JPH01222827A - Device for feeding article - Google Patents

Abstract

PURPOSE:To effect the efficient change of preparation in an article feeding device for feeding the parts pallet of a product to a robot to perform automatic assembling by carrying out the feeding of articles and the discharge of housing cases in parallel in the final sequence of article feeding. CONSTITUTION:A parts feeding system 14 for automatically feeding parts X1, X2, X3... which becomes necessary according to an assembling order from a plurality of parts X1, X2, X3... to a robot 12 for automatically assembling a required product, a control unit 16 for controlling the drive of the robot 12 and parts feeding system 14, and an input/output device 18 for assembly informa tion data, are provided in a flexible assembling center 10. The parts feeding system 14 has a buffer 22 which receives parts from an unmanned vehicle and houses same, a stocker 24, and an elevator 16 which transfers parts in a short condition from the buffer 22 to the stocker 24. Hence, the feeding of each part and the discharging of the housing case of the fed part can be carried out in parallel in the final sequence.

Description

[Detailed description of the invention]

[Industrial Field of Application] The present invention provides a method for supplying an arbitrary storage box from a storage means for storing a plurality of storage boxes containing a plurality of items to a portion to be supplied with the item according to a predetermined sequence order. This invention relates to an article supply device. [Prior Art] Conventionally, the inventors of the present application have developed a system in which articles such as component units of a product are automatically supplied to an assembly station, where they are automatically assembled into a product by a robot. Article supply devices have already been proposed in Japanese Patent Application No. 61-200949 and No. 61-200950. This proposed article feeding device adopts a non-line method, and by combining it with a multifunctional working mechanism such as a robot, it occupies a small area and can be used for many types of articles. It is an easy-to-use device that can be used to store a mixture of items. Further, the present inventor has proposed a new article supplying device which further develops the above-mentioned proposed technology in Japanese Patent Applications No. 196469/1982 to 196486/1982. This new article supply device includes a stocker in which multiple types of storage boxes each containing a plurality of items are stacked in a shelf-like manner, and a storage box for storing multiple types of storage boxes containing these multiple types of items for backup supply. There is a buffer that stores vertically stacked boxes, and when there are no more items in the storage box in the stocker, the spare storage box is taken out from the buffer, the empty storage box is taken out from the stocker, and it is placed on this empty shelf position. It consists of an elevator that operates like pushing a spare storage box. By the way, the article supplying apparatuses according to the two types of proposed techniques mentioned above are designed to improve the efficiency of supplying on the premise that one supplying sequence is repeated.For example, when this article supplying apparatus is combined with a robot, Let's consider a case where the necessary parts are supplied to this robot and one assembly is assembled from multiple parts. For example, in one embodiment, a large number of identical parts are stored in one storage box, and the storage boxes are prepared for the required number of parts and stored on the shelf of the stocker. In such a setting, when the robot needs one part, in the former proposed technology, the stocker does not move and the storage box take-out device moves to the storage box position where the part is stored. Then, the storage box is pulled out of the stocker. Further, in the latter proposed technique, the stocker itself moves up and down so that the desired storage box comes to a fixed storage box take-out position, and the stocker pulls out the storage box to the outside. In this way, when the desired storage box is taken out, the robot takes out one part from this storage box, and when the robot takes out the part, it pulls the storage box back into the stocker, and the robot takes out the part it needs. In order to take out the next storage box, the stocker works again or the take-out device moves. [Problems to be Solved by the Invention] However, in the above-mentioned proposed technology, as in the case of assembling the same assembly, the same assembly, -? Although it is extremely efficient to supply items in cans, if another item is required, such as when assembling another assembly (i.e., a so-called setup change), it is at least unnecessary. It is necessary to remove the stored storage box from the storage box. The simplest method for this discharge is to discharge unnecessary storage boxes one by one from the stocker after the final supply sequence is completed. However, with this method, efficient discharge cannot be expected. This invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide an article supplying apparatus that realizes efficient setup change by paralleling article supply and storage box discharge in the final sequence of article supply. The goal is to provide the following. [Means for Solving the Problems and Their Effects] In order to solve the above-mentioned problems and achieve the purpose, an article supplying device according to the present invention repeatedly supplies a plurality of types of articles in a predetermined sequence to a supplied portion. a storage means for storing a plurality of types of storage boxes containing a plurality of articles of the same type; and a storage means for supplying the articles to the supplied section in the sequence order. supplying means for taking out a storage box containing the article and then returning it to the original storage position in the storage means; a detection means for detecting the completion of a supply sequence for the plurality of types of articles; It is characterized by comprising a discharge means for, upon detection of a final sequence by the means, discharging the taken-out storage boxes out of the storage means after each storage box is taken out by the supply means in the final sequence. shall be. With this configuration, the supply of individual articles in the final sequence and the ejection of the storage box containing the supplied articles are performed in parallel, so that efficient setup changes are possible. The storage means further includes a control means for controlling the storage means and the ejection means, and the storage means has a shelf for vertically stacking the plurality of types of storage boxes, and the storage boxes to be taken out are placed at an absolutely fixed height. The supply means includes a vertical movement means for vertically moving the shelf to move it to a take-out position, and the supply means responds to the fact that the vertical movement means moves the storage box to be taken out to the take-out position. and means for pulling the storage box back to the rear inside after taking it out to the front outside of the shelf body, and when the detection means detects the final sequence, the control means controls, for each article supply of this final sequence, After the taken-out storage box is pulled back into the shelf body, the vertical movement means moves the shelf body up and down to move the storage box containing the next supply article to the take-out position, and then the ejection means It is also possible to control the storing means and the ejecting means so as to discharge the storage box that has been pulled back into the shelf body before the above to the outside of the shelf. According to this configuration, in the final sequence, the supply of one article and the ejection of the storage box containing the article of the previous order are performed at the same time. [Margins below] [Embodiment] Below, the configuration of an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the following explanation, the explanation will be made in the order shown in the table of contents below. 1-Gen page (schematic structure) 10 (Explanation of unmanned vehicle) 11 (Explanation of pallet) 13 (Explanation of buffer) 17 (Operation of buffer) 24 (Explanation of elevator) 37 Structure of elevator wood 37 Structure of exchange mechanism 40 - Taking in from buffer - 49 - Pulling in empty pallet - 51 - Pushing out pallet - 54 - Carrying out empty pallet - 55 (Description of stocker) 57 (Description of robot) 71 (Operation of system) 78 <Configuration of control unit> 78 <Input of 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 <Operation overview of pallet exchange> 98 <Detailed explanation of each module control> 100

[Control of robot and stocker] Until the number of 103 remaining pieces becomes 1 When the number of 103 remaining pieces becomes 1
111 [Pallet replacement] 11
3 * Pallet portion by buffer [* 113 * Pallet drawer by elevator * 117 * Elevator replacement standby position * 120 * Movement to standby position *
126*Detection of remaining number O* 1
28*Pallet replacement* 129*Stacking empty pallets* 135*Final shelf replacement* 136

[Queuing of replacement preparation instructions] 139 [Initial operating state setting]
140 (Description of modification) 143
1st example 1 143*Configuration of the step-breaking mechanism* 144*Operation of the step-breaking mechanism*
149 Second Furnace Theory 1
52゜*Elevator explanation* 152 Third ■≦Da theory 160*Explanation of switching mechanism* 160*Control*
164 Theory of the fourth form 16
7*Configuration* 167*Control*
174 [Other Examples]
179*Composition*
179*control*
191 Other examples of 4 forms 19
9 [Others] 204 Locking of pallets in the stocker> 204 (FAC
Parts replenishment> 209*Replenishment by unmanned vehicle* 212*Replenishment by hand*
218*Setup change*
222-2 <Effects of Examples>
223 (Schematic Configuration) First, the outline of the flexible assembly center (hereinafter referred to as FAC) 10 of this embodiment will be described with reference to FIGS. 1 and 2. This FACIO has multiple parts x,,x2. An automatic assembly device (hereinafter simply referred to as robot) 12 for automatically assembling a predetermined product from x3..., and parts X required for this robot 12 according to the assembly order
A parts supply system 14 that automatically supplies l r The apparatus generally includes a control unit 16 for the operation, and an input/output device 18 connected to the control unit 16 and into which assembly information data is input by an operator. This parts supply system 14 supplies various parts X l+
... are configured to be transported via a plurality of unmanned vehicles 20 (shown in FIG. 1). That is, this parts supply system 14 supplies parts x1.x from the unmanned vehicle 20. x2. x
A buffer 22 is provided adjacent to the robot 12 to sequentially supply parts necessary for assembly to the robot 12 according to the assembly order. a stocker 24 as a storage means for
Components
Basically, the unmanned vehicle 20 is equipped with an elevator 26 as a mode of transfer means for transferring X*'' from the buffer 22 to the stocker 24. Parts X
＋ *
3''-- to the buffer 22 selectively. That is, each unmanned vehicle 20 has a frame body formed into a rectangular parallelepiped-shaped casing 28, as schematically shown in FIG. ,
It includes wheels 30 attached to the lower surface of this casing 28 and a pallet mounting table 32 attached to the upper surface of this casing 28. This wheel 30 is configured to be rotationally driven by a drive mechanism (not shown). Furthermore, each unmanned vehicle 20 moves between the unmanned warehouse and the buffer 22 with its wheels 30 along a running path that has been provided in advance on the road surface.
This running state is optimally controlled by a production control computer, which will be described later. In addition, the parts X l transported to the buffer 22
The selection of *X 2 * Further, on the pallet mounting table 32 described above, a pallet Pr + Ps * P3', which will be described later, is placed inside.
:+X+ r On the other hand, an empty pallet Ps ' * 9x ' is placed on the bottom surface of the casing.
*An empty pallet mounting table 34 is provided so that a plurality of P's'... can be placed in a stacked state. In the following explanation, when a pallet is representatively shown, the car is represented by rPJ without a subscript, and when an empty pallet is representatively shown, it is simply written as "rPJ" without a subscript. It is expressed as "p'". Here, on the pallet mounting table 32, there is a pallet p containing parts X l + X2 * X3... placed here.
In order to carry out the HP21P3..., the carry-out roller 32
A is provided. In addition, the empty pallets P+', P2'+ placed thereon are placed on the empty pallet mounting table 34.
A carry-in roller 34a is provided to carry in P3 ``''. These carry-out roller 32a and carry-in roller 34a are configured to be rotationally driven by a drive motor (not shown). (Explanation of pallets) Futami E upper m Here, each component xI *
... are placed in the unmanned vehicle 20, temporarily stored in the buffer 22, stored in the stocker 24 via the elevator 26, and then provided to the robot 12. There is. That is, each pallet PI
* 92 + Ps ”... indicates the same type of part C
KIXI I A pallet main body 36 with an open top surface and a pallet main body of this pallet main body 36. At least on both side edges along the conveying direction d of P2+Ps..., it is integrally provided with a flange portion 38 that is formed to extend outward. As is clear from the illustrated shape, the flange portion 38 is actually formed around the entire circumference of the pallet body 36.In addition, each pallet body 36 has a A lid body 40 is placed so as to releasably close the upper surface of the J-lunge portion 38. As shown in the figure, each J-lunge portion 38 has a cutout portion 341 and a second notch portion located at both ends. 38a, 38
b is also located at the center, and third notches 38c are formed respectively. Here, the first and second notches 38a and 38b on both sides are, as described later,
Palette pI + p2 * P3... to buffer 2
2 to the elevator 26, and also from the stocker 24 to the robot 12 or the elevator 26/
It is designed to be drawn in. On the other hand, the third notch 38c in the center allows the lid 40 to be lifted upward and the pallet main body 36 stored in the stocker 24 to be placed on the side toward the robot 12 with its top surface open. A lifting body, which will be described later, is inserted therethrough so that it can be taken out. Note that each of the first and second notches 38a. The recess 38b is formed into a substantially isosceles trapezoidal planar shape, and is formed such that its shorter base defines the bottom of the recess. That is, this lid body 40 is used by the robot 12 as parts XI and X.
2 * X3..., in other words, the pallet P r + P2 * Ps...
Until the corresponding pallet pr + P2 + p3 is placed in the drawer standby position described later in the stocker 24,
・It is covered to cover the top opening, and the part
I+2*X3... is prevented from being contaminated by dust or the like. Dimensions of Pallets As shown in Figure 4, these pallets PHP21P3... have three thicknesses set in order of 25mm, 50am, and 100mm depending on the size of the parts to be accommodated. has been done. Here, in the following description, for the sake of simplicity, part x1 is placed on pallet p1 having a thickness of 25IIIH and the maximum number is set to 54, and part x2 is placed on pallet p2 having a thickness of 50 mm.
With the maximum number set to 38, and part x
3 are housed in a pallet p having a thickness of 1001, with the maximum number set to 13. Moreover, in each pallet Pt l p21 Ps..., the thickness of the flange portion 38 is set to a common 12B. As shown in FIG. 5, the lower parts of the pallet bodies 36 stacked directly above (indicated by broken lines in the figure) are fitted into the inner circumferential edge of each pallet body 36, so that the lateral positions of each pallet body 36 are aligned with each other. A recess 36a for preventing displacement is formed around the entire circumference. Here, the depth of this recess 36a is set to 7II11. In this way, for example, when three types of pallets PIIP21P3 are stacked one by one, the height of this stack is 2
It will be set to 5+50+100-7X2=161■l. In addition, each palette pHP2. Flange part 38 of P3...
As shown in Figure 3, on the side of each pallet PI
IP21P:1... Parts XI stored inside *
A barcode B is drawn that indicates information on the type and number of X2 + X3, etc., and information on the height of the pallet. (Description of Buffer) Next, parts x1, 2 *
Pallet PIIP21P3... is received and stored -, and empty pallet P+ '*P2'+ps
′... to the unmanned vehicle 20
2 will be explained with reference to FIG. Structure of Buffer Stand This buffer 22 includes a base 42 fixed on a base (not shown), and pillars 4 erected at each of the four corners of this base 42.
4a, 44b, 44c, 44d and pallet pH921
P! A pair of support columns 44a, 44 along the conveyance direction d of...
b; The hooks are provided with upright plates 46a and 46b that extend over the respective inner surfaces of 44c and 44d in an upright state. A guide member 48 is fixed along each upright side edge of the opposing surfaces of each upright plate 46a, 46b. A sliding member 50 is attached to each guide member 48 so as to be movable up and down along the guide member 48. A buffer stand 52 is attached with each of its four corners supported by these four sliding members 50. This buffer stand 52 is made of parts XI + 2 + x=・・Palette with PHP
21P3... are placed thereon, and on this buffer stand 52 are the parts X I *
2 + X 3 ”” pallet P+ T P2
A carry-in roller group 54 for receiving *p3... from the unmanned vehicle 20 is disposed with both ends rotatably supported by roller guides 56. Note that these carry-in rollers 54 are configured to be rotationally driven by a drive motor (not shown). On the other hand, a slit 58 is formed in a portion of the opposite upright plate 46b in FIG. 6 between the guide members 48 and extends in the vertical direction. A protruding piece 52a is integrally formed on the buffer stand 52 described above so as to protrude into the slit 58. Here, this buffer table 52 picks up the pallet p with only one component It is configured to be movable up and down in order to separate a predetermined pallet p for replenishment or replacement. 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 M for vertically moving the guide member 48 is provided. This servo motor M! 1
is provided with a rotating shaft extending along the vertical direction, and this rotating shaft is rotatably disposed between both supports 44c and 44d, and rotationally drives a ball screw 6o extending along the vertical direction. As in, connected. On the other hand, the midway portion of this ball screw 60 is screwed into the aforementioned protruding piece 52a. In this way, the rotation of the rotation shaft of the servo motor M11 rotates the ball screw 60, thereby moving the buffer table 52 up and down. Incidentally, an encoder 62 is attached to the servo motor Mm to detect the rotational position of the servo motor Mm, that is, the height position of the buffer stand 52. With the above configuration, the buffer stand 52 can be moved up and down to any height position, but as described above, the pallet group P++Pz, Ps placed on it can be moved up and down.・
In order to separate a specific pallet p from ..., this buffer 22 is equipped with a separating mechanism 64. This separation mechanism 64 includes a pair of first separation claws 66 provided at the upper end of each upright plate 46a, 46b, and a pair of second separation claws 66 disposed a predetermined distance below the first separation claws 66. A separation claw 68 is provided. In addition, both standing plates 46a,
The first and second separation claws 66, 68 in 46b are set at the same height position. Here, each of the first and second separating claws 66 and 68 is connected to the pallet group Ps stacked on the buffer table 52.
+ P2 + Ps "" is provided so that it can be hooked onto the flange portion 38 from both sides. In other words, each standing board 4
First and second separation claws 66 provided on 6a and 46b.
68 is a group of pallets p' stacked on the buffer table 52. P2. It is provided so as to be able to reciprocate between a protruding position where the flange parts 38 of P3... are latched from below and a retracted position spaced apart from these flange parts 38. That is, the multiple pairs of first separating claws 66 are connected to the corresponding upright plates 46.
The support rod 70, which is integrally provided with a support rod 70 that extends from the upright plates 46a and 46b to the back side,
6b, they are integrally connected via a connecting plate 72, as shown in the figure. A first air cylinder CI%1 for reciprocating the first separation claw 66 is connected to this connection plate 72. In this way, in response to the drive of this first air cylinder C□, the first
The separating claw 66 is reciprocated between an extended position and a retracted position. On the other hand, regarding the second separation claw 68, a second separation claw 68 is used as a driving source.
The configuration is the same as that for driving the first separating claw 66 except that it includes an air cylinder Cl52, so a detailed explanation thereof will be omitted. Note that the distance between the first separation claw 66 and the second separation claw 68 described above is set to 110 mm, which is slightly longer than the maximum height of 100-tall in the pallet p+, P2ei)s. has been done. Furthermore, a barcode reader 74 is disposed on the side of the pallet p that is hooked to the first separation claw 66 described above to read the barcode B drawn on the pallet p. . Since this barcode reader 74 has a well-known configuration, its explanation will be omitted. Here, on the base 42, the lower position of the elevator 26 (
That is, the carry-out mechanism 76 is provided in an extended state to a position adjacent to the stocker 24. This unloading mechanism 76
is the empty pallet p+ in the stocker 24
Z P2 Z Ps'... is provided to carry out the empty pallet mounting table 34 of the unmanned vehicle 20 mentioned above, and is composed of a plurality of carry-out rollers 78. These delivery rollers 78 are configured to be rotationally driven by a drive motor (not shown). The height position of this unmanned vehicle 20 is set to be the same as the empty pallet mounting table 34 of the unmanned vehicle 20, and the standby position of the buffer table 52 is set to be at the same height as the empty pallet mounting table 34 of the unmanned vehicle 20.
