is formed. On the other hand, air cylinders fixed to both ends of the slide plate 106
A second holder is provided at the end of the stocker support plate 112 on the stocker 24 side.
A second air cylinder for reciprocating the rack 116
CE2 is installed. This second air cylinder
At the tip of the second piston 120 of 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 pallet p2 and the second hook 116
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',
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
Minute 1 at 22! If the real pallet p is received, the receiver takes it.
to a height position adjacent to the separation position.
make it move. At this separation position, the output from the buffer 22 is
The receiver takes the pallet p, and this real pallet p, this time,
The stocker 24, which is empty after pulling in the empty pallet p',
It will be pushed out into place. 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
Regarding the buffer, the robot in step S26
The control of the basic embodiment does not require modification, so the robot
23A and 23B, and the stocker is shown in FIGS. 24A and 2.
Figure 4B is used for the buffer, and Figures 25B and 25C are used for the buffer.
Ru. For elevators, see Figures 42A to 4.
The sequence of control operations will be explained using a 2H diagram. this
The modified elevator has the lower empty panel that was in the basic example.
Since the let drawer mechanism has been removed,
First, pull out the empty pallet from the stocker.
The sequence of inserting a new pallet into the stacking opening of the
Ru. In FIG. 42A, step numbers are shown. pallet (shelf S [
Suppose that the remaining number Z[LO] = 1 (placed in LO])
At this point, the robot responds to the buffer and elevator.
and gives instructions to prepare for pallet replacement. These preparation instructions
The received buffer is controlled by the buffer control in the basic embodiment described above.
Therefore, from the part name etc. of process Lo (=Do), the supply pattern
Find out which step of the buffer table 52 the let is on.
(See Figure 25A) and place the pallet in the separation position.
To separate. On the other hand, the deformed element that received instructions to prepare for replacement
Beta moves to its replacement standby position. That wait
Position means process. The position of stocker S[LO] in
It is. When the elevator arrives at this waiting position,
As shown in FIG. 42B, the stocker process is a separate process L'
He probably has a psyche. After the process has completed one cycle, the shelf S[
Lo] pallet is at position 154 on the robot's drawer stand.
When it arrives, the remaining number z [LO] is τ. vinegar
At this point, the empty pallet is moved from the stocker side to the elevator.
(Figures 42C to 42D)
Figure) = When the elevator takes in the empty pallet, elms
- In the evening, it descends and stacks empty pallets on the transport mechanism 76.
(Figure 42E). In this condition, is the elevator available?
It doesn't even hold a palette. The elevator then rises to the buffer separation position,
Bring in a new separated palette. This import
When finished, the elevator sends this buffer to the buffer.
Sends a notification that the import is complete, then stops the movement and waits.
The stocker is lowered to the s[Lo] position (
Figure 42F). The object that has descended to the standby position of this stocker
The elevator pushed the new pallet into the switch.
(Fig. 42G, AH).
Send notification of completion. The stocker that received this notification is on the robot side.
Resume parts supply to. 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 *Drawing* Also, in the unloading mechanism 76 of the embodiment described above
The empty pallet p' released from the descending elevator 26 is
It is kept in a stacked state, and the number of stacked
When the value reaches a predetermined value, the unloading mechanism 76 is driven.
Under the buffer stand 52, that is, the empty pallet of the unmanned vehicle 20.
It is configured to be carried out to a position adjacent to the mounting table.
In particular, this unloading mechanism 76 is fixed at the bottom.
I explained that it is set to (impossible to move up and down), but this
The invention is not limited to such a configuration, but the 43rd embodiment
As shown in FIGS. 44 to 44 as a fourth modification, the element
The portion of the unloading mechanism 76 located below the beta 26 is
It is configured to be able to move downward and is equipped with a so-called lift mechanism.
You can do it. That is, as shown in FIG.
The unloading mechanism 76 is located below the buffer stand 52.
Located below the constant conveyance mechanism 400 and the elevator 26
A lift mechanism 402 is provided. Here, fixed conveyor
The structure 400 is similar to the transport mechanism 76 described in one embodiment.
Since the configuration is similar, the explanation thereof will be omitted. On the other hand, the lift mechanism 402 is an elevator as shown in the figure.
struts 82a and 82b that constitute the holder 26; The guide member 88 attached to 82c and 82d includes
Below the sliding member 90 to which the elevator main body 86 is attached
In the state where the other sliding member 404 is slidably attached.
It is worn. These four sliding members 404 have four corners attached.
The lift platform 406 is arranged to be movable up and down in the state where the
It is. This is the lowest position on this lift platform 406.
The stationary unloading mechanism 400 is provided with the
The conveyor rollers 78a are arranged in horizontal alignment with the group of conveyor rollers 78a.
A group of carry-out rollers 78b is provided. In addition, in the space between the pillars 82b and 82d on the opposite side in the figure,
There is a protrusion on the side of this lift platform 406 when it is inserted.
A projecting piece 408 is attached integrally. And both branches 8
With the racks passed to 2b and 82d, install the air cylinder.
A mounting member 410 is provided extending horizontally.
. This air cylinder is attached to the top surface of the member 410.
With the piston 412 protruding downward, press the air cylinder.
A CI is installed. This piston 412
The lower end is fixed to the upper surface of the above-mentioned protruding piece 408.
. Note that this air cylinder CL has a piston 412 of this air cylinder CL.
A brake mechanism (not shown) allows the protrusion amount to be set arbitrarily.
It is equipped with the following. Also, this air cylinder C
L is the maximum amount that the piston 412 protrudes in the normal state.
high pressure air is supplied to it.
By doing so, the piston 412 is pulled up.
In other words, the amount of protrusion is reduced and the lift platform 406 is driven upward.
It is configured to allow On the other hand, the above-mentioned cylinder mounting is performed on the lower surface of the member 410.
, the sensor is attached to the member with it extending downward.
414 is attached. This sensor is attached to member 41.
4, a state where it can face the lift platform 406 that is moved up and down.
Then, three sensors S, , S2. S3 is along the vertical direction.
They are arranged side by side. These sensors S'+, -32, and S3 are connected to this lift table.
The topmost riff of the empty palette group p' listed in 406
There are three types of lift positions (rise standby positions) for the reasons described below.
In other words, the lift platform 406
When releasing the empty pallet p' from the elevator main body 86,
, the position where this lift stand 406 is to stand by in advance is determined.
It is arranged to control changes to the 38i type. That is, as shown in Fig. 44, the elevator at the lowest position
Empty pallet T'+' held at the bottom of the main body 86
＋ ”-P3 ′ from the base depending on the height.
empty palette p+ ′+ P2 ′, I) 3
The height to the bottom of ′ will change. this
Therefore, the empty pallet held at the bottom of the elevator main body 86
P+ ′+ P2 ′+ P3 ′ is
When released onto the empty pallet group p' on the foot stand 406,
The descending control of the elevator main body 86 is performed using multiple PIFs.
At the same time, how high should I raise the lift platform 406?
It becomes difficult to judge Inoka. In other words, the empty pallet P+ in the elevator 26
′+ P2 Z 93 ′ application operation is
While this is being carried out, the lift platform 406 is placed on standby at a predetermined upper limit.
If the elevator body 86 is raised to
The time should be kept to a minimum, and subsequent actions should be carried out quickly.
You will be killed. In this way, these sensors St
, S2, and S3 control the descent of the elevator main body 86.
The aim is to simplify the process and shorten the descent time.
As a target, the lift platform 406 is stacked on top of the lift platform 406.
Empty pallet PI ′+ P2 Z P3
Depending on the height of the
It is set up for storage. Therefore, the sensor S1 at the highest position is located at the elevator main body 8.