The height position of the pallet mounting table 32 is set to be the same as the height position of the pallet mounting table 32 of o. (・Buffer operation) Basic molecule i operation In the configuration of the buffer 22 equipped with the separation mechanism 64 as described above, a group of pallets P placed on the buffer stand 52
1. P2. The operation when separating a predetermined pallet p from P3" based on a request from the robot 12, which will be described later, will be explained with reference to FIGS. 7A to 7D. First, in FIG. As shown, on the buffer stand 52,
A total of 12 pallets are placed on P++P2. P31
pHP2. ρ31PIIP2. It is assumed that they are placed in the order of Ps+ Pl and P21 p. In addition, on this buffer stand 52, there are pallet groups PL, P21P3, . . . with a height of 800III11.
・In the above case, the 12 pallets are (25+50+100
)X4-7X11=623mm and has a height of 6231. In such a state, when the robot 12 requests to separate the pallet p1 containing the parts By applying the first-in/first-out principle, an instruction is sent to separate the third pallet p from the top. In the following explanation, the third pallet P+ from the top will be marked with p, and the pallet located directly above it, that is, the second pallet from the top, will be marked p. . As described above, when a request is issued from the robot 12 to separate the pallet p1, first, the one pallet p placed directly above the pallet p1 to be separated is
As shown in FIG. 7B, the servo motor M is rotated to move the buffer stage 52 until it is brought to the position where it is latched by the first separation claw 66 (in this case, lower). Note that the first and second separation claws 66.
68 are both moved to the retracted position in the initial state. In the state shown in FIG. 7B, the first air cylinder Cat is activated to urge and push out the first separation claw 66 from the retracted position to the latching position. As a result, the flange portion 38 of the pallet Pb becomes capable of being hooked onto the first separating claw 66 from below. Thereafter, as shown in FIG. 7C, the servo motor M11 moves the buffer stand 52 9411 from the state shown in FIG. 7B.
It is rotated so that it descends by 111. As a result, the pallet p is brought to a position where it is latched to the second separating claw 68, and the pallet p
b will be hooked to the first separation claw 66. That is, a pallet located above pallet Pb is latched onto this first separating claw 66. In the state shown in FIG. 7C, the second air cylinder CB2 is activated to urge and push out the second separation claw 68 from the retracted position to the latching position. As a result, the flange portion 38 of the pallet p1 becomes capable of being hooked onto the second separating claw 68 from below. After this, as shown in FIG. 7D, the servo motor MB
From the state shown in FIG. 7C, move the buffer stand 52 to 15111.
It is rotated so that it descends by 16 degrees. As a result, only the pallet Pa is hooked to the second separating claw 68, and this pallet p and the pallets located below are brought to the apparatus constituted by the pallet p. In this way, only the pallet P1 can be taken out independently in a state where it is separated from other pallets and is hooked to the second separation claw 68 (hereinafter simply referred to as the separation position). The state will be set. Incidentally, after the pallets p separated in this way are taken out to the elevator 24, which will be described later, all the pallets are placed on the buffer stand 52 so that any pallet can be separated next. It will be operated to return to the initial state in which it was placed. That is, during this return operation, first, the second air cylinder CB2 operates in a manner opposite to the previous operation to pull the second separating claw 68 from the latching position to the retracting position. After that, the servo motor M rotates and moves the buffer table 52 by 134+sm (that is, the stroke of the buffer table 52 lowered, 94+15=109o+m, plus the thickness of the pallet Pa taken out, 25ma+). ). As a result of this elevation, the pallet in the uppermost position of the pallet group on the buffer table 52 is brought to a lifted state with the pallet Pb hooked on the first separating claw 66 placed thereon. In this state, the first air cylinder Ca1l operates, contrary to the previous operation, to pull the first separating claw 66 from the latching position to the retracting position. As a result, the pallet group above the pallet Pb that was hooked on the first separating claw 66 is placed above the pallet group that has already been placed on the buffer stand 52, and the entire pallet group is ,in the end,
It will be brought to a state where it will be placed on the buffer stand 52. At this position, it enters a standby state and waits for the next separation instruction from the robot 12. Correcting the position of a pallet in a moving bamboo The operation of the buffer 22 described in detail above is basic and does not take into account manufacturing errors of each pallet. That is, each pallet is allowed a manufacturing error of ±0.3 mm. Therefore, if this manufacturing error is accumulated when a large number of pallets are stacked on the buffer table 52,
There are cases where an error occurs in the movement of the pallet Pb to the latching position by the first separation claw 66 in the basic operation described above, and the pallet p is not accurately moved to the latching position by the first separation claw 66. arise. In detail, assuming the worst case, all the loaded pallets are pallets p having a minimum thickness of 25 m++a, and the maximum loading height is 800 m as described above.
m, the maximum cumulative error amount is 800÷(25-7)xo, 3-13.3 mm. When the height position changes with this maximum cumulative error amount, the servo motor MB moves the predetermined pallet Pb to the first separating claw 66 according to the basic operation described above.
Even if it is rotated so as to move it to the latching position, there will actually be a case where it cannot be located at this latching position due to the above-mentioned error. For this reason, in this embodiment, as shown in FIG. A sensor 80 is provided. This sensor 80 is composed of a well-known reflective photocoupler, and although detailed explanation thereof will be omitted, it is composed of a pair of light emitting element and light receiving element, and is located adjacent to the circumferential surface of the flange portion 38 of the pallet. When it receives light from the light emitting element, it turns on, and when it is adjacent to the side surface of the pallet body 36, it cannot receive the light from the light emitting element and turns off. The sensor 80 is placed on the pallet p1 in a state where it detects the upper end surface of the flange portion 38 of the pallet p, as shown in FIG. 8A. The pallet p is set so as to be brought to the latching position by the first separation claw 66. In a state where the sensor 80 as described above is provided, the pallet Pb is
The details of the movement control by the first separating claw 66 to the latching position will be explained with reference to FIGS. 8A to 8E. Here, the range where the side surface of the pallet body 36 appears is i8
As shown in Figure A, in the case of a pallet p1 with a height of 25 mo+, the thickness of the flange portion 38 is 12 m5, which is the fitting allowance for the fitting recess 36a of the pallet main body 36 located on the lower side. 7), 25-12-2-7=6. Therefore, considering the accumulation of the maximum manufacturing error mentioned above, the difference between pallet Pa+Pb calculated by servo motor MII and sensor 80 is As for the relative positional relationship, three modes are assumed, as shown in FIG. 8B, FIG. 8C, and FIG. 8D. That is, as shown in FIG. 8B, the peripheral surface of the flange portion 38 of the pallet pm to be separated (in other words, the pallet pm hooked on the second separating claw 68) is exposed to the sensor 80.
as shown in FIG. 8C.
The peripheral surface of the flange portion 38 of the pallet Pb to be hooked to the separation claw 66 is in a second aspect facing the sensor 80, and is hooked to the first separation claw 66 as shown in FIG. 8D. The side surface of the pallet body 36 of the pallet Pb to be
A third aspect opposite the sensor 80 occurs. Here, the sensor 80 is attached to the flange portion 3 of the pallet.
In the state where the peripheral surfaces of 8 are adjacent to each other, the ON operation is performed, and in this ON state, the first mode shown in FIG. 8B,
A second mode shown in FIG. 8C is considered. For this reason,
The buffer stand 52 has a sensor 80 as shown in FIG. 8E.
is lowered until it detects the upper end surface of the flange portion 38, in other words, until the sensor 80 is turned off. Then, when the sensor 80 is turned off in this manner, the barcode B drawn on the pallet whose upper end surface has been detected is read via the barcode reader 74. As a result, if it is determined from the read barcode B that this pallet is the pallet p to be separated, the pallet Pb placed on the pallet p1 to be separated is , the first separation claw 66 is brought to the latching position, so the first air cylinder Cal is activated according to the basic operation described above, and the first separation claw 66 is brought to the latching position.
6 will be pushed out to the latching position. On the other hand, as a result of reading the barcode B drawn on the pallet whose upper end surface was detected, if it is determined that this pallet is not the pallet P1 to be separated, then the pallet on which this barcode B was read is is automatically determined to be the pallet pb directly above the pallet p1, so the servo motor Mb is rotationally driven so that the buffer stand 52 moves up by the height of the pallet Pb. . In this way, the sensor 80 detects the upper end surface of the flange portion 38 again, as shown in FIG. 8E.
The pallet having p should be the pallet p to be separated, so after confirming this via the barcode reader 74, the first air cylinder Cal is activated according to the basic operation described above, The first separation claw 66 will be pushed out to the latching position. In addition, as a result of reading the barcode B of the pallet that has been lifted and detected, if it is determined that it is not the pallet Pa that should be separated, there may be a clear control error, or a pallet different from the requested pallet may be unattended. Since this is a case where the vehicle is transported by the unmanned vehicle 20 from the warehouse, the control operation is stopped at that point, and a predetermined warning operation is started. Further, the sensor 80 is turned off when the side surface of the pallet body 36 is adjacent to it, that is, when the pallet is moved according to the calculated value. Only the third aspect will be considered. Therefore, the buffer stand 52 is raised until the sensor 80 detects the upper end surface of the flange portion 38, in other words, until the sensor 80 is turned on, as shown in FIG. 8E. Then, when the sensor 80 is turned on in this manner, the barcode B drawn on the pallet whose upper end surface has been detected is read via the barcode reader 74. As a result, if it is confirmed from the read barcode B that this pallet is the pallet p1 to be separated, as described above, the pallet placed on the pallet p1 to be separated is Since Pb has been brought to the latching position of the first separation claw 66, according to the basic operation described above,
The first air cylinder CI is activated, and the first separation claw 6
6 will be pushed out to the latching position. By executing the pallet position correction operation detailed above, even if there is a manufacturing error in the pallet, the pallet placed on top of the pallet p to be separated can be moved regardless of the manufacturing error. Pb is the first separating claw 6
6. A more secure latching condition will be achieved. [Left below] (Description of elevator) Next, the elevator is placed between the buffer 22 and the stocker 24,
The structure of the elevator 26 for replacing an empty pallet p' in the stocker 24 with a pallet p full of parts X will be described with reference to FIGS. 9 to 13G. Structure of the Elevator Body As shown in FIG. 9, the elevator 26 is fixed on a common base 142 with a stocker 24, which will be described later. , a pair of pillars 82a standing adjacent to the pillars 44a, 44c on the robot 12 side in the above-mentioned Paturaa 22. 82b, and a pair of support columns 82C982d that stand upright at a predetermined distance*m toward the robot 12 side. These four pillars 82a, 82b, 82c, 8
The upper end of 2d is 1. They are connected to each other by connecting members 84, respectively. In this way, the basic frame of the elevator 26 is constructed. Note that this connecting member 84 is also configured in common with the stocker 24, which will be described later. Here, an elevator main body 86 is arranged vertically movably between a pair of columns 82a and 82c and a pair of columns 82b and 82d along the conveyance direction d. This elevator main body 86 has a pallet P r +P2
+ P3 ``'' It is composed of a box body with a pair of open faces perpendicular to the transport direction d. This elevator body 8
6 receives the separated pallet p from the buffer 22 at the separating position based on a request from the robot 12 (a request issued when the remaining number of parts in a predetermined pallet becomes "1"). , is held in the elevator main body 86, and next, in response to a request from the stocker 24 (a request made when the remaining one part mentioned above is used for assembly and there is no part left). Accordingly, this held pallet p1 is transferred to the stocker 2°4. Here, pallets P+, P2
+ P3... multiple pairs of support columns 82a along the conveyance direction d,
82c; On the mutually opposing surfaces of 82b and 82d,
Guide members 88 are fixed along the vertical direction, respectively. A pair of sliding members 90 is attached to each guide member 88 so as to be movable up and down along the guide member 88 with a predetermined pressure of 111I11 in the vertical direction. Here, the four upper corners are supported by the four sliding members 90 in the upper horizontal plane, and the lower four corners are supported by the four sliding members 90 in the lower horizontal plane. The above-mentioned elevator main body 86 is attached in a supported state. On the other hand, a pair of columns 82b, 8 on the opposite side in FIG.
In the part sandwiched by 2d, it extends vertically,
Space is defined. While protruding into this space,
A protruding piece (not shown) is integrally formed on the elevator main body 86 mentioned above. Furthermore, a servo motor ME+ for moving the elevator main body 86 up and down along the guide member 88 is disposed in a portion of the connecting member 84 that connects the upper ends of the pair of columns 82b and 82d on the opposite side. ing. This servo motor M. is provided with a rotating shaft extending along the vertical direction, and this rotating shaft is rotatably disposed between the supporting columns 82b and 82d, and rotationally drives a ball screw 92 extending along the vertical direction. As in, connected. On the other hand, the midway portion of this ball screw 92 is screwed into the aforementioned protruding piece. In this way, the ball screw 92 is rotationally driven by the rotation of the rotating shaft of the servo motor Mt+, and the elevator main body 86 is thereby moved up and down. Note that this servo motor MCI has a mechanism for detecting its rotational position, that is, the height position of the elevator main body 86.
An encoder 94 is attached. With the above configuration, the elevator main body 86 can move up and down to any height position. As described above, the elevator main body 8 is movable up and down.
6, in order to take in a pallet p full of separated parts from the buffer 22, push out this pallet p1 from there into the stocker 24, and also pull in an empty pallet p' from the stocker 24. A replacement mechanism 96 is provided. This exchange mechanism 96 includes a servo motor M, 2 as a driving source fixed on the upper surface of the elevator main body 86 via a stay 98. A swing arm 10 is attached to the drive shaft of this servo motor ME2.
0 is fixed at one end, and is driven to swing according to the rotation of the drive shaft. This swing arm 100
A long groove 100a is located in the middle of the groove along the longitudinal axis of the groove.
is formed. Moreover, along the above-mentioned transport direction d, on the upper surface portion of the elevator main body 86 in the range where the swing arm 100 swings, the long groove 100a has a
A guide II 102 is formed. This guide groove 1
The zero range is formed over almost the entire length of the elevator main body 86 in the conveyance direction "d". Here, the guide bin 104 is inserted into the long groove 100a and the guide groove 102 along the vertical direction.
is provided. The head of the guide bin 104 is formed to have a large diameter, and is prevented from falling out of the grooves 100a and 102. With this configuration, the servo motor M7□ reciprocates and rotates,
The swinging arm 100 is driven to swing, so that the guide bin 104 is moved along the guide groove 102, that is, in the conveying direction d.
It will be driven back and forth along the Further, as shown in FIGS. 10 to 12, a slide plate 106 is fixed to the lower end of the guide bin 104 while being located within the elevator main body 86. This slide plate 106 is attached to the guide bin 104 so as to extend along a direction perpendicular to the transport direction d. At both ends of the side surface of the slide plate 106 on the buffer 22 side, a first hook 108 is attached via a first hook slide member 110 along the longitudinal axis direction of the slide plate 106, in other words, in the conveyance direction. It is attached so that it can slide along the direction orthogonal to d. This pair of first hooks 108 are connected to each of the aforementioned bullets P1. P2. It is formed in a shape that can be engaged from both sides with a first notch 38a formed in the flange portion 38 of P3 on the elevator 26 side. That is, the tip of the first hook 108 is formed into an isosceles trapezoid shape that complementarily matches the isosceles trapezoid shape that is the notch shape. On the other hand, air cylinder support plates 112 are fixed to both ends of the slide plate 106 so as to extend along the conveyance direction d. A first air cylinder CE+ for reciprocating the first hook 108 is attached to the end of the air cylinder support plate 112 on the buffer 22 side. The first hook 108 described above is connected to the tip of the first piston 114 of the first air cylinder CE+. In this manner, the first hook 108 is reciprocated to be engaged with and disengaged from the first notch 38a of the flange portion 38 in response to the drive of the first air cylinder cg+. In addition, a second hook 116 is attached to both ends of the side surface of the slide plate 106 on the side of the stocker 24 via a second hook slide member 118 along the longitudinal axis direction of the slide plate 106. It is attached so that it can slide along the direction orthogonal to the conveyance direction d. This pair of second hooks 116 is connected to each pallet P+* described above.
It is formed in a shape that can be engaged from both sides with second notches 38b formed in the flange portions 38 of P2, P3, . . . on the side of the unmanned vehicle 2o. On the other hand, a second air cylinder CE2 for reciprocating the second hook 116 is attached to the stocker 24 side end of the air cylinder support plate 112 fixed to both ends of the slide plate 106. The second hook 116 described above is connected to the tip of the second piston 120 of the second air cylinder CE2. In this way, the second hook 116 is moved to the second notch 38b of the flange 38 in response to the drive of the second air cylinder C0.
It will be driven back and forth to engage and disengage. Here, on the lower surface of the elevator main body 86, a servo motor M is engaged with a first or second hook 108, 116.
A pair of fixed slide guides 1 that slidably support a pallet p that is pulled in and pushed out according to the rotational drive of the
22 are arranged. That is, both fixed slide guides 1
22 is slidably set on the lower surface of the flange portions 38 on both sides of the pallet p to be pulled in/pushed out. In addition, the height of the upper #4 edge of both fixed slide guides 122 is
Pallet p3 with a maximum height of 100mm
The standby position of the elevator main body 86 is set at a height sufficient to slidably support the pallet p in which the upper end surfaces of both fixed slide guides 122 are in the separated position.
It is set at a height that allows it to be received horizontally. Further, at the bottom of each of the air cylinder support plates 112 described above, a third hook is attached to a plate 124 extending in the same direction as the slide plate 106.
is fixed. Here, for this installation, third hooks 126 are provided at both ends of the side surface of the plate 124 on the stocker 24 side.
is attached so as to be slidable along the longitudinal axis direction of the slide plate 106, in other words, along the direction perpendicular to the conveyance direction d, via the third hook slide portion 44128. This pair of third hooks 126 are attached to each empty pallet P+'* emptied in the stocker 24.
It is formed in a shape that can be engaged with a second notch 38b formed in the flange portion 38 of P2'+P3'... from both sides. On the other hand, a third hook 126 is attached to the lower end of the air cylinder support plate 112 fixed to both ends of the slide plate 106.
A third air cylinder CI for reciprocating is attached. The third hook 126 described above is connected to the tip of the third piston 130 of the third air cylinder CE3. In this way, the third hook 126 is activated in accordance with the driving of the third air cylinder CE3.
is reciprocated to engage and disengage from the second notch 38b of the flange portion 38. The hook 126 of the paintbrush 3 is attached to a guide groove 132 (
It is shown in FIG. ) is taken out below the elevator main body 86. Here, under the lower surface of the elevator main body 86, the stocker 24 is connected by this third hook 126.
A pair of movable slide guides 134 are provided to slidably receive the pallet p' taken out from the pallet p'. Here, both movable slide guides 134 move along the direction perpendicular to the transport direction d in order to place the empty pallet p' received thereon the group of transport rollers 78 of the transport mechanism 76 described above. Then, it is configured to be able to slide so as to separate from the empty pallet p' received here. That is,
As shown in FIGS. 10 and 11, both movable slide guides 134 are slidably attached under the lower surface of the elevator main body 86 via slide members 136, respectively. On the other hand, on both sides under the lower surface of the elevator main body 86,
Air cylinder support plates 138 are fixed to each. Each air cylinder support plate 138 has a fourth air cylinder C for reciprocating the movable slide guide 134.