6 is in the lowest position, under the elevator main body 86.
If the height of the empty pallet p' held in the
In this case, the height of the bottom surface of this empty pallet p+′
It is set to be located a predetermined distance below the
ing. 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 mm, this empty pallet P2
’ from the height of the lower surface of the
It is set to be located on the opposite side. Furthermore, the sensor S3 at the third height position is the sensor S3.
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 of the lower surface of this empty pallet 93'
so that it is located the predetermined distance below from the
It is set. Here, this predetermined distance is, with this interval remaining,
Elevator main body 86 empty pallet p+ ′+ p2
′+ p3 ′ is an empty pallet placed on the lift table 406
If the beam is emitted on the
empty palette p1'. P2' and P3' are the empty pads on the lift platform 406.
set at a small enough distance to be superimposed on let p′.
It is. In this way, the elevator body 86 is supported on it.
Empty palette P+ ′+ P2 ′+ P:+
”, the empty pallet p placed on the lift platform 406
'When moving up, the lift platform 406
The top position of the empty pallet p' placed on this
The lowest position of the main body 86 and the empty pallet held there
At the height of P+ ′, p2 ′+ P3 ′
It has been brought to the corresponding raised standby position. As a result,
The elevator body 86 is simply lowered to its lowest position.
It only needs to be lowered, and lowering control becomes easier, and
The descent time will be minimized. *Controlled vehicle In this fourth modification configured as above, the following
The outline of the operation control will be explained below using Fig. 45.
. The control of this modification is from step 3226 in FIG. 26A to
Step 3236 is changed. That is, strike
Step S76 or Step 3108 of controlling the printer
, a request to replace an empty pallet p' is sent to the elevator.
When the elevator is brought out to
and then empty it in step 5220 (Figure 26A).
Swap palette p' with a new palette p
. On the other hand, the lift mechanism side also issues the replacement request in step 54.
20 (Figure 45) and when this request is made,
The empty pallet held in the elevator in step 5422
Know the thickness of the cut. Once you know the type of thickness, step
5424, drive the air cylinder C to adjust the thickness.
Any of the three previously mentioned sensor S1 or S3 positions corresponding to
The lift table 406 is raised to . 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 placed in the stocker using step 3222 (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 5428.
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. Such - control of elevator and lift mechanisms;
The elevator body 86 is simply lowered to its lowest position.
It only needs to be lowered, and lowering control becomes easier, and
The descent time 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+ ”r pulled into the bottom of 86
To detect the respective heights of P2' and '93'
Although not shown, there is a
Empty pallet pulled in here p+ ”+ p2
A sensor group is provided to detect the height of ′, P3 ′.
By detecting the above H[L] and these sensors (not shown),
This is done by comparing and confirming the type of thickness. 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 for the service S4-. However, in this case, the electronic
Empty pallets held at the bottom of the Beta main body and stacked
An empty pallet has three distances depending on the thickness of the pallet.
The elevator body descends further to cover this distance.
There is no problem even if the elevator body releases an empty pallet.
It is necessary to shorten the distance to a short distance. [Margins below] [Other embodiments] *Configuration* In the explanation of the above-mentioned embodiment, the robot 12 has the necessary components.
The parts supply system 14 for supplying the necessary parts
Broadly speaking, parts are received and 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.
The parts that are in short supply are transferred from the buffer 22 to the stocker.
24 and an elevator 26 for transporting the
has been done. 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 extraction 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 palette 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.
In the configuration and various modifications = 179 For the same members as those used, the same reference numerals are given,
The explanation 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 that has been separated is then taken 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 τ.
Ru. Moreover, this buffer stand 52 has a fixed vertical position.
It is installed in a state. Specifically, this buffer 450 is shown in FIG.
- As shown, while being sandwiched between both upright plates 46a and 46b,
, the buffer stand 52 via the spacer block 452.
, fixed at the same height as the pallet mounting table 32 of the unmanned vehicle 20.
It is equipped with In other words, the spacer block 452
The side surface of the buffer stand 52 corresponds to the amount provided.
Standing board 46a. 46b. This buffer stand 52 is positioned above it.
This is the pallet p placed directly on the facilitator 52.
In order to separate the pallets independently from the upper pallet group,
A second separation mechanism 454 is provided. 1 minute for this! The lI 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 kite axes 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 guy F shaft 458.
It is worn. On the bottom surface of each separation claw mounting plate 460, there is a
A pair of
The separation claws 462 are arranged along the direction perpendicular to the transport 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 hole screw 464 is
Standing board 46a. It is rotatably supported by a support plate 466 fixed to 46b.
ing. Here, the central part of the separation claw mounting plate 460 mentioned above is
The intermediate portion of this ball screw 464 is screwed into the ball screw 464.
A threaded receiver is provided at section 468. Also, in the installation on the opposite side of the figure, there is a strip on the top surface of the member 456.
Servo motor M via Tei 470. is installed. The drive shaft of this servo motor MT
The upper end of the above-mentioned ball screw 464 is connected to
, the ball screw 464 is rotationally driven according to the rotation of the ball screw 464.
It is configured to be Here, this drive shaft includes - drive pulley 472 M coaxial
is attached to. On the other hand, the ball screw 46 on the near side in the figure
A driven pulley 474 is coaxially attached to the upper end of 4.
Ru. These drive pulley 472 and driven pulley 47
4, a timing belt 476 is wound around the timing belt 476. In this way, the pair of ball screws 464 are identical to each other.
It will be driven to rotate. In other words, both separation claws are installed.
The plate 460 and therefore both separating 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
Air cylinders C11 are provided on the rear surfaces of 460, respectively.
It is. A piston (not shown) of this air cylinder C11
The tip of the ton is connected to the corresponding separation claw 462
. Here, each separation claw 462 is connected to a pair of guide pins 478.
It is supported so that it can move forward and backward freely. In addition, each air cylinder CT+ 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 9 stacked on a buffer stand 52
From the group, the lowest pallet pa, that is, the buffer stand 5
2 and then transferred to the stocker 24.
When separating pallet p1 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, servo motor M7 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. 184゛ is raised together with 9 groups of pallets stacked on top of it.
It will be done. In other words, the bottommost palette
With the top p8 left on the buffer stand 52,
The pallet group p that is larger than the
It will be separated from let p8. Therefore, the separation
In other words, the next pallet p is
The pallet p8 to be transferred to the car 24 is
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 hole screw 486 rotates both ends of the 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
□ is attached. Piston of each air cylinder CT2
The hook 492 is connected to the first hook 490a, 490b described above.
It is connected to the. Here, this air cylinder CT2 is equipped with high pressure air.
is not supplied, the corresponding first foot
490a and 490b, which are the flanges of pallet p.
operates to be biased to a position laterally away from the portion 38;
In addition, when high pressure air is supplied to this
Attach the first hooks 490a and 490b to the pallet.
engages with the second notch portion 38b of the flange portion 38 of the top p.
To drive to operate. On the other hand, the switching mechanism 480 has both first hooks 490a
, 490b, it was pulled in from the stocker 24.
Movable slide guide 49 for receiving empty pallet p'
4a and 494b. Double movable slide guide 49
4a, 49'4b are attached to the corresponding upright plates 46a, 46b.
, through guide pins 496a and 496b, in the conveying direction d.
It is provided so that it can freely move forward and backward along the direction perpendicular to the direction. 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
Both second hooks 500a and 500b are slide plates.
A 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 CA 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 barre seat p in the lifting frame 152
can move up and down within a range that allows them to face each drawer table 168.
However, in other embodiments, the
While performing the operations described above, the buffer 24 also
Each pallet in the lifting frame 152 is placed at a separation position of 450.