E4 is installed. The above-mentioned movable slide guide 134 is connected to the tip of the fourth piston 140 of the fourth air cylinder CE4. In this way, the movable slide guide 134 is reciprocally driven to engage with and disengage from the flange portion 38 of the empty pallet p' in accordance with the driving of the fourth air cylinder CA. The operation of exchanging pallets p and pallets P' in the exchanging mechanism 96 configured as described above will be described with reference to FIGS. 13A to 13G. First, in the initial state, the height position of the elevator main body 86 is set so that the upper end surface of the fixed slide guide 122 and the upper end surface of the second separating claw 68 of the buffer 22 are at the same height. has been done. In addition, the exchange mechanism 9
6, the initial state of the swing arm 100 is set so that it is at an intermediate position of the guide groove 102, as shown in FIG. In addition, high pressure air is not supplied to each air cylinder Ctr, CE21 CE31 CE4, and the corresponding hooks 108, 116° 126 and movable slide guide 134 are set to the retracted position. . Taking in from one buffer - When such an initial state is set, as described above, the robot 12 receives a request from the robot 12 to take in the remaining part X on a predetermined pallet p in the stocker 24. When the number reaches one, based on a request to prepare for replacement, an operation is started to separate a predetermined pallet p1 in the buffer 22, and
In this elevator 26 as well, an operation is performed to take the pallets p1 sorted in the buffer 22 into the elevator main body 86. That is, when the above-mentioned request is issued from the robot 12, in the elevator 26, first, from the state shown in FIG. 13A, the servo motor Mε2 is rotated in the direction shown by the arrow A in FIG. 96 is moved to the buffer 22 side. As a result of this movement, as shown in FIG. 13B, the first
The hook 108 is 5. In the first notch 38a on the elevator 26 side formed in the flange 38 of the pallet p separated at the separation position in the buffer 22,
It will be set so that it can be engaged from the side. still,
In the engageable state of the first hook 108,
This first hook 108 is set so as not to impede the separation operation in the buffer 22 in any way. In this state, the operation of the elevator 26 is in a take-in standby state, and this take-in standby state is continued until the buffer 22 completes the separation operation. When the separation completion signal is output from the buffer 22 upon completion of the separation operation, the exchange mechanism 96 starts an operation of taking in the separated pallet Pa in response to the output of the separation completion signal. That is, first, the first air cylinder C! I is supplied with high pressure air and the first hook 108 is separated from the pallet p.
The first notch portion 38 formed in the first flange portion 38
engage a from the side. Thereafter, the servo motor ME2 rotates as shown by arrow B in FIG.
Then, as shown in FIG. 13C, when the pallet p is completely taken into the elevator main body 86, the driving of the servo motor ME2 is stopped, and after this, the first air cylinder C0 is first hook 10
8 moves away from the first notch 38 of the pallet p1. In this way, the pallet p separated by the buffer 22
H is taken into the elevator 26. In this loading state, the exchange mechanism 96 is brought into a state in which a part thereof protrudes from the elevator main body 86 toward the stocker 24 side. Therefore, servo motor M
E2 is rotationally driven in the direction shown by arrow A, and as shown in FIG.
6. Empty pallet retraction operation - After this, servo motor M! I rotates and lowers the elevator main body 86 to a position where it pulls in the empty pallet p' from the pallets p stored in the stocker 24 when the parts It then waits for a request from the stocker 24 to replace the empty pallet p'. Note that this pull-in position is defined as a position one pallet box above the supply position of the pallet p to the robot 12 in the stocker 24, which will be described later, to which parts have been supplied to the robot 12. Here, as mentioned above, since the height of this pallet p is set to 3 ffl type windows, there are also three types of pull-in positions depending on the difference in height. Mata, the elevator main body 86 facing this retracted position
The standby position is set so that the third hook 126 of the exchange mechanism 96 can be engaged with the second spark portion 38b of the flange portion 38 of the pallet p' in the retracted position. ing. In this way, elevator 2
．． The pull-in standby position of the empty pallet p' at 6 is defined. On the other hand, in the exchange mechanism 96 in the elevator main body 86 brought to this drawing-in standby position, as described above, the pallet p1 fully stored with the parts is held in In such a pull-in standby position, when the empty pallet p'' is moved to the pull-in position in the stocker 24, the servo motor M2 rotates in the direction shown by arrow B in response to the completion of movement to the pull-in position. being driven,
As shown in FIG. 13E, the third hook 126 of the exchange mechanism 96 is moved to a position where it can engage with the second notch 38b formed in the flange 38 of the empty pallet p' in the retracted position. Ru. After this, the third and fourth air cylinders CE3. High pressure air is supplied to each CE4,
At the same time as the third hook 126 engages with the second notch 38b of the empty pallet p', the movable slide guide 13
4 transfers the drawn-in empty barrel set p' to the elevator main body 8.
6 into a supportable state. After this, servo motor M! is rotated in the direction indicated by arrow A to draw the empty pallet p' below the NIL-BETA main body 86. In this way, the empty pallet p' is
While supported by the movable slide guide 134, the thirteenth
As shown in Fig. F, the empty pallet p' is held below the elevator main body 86, and the pulling operation of the empty pallet p' is completed. And the third air cylinder C! 3 is the third hook 126
is moved away from the second notch 38b of the empty pallet p'. 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 brought into a state in which it can be engaged with the second notch 38b of the pallet p1 supported on the fixed slide guide 122. Therefore, from this state, high pressure air is supplied to the second cylinder CE2 and the second hook 116 is operated so as to engage with the second cutout 38b of the pallet p1. In parallel with the engagement operation of the hook 2, in the elevator 26, the servo motor ME+ is rotationally driven to lower the elevator main body 86, and the pallet p therein is placed in a position opposite to the pull-out position in the stocker 24. Then, the servo motor M!2 rotates in the direction shown by arrow B, and as shown in FIG.
4. Push it out to the empty storage position. Thereafter, the second air cylinder CE2 is operated so that the second hook 116 is separated from the second notch 38b of the pallet p. Then, the servo motor ME2 is rotationally driven in the direction indicated by arrow A to draw the exchange mechanism 96 into the elevator main body 86. In this way, the operation of pushing out the pallet P to the stocker 24 is completed. Unloading operation of an empty pallet - As described above, when the exchange operation between the empty pallet p' and the pallet Pa full of parts X is completed, the empty pallet p that has been pulled in is ’ is supported. Therefore, in order to place this empty pallet p' on the carrying out roller 78 of the carrying out mechanism 76, the pulse motor MEI rotates and lowers the elevator main body 86, and this empty pallet p' is placed on the carrying out roller 78. If the empty pallet p' is not placed,
Directly above this carry-out roller 78, also carry-out roller 78
If an empty pallet p' is already placed thereon, it is moved directly above the empty pallet p' already placed thereon. After that, the fourth air cylinder C64 operates to pull in the movable slide guide 134,
The empty pallets p' supported by the elevator main body 86 are stacked on the carry-out rollers 78. ° In this way, when the number of empty pallets p' stacked on the carry-out roller 78 reaches a predetermined number, each discharge roller 78 is driven to rotate, and the stack of empty pallets p' is transferred to the buffer table 52. After that, the empty pallet mounting table 34 of the unmanned vehicle 20 is carried out. In this way, the series of empty pallet unloading operations is completed. On the other hand, in the elevator 26 after discharging the empty pallet p' to the unloading mechanism 76, the servo motor MCI rotates and raises the elevator main body 86 to the above-mentioned initial position, that is, the separation position in the buffer 22. It will be moved to the opposite position and will be put on standby here. (Description of Stocker) Next, parts x,, x2 are provided adjacent to the robot 12 and are necessary for assembly into the robot 12. Stocker 2 that sequentially supplies ×3... according to the assembly order
The configuration of No. 4 will be explained with reference to FIGS. 14 to 16. Structure of Stocker As shown in FIG. 14, this stocker 24 is fixed on a base (not shown), and has a base 142 that is common to the elevator 26 described above, and is erected at each of the four corners of this base 142. Posts 144a, 144b. 144c, 144d, and these supports 144a. It includes a connecting frame 84 that connects the upper ends of 144b, 144c, and 144d to each other. Here, multiple pairs of columns 144a, 144b on the elevator 26 side and the robot 12 side;
To face each other in 144c and 144d,
A guide member 148 is fixed in a state extending along the vertical direction. A sliding member 150 is attached to each guide member 148 so as to be movable up and down along the guide member 148. An elevating frame 152 having a substantially rectangular parallelepiped shape is attached with its four corners supported by these four sliding members 150. This elevating frame 152 accommodates multiple stages of pallets p that are pushed out from the elevator 26 and pulled out to a drawer section 154 (described later) to be assembled by the robot 12, and also from a drawer standby position (described later). It is constructed so that it can be pulled out one by one. Therefore, on the inner surface of the lifting frame 152 along the conveyance direction d, a plurality of fence plates 156 on which the flange portions 3-8 of the bullet p are hung extend horizontally, and in the vertical direction. They are fixed at equal intervals of about 3011II11 along the line. Here, each shelf board 156 has a third notch 3 formed at its center (in other words, at the center of the flange part 38 of the pallet p placed on each shelf board 156), as shown in the figure.
A notch 158 is formed in the portion facing 8C. That is, this notch 158
It is formed so that a lifting arm 160 of a later-described opening mechanism 170 (shown in FIG. 15) for opening the lid 40 of the pallet p pulled out by the pallet 54 is inserted therein. On the other hand, a pair of support columns 144b on the opposite side in FIG.
, 144d, a space is defined extending vertically. In a state of protruding into this space, a protruding piece 162 is attached to the above-mentioned elevating frame 152.
are integrally formed. In addition, servo motors M and I for moving the above-mentioned lifting frame 152 up and down along the guide member 148 are installed in the two halves of the connecting frame 84 that connects the upper ends of the pair of columns 144c and 144d on the opposite side. It is arranged. This servo motor Ms is equipped with a rotating shaft extending along the vertical direction, and the rotating shaft of the machine is connected to both supports 144c;
144d, and is connected to rotate a ball screw 164 extending along the vertical direction. On the other hand, the middle part of this ball screw 164 is
It is screwed into the protruding piece 162 mentioned above. In this way, the ball screw 164 is rotationally driven by the rotation of the rotation shaft of the servo motor MsI, and the elevating frame 152 is thereby moved up and down. Incidentally, the vertical movement of this lifting platform 152 corresponds to the above-mentioned arrangement pitch of the shelf boards 156, which is 3011Il.
The feed amount is set to be an integer multiple of . The servo motor MS is equipped with an encoder 94 for detecting the rotational position of the servo motor MS, that is, the height position of the lifting frame 152.The lifting frame 152 can be adjusted to any height by a configuration of 0 or more. It can be moved up and down to the desired position. Next, referring to FIG. 14, the drawer section 154 described above
The configuration of is explained below. This drawer part 154 is provided to receive and hold a pallet p storing parts Drawer stand 1 fixed in position
68, and on this drawer stand 168, there is provided a take-out mechanism 172 for taking in and taking out the pallet p from which the lid 40 has been removed by a lid opening mechanism 170 (shown in FIG. 15), which will be described later, from the lifting frame 152. There is. This drawer stand 168 is attached to the support column 144 on the robot 12 side.
A pair of support stays 4 fixed to a and 144c, respectively.
It is fixed in horizontal position through. A stopper 176 is attached to the end of the drawer stand 168 on the robot 12 side, which abuts the tip of the pallet p that has been pulled out and defines the pullout position of the pallet p. Further, on both sides of this drawer stand 168, there are
A pair of slide guides 17B are provided along the upper end surface of these slide guides 178,
That is, the slide support surface is set to be aligned in the horizontal direction with each shelf board 156 of the elevating frame 152 in a stopped state during intermittent feeding. It should be noted that the shelf board 1 is aligned horizontally with the slide guide 178 in this way.
The pallet p supported by the pallet 56 is defined as the pallet in the drawer standby position. Further, the above-described loading/unloading mechanism 172
The guide members 180 are arranged symmetrically on both sides of the drawer table 168 and extend along the conveying direction d on the side edge of the drawer table 168. It includes attached sliding members 182 and a support plate 184 fixed to the upper surface of each sliding member 182. On each support plate 184, a hook 1 is provided that can be engaged with a first notch 38a formed in the flange 38 of the pallet p which is in the pull-out standby position of the lifting frame 152.
86 is provided so as to be able to move forward and backward along the direction perpendicular to the conveying direction d. On the other hand, an air cylinder C11l for driving the hook 186 forward and backward is attached to the support plate 184 in a state outside the hook 186. The piston of this air cylinder C111 has a corresponding hook 1
86, and is set to be pushed out to a position where it engages with the above-mentioned notch 38a by supplying high pressure air to the air cylinder C3I. Further, a drive roller 188 is rotatably fixed to the end of each side edge of the drawer table 168 on the robot 12 side, and an idle roller 188 is rotatably fixed to the end on the elevator 26 side.
90 is rotatably fixed on the shaft. An endless belt 192 is wound around the drive roller 188 and the idle roller 190 at each side edge, and the endless belt 192 is driven to run by the rotation of the drive roller 188. In addition, the drive rollers 1 on both side edges
8-8 are connected to each other via a connecting shaft 194 so as to rotate together. Here, the support plate 184 at each side edge is fixed to the corresponding endless belt 192, and is reciprocated on the drawer stand 168 along the conveyance direction d in accordance with the running of the endless belt 192. Become. Further, a driven roller 196 is fixed to the drive roller 188 and coaxially therewith. On the other hand, a servo motor M52 is attached to a lower central portion of the side edge of the drawer stand 168 via a stay 198. The drive shaft of this servo motor Ms2 has
A drive roller 202 is fixed coaxially. This WiAa roller 202 and the above-mentioned driven roller 196
An endless belt 204 is wound around the belt. With the above configuration, when the servo motor M8□ rotationally drives, the drive rollers 1''88, 202 are rotationally driven, and therefore the endless belt 192 is driven to run, so that the hook 186 is moved in the conveyance direction d. It will be moved back and forth along the line.

Next, the lid opening mechanism 170 will be described with reference to FIGS. 15 and 16. This lid opening mechanism 170 is
In the elevating frame 152 , before the pallet p in the drawer standby position is pulled out to the drawer position via the take-out mechanism 172 , the lid body 40 covering the pallet p is lifted upward and the pallet p is placed on the drawer table 194 . The pull-out position is provided so that only the pallet p, in other words, the pallet p set in a state in which the robot 12 can take out the parts X stored therein, is pulled out. Here, as shown in FIG. 15, the lid is opened 1tit.
7o is a pair of supports 144a, 144 on the robot 12 side.
c, an air cylinder C32 attached to the side surface on the elevator 26 side, and a lifting arm 160 attached to the tip of the piston 206 of this air cylinder C52. This air cylinder C52 is installed so that the sliding direction of its piston 206 is inclined upward toward the elevator frame 152 by 45 degrees from the horizontal direction in a plane perpendicular to the conveying direction d. . Further, the lifting arm 160 attached to the tip of the piston 206 includes a main body portion 160a that is fixed to the piston 206 and extends along the direction in which the piston 206 extends;
The main body portion 160a is integrally formed at the tip thereof, has a horizontal upper surface 160b, and includes a protrusion 160c protruding upward on the outer portion of the upper surface 160b. Here, this air cylinder C32 has two input ends 208a and 208b for high-pressure air, and the negative input end 2
When high pressure air is supplied to 08a, the piston 206
When the tip of the lifting arm 160 is biased to the retracted position separated from the lid body 40 by retracting the piston 206, and when high pressure air is supplied to the other input end 208b, the piston 206 is pushed out and driven. Lifting arm 16
0 is configured to be biased to a pushed-out position where the tip thereof engages with the lid body 40. Note that the arrangement position, that is, the height position of the air cylinder C0 configured as described above is at the pushing position. The upper surface 160b of the tip of the lifting arm 160 passes through the third notch 38c of the flange 38 of the pallet p in the pull-out standby position and engages with the lid 40 placed thereon from below. It is set up so that it can be done. 5 Movement of the lid In the lid opening mechanism 10 configured in this way,
When it is detected that the pallet p has been brought to the drawer standby position according to the vertical movement of the lifting frame 152, the lid opening mechanism 170 starts operating. be done. That is, high pressure air is supplied to the second input ends of the air cylinders CM2 on both sides, and the respective pistons 206 are pushed diagonally upward. As a result, the tips of the lifting arms 160 connected to the tips of the pistons 206 each pass through the third notches 38c formed at the center of the corresponding flange portions 38 of the pallet p in the pull-out standby position. , the upper surface 160b of the tip of both lifting arms 160 is connected to the lid body 4o from below.
This will lift both sides of the rim. In this way, as shown in FIG. 16, the lid body 4o is biased upwardly away from the pallet p which is in the pull-out standby position, and therefore, the pallet p is in a state where it can be pulled out to the pull-out position. becomes. On the other hand, when the robot 12 finishes taking out the component In the air cylinder CM2, high pressure air is supplied to the first input end. In this way, the lifting arm 160 is pushed diagonally downward, and during this pushing down operation, the lid body 40 is placed on the pallet p so as to cover the top surface of the pallet p that has been returned to the pull-out standby position. become. In this way, the series of lid opening operations is completed. g1n work The following describes the loading/unloading operation of the drawer section 154 in which the pallet p from which the i-body 4o has been removed by the lid opening mechanism 170 is pulled out from the pull-out standby position to the pull-out position and returned to the original pull-out standby position. Explain. First, in the initial state, the hook 186 is moved in the direction opposite to the conveyance direction d by the drive of the servo motor M0, and the hook 186 is moved to the first notch 38a of the flange 38 of the pallet p in the pull-out standby position. is brought into a position where it can be engaged with. In this state, the air cylinder C111 is connected to the hook 1.
86 is set in a retracted state. From such an initial state, the lifting operation of the lid body 40 is started, and at the same time, the air cylinder C□ is operated, and the hook 186 is moved to the first position of the pallet p in the pull-out standby position.
It engages with the notch 38a of. After that, as the lifting operation of the lid body 40 is completed, the servo motor N152
The hook 185 is rotated in the opposite direction to the previous time, and as a result, the hook 185 moves along the conveyance direction d. That is, this hook 18
The pallet p, which is in the drawer standby position where the pallet 6 is engaged, is pulled out from the lifting frame 152 onto the drawer table 168. Note that this pulled out pallet p slides on a pair of slide guides 178. While sliding on the slide guide 178 in this way,
The pallet p that has been pulled out along the transport direction d is stopped by coming into contact with the stopper 176, and the driving of the servo motor Ms2 is also stopped. In this way, the pallet p is held in the pulled out position. Thereafter, the robot 12, which will be described later, receives the work of taking out the part Then, the hook 186 is moved in a direction opposite to the transport direction d. In this way, the pallet p is returned toward the lifting frame 152 again. Then, when the pallet p is completely returned to the elevating frame 152, the servo motor M
, 2 are stopped, and the pallet p is held within the lifting frame 152. After this, the lid 40 in the lid opening mechanism 170 described above is
The putting operation is performed, and a series of putting in and taking out operations is completed. (Description of the robot) Next, referring to FIGS. 1 and 2, parts The configuration of the robot 12 to be assembled will be schematically explained. Robot Configuration As shown in FIG. 2, this robot 12 has a stocker 2.
The assembly stage 210 includes a portion located below the drawer section 154 of No. 4 and is horizontally disposed. On one side of this assembly stage 210, there is a pair of mounts 2.
12 is erected, and on the image mount 212 is the XIth (axis extending in the direction along the transport direction d) of the robot 12.
An X-axis robot arm 214 that defines the axis is attached to the rack. Further, on this X-axis robot arm 214, one end of a Y-axis robot arm 216 that defines the Y-axis (an axis extending in a direction perpendicular to the transport direction d) of the robot 12 is placed on the X-axis robot arm 214.
It is supported so as to be movable along the axial direction. Furthermore, a robot arm 218 that defines the Z-axis (an axis extending along the vertical direction) of the robot 12 is provided on the side surface of the Y-axis robot arm 216 on the supply system side. This robot arm 218 is configured to be movable in the vertical direction, and is configured to be movable and rotatable along the Y axis. That is, a servo motor MR1 is disposed on the X-axis robot arm 214 to move the Y-axis robot arm 216 along the X-axis direction (transfer direction d). Also, on the Y-axis robot arm 216, the robot hand 2
18 along the Y-axis direction (direction perpendicular to the transport direction d), servo motor MR3 to move the robot arm 218 along the Z-axis direction (vertical direction), and the robot arm 218. A servo motor MR4 is provided for causing the rotation. Here, fingers 220 corresponding to the parts X l , X2 * X3 . . . are detachably attached to the lower surface of the robot hand 218. This finger 220 is configured to grip the corresponding part X, and the remaining parts Xl+X 2 * ×
The other fingers 220 corresponding to 3... are the finger stations 22 provided on the X-axis robot arm 214.
It is housed in 2 and can be taken out freely. Incidentally, an assembly table 224 for assembling the component X held by the fingers 220 is provided on the assembly stage 210 described above. Further, the above-mentioned human power device 18 is adjacent to one side of the pedestal 212. Operation of the Robot The operation of assembling a product using the part X in the robot 12 configured as described above will be described. First, in the initial state, the robot hand 218 is positioned above the drawer part 154. From this state, according to the predetermined assembly order, the pallet p containing the necessary parts , the servo motor MR1 is rotationally driven to lower the robot hand 218, and the gripping operation of the component X by the fingers 220 is executed. When the gripping operation of the component X is completed, the servo motor MR5 rotates in the opposite direction to raise the robot hand 218, and the servo motor MR19MR2 rotates as appropriate to move it onto the assembly table 224. Then, the servo motor MR3 is driven to rotate again, the robot hand 218 is lowered, and the assembly operation of the part X is performed on the assembly table 224. When this assembly operation is completed, the robot fingers 220 are released from gripping the component X, and the servo motor MR3 is driven to rotate in the opposite direction to raise the robot hand 218. Thereafter, the servo motors MR1 and MR□ are rotationally driven, and the robot hand 218 is returned to the aforementioned initial position. In this way, a series of assembly operations when focusing on one component X is completed. Note that while such a series of assembly operations is being executed, the pallet p that has received the part X gripped by the robot hand 218, that is, the pallet p that has finished supplying the part X to the robot 12, is During the time when the hand 218 reaches the assembly position from the position above the pallet p and returns to the position above the pallet p, the hand 218 moves in and out of the pallet p containing the parts X required for the next assembly process. is executed. Here, the time required for the robot 12 described above to assemble one part 0.3 seconds for the upward movement, 0.5 seconds for the upward movement of the assembly table 224, 0.3 seconds for the downward movement of the assembly table 224,
It takes 0.2 seconds for the assembly operation on the assembly table 224, 0.3 seconds for the upward movement from the assembly table 224, and 0.5 seconds for the upward movement of the pallet p, so the total time is 2 seconds. .6
It is set to seconds. Note that the operation of putting in and taking out the pallet p is carried out by the robot 1 mentioned above.
In operation time 2, the operation must be performed from the position above the pallet p after the robot hand 218 is lifted up from the pallet p until it is returned to this above position again. The operation of putting in and taking out the pallet p is prohibited until it descends from the standby position above, grips the part X on the pallet p, and ascends to the position above the pallet p.At any other time, It is necessary to take in and take out the pallet p. Therefore, the time allowed for taking out and taking in the pallet is 0.5+0.3+0.2+0.
3+0.5=1.8 seconds will be defined as the maximum time. In other words, if the loading/unloading operation of the pallet p is completed within this 1.8 seconds, the next feeding operation of the part X will be accomplished without stopping the assembly operation in the robot 12. For this reason, in the stocker 24 described above, the operation time is set so that the operation of loading and unloading the pallet p is executed within this 1.8 seconds. [Left below] (Operation of the system) How to control the operation of the FAC system of this embodiment will be described below. Figure 18 shows the module configuration of the control unit 16 (Figure 2) that controls the FAC system of the embodiment.As mentioned above, the wood FAC system includes robots, stockers, elevators, buffers, etc. is the main component. These components are mechanically modularized as described above, and 1. Control is also modular. That is, the control unit 16 has four microprocessor boards: a microprocessor board that controls the robot, a microprocessor board that controls the stocker, a microprocessor board that controls the elevator, and a microprocessor board that controls the buffer. However, these microprocessor boards are connected by well-known multipath interfaces. The four microprocessor boards are system-managed by a management microprocessor board located above them. The management microprocessor has an input/output device 18 shown in FIG.
are connected by an R3232 interface, and the assembly environment of this FAC system (for example, designation of parts included in a pallet, process order, etc.) is input from the input/output device 18 using this general personal computer. and specify. The fact that the inside of the control unit 16 is modularized for each controlled object as shown in FIG.
The AC system is designed so that the above modules can be selected as options in consideration of various conditions of the installation site, such as the environment, constraints, etc. Furthermore, the above assembly environment can be inputted from the input/output device 18 to freely operate the AC system. As the name suggests, this FAC system also makes it possible to change process settings, etc., making it possible to reorganize a system environment that is "rich in flexibility." This is obvious from the explanation and description of the control unit program for the above-mentioned basic configuration of the FAC system, as well as from the explanation of various modifications of the equipment configuration and program modifications developed from this basic configuration. It will be. Inputting the assembly environment〉 The technical concept of the wood FAC system is not limited to manufacturing, but ultimately involves inputting the assembly environment into multiple groups of articles prepared in advance (each group of articles includes only articles of the same means). After selecting the items one by one according to a predetermined order determined in advance, the selected item is
"r supply" toward the point. Then, from the plurality of article groups prepared in advance, the above 7
When supplies are supplied to a point, the articles themselves in the article group become insufficient. Therefore, the technical concept of the Zero FAC system is focused on how to efficiently replenish this group of goods with new goods without stopping the supply towards the above-mentioned point. Ru. The application of the technical concept of the wood FAC system to product assembly is automatic assembly by robots in the narrow sense of FAC, which will be detailed below. This corresponds to the supply J of r parts to the robot, and the supply 1 of r goods is a buffer. This corresponds to the supply of new parts to stockers by elevators (and also by unmanned vehicles, unmanned warehouses, etc.). Therefore, the r assembly environment 1 in the FAC system in this narrow sense will be explained below. 19A to 19C show display screens of the input/output device 18. This display screen is a screen for the operator to input and change various assembly environments using the attached keyboard, and is also a screen for displaying the current control status as the control progresses. The assembly environment of the wood FAC system is, for example, pallet information, etc., that is, for a certain part, the part name, the shelf position S in the stocker of the pallet that accommodates the part,
The total number of parts that can be accommodated on the pallet T1 The thickness of the pallet Hl The program number P used by the robot to assemble the parts into a product, the bar code B attached to a predetermined location on the pallet, the number of parts attached to the part This is the number F of the finger attached to the robot's hand for use. The Zero FAC system uses standard size pallets as shown in FIG. Therefore, once a part is decided, the assembly program P (for example, screw tightening, etc.) for that part and the specifications of the pallet that accommodates the part are decided. Determining the pallet means that the thickness H of the pallet, etc., which depends on the height of the number of parts accommodated in the pallet, is determined. The used parts table in Figure 19A is independent of the process order.
While the operator is looking at the CR7 display screen of the input/output device 18,
The name of the part, the total number of pallets that accommodate the part T1 the thickness of the pallet Hl the bar code of the part B1 the number Fi of the robot fingers needed to assemble the part, and the number P of the program. . Other,
The process order number G and stocker shelf position S are determined by the management module program (first
8) is displayed manually instead of the operator, and the remaining number Z changes as the process progresses, so the management module program above also displays this Z instead of the operator. The latest updated number of remaining items is displayed. During the parts table input process, each part is given an index number I.
DX is assigned. Once the IDX is assigned, the IDX number can be used to identify the part in the process order input process of the Zero FAC system (FIG. 19B), which is easier than directly inputting the part name. In the specific example shown in FIG. 19A, the parts index ID
The pallet with X as "1" has the part name "screw", the number of pieces stored in the pallet is 38, and the pallet thickness is 50 ia+.
The program number is inputted as rloooJ, the part index IDX is "2", the part name is "nut", the number of stored items in the pallet is 13, and the pallet thickness is 25.
m+a, the program number is input as r200J, and the part index IDX is "3" in bullet 1, the part name is "washer", the number of pieces stored in the pallet is 54, the pallet thickness is 100 am, the program number is r300J I typed this...and I was like, what's going on? It should be noted that the assembly environment information manually provided by the operator is all uniquely determined once the parts are determined. Since the parts necessary for assembling a certain product are usually known in advance, the pallets, programs, fingers, etc. that accommodate those necessary parts are also uniquely determined. Therefore, this information may be provided from a central production control computer system (FIG. 18) that manages a plurality of wood FAC systems simultaneously. To assemble parts into a product, information about the parts alone is not enough; it is important to know which parts to assemble and in what order. Therefore, when assembling various products, the operator of the Zero FAC system restores all the parts necessary for each process and inputs them into the process order table (Figure 19B) on the CRT. In the process, the process order is assigned as 1, 2, 3, etc. from the beginning in the input order, and the number is assigned to the variable G.
It is said that An operator inputs a component index IDX to instruct which component is to be used in each process. Furthermore, the process order table shows the shelf position S [G
] and enter it. The necessity of inputting this S[G] is determined by the following points. That is, even if the processes are different, the same parts may be used and, moreover, the same parts are stored on the same pallet, so the different processes may require pallets on the same shelf. A specific example of the process order table input in this way is shown in FIG. 19B. FIG. 19B is displayed manually for inputting the parts and process order necessary for assembling a specific product from a plurality of parts. The process order is 64 processes from 1 to 64 are wood F.
Can be defined in AC system. The operator inputs the component IDX and the shelf position S[G] one after another in accordance with the process order while looking at the display of the parts table in FIG. 19A.The program number P1 in the process order table is the part name. , are inserted by the management program. When the process number G and the parts index 10X are associated in this process order table, the parts table (Fig. 19A)
The process number G and the pallet used for that process are associated. Note that the input of S [G] in the process order table input is 1 part/1 process/1 shelf, that is, if the same type of part is used in different processes, the pallet should be placed on a different shelf. In this case, the process order is the pallet shelf order S [
G], and once the parts are determined, the pallet thickness H
Since the management program can know this from the parts table, the management program can calculate the shelf position S[G] on behalf of the operator and input it into the table even if the operator does not input S[G]. When intentionally arranging the process order so that the same parts are taken out from pallets on the same shelf even in different processes, the operator needs to input S [G] while taking into account the pallet thickness H. It will come out. As in the case of inputting a parts table, the process order for a certain product is determined in advance in the production plan, so the predetermined process order is transmitted from the central production control computer system via a communication line. It may also be input into a tree FAC system. Variable factors for increasing the efficiency of parts supply
The assembly order (process order) has a very large effect on the efficiency of replenishment of r articles. The premise of the assembly environment of the wood FAC system is one part/one process. The factors that affect the supply of parts and the efficiency of parts replenishment are the pallet thickness H[
G] and which pallet should be placed on which shelf position S[G]. The pallet thickness H limits the total number of pallets that can be stored in the stocker. The Zero FAC system assembles products from parts within the range of the number of pallets that can be stored in the maximum number of types of stockers. Therefore, the number of pallets is limited by the pallet thickness H. If the same parts are used in multiple processes to assemble one product, the same parts should be taken out from the same pallet. Reduce the total number of pallets
I am forced to do IJ. If parts from the same pallet are taken out in multiple different processes, the vertical movement of the stocker becomes random, which leads to a reduction in the speed at which the stocker is fed to the robot. In this way, the process order G, pallet thickness H, and shelf position S[G] have a great deal to do with efficiency, so when creating the process order table, these various factors should be taken into consideration. It needs to be created carefully. Also, since the number of accommodated pieces T [G] is also determined for each part,
This is because the frequency and order in which empty pallets occur are affected by assembly, which also affects the replacement of empty pallets, that is, the efficiency of elevator and buffer operations. FIGS. 17A to 17E explain how the total number of accommodated pieces T[G] and the shelf position S[G] affect efficiency, assuming that the pallet thickness H is the same. 17th A
The figure shows the simplest example, in which the pallets in each process have the same T [G] even if the parts are different, and each pallet is placed on a shelf in the order of the processes (i.e., S [G] ] is in normal order). In this case, the process sequence is that the parts become empty on the pallet, and the stocker also moves upwards.Next, parts A and B are required for assembly. The assembly order must also be Ae5A->B, and it is assumed that 100 pieces of A parts can be stored on a pallet and 50 pieces of B parts can be stored on a pallet. >3, and parts A->A-6B are taken out from each pallet in order. In this case, the stocker moves upwards in an orderly manner and pallets are replaced less frequently, but many pallets are required. In Fig. 17C, parts on the same pallet are used in step 1.2. In this case, the movement of the stocker is orderly, and the pallet exchange is less difficult. And there is no waste of necessary pallets.Speciality of assembly, process order G
This is an ideal model that takes into consideration the parts storage capacity T of one pallet. If the assembly order is AφB port A, and the process order and shelf position are as shown in Figure 17D, there will be waste in the number of seeds, but
Stocker's: Movements are orderly. When it is done as shown in Fig. 1.7 E, there is no waste in the number of pallets and pallets are replaced continuously, but the stocker moves violently up and down. Above, using specific examples, it has been explained how the assembly order, process order G, number of parts T[G], and shelf position S[G] affect the efficiency of parts supply and replenishment. The Zero FAC system does not analyze the factors mentioned above that affect efficiency and provide the optimal assembly order and parts supply plan, but once such assembly plans and process orders are As determined by the production control computer,
It can be flexibly adapted to any process order or plan, and within that range, it can most efficiently supply parts to robots and replenish parts to stockers. That is, the process order G, the 1111 position S [G], etc. are converted into variables as shown in FIG. 21A, so as to deal with the problem flexibly. For example, as shown in Figure 17A, the purpose of inputting the process order table so that the pallets placed in the stocker are in the process order is that the wood FAC system has "flexibility" for changes as well as the ability to This is because the main focus is on how to efficiently supply parts to the robot without interfering with assembly operations. That is, the order in which the pallets are placed in the stocker need not be in the order of the processes, but may be arranged in the order in which the parts on the pallet need to be replaced, for example. However, the main focus of this system is control for supplying parts to the robot without interfering with the robot's operation, since the number of parts stored on a pallet varies depending on the parts, and therefore the pallet replacement period is not always the same as the number of parts stored in the stocker. It is difficult to predict because it does not follow the placement order, it can flexibly respond to changes in the number of remaining parts due to parts-pick mistakes made by the robot, and inputting the process order is ergonomically appropriate as shown in Figure 19B. In view of the above,
In this embodiment, the pallets are placed in the order of the steps. Therefore, the robot, stocker, and
It will become clear from the explanation of the control of the basic configuration example and its modified configuration example that the program can be easily modified so that elevators and the like can be controlled appropriately. Shelf board 1 of the stocker shown in Figure 14 of the Zero FAC system
In this embodiment, 56 has a total of 20 stages,
From the top, the 1st stage, the 2nd stage...the 20th stage. As shown in FIGS. 14 and 20, the shelves are provided at equal intervals (approximately 30+am). Therefore, when storing pallets of three types of thickness (25mm, 50mm, 100m+a) in the stocker, for example, 100mm
In the specific example shown in FIG.
The pallet containing the "screws" of rlJ is placed on the first shelf, and the pallet containing the "washers" of IDX r3J for the second process is placed on the third shelf. The loaded Taharet containing "Nut", which is IDX r2J in the third step, will be placed on the seventh shelf board. A pallet is placed on which shelf (i.e. the first
．． As mentioned above, whether the pallet is placed in the stocker position S) in Figure 9A is determined by the management program taking into account the thickness of each pallet, or by the operator considering efficiency. The information is determined, inputted, and displayed in order in the table shown in FIG. 19A. In this way, when the operator inputs the prescribed minimum information into the parts table and process order table, the management program
Since the process order, stocker placement number S, etc. are calculated and displayed in the parts table, complex and huge assembly environments can be set with extremely high operability, and changes can be made by changing the input information mentioned above. This allows for flexible response to process changes and parts changes. Other Display Elements> FIG. 19C shows icons (pictogram keys) on the display screen of the input/output device. "r continuous" is a key that instructs the normal continuous assembly/parts supply operation mode, and this "continuous 1
When a key is pressed, the management microprocessor (Figure 18)
The SIN0LE flag in the memory (not shown) is 0"
be made into If the continuous operation mode is set and the rStart 1 key is then pressed, the system will operate continuously until the Stop 1 key is pressed or an error occurs and the system stops.rSingle 1 is the single operation mode, and when this key is pressed, the S I N
The 0LE flag is set to "1", and each time the r start 1 key is pressed, a single operation (the range of the single operation varies depending on each module) is executed. <Variables used for control> Figure 21A shows common variables (global variables) that are commonly used (accessible) by the microprocessors of each module. These variables are arranged in a two-dimensional array and are indexed by the argument G (process number). The replacement flag I[G] is a flag indicating that the pallet in the process order G (that is, the Gth shelf from the top in the stocker) is empty. Many of the other common variables are
Since it is the same as that shown in FIGS. 19A and 19B, the explanation will be omitted. . FIG. 21B shows a queuing process for instructing the preparation of a replacement pallet to be sent from the robot to the elevator and buffer (when the remaining number Z in the pallet becomes one, the pallet will be delivered to the elevator and buffer). ) in order to
This is the evacuation area for the process numbers (E+, E2, D+, D2). As can be seen from FIG. 21B, the number of queues is two. The reason why there are two modules is because of the mechanical speed (for example, motor speed) of each module used in this example.