The drawer positions of the ps operate so that they 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 FIG. 24A and FIG. B
Use the program shown in the figure. Characteristics of these controls
Since there is no elevator like in the previous example, the
Even if the robot comes out of the robot, there is no buffer.
Only the stocker 24 performs its preparation operation, and the stocker 24 side performs the preparation operation.
The robot knows that the number of parts in the let has reached τ.
(replacement request flag I[L]-1),
The supply of parts to the robot is temporarily stopped (i.e., the next process is stopped).
(without proceeding to ), the palette is divided by the buffer described above.
The stocker lifting frame 152 is moved to the release 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 S 600
->Up to step S6'08, the robot receives
According to the process number G (-L) that corresponds to the - number
Pull out the pallet on the shelf 1-91
” To the pull-out position of the stand 154, the 7-lowering frame of the stocker 24
152 up and down, and at the drawer part 154 position.
and shows the control until the desired pallet is pulled out.
vinegar. The robot receives a pallet drawer in step 5610.
In step 5611, the robot is
Wait for the completion of parts collection from the client. When there is a big completion,
Proceeding from step 5611 to step 5612, the withdrawal
Return the pallet on the bottom part 154 into the lifting frame 152, and
At step 5614, the robot sets the replacement request flag I.
Check whether [L] is set to °1°'. If this flag is not set, step 86
28 to step 5634, and then step 560
Returning to step 6, the above control is replaced in step 5614.
Repeat until request flag I [L] reaches °゛1″°
Ezu. In the above repeating process, if the robot side
A pallet with only one remaining part 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, zsoB
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
] by rotating the motor M 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
Rotate the motor MT+ to remove the pallet to be separated.
Raise the pallet one or more levels above the pallet to remove the pallet to be separated.
Separate the cut. In this way, you can convert the real palette to other palettes.
Then, in step 5655,
and sends a separation completion notification in step 5656.
Wait for the replacement request instruction from the mosquito. On the other hand, the robot has flag I [L] set to °゛1'°.
The stocker discovers in step 5614 that the
Then, proceed to step 5616 and select the item on the S[L] shelf.
Empty pallets in the process are removed as shown in Figure 50C.
Raise it to the extraction position. In other words, the sky at the time of rising
The position of the shelf with the pallet from the floor is determined by the slide guide.
494a (494b). There,
In step 8618, an empty palette is inserted into the buffer.
notification of replacement request. Then, in step 5620,
Until the pull-out mechanism at the bottom of the buffer pulls out the empty pallet.
wait. On the buffer side that received this exchange request, step 3
At 658, an empty pallet retraction operation is performed. That is,
Drive the air cylinder CT3 to move the slide guide 494.
bias a. Then, rotate a motor (not shown),
The state in which the first hooks 49Oa and 490b are not biased.
Then slide this hook into the stocker. and,
Driving the air cylinder CT2, the hook 490a. 490b is biased and the empty pallet is hung on this hook.
, the motor (not shown) is reversed, and the empty pallet is transferred to the back.
Pull it to the bottom of the fan. Proceed to step 5660 and
inform the operator 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 3662a.
Waiting for notification of extrusion position movement completion and step 566
At 2b, the lift mechanism causes the buffer to release the empty pallet.
Wait until it has risen to a point where it is safe to do so.
It is. Here, control on the lift mechanism 402 side will be explained. This lift mechanism 402 is similar to the fourth modification described above.
It has a valuable structure. This is the buffer for this other embodiment.
Because the empty pallet pull-out mechanism is fixed, the fourth
As shown in Figure 3 and Figure 44, accurate detection of lift position
This is because it becomes necessary. Therefore, as shown in Figure 50B
The control on the lift mechanism side is almost the same as that in Fig. 45.
stomach. In other words, step the replacement request notification from the stocker.
The lift mechanism 402 received at step 5700
Proceed to step 2 and check the thickness of the empty pallet currently in the stocker.
, in step 5704, the sensor position (first
Raise the lift platform 406 to S, , S2゜S3) in Figure 43.
let Upon reaching this standby position, step 5706
Then, in step 3708, the buffer is notified to that effect.
Waits for notification of empty pallet release from buffer. The arrival of the lift mechanism 402 at the standby position and the actual palletization of the stocker
No matter which one happens first, the cut arrives at the closet position.
Also, they may occur at the same time. Now, the lift mechanism 402 arrives at the standby position first.
Then, the buffer is transferred from step 5662b to step 56.
Proceed to 62c and release the empty pallet. In other words, air
Return the printer CT3 and release the empty pallet. vinegar
The lift mechanism 402 is notified of this in step 5662d.
Ru. Upon receiving this notification, the lift mechanism 402 performs step 57.
Proceed to step 10 and lower the lift platform 406 to the floor position.
, step 5712. The empty palette in step 5714
Check whether the items are stacked on the lift platform to the maximum height.
Perform the action to investigate. Meanwhile, in step 5620, an empty pallet is pulled from the buffer.
The stocker that was waiting for the stocker to receive the notification will
, as shown in Figure 50D, empty shelves are placed on real pallets.
Raise it to the closet position. and arrived at this position
Then, in step 5624, the motion 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 drive 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 5668, the motor MT is reversed to rotate the guide 460°.
Pallet roller 54 lifted by 462
Return the air cylinder CT to the top, and then release the separation claw 46.
Disengage from 2. In this way, the withdrawal of empty pallets in a fixed position,
The push control of the actual pallet at the fixed separation position is completed. In addition, in the control program shown in FIG. 50B, the lift mechanism 402
The start of the rise on the side was 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 pallets l-p placed on top are stored in the stocker 24.
so that they are stacked sequentially from the bottom in the order requested.
It is set. In this way, on the buffer stand 52
The pallets separated to be transferred to the stocker 24 are
, pallet p1 placed directly on the buffer stand 52
In other words, it must be specified for the pallet p located at the lowest position.
become. For this reason, the element described in one embodiment
Beta 26 is no longer needed and is placed near the buffer stand 52.
, to include a separation mechanism 454 and a replacement mechanism 480.
It would be a good idea to configure it. However, the present invention is not limited to the configuration of the other embodiments described above.
Without being limited to, FIG. 51 shows a modification of another embodiment.
As shown in FIG.
It may be configured such that various pallets p are placed thereon. That is, as shown in FIG.
The configuration is the same as that described in the above-mentioned embodiment.
A buffer 22 is provided. Therefore, in this variant
In this case, a plurality of layers arbitrarily stacked on the buffer stand 52 are used.
from the pallet p to the second separating claw 68 of the buffer 22.
Then, a predetermined pallet p is separated. On the other hand, in this modification, the separation of this buffer 22
separated in this buffer 22 adjacent to the position.
The separated pallet p is raised to the same height as the separation position.
In addition to the transfer means for transferring to the Tegida stocker 24
A transfer 550 is provided as an embodiment. Here, this transfer 550 is one of the embodiments described above.
In an elevator mechanism with a configuration of
with the body 86 adjacent to the separation position of the buffer 22;
Moreover, 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
- This transfer body 552 has the above-mentioned components.
Replacement mechanism with the same configuration as the replacement mechanism in the example
It is equipped with 96. In other words, in this modification, the other implementations described above are
In the example, buffer 450 includes swapping mechanism 480.
In contrast to what was previously known, independent of the buffer 22,
The transfer 550 is provided with a switching mechanism 96.
It can be said that it has been constructed. As described above, by configuring this modified example, the
Pallets p are placed on the fan table 52 in any order.
buffer according to the request of the stocker 24.
After separating the requested pallet p from 22,
via Spha 550 to the same height as the separation position.