This is because, considering the above, three or more queues will not occur at worst. Of course, the actual speed will vary depending on the device used, so the number of queues may be increased to three or more. Note that how this queue is used in this embodiment will be described later. (Vertical movement range of each module) The range in which each module can move vertically will be explained using FIG. 22A. Regarding the buffer, the buffer stand 52 receives pallets stacked from unmanned vehicles at a position 90011I11 on the floor. The position where the first separation claw hooks the pallet one above the pallet to be separated (referred to as the "-time holding position")
is 1410mm above the floor, and the position where the second separation claw catches the pallet to be separated (referred to as the "separation position") is 13mm above the floor.
00mm. However, the above temporary storage position and separation position are nominal positions, and as mentioned above, there is a tolerance for the thickness of the pallet, and the vertical movement amount control of the buffer that takes this error into consideration will be described later (Figure 25B). be made to do. The maximum potential drop in the downward direction of the buffer stand 52 is 500 above the floor.
a+m, and this position is used as the origin of teaching for buffer movement control. The maximum number of pallets that can be loaded on a buffer stand is:
When the buffer platform 52 has been raised to the temporary storage position, the pallet on the top tier should be placed so that it does not exceed 2225 mm above the floor.
It is set taking into account the thickness of each pallet, etc. The installation position of the unloading mechanism 76 is 350 mm above the floor. As mentioned above, the buffer stand 52 is at the lowest position 500 above the floor.
This buffer can be lowered to the transport mechanism 7.
In order not to obstruct the conveyance of empty pallets when the pallets 6 are fully loaded, the buffer table is raised during conveyance. The vertical movement range of the elevator will be explained. The highest ascending position of the elevator is the position where the second separation claw is aligned with the slide guide 122 and the pallet full of parts to be separated at the separation position (“pallet removal position”);
This pallet take-out position is used as the teaching origin for elevator control. With this setting, the stroke range of the elevator is 800 mm. The movement range of the stocker will be explained. As mentioned above, the stocker has 20 shelves spaced at 30mo intervals, so
The vertical width of the stocker is 600 (=30 x 20)
It is mo+. The position of the 20th shelf when the pallet on the first shelf is pulled out to the drawer part 154 is the lowest lowered position, and this position is set as the origin of teaching at 300 IIlffi above the floor. The origin of vertical movement of robot teaching is on the floor 12
25 (90T) + 1.75 + 150) m
m, and the finger of the robot hand is in the drawer part 1.
From the pallet on the pallet 54, one part is grasped and moved upward, further moved horizontally to an assembly position, and then lowered. Outline of Operation of Pallet Replacement> Here, using FIG. 22B, a description will be given of how one pallet full of parts is taken out from the buffer by the elevator and further replaced with an empty pallet in the stocker. When the number of parts in the pallet is reduced to one, the robot prepares the buffer to separate the pallet and instructs the elevator to move to the separation position. Then, the pallets separated by the buffer at the separation position (this position is fixed) wait to be taken out by the elevator. When the elevator moves to the separation position (take-out position) and takes the pallet from the buffer into the elevator body, the slide guide 134 of the elevator
The pallet in which the stock will be emptied (or has already been emptied) (usually at the drawer 154 to the robot)
It descends to a position that aligns with the one above the bullet that has been pulled out and waits. This waiting position differs depending on the process order and shelf position S[G], but when the pallets are arranged from the top in the process order, this waiting position is the position indicated by the solid line 230 as shown in FIG. 22B. becomes. Thus, preparations for replacing empty pallets in the elevator are completed. The pallet with one component remaining is pulled out from the stocker main body again to the drawer portion 154, and when the robot grasps this last one, the number of components remaining in the pallet becomes "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. Thereafter, the elevator descends one step and pushes the pallet full of parts onto the empty stocker shelf, this pushing position is indicated by the dashed line 232 in FIG. Stack on top of 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, the detailed control operation of each module will be explained below with reference to FIG. This control program is complex because it has a structure that allows it to flexibly deal with cases such as those shown in Figs. The explanation assumes a specific configuration (assembly order, process order, pallet placement order), and if necessary, starting from a specific initial state of each module,
The process by which the initial state evolves 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 types of stockers (that is, all 20 shelves), and the number of parts within the pallets varies. . (2): The processes also follow this shelf order, and one process only handles one part on one pallet, that is, the total number of processes M is 2° processes, which is equal to the total number of types of stockers. (2) Necessary spare pallets are also stacked on the buffer table 52 in advance. For convenience, a configuration having such an initial state will be referred to as r-simplified configuration example 1. The expected operation of the module starting from this r-simplified configuration example 1 is as follows: ■: The robot will assemble one piece/process of parts from each pallet; ■; The stocker will 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 2 may be 1 or 0 at different times for each pallet, so a request to replace empty pallets in the order of the shelves in the stocker is not necessarily generated. etc. Now, the explanation will start from the point where the robot starts assembly work. [Margin below] [Control of robot and stocker] The robot is controlled according to the program shown in the flowcharts of FIGS. 23A and 23B until the number of items reaches 1. Further, the stocker is controlled according to the program shown in the flowcharts of FIGS. 24A and 24B. The reason why these two modules will be explained together is that until the remaining number Z of parts on one of the pallets in the stocker reaches "1",
This is because elevators, buffers, etc. do not operate. As described above, the program of the management microprocessor starts the program of each module when the "start" button on the input/output device 18 is pressed. The microprocessor of the robot module receives the process number argument G in step S8.
Initialize to “1”. The fact that this process number G is "1" means that the robot requests the part with process number 1, that is, the robot requests the part of the stocker's
It means requesting the pallet on the [1]th shelf. In step SIO, the aforementioned 5INOLE flag (19th
Check the condition of Figure C). If it is the SI NGLE 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 which was waiting for activation from the robot in step S60, when this activation occurs, the process proceeds to step S62 to check whether any pallet has already been pulled out onto the drawer section 154. This confirmation is confirmed by a sensor (not shown) on the pull-out portion 154. This kind of confirmation is for confirmation when restarting the stocker after it has stopped for some reason, and for confirmation when restarting the stocker after it has stopped for some reason.
This is for when in 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 the pallet is the one requested by the robot, there is no need to pull out the pallet, so the process advances to step S84, and a notification of pallet preparation completion is sent to the robot via multipath. In step S64, the pallet that has already been pulled out is moved to the process G (shelf S [shelf S]) requested by the robot.
If it is not the pallet G]th), step S
At step 66, the pallet is returned to the stocker. Since the operation of the air cylinder CM4 and motor Mi2 for returning the pallet to the stocker has been described above, the explanation 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
If the robot is returned in step S66, the process advances to step S68, where it is stored 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 because the zero FAC system allows the robot and stocker to basically operate independently and in parallel, although they sometimes synchronize. It's for a reason. Proceeding to step S70, move the stocker up and down,
The amount of rotation of the motors M and l 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 nun) is taught in advance, as shown in FIG. Therefore, the pallet of process G (=L=1) requested by the robot is in the stocker shelf number S [L] indexed by the number L, so it is stored in the second pallet.
From the variable S [L] shown in Figure 1A, S'[L] of L=1
] and take that value as an argument.
P [S [L] ] is found from the teaching points in FIG. 20, and the value is set as the servo motor's displacement amount STP. That is, 5TP=TP[S[L]] is set, and in step S72, the stocker 6 movement is performed in accordance with the amount of displacement. When the servo motor M□ rotates to the STP position, the shelf containing the pallet requested by the robot reaches the pull-out position. The CH flag in step 374 is a flag indicating that there has already been a replacement request from the robot, and in the case of G=L=1, the CH flag is reset because it is before the replacement required state occurs. Proceed to 378, step S78. Step S80
Then, the lid of the pallet is opened, and in step S82, the pallet with the lid opened is moved to the drawer section 15 under the control described above.
Pull it out to 4. When the pallet abuts the stop 176 on the drawer 154, step-384 notifies the robot 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 s18 and picks up the parts in the pallet placed on the drawer section 154. Next, in step S20, the remaining number Z[G] of the part 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 [
G] is 1 or more, in step 32B, it is checked whether the robot's fingers were able to pick the part.0 A part cannot be picked normally means that in addition to the case where the fingers fail to grasp the part, This is the case, for example, when the part is not inserted at the relevant location. In such a case, in step 318, picking is retried until the part can be gripped normally or until there is only one piece left.
After confirming that the part was picked successfully,
In step S32, a notification of pick completion is returned to the stocker. When receiving notifications of robot operation and robot completion,
On the stocker side, the process proceeds to step 386→step 388→step S90, and the pallet on the drawer portion 154 is returned to the stocker. Furthermore, in step S92, the CH
Examine the flag. Since this flag is still being reset, proceed to step 5too. At step 5100! [L] is a flag indicating that the remaining number Z of the L-th pallet detected by the robot as described above has become zero and a replacement request has been issued from the robot, so this flag is now It is being reset. Therefore, proceed to step 5118 and increment L by one, ie, L=L+1. Steps 8118 to 5126 are for the stocker to prepare the next pallet (components) on the drawer section 154 while the robot is assembling the parts picked in step S1B (FIG. 23A). That is, in step 5120, it is checked whether the current process is the final process, and if it is not the final process (in the above-mentioned 'Ffj simplified configuration example 1, the total number of processes is 20, so when L=20) The process proceeds to step 5126, where the robot calculates the amount to move the shelf of the pallet next to the pallet from which the part was picked (which has already been incremented by l in step 5118) to the drawer 154 position. Step 3128°S 130 Ha, S I N0LE Mort +
7) To! ! 'd, rThis is a control for moving the stocker every time the start key 1 is pressed. Step 513
0, the process returns to step S72 in FIG. 24A and sends the STP calculated in step 5126 to motor M0 to align the next shelf with the drawer 154 position. The following control repeats the control described above for 0 or more until the remaining number Z['G] of any pallet becomes one. The stocker control program shown in FIG. 24B is based on the assumption that the assembly requires parts in all steps. However, in reality, there may be processes that do not require parts, such as finger replacement, and in such cases, stocker shelf movement (step 5126)
is not necessary. Therefore, before step 5126, a flag is set in the control variable of the description (Figure 21A, etc.) to determine whether or not the process requires parts (or the parts index is set to an alphabet). Then, the value of this flag is checked, and if the process does not require any parts, the process may not proceed to step 5126, but may return to step 5118 and advance the process by one. When the number of pallets becomes one, the remaining number Z [G] of pallets on the shelf S [G] eventually becomes one in a certain process G. That is, if one component is picked up in step 518 from a pallet with two parts remaining, the number remaining becomes one, so the process proceeds from step S22 to step S24, and the process number G is
It is saved in process number variables E and D so that it can be used in the elevator and buffer control programs. Then, in step S26, the buffer and elevator are instructed to start preparing a replacement pallet because an empty pallet will soon be available. This replacement preparation instruction is given authority to the above-mentioned queue area, 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 to perform the picking operation as long as it is notified in step S16 that the pallet has been pulled out from the stocker to the pullout section 154 position. On the other hand, in the control of this embodiment, the stocker
is stopped because the robot detects that the remaining number of pallets Z has become zero in a certain process G (=L), and the stocker is informed of this (by I[L]), and the stocker
The pallet of the next process G+1 (=L+1) is pulled out to the drawer part 154, the robot picks up the parts on the pallet of G+1, and the work of inserting the pallet with zero remaining pieces found in the previous process G is completed. In other words, the stocker waits until the exchange operation is completed (step 594). 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 will assemble parts in process (G+1) and process L (
This is because the replacement of empty palettes in =G) can be performed in parallel.

[Palette replacement]

*Pallet separation using buffer* Figure 25A shows the changes used in the buffer control program.
These variables indicate the number of buffers in the current buffer.
Number and bar code of the highest pallet stage
Read data storage area B by the reader, and each stage
Information on the height of each pallet, its part name, etc. Mogami
The number of the next pallet row is determined by these variables.
As taken out by elevator from buffer
, the information of the extracted pallet will be deleted, so
This is to indicate which parts of these variables are currently in effect.
. As described later, this information is processed without human intervention.
This FAC system is operated unattended via the production control computer.
Request the necessary pallets from the warehouse and the pallets will be delivered to the unmanned vehicle.
If passed to the buffer from the system (see Figure 18)
management microprocessor program) is assigned to the buffer.
make it possible for you to do so. On the contrary, it is manually placed on the buffer table 52.
When stacking, input the above information manually from the input/output device 18.
do. Now, the robot at step 526 (Figure i23A)
, instructs the buffer to prepare for replacement via the queue.
ing. The construction work that corresponds to the pallets required for this replacement preparation.
The process number is saved to a variable in the queue in step S24.
It is. The buffer receives this replacement preparation instruction in step 5.
If received by tso, proceed to step 5152 and replace
The part name (or part index) of the pallet that requires
IDX) is the process number informed by the robot.
The search is performed from the variable table shown in FIG. 21A. stop
Enter this part name (part IDX) in the table in Figure 25A.
The parts palette that can be replaced by searching within
Find out how many pallets are packed. And Ste.
The buffer table 52 of this pallet is
Distance! ! Find (set to 1). This is the palette on this level.
Thickness of all pallets up to (Table 25A)
), and calculate the current position of the buffer stand 52.
Knowing the distance 11 (assumed to be m) from the floor to the bottom end of
From m and fL, the pallet to be replaced is at the separation position.
In step 5156, the distance traveled until the
Calculate from (1410-(m+n)) am. In step 5158, this calculated moving distance is
The buffer table 52 is moved up and down by a distance. This travel distance is
Referring to Figure 7A, place the replacement pallet in the third position from the top.
It is well understood if we consider the palette as follows. In step 5160, the sense state of sensor 80 is checked.
Ru. If sensor 80 is off, step 5162
Raise the buffer stand 52 until this sensor 80 turns on.
let At step 5160, sensor 80 is turned on.
If so, step 5164 lowers the sensor until it turns off.
make it rain Such control is related to pallet thickness tolerances.
The reason why this is done has already been explained in relation to Figures 8A to 8E.
Since this has already been explained in detail, a re-explanation thereof will be omitted. When the desired pallet reaches the separation position, check the
is attached to the pallet by the barcode reader 74.
Read the barcode. In step 3168, this read
Data R and B [D] of the variable table (Figure 21A)
Compare with. If this comparison does not match, the separation position
The pallet that has been moved to is one of the pallets to be replaced.
Since this is the next highest palette, proceed to step 3170.
, the thickness of the pallet one above it is shown in the table in Figure 25A.
, and in step 5172, the buffer table 5 is
2 and move the desired pallet to the separation position.
Ru. Step 5174. In step 5176, the barcode
Try the doread again and confirm. Step 5168
Otherwise, proceed from step 3176 to step 5178.
, energizes the first separating claw 66, and in step 3180,
Predetermined distance! iLI (distance greater than or equal to the maximum pallet thickness)
, 94 mm in the example shown in Figure 22A).
to the state shown in FIG. 7C, and in step 5182
The second separation claw 68 is energized, and further
Fixed distance! I L straddle and lower as shown in Figure 7D.
Separate buffers. Then, in step 5186,
Notify Beta that buffer isolation is complete,
In step 5taa, the elevator
Wait until the cut is drawn into the elm body. *Pallet drawer using an elevator *The elevator is
When there is no need to replace empty pallets in the stocker
does not need to work. Seventh, this person-swap action
is - always full of parts separated by buffers
The first step is to load the pallet into the elevator frame.
will be needed. Therefore, normal waiting times for elevator slots
Adjust the machine position to match the buffer separation position (first position).
If the origin position of the elevator is also shown in Figure 22A), then
Now, the robot tells us to prepare a new pallet.
comes, and the separation operation is completed immediately on the buffer side.
In such a case, immediately move the elevator frame without the time required to move.
The advantage is that you can start importing pallets into the interior.
There is. Therefore, the elevator control of this embodiment is also
As shown in step 5200, the elevator slot is waiting
The position matches the separation position by the buffer. Now, the robot can move the step independently of the buffer movement.
At step 326 (Fig. 23A), also for the elevator.
, instructs replacement preparation via the queue (Figure 21B).
ing. This insert is tJ! ! Compatible with pallets needed for preparation
The process number G to be changed in the queue in step S24 is
It is saved in number E. This replacement preparation instruction is sent to the elevator.
If the data is received, steps 5204 to 5206
Proceed to step 3 and complete pallet separation at the separation position using the buffer.
Wait for notification. As mentioned above, on the buffer side, in step 3186
Send a separation completion notification to the elevator side.
At step 8188, the elevator picks up the pallet.
I'm waiting for you to get into it. Therefore, the elevator that received this notification performs step 52.
At step 08, the pallet is pulled out. This withdrawal operation is related to FIGS. 13A to 130.
As detailed above, first, the elevator motor ME2 is
direction to connect the first hook 10B to the pallet.
Move to the latching position and then drive the air cylinder Ce+
to engage said hook 108 to the pallet, and then said hook 108 to the pallet.
Rotate motor M22 in direction B to buff the pallet.
It is taken into the elevator frame from the elevator side. Ba
Once the pallet has been pulled out of the
At step 5210, a notification to that effect is returned to the buffer. and,
Proceed 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.
The separating claw 68 is released, and in step 5192, the L, +L2+H[D] height buffer table 52 is raised to separate the upper and lower parts.
The first pallet group is combined in step 3196.
Return the release claw 66 and return to step 5150 to release the robot.
Wait for the next pallet preparation instructions from. Furthermore, this step
Step 5150 is the standby position for instructions from the robot.
Increased by (L+ +L2 +H[D]) at 5192
The origin position (500 above the floor in Figure 22A)
1Ilff+). This is true
As shown in the example, the number of parts in a pallet varies depending on the pallet.
If they are scattered, there may be a time when there is only one remaining (prediction is
Even if it is possible, it is random. *Elevator replacement standby position* Before explaining the movement control to the replacement position,
Explain how the position should be determined. wood
In the FAC system, how do you keep the robot from stopping?
Supply new parts or change the assembly procedure.
The main focus is on how to easily deal with the situation. this
From this perspective, how should we determine the replacement position?
That will be a big factor in your decision. Now, in the r simplified configuration example j mentioned above, the robot
The pallet that picks up the parts moves upward. Considering that the stocker always moves upwards,
Then, while the robot is using another pallet,
Improve efficiency by replacing pallets with zero remaining quantity Z
When attempting to do so, in Fig. 27A, the drawer part 1
54, when there is only 1 piece remaining,
Instructs the elevator and buffer to prepare for pallet replacement.
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 O pieces.
While the pallet is in the position shown, the elevator
All you have to do is replace the redets, then
The graph shows how far the elevator has descended.