Place the parts in the predetermined replacement position of the stocker 24.
It will be possible to replenish a fully loaded pallet p.
. In addition, from the stocker 24 to the bottom of this transfer 550,
The empty pallet p' that has been pulled in is placed on the unloading mechanism 76.
In order to
Equipped with the lift mechanism 402 described in the fourth modification
It is something. Here, in one embodiment, the above-mentioned exchanging mechanism 96 is
I explained that it should have the same configuration as the replacement mechanism.
, for example, without limitation, the second
Actual pallet changing machine as explained in the modification of
A mechanism 96a and an empty pallet exchange mechanism 96b are independently provided.
It goes without saying that it is good to adopt a configuration that allows The control according to the modification of this other embodiment is the input of an empty pallet.
The switching position is fixed, and movement to that position requires an electric
What is done by the stocker side due to lack of beta
Therefore, its basic operation is shown in FIG. 50A mentioned above.
It is similar to the control In addition, the buffer is shown in Figure 6.
The buffer side is the same as the buffer
The operation is controlled by the control program shown in Figures 25A to 25C.
Gram can be used. (Left below) [Others] <Locking of pallets in the stocker> In the above two embodiments and various modifications,
Inside the stocker 24, the packages hung on each shelf board 156 are
Let p 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 FIGS. 52 to 54, the stocker
24, a lock locks each pallet p in the supporting position.
It is even more effective to include the mechanism 600. In order to make this locking mechanism 600 effective, the
As shown in Figure 52, each flange part of each pallet p
The third notch 38c formed in the center of the
Both sides 38d are perpendicular to the conveyance travel d of the pallet p.
It is formed to consist of two surfaces. And this
Both sides 38d of the third notch 38c are locked.
It is set up to function as a surface. On the other hand, the locking mechanism 600 described above is shown in FIGS. 53A to 53A.
As shown in FIG. 54, the lifting frame 15 in the stocker 24
On both sides of 2, in the center with respect to the conveying direction d,
In other words, it is placed in the correct position in the stocker 24.
at a position opposite to the third notch 38c of the pallet p.
, includes a locking member 602 attached so as to be movable up and down.
ing. This locking member 602 is as shown in FIG.
The interior is opened so that both sides perpendicular to the conveyance direction d are open.
It is formed hollow, and the arm 160 can be inserted by lifting it up.
The casing 602a made into a functional material and the top and bottom of this casing 602a
integrally extending along the vertical direction on both end faces.
A pair of rods 602b and 602c are formed. These upper and lower guide rods 602b and 602, respectively,
Guide parts attached to both upper and lower ends of the central part of the lifting frame 152
reciprocating along the vertical direction via the materials 604a and 604b
It is arranged so that it can be moved. Move this locking member 602 up and down.
In order to reciprocate along the direction, the air cylinder CR
, via the air cylinder mounting plate 606, the lifting frame 152
It is fixed to the lower edge of the center part of the. This air cylinder
The upper end of the piston 608 of C.
It is connected to the lower end of rod 602C. Here, this
Air cylinder OR is supplied with high pressure air.
When the piston 608 is not in the retracted position
Extrusion while biased and supplied with high pressure air.
It is configured to be biased to a certain position. The inner left and right sides of the locking member 602 that is moved up and down in this way
On both end faces, the shelves are arranged at the same pitch as the shelf boards 156 mentioned above.
, lock piece 610 in a state corresponding to each pallet p.
are integrally formed. The left and right double-ended hook members 610 are attached to the third side of the corresponding pallet p.
is regulated at a position opposite to both the left and right end surfaces of the notch 38c.
has been done. In addition, each lock piece 610 has air cylinder CR
With the ton 608 biased to the retracted position, the 53rd A
As shown in the figure, separate downward from each pallet p.
The air cylinder CR is regulated to the unrotated position, and the air cylinder CR is
Figure 53B with the stone 608 biased to the protruding position.
As shown in , the third notch 3 of each pallet p
It is restricted to the lock position where it is inserted from below into 8c.
It becomes. In this locked position, inside the third notch 38c
The inserted pair of left and right lock pieces 610 are
They will face both end surfaces 38d with a slight gap between them.
As a result, pallet p is locked in its placement position.
It will be. 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 piece 610b of the lock mechanism 600 is shown in FIG. 53B.
As shown, the third notch 38 of each pallet p
c, and as a result all palettes p are inserted into this
supported on the shelf board 156 by the lock mechanism 600
will be locked. 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 is well fixed without wobbling.
Become. In other words, when the pallet p is pulled out,
Indeed, it will be engaged by the hook. In addition, the lifting frame
152 was stored in pallet p when moving up and down.
Since there is no risk of parts falling over, the supply position to the robot is
When it is pulled out to the position, the parts stored in the pallet p
The product will be securely clamped by the robot.
. 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 has a corresponding
It is pulled out downward from the third notch 38c, and each
The pallet p is slid along the conveyance direction d on the shelf board 156.
It will be set in a state where it can be used freely. 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. Moreover, by providing this locking mechanism 600, it is possible to raise and lower the
The pallets p placed on each shelf board 156 of the frame 152 are
Since it is locked by the locking mechanism 600, the elevating frame
The shock that occurs when the 152 moves up and down also prevents transport.
There is no wobbling along the feeding direction d. in this way
The inconvenience of parts stored in the pallet p falling over.
will be resolved. Note that the stocker 24 to which this locking mechanism 600 is added
The following points can be newly added for control. That is, as shown in FIG. 24A, in step 72
Prior to moving the stocker 24, in step 71
, set the locking mechanism 600 to the locked state, and then
After that, in step 72, the stocker 24 stores the target shelf.
The plate 156 is moved to the pull-out position of the pull-out part 154.
let If the pallet p is equipped with the lid body 40, the step
At 78, an air cylinder for opening the lid body 40
The lid body 40 is opened by driving the door C32 (shown in FIG. 16).
Open. Next, in step 79, the machine cylinder C
Drive R to pull the lock piece 610 to the unlock position.
Lower it and pull it out from the third notch 34c of pallet p.
. Then, in step S82, the pallet p is pulled.
The withdrawal to the withdrawal section 154 is started. In addition, the start of vertical movement of the lifting frame 152 of the stocker 24 is as follows, for example.
For example, in step S72, the air cylinder Cs2 is restored.
Return to its original position, close the lid body 40, and then return the air cylinder CR to its original position.
, the lock piece 610 has returned to the locked position.
Change it so that it starts with (Parts replenishment for FAC) The FAC system of the above basic embodiment is
Efficient supply of parts from the stocker to the white and from the buffer
Achieving the challenge of efficiently replenishing parts to stockers
It is. However, the FAC system alone will eventually
, it is possible to supply parts to the robot and to the stocker.
Therefore, in some way, the FAC system cannot be accessed from the outside.
It is necessary to replenish parts to the system. For FAC system
As mentioned above, parts replenishment is carried out using unmanned vehicles and production management control.
Automatic replenishment by computer and manual replenishment are available.
has been done. It is not possible to definitively decide which one to choose; each
There are advantages and disadvantages. This is an opportunity for external parts replenishment for the FAC system.
What can be done is: ■: Due to Nistra's ability to supply new palettes, other
Even if there is a pallet of parts, there is only one pallet of that part.
If it runs out, ■: Load it on the transport mechanism 76.
Empty pallets are so large that they obstruct the vertical movement of the elevator.