Consider whether the exchange position of is reached. In FIG. 27A, the second dividing 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 r simplified configuration example 1, 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?
Or, in such a case, the process G is 1.2.3...
..., the stacker moves up and down according to S [G].
Move to. In Figure 27B, in such a general case
, the pallet of process L (=G> becomes Z[G]'=1
then the elevator enters with the buffer.
Begin preparations for replacement and insert the new
Pick up the tray pallet and move it to the elevator's waiting position.
try to. At this point, the robot has already started the next process.
Since you are requesting (L+1) pallets, the stocker
The pallet of process L+1 is pulled out in the drawer part 154.
has been done. The pallet used in the process at this time was the 27th pallet.
It has moved to the position shown in Figure C. Note here
What should be done is that process G goes around from 1 to its maximum value.
, again in the same order starting from 1 and following the same order, changing
become In other words, after a certain cycle process, there is only one piece left.
The pallet (placed on S[L]) is used for the next process.
At step L+1, the pallet S'[L+1] is in the drawer section 15.
When the process is pulled out to 4, the existing position is
After completing one cycle, the next cycle begins, and the process begins again.
As a result, the number of remaining pieces on the pallet that had one piece left becomes zero.
, Furthermore, in process L+1, pallet S[L+1] is pulled out.
When the pallet is being pulled out to the drawing section 154,
Therefore, when the remaining number is 1
In addition, the replacement standby position when the number of remaining pieces becomes zero is predicted.
What we imagine is not contradictory in the negative direction. From this point of view, the calculation of the replacement standby position is performed in the 27th D.
This will be explained using figures. On the left side of Figure 27D, there is a stocker.
indicates the initial position, i.e., the first shelf is in the drawer position.
The distance from the floor of the 20th shelf when it is in! to is
It is also 3005m from Figure 22A. Shelf S in a certain process
There is only one pallet left in [L], and the process continues.
At L+1, the pallet of S [L+11 is placed in the drawer section 154.
When it is pulled out, the pallet on the shelf that has been processed is
It has moved to the position shown in Figure 27D. This situation is
Viewed from the elevator side, as shown in Figure 27D, the shelf S
When the shelf [E+1] is in the drawer position, the shelf S [
E] is equivalent to calculating the position of the palette. Immediately
From Figure 27D, the replacement standby position is the transom distance.
Considering that the separation is 30a+* and the total number of species is 20.
and 30x (20+S [E+1] -s [E
)+10. 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, the remaining number 2 [1, +1] is 1
When detected, a second replacement preparation instruction is sent to the robot control.
from step S26 of the control, and this is the queuing
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.
All types of examples for determining whether or not the final shelf is
All types of stockers with several 20 levels are loaded with pallets.
For example, the final stage is the 20th stage. The necessity of this judgment
There is either no shelf or there is a shelf below the last stage.
Also, shelving where pallets are not incorporated into the process (therefore, pallets are
This is because there may be no let), i.e.,
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.
Proceeding to step 5214, the above-mentioned exchange position, 30x (20+S [E+tl -s [E]) +
Calculate 10. The replacement position is determined as described above.
Then, in step 8216, the elevator is moved. stop
At this exchange standby position, the exchange from the stocker
wait for instructions. Finally, the robot detects a pallet with one piece left.
, according to its detection, bar sofa. Put it in Elm Beta
A change preparation instruction is issued, and the elevator operates according to the instruction.
Receives a new palette from the buffer and uses the new
Hold the pallet and the elevator will take you to the exchange standby position.
It has moved. (Detection of 0 pieces remaining) The robot side detects 1 piece remaining on the pallet in consecutive processes.
If discovered consecutively, issue up to two replacement preparation instructions.
What can be achieved is as explained in connection with Figure 21B.
Ru. That is, until then, the robot will not be able to use buffers or elevators.
parts are removed one after another from the stocker independently of the operation of the stocker.
Continue unloading and assembling. In other words, new
By the time I found the third pallet with 1 piece left,
The first pallet with at least one remaining item will be the first to reach zero.
This means that it is supposed to be. The remaining number O is found in step 534 (FIG. 23A). With this detection, the step
At S36, the flag I [G] is set to 1 and the next control is continued.
go In other words, for a robot, one cycle of the entire process is one cycle.
to the process that requires the same parts as the empty pallet.
Before proceeding, the pallet must be in the stocker and placed in the elevator.
I hope it will be replaced more often. And a little
If it has not been replaced at all, in step S16.
, the robot will stop waiting for the stocker to be ready.
That will happen. *Pallet exchange* On the stocker side, the robot sets I [G]-1.
The detection comes at step 5too (Figure 24B).
It's time. 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. [Blank below] In this state, the robot completes the assembly (all processes).
Then, the number of parts is (2, 1, 2, 3°5). Pulling out the second pallet from the top to the drawer section 154
When replacing the pallet, send instructions to prepare for pallet replacement to the elevator or back door.
Needless to say, it was sent to Fa. Now, the next rhino
When the parts are taken out from the first pallet using a truck, this is what happens.
Since there is only one remaining pallet in the first stage of
Next, the second step preparation instruction is queued.
If you take out the parts from the let, there will be 0 pieces, so at this point
Then, the I[G] flag in the second stage is set to 1. To explain this point in detail, this second palette
The stocker picks up this pallet to remove the last part from the pallet.
Step 582
(Figure 24A). Then, step S82Φsteer
Proceed to step S84 and have the robot finish pulling out the pallet.
Notify completion. The robot that receives this notification will
Step 516e3 Step S18...
In step S36, the I[G] flag is set. On the stocker side, step 584 => step S86
Step 5aa=>Step 390ψStep 5920
Proceed to step 5100 and detect I[L]=1
. In other words, the stocker side stores the pallet with one piece remaining.
the robot.
is shocked, and the stocker receives the pallet with 0 pieces left.
When returning to the part, I[L] = 1 is detected.
. When I[L]=1 is detected in step 5100, the step
Proceeding to step 5102, the CH flag is set to "1". CH
Just by setting the flag, the exchange operation will be performed immediately.
The reason why it does not move is that at this point, the robot is not able to pull it out.
There is a pallet with the remaining number Z of zero on the stocker shelf at the position.
On the other hand, there are parts on the pallet for the next process.
Therefore, for the time being, the stocker will be used as a drawer for the robot.
Advance the pallet for this next process to the position where the robot
At that point, request for replacement.
This is because all you have to do is issue the following. Steps from step 5102
Step 5104 and step 521 of the elevator described above.
For the same reason as 2, whether S [L] is the maximum value or immediately
Then, the stocker shelf of the pallet with the remaining number of pieces becomes empty.
Check whether it is the last shelf in the storage. If it is not the last shelf, proceed to step 5106 and
The process number whose number becomes 0 is temporarily saved in register P.
The reason for this is that the stocker is
Pull out the robot so as not to interfere with its operation.
In order to advance the pallet for the next process (L+1) to the position
, in order to retain the original process number that became zero.
. On top of that, the above-mentioned step st ta ~ mill step
513, advance the process number, and in step S72,
Move the stocker to the shelf position for the next process. Step S7
In step 4, the CH flag is already set, so step
At step 376, an empty pallet and a new pallet are placed in the elevator.
Send a request to exchange with the cut. If the elevator has already received a new pallet at this point,
If you have reached the exchange standby position, the stocker
Independently of the control, the elevator immediately lifts the pallet.
The replacement should start. As mentioned above, pare
Preparations for replacing parts will begin when there is only one piece left.
In step 376, enter the elevator.
When you issue a request for a change, the elevator has already reached the point where the change will be made.
It is highly anticipated that the
. See Figure 27E in this regard. After sending this replacement request to the elevator,
Control is performed until the remaining number is zero in steps S78 to S82.
The pallet for the next process is placed on the pull-out section 154.
(from step S84 to step 392).
At step 394, the robot selects the part of the pallet for the next process.
The products are assembled, and in step S94, the pallet is assembled.
Wait for the replacement to finish, and in this way, the robot will move as much as possible.
Empty pallets can be replaced without interfering with production.
be exposed. Return to the elevator control program. Step 5218
The elevator was waiting for a replacement request from the stocker.
Upon receiving the above request, the printer selects the palette in step 5220.
The specific details of step 5220 for performing the
The control is performed from step 8240 to step 32 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.
27E, 27F, and 26B.
By association, FIG. 27E shows steps 5240 through
Corresponding to step 5246, FIG. 27F shows step 5248.
~corresponds to step 5256. , and β is shown in Figure 4.
The thickness of the pallet shown is 38 mm, and in this example it is 12 mm thick.
It is mm. When the elevator has finished changing pallets, it
A notification of replacement completion is sent to the other side (step 5222). Upon receiving this notification, the stocker side starts from step S94.
Proceed to step S96, and select the pallet of process P to be replaced.
Restore the remaining number of items. Then, in step -398, '
Reset the CH flag and also reset the same <I[P].
Ru. Then, proceed to step 5100e and step 5118.
Then, proceed to the next step L=L+1, and step 5120-
>> Middle step 5130 => 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 5226, the stack of empty pallets up to the previous time is
From the current pallet height H[E] to the raised height Q,
Add the value minus the edge β of the let, and add the value below the elevator.
Find the descent position. That is, the lowered position is Q+H[E]-β. This can be understood by referring to FIG. Move the elevator to this lowered position and press air cylinder C.
Release E4 and stack empty pallets. And the product
When you look up, the amount of stacking amount α (=7111R1)
, since the pallet is on the bottom, the updated stacking position Q
is Q=Q+)I [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.
S< position (shown at the bottom of the elevator in Figure 1)
Check to see if it has been reached. If reached, step 5
236 drives the transport mechanism 76 to transfer the empty pallet to the unmanned vehicle.
Transport to the location. In this way, the replacement of empty pallets is completed, and the robot
Supply parts to the robot without stopping operation,
Parts are continuously replenished to the stocker. The basic form of operation control of the tree FAC system has been explained above.
However, this control program pursues efficiency in various ways.
So, we put a lot of effort into it. *Replacing the final shelf* One method for improving efficiency is to replace the final shelf and
This is a change in the procedures. The stocker of the zero FAC system is
There are 20 stages in total. Therefore, the palletization process is performed from top to bottom in order of process.
When the kit is placed on the fence, the bottom of the 20th row 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 also no pallet below, like this, from the top in process order.
When a pallet is placed on the shelf below, the above-mentioned input
Replace the final shelf according to the determined replacement position.
Even though there are no pallets on the shelf for the next process,
Move the shelf without a pallet to the drawer section 154 position.
, and then insert an empty pallet at the replacement position above it.
It will be replaced. However, in this case, the robot
Step S16 is performed until the pallet replacement is completed.
Do not stop the assembly process while waiting for the drawer to complete.
Must not be too expensive. In order to eliminate this inconvenience, step 3 in Figure 24B
Steps 104 to 5116 and Step 5 of FIG. 26A
212. There is step 5224. In other words, the final stage
If it is necessary to replace the strip, mark the replacement location.
Tokka pull-out position (slide plate of pull-out part 154)
178). Replacement in this case
The standby position is 30xS[E]+t, as shown in Fig. 27G. Therefore, on the elevator side, step 5212
c:) Proceed to step 5224 and according to the above formula:
Calculate the standby position, move to the pull-out position, and step
At step 3218, a replacement request from the stocker is awaited. On the other hand, on the stocker side, in step 5100, the
When it is detected that flag I [L] is set,
Set the CH flag in step 5102, and
In step 5104, proceed to step 5108 and set 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 time, such as the time it takes for Beta to switch to the standby position, etc.
The total time required to prepare for replacement is one step in assembling the robot.
The time required for each module is
Set the operating speed of the joule (e.g. motor rotation speed, etc.).
If possible, from the robot to the buffer or elevator.
multiple replacement preparation instructions (step 526) are issued.
However, if the former takes a long time, consider
It will be done. In such a case, several of the above instructions will be issued and
In order to deal with such cases,
For example, you need to queue instructions for
, if the total number of pieces in the pallet is the same in two consecutive processes.
If the parts wear out in the same way, insert them consecutively.
There is a possibility that instructions to prepare for replacement may be issued. In particular, the above consecutive
2 processes (these 2 processes are used as stocker, and are called L and L+1)
Then, if the shelf positions S [L] and S [L+1] are not consecutive,
If this happens, the stocker will move up and down, making it difficult to replace the pallet.
It takes time. In such a case, the 21st
As shown in Figure B, queue the replacement preparation instructions.
The robot will never stop moving;
In order to prepare for one change, the pallet is
Separate the pallets and put the separated pallets in the elevator.
the next queued replacement immediately after passing
Removes instructions from the queue and performs the next pallet separation operation.
This is because it can be done. In addition, in this example,
The number of queues is set to 2, but you can increase it if necessary.
Good too. *Initial operating state setting* In the above control, one pallet is placed on the stocker.
I have explained this on the premise that. Therefore, in this stocker
The initialization control for inserting a palette is explained according to Figure 29.
do. With this initial setting, the robot and stocker will not operate.
buffers and elevators to
Insert the pallet into the rack. First, in step 3300, 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
fJtJl to the separation position, step 53
06 separates the pallet. In step 3308
, notifying the elevator of completion of separation, step 5310
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, s! to the separation position! Fl and S
At step 5354, wait for notification of splitting completion from the buffer.
ing. This notification causes the buffer to
The shelf position of the stocker is calculated from 5TP=TP[nl, and the position is moved to the stomach by that amount, step 5358.
, push this pallet into the shelf, and step
5360″r!Notify the buffer that loading is complete and step
At step 5352, the next pallet is waited for. 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 pallet.
Calculate the shelf number to insert the let. Step
In step 5314, check if there are any remaining pallets on the buffer stand.
If there are any remaining pallets, separate them to separate the next pallet.
Then, return to step 5300. In this way, the initial operating state setting is completed. [Margins below] (Description of modification) The present invention is based on the structure of the embodiment described above.
without departing from the gist of this invention.
It goes without saying that various modifications can be made within the range. Below, various modifications of the above-mentioned embodiment will be described.
This will be explained in detail. In addition, in the following explanation, the above-mentioned
The same reference numerals are used for parts that are the same as those in the other embodiment.
The explanation thereof will be omitted. First Furnace Side Theory First, in the buffer 22 of the embodiment described above, the
The bot 12 determines the remaining number of parts X in pallet p.
It is recognized that this part was done in one piece, and then this part
Once the pallet has been emptied from being used in an assembly operation,
This empty pallet p′ is replaced by a pallet p full of parts
The movement of the robot 12 to be replaced with
In order to be able to execute without
When it is recognized as a piece, there is only one piece left.
A pallet p full of parts
Separation mechanism 64 is installed so that it can be taken in from 22.
separated from other pallets p in buffer 22 via
It is configured to do so. However, this invention is limited to the above configuration.
Instead, this buffer 22 may be provided with a separation mechanism 64.
Instead, the first modification shown in FIGS. 31 to 34 is
A plurality of packages are stacked on the buff and stand 52 so as to
Let P+ + P2. A stage separating mechanism 25 that bundles p3 and separates them from each other.
It may be configured to include 0. *Configuration of the stage unwinding mechanism* That is, as shown in FIG. 31, this stage unwinding mechanism 250
Above the buffer stand 52, each standing plate 46a,
46b, along the conveying direction d, respectively.
A plurality of separation claw mounting plates 252 extend vertically.
They are arranged along each side. Here, one facing each other
The pair of separation claw mounting plates 252 are attached to the flange of each pallet p.
It is configured so that it is not hooked to the hinge portion 38 in the vertical direction.
It is. In addition, in this first modification, the above-mentioned
In one embodiment, the buffer stand 52 is different from that of the unmanned vehicle 2.
It is fixed at the same height position as the pallet mounting table 32 of 0.
Ru. Here, all the separation claws on each upright plate 46a, 46b
The mounting plate 252 has both ends thereof extending in the vertical direction.
It was fixed to the corresponding upright plates 46a and 46b so as to
Guide shaft 254a. 254b, 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.
252. The upper end of the air cylinder CDI attached to
is fixed to. Here, each air cylinder CDI is
, two input ends 260a, 260b, one
The input end 260a of the piston 258 is located above the piston 258.
The other input end 260b is connected to the piston 2.
It communicates with the cylinder chamber below 58. On the other hand, one input end 26 of all air cylinders CDI
0a is switched via one introduction pipe 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 pipe 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 connected via an inlet pipe 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 of the introducing vibes 262a.
above the piston 258 of each air cylinder CDI.
is introduced into the cylinder chamber of the cylinder, and each piston 258 is attached downwardly.
You will be forced to do so. In other words, this high pressure air
- Supplied to one input end 260a of cylinder CDI
By doing so, as shown in Fig. 32, the adjacent parts
The distance between the detachable claw mounting plates 252 will be widened. On the other hand, in the switching valve 264, the other output 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, the 331g'
As shown, there is a gap between adjacent separating claw mounting plates 252.
It will be narrowed down. Here, in the narrowed state shown in FIG.
For example, all pallets P have a thickness of 25 mm.
If it is +, the arrangement pitch of the separation claw mounting plate 252 is
, 2525-7=18. Also, the 32nd
In the unfolded state shown in the figure, there is a mating distance of 7 mm.
Since the separation claw mounting plate 252 must be removed from the
The arrangement pitch is longer than the above-mentioned 25 mm, for example,
It will be set to 30 HO■. In other words, the 33rd
From the state shown in the figure, one input end 2 of each cylinder CDI
By supplying high pressure air to 60a, the piston 2
58 is pushed downward by 12+*m and the separation claw is attached.
The arrangement pitch of the plates 252 will be widened. Moreover, as shown in FIG. 34, this stage opening mechanism 250
is placed directly in the transport direction d on the bottom surface of each separation claw catcher 1 attached plate 252.
Separation claws 2 are provided to move forward and backward along the intersecting directions.
It is equipped with 66. i.e. °, a pair of separations facing each other
The claw 266 is attached downward to the flange portion 38 of each pallet p.
a protruding position where it is latched from the flange portion 38;
It is configured to be able to freely move forward and backward between the retracted position and the retracted position. Ma
In addition, the lower surface of each separation claw mounting plate 252, and the corresponding portion
This separating claw 26 is positioned outward from the separating claw 266.
Air cylinder CD2 is installed to move the 6 forward and backward.
It is. Piston 268 of this air cylinder CD2
is driven back and forth along the direction perpendicular to the transport direction d.
The tip of this is in contact with the corresponding separation claw 266.
It is continued. With the above configuration, high pressure is applied to air cylinder CD2.
In the absence of air supply, the piston 168
are biased to the retracted position, and all separation claws 266
is separated from the flange portion 38 of the corresponding pallet P+.
is set to the same state. Here, air cylinder C8
By supplying high pressure air to 2, the separation claw 266
, each separation claw 2 is projected from the retracted position to the extended position.
66 is attached downward to the flange portion 38 of the corresponding pallet p+.
It becomes possible to hang from. *Operation of the step-breaking mechanism* In the step-breaking mechanism 250 configured as above,
The following is a description of the life-and-kill operation. First, a plurality of pallets P+ are stacked on the buffer table 52.
When it is transported in a state where the
High pressure air is supplied to the cylinder CD2, and the separation claw 266
, the corresponding part is biased from the retracted position to the extended position.
A state where it can be hooked onto the flange portion 38 of let p1 from below.
is set to After this, the first air cylinder CDI
High pressure air is supplied to the input end, and each separation claw 266
is biased upward to widen the arrangement pitch. child
As shown in the figure, each separation claw 266 opens the flange portion from below.
38, each pallet p. is pulled out to the side from pallet p1 located directly below.
It will be possible to set it in a separated state. As detailed above, according to this first modification, the buffer
A plurality of bullets) P+ placed on the buffer stand 52 are
By using the step opening mechanism 250, - degree,
Separate all pallets P+ from each other and pull them out to the side.
You can now set it to a possible state. others
Then, as described above, the robot 12 calculates the remaining number of pieces.
The same part as the part recognized as one piece is stored.
At what height is the pallet P+ placed on the buffer stand 52?
pallet p1 from that position.
It is now possible to pull out the data to
Better than the case using the separation mechanism 64 of one embodiment.
It will be shortened to . In addition, the control of the FAC system equipped with such a buffer
, but the pallet elevations separated by buffers
The pull-out position for each pallet is also fixed.
has been done. Therefore, it is necessary to replace the elevator pallet.
The waiting position in the preparation is determined by which pallet is pulled from the buffer.
It depends on how you export it. To do this, the elevator side
Similarly to the buffer side, the information shown in Figure 25A is also applied.
If the robot also has the information, the robot will give instructions to prepare for the replacement.
If so, what position does the stocker need the parts in?
From this information, you can find out whether Second Furnace Side Description Next, in the elevator 26 of the embodiment described above, the entrance
Three hooks 108°116.126 of switching mechanism 96
As a drive source for moving eight shifts along the conveying direction d,
Common servo motor M! I explained to use 2, but
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 fully loaded with parts
for driving the hooks toa and tta to work
The drive motor and the empty pallet p' are moved along the transport direction d.
a drive motor for driving the hook 126 to move the hook 126;
The configuration may be such that the data is provided separately. *Description of the elevator* That is, as shown in FIG.
The elevator 300 has guide grooves 1 on its upper and lower surfaces.
02 and 132 are not formed, respectively.
Elevator body 8 similar to the elevator body 86 of the embodiment
It is equipped with 6. Moreover, the exchange mechanism 96 is a top plate of the elevator main body 86.
A pallet full of parts X attached to the bottom of 86a
and a real pallet exchange mechanism 96a for exchanging pieces p.
, attached to the lower surface of the lower plate 86b of the elevator main body 86.
Empty pallet replacement for replacing empty pallet p'
It is composed of a mechanism 96b. This real pallet exchange mechanism 96a is shown in FIGS.
As shown in FIG. 37, the upper plate 86a of the elevator main body 86
A pair of first guide members 302a, 302b are provided on the lower surface of the
is provided in a state extending along the conveyance direction d. stop
Therefore, the guide members 302a and 302b of Plan 1 include the 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.
rotation via the first rotation support members 310a, 310b of
Possibly supported. In addition, this first ball screw 3
06 is rotatably driven by a first servo motor M.
It is composed of In this way, the first servo motor
The first ball screw 30 is rotated by the rotation of the rotating shaft of the motor M.
6 is rotationally driven, so that the first slide plate 304
It will be reciprocated along the conveyance direction d. This first slide plate 304 is perpendicular to the transport direction d.
It is formed to extend along the direction, and this first
At both ends of the slide plate 304, the same as in the embodiment described above are provided.
The first hook 108 is placed on the side of the buffer 22, and
The stocker 2 can move forward and backward freely via the cylinder CE+.
4 side with the second hook 116 and the air cylinder CE2
They are equipped so that they can move forward and backward freely. The first of this pair
The first and second hooks 108, 116 are connected to each of the above-mentioned parts.
Let pI, P2. I) Shape on the flange part 38 of 3...
The first notched cloud portion 38a on the elevator 26 side formed by
, and the second notch 38b on the unmanned vehicle 20 side, respectively.
It is formed in a shape that can be attached from both sides. Here, on the lower surface of the upper plate 86a of the elevator main body 86,
engaged with the first or second hook 108.116;
Pull/push according to the rotational drive of servo motor M1.
A pair of fixings that slidably support the pallet p being taken out.
A slide guide 316 is provided. That is, both fixed
The slide guide 316 is used to guide the part being pulled in/out.
It is slidably installed on the lower surface of the flange portion 38 on both sides of the let p.
has been established. Note that the elevator on the upper edge of both fixed slide guides 316
The height of the main body 86 from the lower plate 86b is the maximum height.
A pallet p with a height of 100+am can be slid freely.
It is set high enough to support it. On the other hand, the empty pallet exchange mechanism 96b described above is
A pair of second gaskets are provided on the lower surface of the lower plate 86b of the beta main body 86.
The side members 322a and 322b extend along the conveyance direction d.
It is in a state of readiness. And the guide member 3 of both sides 2
22a, 322b, the second slide plate 324 is carried.
It is supported so as to be able to reciprocate along the feeding 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 fixed at both its front and rear ends to the lower surface of the lower plate 8.6 b.
via a pair of second rotational support members 330a, 330b
Rotatably supported. Also, this second ball
The same 326 is rotationally driven by a second servo motor M2.
It is configured to In this way, the second server
Due to the rotation of the rotating shaft of the motor M2, the ball of 's2
The same 326 is rotationally driven, and thus the second slide plate 3
24 is 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 + ps...
The second portion on the unmanned vehicle 20 side formed on the flange portion 38 of
The notch portion 38b is formed in a shape that can be engaged from both sides.
It 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 attached to the second notch portion 38b of the flange portion 38.
It will be driven back and forth to engage and disengage. Further, on the lower plate 86b of the elevator main body 86, this
3 was taken out from the stocker 24 by the hook 126.
A pair of movable legs for slidably receiving an empty pallet p'
A ride guide 336 is provided. Here, both
The dynamic slide guide 336 receives the empty pallet p.
' is placed on the group of carry-out rollers 78 of the carry-out mechanism 76 mentioned above.
In order to place the
In other words, I will leave the empty palette p′ received here.
It is designed to be able to slide. That is, FIG. 38 and
As shown in FIG. 39, both movable slide guides 336
, the elevator body via slide members 3.38, respectively.
It is slidably attached to the lower surface of the lower plate 86b of 86.
There is. On the other hand, movable slides are provided on both sides of the lower surface of the lower plate 86b.
A third air series for reciprocating the guide 336
The driver C5 is installed. This third air cylinder
At the tip of the third piston 340 of the cylinder C3, the above-mentioned
A movable slide guide 336 is connected. like this
According to the drive of the air cylinder C1 of 343,
The movable slide guide 336 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. 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 composed of data M, , M, 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. Third explanation on the furnace side In the elevator 26 of the above-mentioned fruit basket example,
Three hooks 108° 116.12 on the exchange mechanism 96
6 is provided for taking in and pushing out the actual pallet p.
, the first and second hooks toa and tts are arranged on the upper stage.
, a third hook 1 for pulling in an empty pallet p'
Although it was explained that 26 is disposed in the lower part, this invention
Without being limited to such a configuration, FIGS.
As shown in Figure 41 as a third variant, this replacement
Mechanism 350 connects the first and third hooks with the third hook removed.
and the second hook 108, 116 only.
You may do so. *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 Ca+
At the tip of the first piston 114, the above-mentioned first foot is attached.
10B is connected. In this way, the first
In response to the drive of the arc cylinder CEI, the first hook 10
8 engages and disengages from the first notch 38a of the flange portion 38.
It will be driven back and forth as much as possible. Also, the side surface of this slide plate 106 on the stocker 24 side is
At both ends, a second hook 116 is attached to a second hook slide.
in the longitudinal axis direction of the slide plate 106 via the door member 118.
In other words, along the direction perpendicular to the transport direction d.
It is attached so that it can slide. The first of this pair
The second hook 116 is connected to each pallet P++ ρ as described above.
2. p. - Unmanned vehicle 20 side q7 formed on the flange portion 38 of...
Shape that can be engaged with the notch 38b of Jj2 from both sides
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
Cε2 is attached. This second air cylinder
At the tip of the second piston 120 of the dace2, the
A second hook 116 is connected. In this way
, the second air cylinder CCZ is driven.
The hook 116 is connected to the second notch 38 of the flange portion 38.
It will be driven back and forth to engage and disengage from b. Here, on the lower plate 86b of the elevator main body 86, a first
The actual data fetched from the buffer 22 by the hook 108 of
The second hook 116 of the pallet pS and
The empty pallet p' drawn in from the mechanism 24 is slidably received.
A pair of movable slide guides 352 are provided for
ing. Here, both movable slide guides 352 are received here.
The empty pallet p' is transferred to the unloading roller of the unloading mechanism flow mentioned above.
In order to place the paper on the 8th group, the direction perpendicular to the transport direction d is
In other words, if the empty palette p' received here is
It is configured to be slidable so that it can be removed from the That is,
On the lower plate 86b of the elevator main body 86, there is a
Slide the movable slide guide 352 along the orthogonal direction
A sliding member 354 is attached for support.
There is. Further, on the lower plate 86b, there is a cutout portion 86c in the conveying direction.
The movable slider is placed adjacent to the center of both edges along d.
a fourth air series for reciprocating the guide 352;
CE4 is installed. This fourth air seat
At the tip of the fourth piston 256 of the cylinder CE4, the above-mentioned
A movable slide guide 352 is connected thereto. this
In this way, according to the drive of the fourth air cylinder CE4,
The movable slide guide 352 moves the empty pallet p'
It is driven back and forth to engage and disengage from the hinge portion 38. As described above, the replacement mechanism 35 according to the third modification example
By configuring 0, this movable slide guide 35
2, pull the -danku pallet p' from the stocker 24.
After loading, this empty pallet p' is temporarily transferred to the unloading mechanism.
76 and remove it from this exchange mechanism 350.
Descend as you wish. And like this, this swap
Release the empty pallet p' from the mechanism 350 and remove the elevator
With the body 86 emptied again, this time the buffer
In order to take the separated real pallet p at 22,
Raise it to a height position adjacent to the separation position.
Ru. At this separation position, the actual pallet is removed from the buffer 22.
The receiver takes the top p and replaces this real pallet p with an empty pallet.
The predetermined position of the 6 stocker 24 which is emptied by drawing in the cut p'
It will be pushed out to the position. In this way, the series of pallet swapping operations is completed.
do. *Control* Using Figures 42A to 42H, this third modification example
The operation of the elevator will be explained along with the movement of the stocker.
. Regarding the control of this modified example, the robot, stocker, and
With respect to buffers, the robot in step 326
The control of the basic embodiment does not require modification, so the robot
23A and 23B, and the stocker is shown in FIGS. 24A and 2.
Figure 4B is used for the buffer, and Figures 25B and 25C are used for the buffer.
Ru. For elevators, see Figures 42A to 4.
The sequence of control operations will be explained using a 2H diagram. this
The modified elevator has the lower empty panel that was in the basic example.
Since the let drawer mechanism has been removed,
, first pull out the empty pallet from the stocker.
Follow the sequence of inserting the Gosho pallet to stack the blocks.
Ru. In FIG. 42A, the pallet (shelf S[
Suppose that the number of remaining pieces Z[L,] = 1 is placed in LO]
At this point, the robot responds to the buffer and elevator.
This preparation instruction is issued to prepare for replacing the pallet.
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
The position is the position of stocker S[LO] in process L0.
It is. When the elevator arrives at this waiting position,
As shown in FIG. 42B, the stocker process is a separate process L'
The process has gone through, and the shelf S
[Lo] pallet is robot drawer stand 154th
When you come to the place, the remaining number 2 [Lo] is zero.
Ru. Then, from the stocker side of the empty pallet,
Drawing is performed to the elevator side (Figures 42C to 42C).
(Fig. 42D), when the elevator takes in the empty pallet,
The elevator descends and places the empty pallet on top of the transport mechanism 76.
Stack (Figure 42E). In this state, the elevator
does not hold any pallets. The elevator then rises to the buffer separation position,
Bring in a new separated palette. This import
When finished, the elevator sends this buffer to the buffer.
Sends a notification that the import is complete, then stops the movement and waits.
The stocker is lowered to the S[L0] position (
Figure 42F). The object that has descended to the standby position of this stocker
The elevator pushes the new pallet into the stocker (
Fig. 42G, AH), replacement for the stocker is completed.
Send notifications. The stocker that receives this notification goes to the robot side.
The supply of parts will be resumed. As mentioned above, in this third modification, the empty palette
The above-described
Although it takes some time compared to the case of one example,
The configuration of the exchange mechanism 350 is simplified and costs are reduced.
It becomes possible to aim for. Explanation of the fourth engraving example
The empty pallet p' separated from the descending elevator 26 is
Keep it in a stacked state, and the number of stacked
When the predetermined value is reached, the unloading mechanism 76 is driven.
, below the buffer stand 52, that is, the empty pallet of the unmanned vehicle 20
It is configured to be carried out to a position adjacent to the loading table.
In particular, this unloading mechanism 76 is fixed at the bottom.
I explained that it would be set (unable to move up and down), but this
The present invention is not limited to such a configuration, and the configuration shown in FIG.
As shown in the fourth modification in FIGS.
The portion of the unloading mechanism 76 located below the motor 26 is
It is configured to be movable and is configured to include a so-called lift mechanism.
You may do so. That is, as shown in FIG.
The unloading mechanism 76 is located below the buffer stand 52.
Located below the constant conveyance mechanism 400 and the elevator 26
A lift mechanism 402 is provided. Here, fixed conveyor
The structure 400 is similar to the transport mechanism 76 described in one embodiment.
Since the configuration is similar, the explanation thereof will be omitted. On the other hand, the lift mechanism 402 is an elevator as shown in the figure.
struts 82a and 82b that constitute the holder 26; The guide member 88 attached to 82c and 82d includes
Below the sliding member 90 to which the elevator main body 86 is attached
In the state where the other sliding member 404 is slidably attached.
It is worn. These four sliding members 404 have four corners attached.
The lift platform 406 is arranged to be movable up and down in the state where the
It is. This is the lowest position on this lift platform 406.
The stationary unloading mechanism 400 is provided with the
The conveyor rollers 78a are arranged in horizontal alignment with the group of conveyor rollers 78a.
A group of carry-out rollers 78b is provided. In addition, in the space between the pillars 82b and 82d on the opposite side in the figure,
There is a protrusion on the side of this lift platform 406 when it is inserted.
A projecting piece 408 is attached integrally. And both branches 8
With the racks passed to 2b and 82d, install the air cylinder.
A mounting member 410 is provided extending horizontally.
. This air cylinder is attached to the top surface of the member 410.
With the piston 412 protruding downward, press the air cylinder.
Da OL is installed. Below this piston 412
The end is fixed to the upper surface of the above-mentioned protruding piece 408. Note that this air cylinder CL has a piston 412 of this air cylinder CL.
A brake mechanism (not shown) allows the protrusion amount to be set arbitrarily.
It is equipped with the following. Also, this air cylinder C
L is the maximum amount that the piston 412 protrudes in the normal state.
high pressure air is supplied to it.
By doing so, the piston 412 is pulled up.
In other words, the amount of protrusion is reduced and the lift platform 406 is driven upward.
It is configured to allow On the other hand, the above-mentioned cylinder mounting is performed on the lower surface of the member 410.
, the sensor is attached to the member with it extending downward.
414 is attached. This sensor is attached to member 41.
4, a state where it can face the lift platform 406 that is moved up and down.
Then, three sensors Sl, S2 . S3 along the vertical direction
They are arranged side by side. These sensors S, , S2 . S, this lift stand 406
The lift position of the highest position of the empty pallet group p' placed on
There are only three types of (rise standby position) for the reasons described below.
In other words, in order to control the change,
When releasing the empty pallet p' from the elevator main body 86, this
The position where the lift platform 406 is placed on standby in advance in order of 3 types
It is arranged to control changes. That is, as shown in Fig. 44, the elevator at the lowest position
Empty pallet held at the bottom of the main body 86) P+ '+
Depending on the height of P2' + P3', the base or
Rako's empty palette P+ Z P2 Z Ps
The height to the bottom of ′ will change. others
Empty pallets held at the bottom of the elevator main body 86
P+', P2'* P3' are lift platforms
When released onto the empty pallet group p' on 406,
The descending control of the elevator main body 86 becomes complicated, and
Determining how high the lift platform 406 should be raised
becomes difficult. In other words, the empty pallet P+ in the elevator 26
', P2 'l p3' pull-in operation is performed.
While doing so, move the lift platform 406 to the predetermined rising standby position.
If it is raised, the descending time of the elevator main body 86 is
This will be done in the shortest possible time, and subsequent actions will be taken quickly.
It becomes. In this way, these sensors Sl +
S2 * S3 simplifies the descending control of the elevator main body 86.
The purpose is to simplify and shorten the descent time.
As a result, the lift table 406 is stacked on the lift table 406.
Empty palette P+ '* Pi "* Ps
'Depending on the height of the
It is set up for storage. Therefore, the Senna Sl at the highest position is the elevator main body 8.
6 is in the lowest position, under the elevator main body 86.
The height of the empty pallet p' held in the
In this case, the height of the bottom surface of this empty pallet pI ′
It is set to be located a predetermined distance below the
ing. In addition, the sensor s2° located at the second height position is the sensor
, is set to be located 25mm lower than
Ru. That is, the sensor s2 at the second exit is the elevator main body 86.
is at the lowest position, the lower part of the elevator main body 86
When the height of the empty pallet p' held at is 50 mm
, is the height position of the bottom surface of this empty pallet P2'?
, and set it so that it is located a predetermined distance below.
has been done. Furthermore, the sensor S at the third height position is the sensor S
It is set to be located 50mm lower than 2.
Ru. That is, the third sensor S3 is connected to the elevator main body 86.
is at the lowest position, the lower part of the elevator main body 86
If the height of the empty pallet p' held at
In this case, the height position of the bottom surface of this empty pallet P3'
It is located below by the predetermined distance 111L mentioned above.
is set to . Here, this predetermined distance 111L is the state in which this interval exists.
Empty pallet PIZ 92 from elevator main body 86
', P3' are empty pallets placed on the lift table 406.
well, this emission
The empty palette pl'+P2'+P3' is refreshed.
enough to be stacked on the empty pallet p' on the table 406.
set at a short distance. In this way, the elevator body 86 is supported on it.
Empty palette P+ '+ P2 '* ps
', an empty pallet p' placed on the lift table 406
When moving it up, the lift table 406 is
The top position of the empty pallet p is placed on the elevator.