When the number reaches to the degree. The occurrence of these conditions is at least immediately
When the above conditions occur to result in the stoppage of the
must immediately replenish the pallet buffer.
do not have. In addition, the conditions for replenishing the buffer with pallets are
, ■: Whenever an empty pallet occurs in the stocker,
There is a way to replenish with unmanned vehicles. However, this is an unmanned
Frequent back and forth between FAC and warehouse by personnel, or
This necessitates the complicated replacement of empty pallets. The robot detects the number of remaining pieces is zero by robot control
Step S36 or Step S30 of FIG. 23A)
It is. Therefore, at the same time as this detection, a new palette is created.
Robots will now issue a replenishment request to order replenishment.
do. Now, the destination of this replenishment request can be one aspect.
Central production control that directs unmanned vehicles to replenish
For computers. Other aspects include operation
%', I to remind people to generate empty pallets.
It is B light. The former is automatic replenishment, the latter is manual
It is a supplement. 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 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.
and have a system in place so that the train can depart at any time. Also, this
Each time a pallet is loaded onto an unmanned vehicle, the warehouse
, information regarding the palette (Figure 25A) is given. Other elements of the predetermined state occurrence in step 5752 are
, for example, if the robot fails to pick up a part,
The parts in the set were consumed more than the production plan, and the production
onto the transport mechanism 76 earlier than expected by the management computer.
, empty pallets are piled up so much that they obstruct the vertical movement of the elevator.
This is the case as described above. Now, when such a predetermined condition occurs, step 575
In step 4, issue a departure instruction to the unmanned vehicle, and in step 5
755)) In step 3756, - periodic progress monitoring is performed.
Let's do it. This fixed period of time is the period during which the unmanned vehicle reaches the FAC.
This is slightly shorter than the time required for this time
Once this has elapsed, in step 3758, the
Instructs the start of preparation for replenishment. Multiple FACs
Even if the film is installed, the production control computer
The time required for the unmanned vehicle to travel to the AC is known in advance. Therefore, shortly before the unmanned vehicle arrived at FAC,
If the replenishment preparations have been completed at the time of the unmanned vehicle's arrival,
This is because replenishment from unmanned vehicles can be started immediately.
be. In other words, during this certain period of time, the FAC is preparing for replenishment.
By preventing assembly by robots,
It has the advantage of being able to continue to stand up.
It is. On the other hand, the unmanned vehicle uses the production management computer in step 8762.
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 57760 and step 3778.
Start the preparatory action. After completing this preparation,
Wait for the unmanned vehicle to arrive at Sten 7'3780. This wait
The time should be the minimum time for the reasons mentioned above. unmanned
When the car arrives, the buffer is removed from the unmanned car in step 8782.
actual replenishment of 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.
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 at that point it is divided
If the pallet is hung on the separation claw 68,
Release the latch, combine the separated pallets, and step
At 5846, 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
Notify the mechanism 76 that the buffer is ready. The transport mechanism 76 that received this notification in step 5822
At step 5824, the rollers are rotated to remove the empty pallet.
starts driving to the buffer side, and in step 5826,
Send the notification to the buffer side. The buffer that received this notification is
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 8858, newly added
Receives information about the created pallets from the unmanned vehicle and
Step 3860 updates the memory contents of Figure 25A.
Ru. In this way, the preparation for replenishing new pallets can be done as quickly as possible using unmanned vehicles.
By doing this just before arriving, the unmanned vehicle can be stopped as much as possible.
Downtime can be kept to a minimum. *Manual replenishment* Manual replenishment of pallets is 1. From the robot mentioned above
A warning light is lit every time a refill is requested, and a warning etc. is displayed.
The operating vehicle I saw manually ejected empty pallets and removed new pallets.
stacking and inputting pallet information from the input/output device 18.
The gist is the action of force. 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.
-J and "Ready key J."
This will be explained according to FIG. 56C. When there is a replenishment request from the aforementioned robot, step 59
At 00, a warning etc. lights up. The operator who saw this
Check the request palette in step 5902 and proceed to step 5904.
Turn on the r pallet replenishment key J. In this way, on the buffer side, in step 5906,
Drive the buffer stand to the exchange position (separation claw 68 position M).
and hook the existing pallet to this claw. Unloading mechanism
side 76; empty pallets thereon are removed 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 3918, the data in FIG. 25A is updated.
, the updated palette order is the CRT screen of the input/output device
displayed above. Step 8916 to Step 3918
The routine is repeated for as many pallets as are needed. In step 5922, the operator asks ? Turn on ready key 1
do. In this way, the buffer side performs the above steps in step 5924.
From the release claw position 68, the top part placed on the buffer stand.
Calculate the stroke of the step to the pallet, step 59
At 26, start descending by this stroke and create a new pallet.
Combine the pallet with the existing pallet. And zero FAC
The system resumes operation. In this way, manual replenishment of pallets is completed. In addition, the above-mentioned 25 embodiments and various modifications (hereinafter,
They will simply be referred to as examples. ), it is installed so that it can move up and down.
The 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 xl can be stored on one pallet p.
, X2 may be configured to accommodate a plurality of each.
Needless to say, there is nothing to be said 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)
Sort the palettes by giving priority to 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 FAClo accommodates multiple parts X in a horizontal plane
Multiple pallets p are stored on shelves, and these pallets are
One desired item can be pulled out from a fixed drawer position.
A stocker 24 that moves up and down to pull out the
Take part X from the pallet 24 pulled out to the unloading position.
The robot that takes out the part and assembles it into a product from that part
Basically, it is equipped with 12. For this reason, the robot
12 is a pallet that is always pulled out to a constant 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 the parts.
Do: (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.
The storage position of the stored pallet corresponds to the pullout position
All you need to do is move up and down until the
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 explained in the prior art
and in the article supply device related to No. 61-200905.
In this case, the stocker is fixed and the drawer can move up and down.
possible. Therefore, the robot is removed from the stocker.
In order to supply pallets to
Pull it out to the drawer section. (2) Turn the drawer into a robot
Move up and down to the parts removal position;
At the pick-up position, the robot takes out the parts.
(3) Pull out the drawer section and the pallet.
(4) Place the pallet in the stocker.
24; (5) pull out part to be fed next;
Move the pallet containing the parts up and down to the storage position
This requires the following 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 with thickness of 3fffi kind pHP21p
3 in any combination as long as the capacity of the stocker 24 allows.
It can be stored. In this way, the dog of each part
You can select the appropriate palette p, for example, deep
The pallet accommodates only one layer of short parts.
In other words, an inefficient containment state is avoided. Additionally, a flange portion 3 is provided on the upper side edge of this pallet p.
8 are integrally formed. This flange portion 38 is
Next, place the unit in the stocker 24 to temporarily hang it on the shelf.
It is designed for the purpose of However, this
The lunge portion 38 has no such single function.
and a notch for moving it along the conveyance direction d.
It has a section. And this palette pc)8
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 108.115
, 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 choose or change what is stored in top p.
For example, parts can be changed from top to bottom according to the process order.
In order, it can be accommodated in the form of 1 pallet/II product.
, for example, different processes from the same pallet p.
, 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 order of the two steps, 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
Depending on the size of the project, it can be handled in a variety of ways. Also
In response to the special characteristics of the product, even at factories and other sites,
It is changeable and easy to use. A-1-■: Inside each pallet stored in Nistra force
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 stocker 24 mentioned above, this spacer is used as a basic configuration to improve the efficiency of supplying 2zNS products.
Buffer 2 for supplying parts to the stocker 24
It is equipped with 2. Then, the buffer 22 is placed in the stocker 24.
When replenishing the necessary part X from stocker 2, first
4, it became empty because parts were supplied to robot 12.
At the same time as pulling out the pallet and carrying it out,
Place the actual pallet from the buffer into the empty storage position.
By taking out the stocker and replacing it, you can always keep the stocker
At 24, a state is realized in which no parts are lost. In particular, if part X is used up on a given pallet p,
The need to replace empty pallets (one remaining)
Make a predictive judgment and determine that it will be necessary
Then, prepare a new palette to replace the empty one.
(Replacement preparation) will improve 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
Then, even if the number of animals remaining on pallet p becomes zero,
At this point, the preparation for replacement is complete, so please proceed immediately.
Immediately, an exchange operation is performed, and the total pallet p is
Replacement time is shortened and robot 12 is prevented from stopping.
, or the effect of minimizing the time even if it 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.
After that, the pallet at any height position can be
It will be possible to separate. There are two types of separation positions that can be set at this predetermined position.
It is something that will be done. That is, A-2-■-1-a: This separation position is the buffer stand 52
If it is set at any height above the
From among the barrels l-p stacked on the buffer stand 52
, any palette will be selected and separated. In addition, each pallet stacked on the buffer table 52 is
has a manufacturing error, so the separation position
The height of the pallets to be separated is precisely defined.
It will not be possible. Therefore, in this embodiment,
Equipped with a sensor 80 for accurately defining 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 swap,
The late Haga, which can realize a configuration that does not require the elevator 26,
It is something that can be played. A-2-■-2: The separation position is set for all pallets p stacked on the buffer table 230°52.
If the
All pallets will be separated. Do it like this
to pull out any pallet and replace it with an empty pallet.
This simplifies the switching operation.
It will be. A-2-■: Buffer 22 having the separation function of A-2 and
A replacement preparation operation is performed with the stocker 24.
At this time, the separation position of the pallet in the buffer 22 and the
It is necessary to match the shelf position of empty pallets in Tokka 24.
There is. Examples of this matching include the following. A-2-■-1 The stocker 24 has a movement (up and down) function.
However, the separation position of Barets hP is fixed in the buffer 22.
, the separation position in the buffer 22 and the storage
The shelf position of the empty pallet p' in the rack 24 matches.
, the stocker 24 itself moves to a position adjacent to the separation position.
Move with. In this way, the stocker 24 itself
Since I received a letter and went to pick it up, I replaced it with an empty bullet).
The effect will be achieved if the effect is set short.
. A-2-■-2 = Implements the separation function explained in A-2 above.
Each time there is an instruction to prepare for replacing the buffer 22,
Separation position of buffer 22 and replacement position in stocker 24
The separated pallets are then moved up and down between the
In combination with the elevator 26 that carries the car to the car 24, it can be replaced.
You can make preparations. In this case, A-2-■-1
As explained in , the stocker 24 also picks up the actual pallets by itself.
Since the lei holder does not operate, it is placed in the stocker 24.
The operation of pulling out the pallet to the robot 12 is impaired.
This will result in the effect that there will be no more problems. A-2-■: A battery having the separation function explained in A-2 above.
buffer 22, and adjacent to this buffer 22,
A switch with an exchange function that is fixedly located in the separation position of the
Transfer 550 and a location adjacent to transfer 550
The stocker 24 is provided with a stocker 24 that moves up and down.
Even so, the same effect can be achieved. A-2-■: On the pallet loaded on the rack stand
By storing identifying information about the
Replenishment from the fa to the stocker becomes easy and reliable. That is, the bar
The order in which new palettes are needed from the buffer is
This is because it has nothing to do with the order in which they are loaded on the counter.
Ru. Therefore, when replenishing the buffer table with pallets,
To give the buffer the identification of each pallet to be replenished.
You need to be aware of the loading order of replenishment pallets.
This has the effect of eliminating As a result, unmanned warehouses
The order in which replacement pallets are loaded onto unmanned vehicles is manual.
There is no need to consider the order of replenishment and loading onto the buffer table.
This makes work more efficient. Conversely, even without such memory information, the data on the buffer stand
Then, in the order of occurrence of empty pallets that are known in advance.
, there is no problem if 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-3-〇: Stocker 24 and elevator that moves up and down
26 and a separation mechanism for pallets p stacked in an arbitrary order.
a buffer 22 having a
The configuration including the exchange mechanism 96 provides the above-mentioned effects.
or achieved. A-3-■: Stacked in any order with Stockka 24
Separation mechanism that separates pallet p at a fixed separation position
a buffer 22 having a
The transfer 550 is equipped with a
Due to the configuration in which the filter 550 is equipped with the exchange mechanism 96, the upper
The effects described above are achieved. A-3-■: Stocker 24 and stages in a predetermined order
Separates the stacked pallets p at a fixed separation position.
A buffer 22 is provided to replace the buffer 22.
The above-mentioned effects can be achieved by the configuration including the lifting mechanism 480.
It is something that will be accomplished. A-3-■: This exchange mechanism 96 has hooks 108,
Using 116 and 126, cut out the notch 38 of the pallet p.
Move pallet p while mechanically engaged with a and 38b.
It is configured to move. In this way, put
In the changing operation, the pallet p is reliably moved.
At the same time, the stopping position is accurately defined and the input
The effect is that the switching operation is carried out reliably.
It will be done. Here, there are two modes depending on the number of hooks. Immediately
/1-3-■-1: First notch 38 of pallet p
a to take out the pallet p from the buffer 22.
the first hook 108 of the pallet p and the second notch of the pallet p
The pallet p is pushed onto the stocker 24 by engaging with the
a second hook 116 for taking out the empty pallet p';
a third hook 126 for retracting from the stocker 24;
In a configuration with three hooks, the third hook
position the hook 126 directly below the second hook 116,
the first hook 1 by being configured to move to the body;
08 movement stroke and the movement stroke of the second hook 116.
It is possible to set the same distance as the stroke, and it can be exchanged.
Simplification of the structure of the mechanism 96 and easy control of switching operation
The 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
It will be driven by one hook or one drive source, and the control
The effect of simplifying the process will be achieved. A-3-■-1-b: First and second hooks 108,1
The two hooks of 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 already located directly above the unloading mechanism 76 or on the unloading mechanism 76.
It descends to just above the empty pallets p' stacked on the
, an empty pallet p supported at the bottom of the elevator main body 86
' are stacked on the unloading mechanism 76. Configure like this
In principle, this prevents pallet exchange operations.
The empty pallet p' is transferred to the unloading mechanism 76 without causing any damage.
It will be piled up. A-4-■・The unloading mechanism 76 is equipped with 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
The effect of reducing the possibility of inhibition will be achieved.
. In addition, in the configuration provided with this lift mechanism 402, the following
There are 21m types of embodiments 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.
Since it is possible to do so, 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,
Therefore, this empty pallet p' is stacked on the unloading mechanism 76.
Therefore, this lift mechanism 402 becomes an essential component. A-4-■-2-b = Buffer 22 has a replacement function.
When the buffer table 52 is in a state where
When the mechanism 402 is installed, the empty pallet p'
The buffer stand 52, which 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
,,S2. By providing S3, the following two effects can be achieved.
will be achieved. That is, A-4-■-1, this sensor S, , S2゜S3 is
Used to define the top A position of the top mechanism 402.
In some cases, this raised position is on the lift mechanism 402.
Things that change depending on the height of the stacked empty pallets p'
It is. i.e. −, regardless of the height of pallet p′, the maximum
A predetermined elevated position so that pallets of the same height as p3 can be stacked.
, then stack the pallets p with the minimum height
In case the bottom of the pallet pl with this minimum height
surface and the lift mechanism 402 or on this lift mechanism 402
There is a considerable distance between the top position of the pallet placed on
A large gap will result. Therefore, through this gap
When trying to overlap the empty palette p1', this empty palette
The posture of p + ′ collapses and it is not possible to stack it properly.
There is a possibility that a situation may arise. However, due to the sensors S), S2, and S3, each
The optimum lifting position according to the height of the pallet is specified.
Therefore, the problem mentioned above does not occur and this empty space can be reliably solved.
The pallet p' has the effect of being stacked on the lift mechanism 402.
will be achieved. A-4-■-2: (7) Sensor S, , S2゜S3 is,
Used to define the raised position of the lift mechanism 402.
In the case where the elevator main body 86 is
If a lift mechanism 402 is installed, this
Nsa S1. s2゜S, is the lowest position of the elevator main body 86
At the same time, a lift machine is installed to pick up the empty pallet p'.
By specifying the rising position of the structure 402, the elevator
In order to transfer the empty pallet p' from the main body 86 to the unloading mechanism 76,
The required descending time of the elevator main body 86 is set to the minimum.
will be done. In this way, the empty palette p′ is
The time required to transfer the material to the unloading mechanism 76 is shortened, and the next
The effect of reducing the possibility of delaying the switching operation is achieved.
It will be. A-5: Effect 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 installed, so the parts housed inside
X has the effect of being reliably protected from dirt from dust, etc.
It is something that can be done. A-5-■: Here, this lid body 40 is placed in the stocker 24.
, the pallet p is at the pull-out position to the robot 12.
During all periods except during the
It covers the cut p. In this way,
During the period when the top surface of part P is open, part
The withdrawal period, which is the required open period for the
Since it is limited to a limited period, please put dust etc. into the pallet p.
The intrusion of dust is kept to a minimum, and the dirt of part X due to dust etc.
This is an effect that can be avoided as much as possible. A-5-■: This lid body 40 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 40 from below to turn the lid body 40 squarely.
``lift up''; Lifting arc like this
The linear movement of the drum 160 requires only one driving source.
The lifting operation time is shortened.
The effect of achieving reduction in size and cost reduction
It is something that plays. In addition, in this way, the third notch 38c of the pallet p
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 the pallet p receives a moving force along the conveyance direction, the pallet p
Each pallet is locked by the locking mechanism 600.
The top p is securely engaged in a predetermined position on the corresponding shelf board 156.
It will be stopped. As a result, when the elevator frame 152 is stopped, this
In the state where the lock by the lock mechanism 600 is released
Therefore, each pallet p is always brought to a predetermined position.
The operation of pulling out each pallet to the robot 12 and emptying
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
Tokka, elevator, buffer, riff]・Various mechanisms etc.
When combined with
This is an effect seen from the configuration of the program. control program
Software such as RAM is also characterized by its ease of modification.
Therefore, the constraints used for the tree FAC are
How flexible is your 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 position → 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 CR7 screen of the human-powered device.
It is said that it is extremely easy to change the process etc.
It's also effective. C9 Effectiveness of replenishment from outside to FAC Tree FAC system
The stem is a part in a fixed position from the stocker to the robot.
We basically supply parts from the buffer to the 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
Supply from Kaka to Rohat will no longer stop. 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
(Image to remove the empty pallet loaded under the machine)
, connect the FAC and an external supply (#:
The actual replenishment process is divided into two parts:
, the above process of parts replenishment, and the above preparation for pallet replenishment.
By matching the process, the overall parts replenishment time is shortened.
As a result, the time that unmanned vehicles stop is shortened.
This effect can be obtained. In addition, in manual replenishment
However, although it takes time and effort, it has the effects and additions described in B above.
Buffs tasted and increased by replenishing new pallets
This makes it easier to update information about pallets on the platform. [Effect of the invention] As detailed above, the article supply device according to the present invention has the following advantages:
, the item is stored inside and the inside can be opened using the lid.
A storage box that is blocked can be carried in/out along one direction.
A direction that intersects with the above-mentioned one direction, with multiple storage shelves placed on the
a supply means movable along the direction;
When the supply means moves the storage box placed on the shelf,
, a locking means for locking in each mounting position, and the lid body.
be removed from the storage box to be transported prior to the transport operation.
It is characterized by having a removal means. Therefore, according to this invention, there is no reduction in work efficiency.
This allows the storage box to be stored without shifting its position.
Reliably prevents dirt from dust etc. on items inside the container.
Thus, an article supplying device capable of handling the following items will be provided.

[Brief explanation of the drawing]

FIG. 1 shows the entire FAC system 4! according to an embodiment of the present invention. Figure 2 is a perspective view schematically showing the overall configuration of the FAC system, which is not shown in Figure 1; Figure 3 is a perspective view showing the configuration of a pallet in which parts are stored. Figure 4 is a front view showing the shapes of pallets with three different heights; Figure 5 is a cross-sectional view showing how the pallets are stacked; Figure 6 is a perspective view showing the structure of the buffer; Figures 7A to 7A; Figure 7D is a front view sequentially showing the separation operation of a predetermined pallet pa in the buffer; Figures 8A to 8E are front views sequentially showing the position correction operation in the buffer separation operation; Figure 9 is the configuration of the elevator Fig. 10 is a side view showing the elevator main body together with the switching mechanism; Fig. 11 is a front view showing the structure of the switching mechanism with the elevator main body partially cut away; Fig. 12 is a side view showing the structure of the switching mechanism. FIG. 3 is a perspective view showing the mechanism taken out. FIGS. 13A to 13G are front views sequentially showing the switching operation in the elevator. 5$14 Figure is a perspective view showing the configuration of the stocker; Figure 15 is a side view showing the configuration of the lid opening mechanism; Figure 16 is a side view showing the lid opening mechanism in a lifted state; 17A Figures 17E to 17E are diagrams explaining that the movement of the stocker changes depending on the process order and the shelf placement order. Figure 18 shows the configuration of the control unit of the embodiment and its relationship with the production control computer, etc. Figures 19A to 19C are diagrams showing the manual input menu to the input device and its display state; Figure 20 is a diagram illustrating the teaching of each shelf position of the stocker; The figure is a diagram explaining the variables commonly used in each control module: Figure 21B is a diagram explaining the queue configuration; Figures 22A and 22B are the vertical positional relationship of each module operation in the FAC system system. Figures 23A and 23B are flowcharts of the robot control program; Figures 24A and 24B are flowcharts of the stocker control program; Figure 24C is how the process numbers change in stocker control. Figure 25A is a diagram explaining the configuration of variables used for buffer control; Figures 25B and 25C are flowcharts for the buffer control program; Figures 26A and 26B are elevator control Flowchart of the program; Figures 27A to 27G are diagrams that sequentially explain the pallet exchange operation focusing on the elevator; Figure 28 is a diagram that explains the stacking of empty pallets on the transport mechanism; Figure 29 is the system 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 front view showing a state in which the arrangement pitch of the separating claws in the step-breaking mechanism shown in Fig. 31 is set to the maximum; Fig. 33 is a front view showing the separating claws in the step-breaking mechanism shown in Fig. 31. FIG. 34 is a side view showing the structure of the step-breaking mechanism; FIG. 35 is a perspective view schematically showing the structure of the elevator according to the second modification. Figure: Figure 36 is a bottom view showing the configuration of the actual pallet changing mechanism in the elevator shown in Figure 35;
FIG. 7 is a side view showing the configuration of the actual pallet exchange mechanism shown in FIG. 6; Figure 38 is a bottom view showing the configuration of the empty pallet exchange mechanism shown in Figure 35; Figure 39 is a side view showing the configuration of the empty pallet exchange mechanism shown in Figure 38; Figure 40 is the third modified example. Side view showing the structure of the exchange mechanism: FIG. 41 is a partially cutaway front view of the exchange mechanism shown in FIG. 40. 42A to 42H are front views showing simplified operations of the third modification; FIG. 43 is a perspective view showing a buffer equipped with a lift mechanism in the fourth modification; 44 is a side view showing the arrangement position of the sensor shown in FIG. 43; FIG. 45 is a control flowchart of the elevator and lift mechanism in the fourth modification; FIG. 46 is a diagram of another embodiment according to the present invention. Figure 47 is a perspective view showing the configuration around the buffer stand in the buffer shown in Figure 47; Figure 48 is a bottom view showing the state of the lower surface of the buffer stand shown in Figure 48; Figure 49 50A and 50B are flowcharts of a control program according to another embodiment; FIGS. 50C and 5
0D is a diagram showing the sequence of pallet exchanging operation in another embodiment; FIG. 51 is a perspective view schematically showing the configuration of a modified example of another embodiment; FIG. 52 is a diagram showing the pallet from below. Fig. 53A is a front view showing the structure of the locking mechanism for locking the supporting position of the pallet in the stocker in the unlocked position; Fig. 53B is the front view showing the structure of the locking mechanism for locking the supporting position of the pallet in the stocker. A front view showing the structure of the locking mechanism in the locked position; FIG. 54 is a perspective view showing the structure of the locking member of the locking mechanism shown in FIGS. 53A and 53B; FIGS. 55A and 55
Figure B is a flowchart showing a control program for replenishing pallets into a buffer via an unmanned vehicle; Figures 56A and 56B are inputs for operations related to manually replenishing pallets into a buffer; FIG. 56C is a diagram showing a sequence of operations related to manual replenishment of pallets into 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-in roller, pallet P (P+ + P21 P3...) related 36...pallet body, 38...flange part, 3
8a...first notch, 38b...second notch, 38c...third notch, 38d...
End face, 40... Lid body, x (xl + 2 + X3
...)... Parts, B... Barcode, Buffer 22 related 42... Base, 44 a to 44 d-- Support, 4
6a: 46b... Standing plate, 48... Guide member, 5
0...Sliding member, 52...Buffer stand, 52a...
- Projection 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 rod, 72... Connection plate, 74... Barcode league, 76... Carrying out mechanism, 78... Carrying out roller,
80...Sensor, B...Barcode, CBL;
C82... Air cylinder, MB... Servo motor, Elevator 26 related 82a-82d... Support column, 84... Connection 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 Noviston, 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
23; C1, 4...Air cylinder, ME+...Servo motor, MB2...Servo motor, stocker 24 related 142...Base, 14.4 a to 144 d.
- Support column, 146... Connection frame, 148... Guide member, 150... Sliding member, 152... Lifting frame, 154
...Drawer part, 156... Shelf board, 158... Notch part, 160... Lifting arm, 160a...
- Main body, 160b...Top surface, 160C...Protrusion, 162...Protrusion piece, 164...Ball screw, 16
6... Encoder, 168... Drawer stand, 170
... Lid opening mechanism, 172 ... Insertion and removal mechanism, 17
4... Support stay, 176... Stopper, 178...
・・Slide guide, 180・・Guide member, 182
...Sliding member, 184...Support plate, 186...Hook, 188...Drive roller, 190...Idle roller, 192...Endless belt, 194...
Connection shaft, 196... Driven roller, 198... Stay, 200... Drive shaft, 202... Drive roller, 20
4... Endless belt, 206... Piston, 2
08a; 208b... Input end, robot 12 related 210 work/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, Cs1; CS2...Air cylinder,
MSI...Servo motor, MS2...Servo motor, first modification relationship 250...Level removal mechanism, 252...Separation claw mounting plate, 254 a; 254 b = guide shaft, 256
a; 256b... Fixture, 258... Piston,
260a, 260b--input end, 262a;
2B2b; 262 c...Introduction pipe, 264
a; 264 b...output end, 264C...input end, 266...separation claw, 268...piston, C
DI; CD2...air cylinder, second modification relationship 86a...upper plate of the elevator main body 86, 86b...
Lower plate of elevator main body 86, 96a...Real pallet exchange mechanism, 96b...Empty pallet exchange mechanism, 3
00-, Nilbeta, 302a; 302b-
... first guide member, 304 ... first slide plate, 306 ... first ball shaft, 308 ... protrusion,
310a; 310b...first rotation support member, 316
...Fixed slide guide, 322a; 322b...
Second guide member, 324... second slide plate, 3
26... Second ball shaft, 328... Protrusion, 33
0a; 330b... second rotation support member, 332...
- Hook member, 334... second piston, 336.
...Movable slide guide, 338...Slide member,
340...Third piston, C,, C2; C3...
Air cylinder, Ml; M2... Servo motor, Third modification relationship 350... Replacement mechanism, 352... Movable slide guide, 354... Slide guide, 356... Fourth piston, Modified example relationship 400 of No. 4: Fixed conveyance mechanism, 402: Lift mechanism,
404...Sliding member, 406...Lift stand, 408
...Protruding piece, 410...Member for air cylinder installation, 412...Piston, 414...Member for sensor installation, St; S2; S3... Sensor, similar opening (+ll 1m member 450...Buffer, 452...Spacer block, 454...Separation mechanism, 456...Mounting member,
458... Guide shaft, 460... Separation claw mounting plate, 4
62... Separation claw, 464... Ball screw, 468...
...Hole screw receiver is part, 470...stay, 472.
... Drive pulley, 474... Driven pulley, 476...
・Timing belt, 480... Replacement mechanism, 48
2a; 482b...Guide shaft, 484...Slide plate, 484a; 484b...Roller, 48
4C...Threaded part, 486-...Ball screw, 488
a; 488 b...Rotation support member, 490a
;490b...first hook, 492-...piston, 494a;494b-guide bin, 49
6a; 496b...Guide pin, 498...Piston, 500a; 500b...Second hook, 502a;502b...Support stay, 504...
Piston, modification of other embodiments Relationship 550... Transfer, 552... Transfer wood body, Other relationships 38d... End surface defining the third notch formed in the flange portion 38 of the pallet; 600... Lock mechanism, 602... Lock member, 602a... Housing, 6
02 b; 602 c ・”Guide rod, 604
a: 604b...Guide member, 606...Air cylinder mounting plate, 608...Piston, 610...
Lock piece, CR... air cylinder. I-F Fig. 27E Fig. 27F Fig. 27G Fig. 28 Fig. 33 Fig. 256b 2
56b Figure 34 1111-tit b Figure 35 Figure 36 Figure 37 Figure 38 ME2 Figure 41 (+54) Figure 42A Figure 42B Figure 42C +78 156 z4 Figure 42D\ Figure 42E Figure 48

Claims (5)

[Claims] (1) A plurality of storage shelves are provided on which a storage box in which an article is stored and whose inside is releasably closed by a lid body is placed so as to be able to be carried out/loaded along one direction, and the one direction a supply means provided movably along a direction intersecting with the storage shelf, and a lock means for locking the storage boxes placed on the storage shelf at respective placement positions when the supply means is moved; An article supplying apparatus comprising: a removal means for removing the lid from a storage box to be carried out prior to a carrying out operation. (2) The article supplying device according to claim 1, wherein the storage box includes a notch into which the locking means engages and through which the removing means is inserted. (3) The storage box includes a storage box main body that is open at the top and stores a plurality of items therein, and a storage box that extends along the one direction on both sides of the storage box main body. 3. The article supplying device according to claim 2, further comprising a flange portion integrally formed so as to protrude toward one side, and the notch portion being formed in the flange portion. (4) The article feeding device according to claim 3, wherein the notch is formed in the center of the flange. (5) The article feeding device according to claim 4, wherein the cutout portion has an end face perpendicular to a side edge of the flange portion.