The lowest position of the main body 86 and the empty pallet P held there
+ '* p2 ' + Ps ' corresponds to the height
It has been brought to the raised standby position. As a result, the elevator
The motor body 86 simply moves downward at its lowest position.
It gets better if you do it, and the descending control becomes simple PJ, and the descending
This will be done in the shortest amount of time. *Controlled vehicle In this fourth modification configured as above, the following
The outline of the operation control will be explained below using Fig. 45.
. The control of this modification is from step 3226 in FIG. 26A to
Step 5236 is changed. In other words, strike
Step S76 or Step 5108 of controlling the printer
, a request to replace an empty pallet p' is sent to the elevator.
When the elevator is brought out to
and then empty it in step 5220 (Figure 26A).
Swap palette p' with a new palette p
. On the other hand, the lift mechanism side also issues the replacement request in step 54.
20 (Figure 45) and when this request is made,
The empty pallet held in the elevator in step 5422
Know the thickness of the cut. Once you know the type of thickness, step
At 5424, drive the air cylinder CL to adjust its thickness.
Any of the three corresponding sensor S, ~S5 positions mentioned above
The lift table 406 is raised to . and step
At 5426, a waiting position arrival notification is sent to the elevator side.
First, wait for the empty pallet p′ release notification from the elevator side.
. On the other hand, the elevator, which has undergone pallet replacement, is
This notification is stored in the stocker using step 5222 (Figure 26A).
Then, in step s+00 (Figure 45), it is shown in Figure 43.
Lower the elevator body to the indicated position. and,
At this position, wait for the waiting position arrival notification from the lift mechanism.
. When notified by the lift mechanism, the elevator
The empty pallet p' held at the bottom of the tank and the lift platform 406
The distance to the uppermost empty palette p′ is approximately close to
As mentioned above, there are Therefore, step 540
Release the empty pallet held at the bottom of the elevator at step 4.
Then, in step 5406, a release notification is sent to the lift mechanism side.
. Upon receiving the release notification, the lift mechanism side performs step 3428.
Proceed to step 5430 to move the lift platform 406 to the floor position.
lower to. At this point, the empty pallets that have just been piled up
Check whether the cut p' reaches the maximum height sensor position. most
If the large position height is reached, it will interfere with the vertical movement of the elevator.
Therefore, in step 5434, the fixed transport mechanism 400
drive to transport out stacked empty pallets. By controlling elevators and lift mechanisms like this,
The elevator main body 86 is lowered to the lowest position on the grass.
As long as it works, it will be fine, the lowering control will be easier, and the lowering will be easier.
The downtime will be minimized. In addition, in the elevator control of the basic embodiment described above, the empty
The thickness of the pallet is 1 (given as [L])
However, if the thickness is incorrect, the elevator body may be damaged.
In order to connect, use the following as a means of checking the thickness of empty pallets.
An additional mechanism may be provided, such as an elevator main
Empty pallet P+ '+ pulled into the lower part of body 86
Detect the respective heights of P2''+P3'
(A not shown) is of the elevator main body 86.
At the bottom, empty pallets P+', P pulled in here
Sensor group for detecting heights of 2' and 93'
is installed to detect the above H[L] and these sensors (not shown).
This is done by comparing and confirming the type of thickness based on the appearance. Also, the three sensors Sl to S3 may be omitted to one.
In such a case, the maximum height sensor
It may also be used as S4. However, in this case, the elevator
Empty pallets and stacked empty pallets held at the bottom of the main unit
The pallet has three different distances depending on the thickness of the pallet.
In order to
There is no problem even if the elevator body releases an empty pallet.
It is necessary to shorten the distance. [Margins below] [Other embodiments] *Configuration* In the explanation of the above-mentioned embodiment, the robot 12 has
The parts supply system 14 for supplying the necessary parts
Broadly speaking, parts are received and removed from the unmanned vehicle 20, and then stored.
A buffer 22 is provided adjacent to the robot 12.
Then, the robot 12 is given the parts necessary for assembly in the assembly order.
The stocker 24 and this buffer 22 supply sequentially according to the
and the stocker 24, and the stocker 24 is
The parts that are in short supply are transferred from the buffer 22 to the stocker 2.
4 and an elevator 26 for transporting the
It is. In particular, in this embodiment, in the stocker 24
, the pallet p' becomes empty due to no remaining number of parts.
is replaced with an actual pallet p full of corresponding parts.
The switching position for the robot 12 in the process is
The position of the empty pallet at the unloading position in process L+1
It is a place. In other words, this 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 is based on the configuration of this more specific embodiment.
46 to 49.
It may be configured as shown in the example. That is, in other embodiments, the portion in buffer 22 may be
The release position and the exchange position in the stocker 24 are the same.
At the same time as setting at one height position, the portion at the buffer 22 is
By setting the release position directly above the buffer stand 52
, the elevator 2 required in the above-mentioned embodiment
6 can be made unnecessary. Below, the configuration of FACIO related to other embodiments will be explained in detail.
explain. In addition, in the following explanation, one embodiment mentioned above will be used.
The same members used in the configuration and various modifications
The same reference numerals will be given to the same reference numerals, and the explanation thereof will be omitted. That is, as shown in FIG. 46, the parts necessary for the robot 12 are
The parts supply system 14 that supplies parts can be roughly divided into unmanned
A buffer for receiving and storing parts from the car 20.
between the buffer 450 and the robot 12
The robot 12 is provided with parts necessary for assembly.
The stocker 24 is equipped with a stocker 24 for sequentially supplying the
Ru. Note that this buffer 450 is the same as the buffer of the above-mentioned embodiment.
Unlike the case 22, empty pallets p' can be removed from the stocker 24.
The pallet p is then separated and transferred to the stocker 24.
It has the function of pushing out to the replacement position of the
On the buffer stand 52, the number of parts in the stocker 22 is displayed.
Pallets p are stacked from the bottom in the order of zero.
Ru. Moreover, this buffer stand 52 has a fixed vertical position.
It is installed in the correct position. Specifically, this buffer 450 is configured as shown in FIG.
, the space is sandwiched between the re-erecting plates 46a and 46b.
The buffer stand 52 is connected to the unmanned vehicle via the sub-lock 452.
It is fixed at the same height as the pallet mounting table 32 of 20.
There is. In other words, the spacer block 452 is provided.
Therefore, the side surface of the buffer stand 52 has a corresponding upright plate 4.
6a. 46b. This buffer stand 52 is positioned above it.
This is the pallet p placed directly on the facilitator 52.
In order to separate the pallets independently from the upper pallet group,
A second separation mechanism 454 is provided. This separation mechanism 454 is a re-erecting plate 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 guide shaft 458.
has been done. The lower surface of each separation claw mounting plate 460 is provided with a pallet.
A pair of portions can be hooked onto the flange portion 38 of the top p from below.
The release claws 462 each extend along a direction perpendicular to the conveyance direction.
It is attached so that it can move forward and backward. On the other hand, each attachment is attached to the center of the member 456 in the vertical direction.
The ball screw 464 is rotatable while extending along the
It is pivoted. The lower end of this ball screw 464 is
Standing board 46a. It is rotatably supported by a support plate 466 fixed to 46b.
ing. Here, the central part of the separation claw mounting plate 460 mentioned above is
The intermediate portion of this ball screw 464 is screwed into the ball screw 464.
The screw receiver is provided with a portion 468. Also, in the installation on the opposite side of the figure, there is a strip on the top surface of the member 456.
The servo motor MT is attached via the tie 470.
ing. The drive shaft of this servo motor M1 has the above-mentioned bolt.
The upper end of the wheel screw 464 is connected, and its rotation
Accordingly, the ball screw 464 is configured to be rotationally driven.
has been done. Here, a drive pulley 472 is coaxially attached to this drive shaft.
It is worn. On the other hand, the ball screw 464 on the near side in the figure
A driven pulley 474 is coaxially attached to the upper end. These driving pulley 472 and driven pulley 474
A timing belt 476 is wound around. this
In this way, the pair of ball screws 464 are synchronized with each other.
It will be driven to rotate. That is, both separation claw mounting plates 4
60, therefore, both separation claws 462 have the same height as each other.
Then, it will be moved up and down. Then, each separation claw 462 described above is connected to a corresponding separation claw.
In order to move forward and backward from the attached plate 460, this separation claw mounting plate
Air cylinders C□ are provided on the rear surfaces of 460, respectively.
ing. A piston (not shown) of this air cylinder CT+
The tips of the pins are connected to corresponding separation claws 462. Here, each separation claw 462 has a pair of guide pins 478.
It is supported so that it can move forward and backward freely. In addition, each air cylinder CTl is supplied with high pressure air.
When the corresponding separation claw 462 is not
It is biased to the retracted position away from the flange portion 38, and the high pressure
Hooked on the flange part 38 in the state where air is supplied
It is configured to be biased into a possible protruding position. Since the separation mechanism 454 is configured as described above, the
A plurality of pallets p stacked on the buffer table 52
From the group, the lowest pallet pa, that is, the buffer stand 5
2 and then transferred to the stocker 24.
When separating a pallet p, which is intended to be
First, the separation claw 462 is biased to the retracted position.
Then, move this separation claw 462 to the second pallet Pb from the bottom.
From the flange portion 38 to a position immediately below, the servo
It moves via motor MT. After this, air cylinder C? Supply high pressure air to I,
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 P from the bottom. is raised along with the pallet p group stacked on top of it.
It will be done. In other words, the bottommost palette
2nd from the bottom with the top p left on the buffer stand 52.
The pallet group p that is larger than the
It will be separated from let p. Therefore, the separation
In other words, the next pallet in the lowest position is 911%.
The pallet Pa to be transferred to the rack 24 is transported in the transport direction d.
It is set so that it can be pulled out independently. On the other hand, this buffer 450 is placed around the buffer stand 52.
Equipped with a mechanism 480 for replacing the pallet p in the positioned state.
It is growing. This exchange mechanism 480 is shown in FIGS.
As shown in FIG. 49, below the buffer stand 52
, via a pair of guide shafts 482a, 482b,
A horizontal slide plate that is reciprocally movable along the direction d.
It is equipped with 484. The lower surface of the buffer stand 52 mentioned above
In the central part, as shown in FIG.
The ball screw 486 has both ends connected to the rotation support member 488a,
488b and is rotatably supported.
ing. Here, this slide plate 484 is connected to a pair of rollers.
La 484a. 484b, so as to make contact with the lower surface of the buffer stand 52.
It is configured as follows. This ball screw 486 is located at the center of the slide plate 484.
It is screwed into an integrally formed screwing portion 484c. still,
Although not shown, this ball screw 486 is a servo motor.
As a result, the ball screw 486
The slide plate 484 is screwed into the screw portion 484c.
is configured to be driven back and forth along the conveying direction d.
There is. On the bottom surface of this slide plate 484, the stocker 24 is empty.
Pull in the pallet p' and support it at the bottom of the buffer stand 52.
A pair of first hooks 490a, 490b for holding the
, installed so that it can move forward and backward along the direction perpendicular to the conveyance direction d.
I'm being kicked. Furthermore, a first hook 490a is provided on this lower surface. Air cylinder CT for reciprocating each 490b
2 is attached. Each air cylinder Ca. The piston 492 has the above-mentioned first hook 490a,
Connected to 490b and tail. 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
The first hooks 490a and 490b are attached to the removed pallet.
engages with the second notch portion 38b of the flange portion 38 of the top p.
8. It moves like this. 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'
0-car movable slide guide 49 equipped with 4a and 494b
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 be excavated freely along the direction perpendicular to the . Each movable slide guide 494a, 494b has a corresponding
Air cylinder C↑ fixed to upright plates 46a and 46b
It is attached to the tip of the piston 498 of No. 3. Here, this air cylinder 0-3 is connected to high-pressure air.
is not supplied, the corresponding movable slide
Place the guides 494a and 494b on the empty pallet that has been drawn in.
to the protruding position where it is hooked to 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'.
is configured to be biased to a retracted 1 position between
. 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;
0 second hooks 500a, 500 with 00b
b is the second part of the flange portion 38 of the actual pallet p from both sides.
It is provided so as to be able to engage with the notch portion 38b. here
, both second hooks 500a and 500b are attached to the slide plate 4.
A support stay 502a integrally connected to 84. 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 C〒4 is supplied with high pressure air.
In the state where the corresponding second 7tsuku 500
a, 500be, a puller separated laterally from the flange portion 38;
It is biased to the loading position and high pressure air is supplied to it.
, the corresponding second hooks 500a, 500b are
, engages with the second notch 38b of the flange portion 38
It is configured to be biased to the protruding position. Incidentally, as described above, if such a buffer 450 is provided,
The stocker 24 in other embodiments is similar to one embodiment described above.
Similar to the example configuration, but slightly different in its behavior.
It is something that That is, the stocker 24 in one embodiment is
, the pull-out position of each pallet p in the lifting frame 152 is
, move up and down to the extent that they can each face the drawer table 168.
However, the storage in this other embodiment
While performing the above-described operations, the buffer 24 also
Each pallet p in the lifting frame 152 is placed at a separation position of 50.
Operates so that the drawer positions can face each other.
It is. Here, in such other embodiments, the buffer stand
The empty pallet p' received at the bottom of
In order to place the
Same as the lift mechanism explained in the fourth modification of the example
The lower part of the buffer stand 52
This is what we are preparing for. *Control* Stocker 2 according to another embodiment configured as above
4 and the control operation for the buffer 450 will be described in the 50th section below.
This will be explained based on FIG. A and FIG. 50B. Furthermore, the robot side
The outline of the control is shown in FIGS. 24A and 24B.
Use the program shown in . The characteristics of these controls are
, since there is no elevator like in the previous embodiment, the pallet
Even if the robot issues a request to prepare for the
Only the stocker 24 side performs the preparation operation, and the stocker 24 side
The robot knows that the number of parts in the set has become zero.
At the time when the replacement request flag 1 [L] = 1)
Temporarily stop supplying parts to the bot (i.e., move on to the next process)
(without proceeding), separation of palettes by buffers mentioned above
The stocker lift frame 152 is moved to this position. and,
At this separation position, the empty pallet and real pallet are exchanged.
Do this. Then, repeat the process according to the original process order.
Draw out the pallet on the shelf in the drawer section 154.
to the robot until it aligns with the position.
This will restart the supply of parts. FIG. 50A shows a stocker control program according to another embodiment.
This is a flowchart of the program. Steve 560
0=) Until step 5608, the work received from the robot is
According to the process number G (=L), the shelf position corresponding to that number
154 to the pull-out position of the drawer stand 154.
, move the lifting frame 152 of the stocker 24 up and down, and pull it.
At the output part 154 position, the desired pallet is
Shows the control until it is pulled out. Step 56 for the robot
At step 10, the pallet drawer is notified that the pallet drawer is ready and the step
At step 5611, wait for the robot to complete the parts pickup.
, when there is a big completion, the steps start from step 5611.
Proceed to step 5612 and lift/lower the pallet on the drawer section 154.
the robot in step 5614.
Replacement request flag I [L] is set to “1”.
Check to see if there are any. If this flag is not set, step 56
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] becomes “1”.
. In the above repeating process, if the robot side
A pallet with only one component left was discovered (No.
If step 522 in Figure 23A), then step 526 (
(Fig. 23A), indicate the preparatory operation for switching to the buffer side.
There should have been an indication. In other words, if there is such a replacement preparation instruction, the 50B
From step 5650 of the buffer control program in FIG.
, proceed to step 5652 and process step number D (FIG. 23A).
In step S24, since D==G), the new
The pressure of the pallet H [D] is determined from the variable table (No. 21A
) in step 5654.
Separate the pallet in this lowest position. That is, )1
Rotate the motor M to [D] and raise the separation claw 462.
At that point, one layer of the actual pallet that you want to separate
The pallets on the upper and higher levels are hung by the separating claws 462.
To do this, drive the air cylinder CTI. After this latching
Then, the motor M71 is further rotated to separate the parts to be separated.
Raise the pallet one level above the pallet to separate it.
Separate the pallets. In this way, the actual palette can be
After separating from the let, the stock is removed in step 5655.
In step 5656, a separation completion notification is sent to
Waits for a replacement request instruction from the stocker. On the other hand, the robot sets flag I [L] to “1”.
When the stocker discovers in step 5614 that
Proceed to step 5616 and select the process on the S[L] shelf.
The empty pallet is placed in an empty drawer as shown in the 5th QC diagram.
raise to position. In other words, the empty pallet at the time of ascent.
The position of the shelf from the floor with the slide guide 494
This is the position matching a (494b). Therefore, the step
In step 3618, the empty palette needs to be replaced for the buffer.
Notify us of your request. Then, in step 5620, the buffer
Wait until the drawer mechanism at the bottom pulls out the empty pallet. On the buffer side that received this exchange request, step 5
At 658, an empty pallet retraction operation is performed, i.e.
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 C↑, 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.
Proceed to step 5660, where the
inform the customer that the empty pallet has been removed.
Knowing this, move the slider so that it moves 8 times to the pushing position of the actual pallet.
Urges Tokka. At this point, control of the buffer becomes two parallel controls.
. That is, the above from the stocker in step 5662a.
Waiting for notification of completion of extrusion position movement, and step 366
At 2b, the lift mechanism causes the buffer to release the empty pallet.
Wait until it has risen to a point where it is safe to do so.
It is. Here, control on the lift mechanism 402 side will be explained. This lift mechanism 402 is equivalent to the fourth modification described above.
It has a unique structure. This is the buffer for this other example.
Because the empty pallet pull-out mechanism is fixed, the 43rd
As shown in Fig. 44, accurate detection of the lift position is possible.
This is because it becomes necessary. Therefore, the link shown in Figure 50B
The control on the foot mechanism side is almost the same as that in Fig. 45.
. That is, the replacement request notification from the stocker is sent in step 5.
The lift mechanism 402 received at step 700
Proceed to , find out the thickness of the empty pallet currently in the stocker,
In step 5704, the sensor position (fourth
S,,S, in Figure 3. The lift platform 406 is raised to S3). This standby position
When it arrives, in step 5706, the buffer
, and in step 5708 empty the buffer from the buffer.
Wait for Tsuto release notification. 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 3662b 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. Empty palette in step 57f4
Check whether the items are stacked on the lift platform to the maximum height.
Perform the action to investigate. Meanwhile, in step 5620, an empty pallet is pulled from the buffer.
The stocker that was waiting for the stocker to receive the notification will
, as shown in Figure 50D, empty shelves are placed on real pallets.
Raise it to the closet position. and arrived at this position
Then, in step 5624, the movement completion notification is stored in the buffer.
Notify and push a new pallet from the buffer into the stocker.
Wait for the completion notification. The buffer that received the movement completion notification in step 5662a
In step 5664, the actual pallet is pushed into the stocker.
Start the ejecting operation. That is, air cylinder, CT, 4
The hook 500a is biased. 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 daCa, 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 M7 is reversed to rotate the guide 460°.
The pallet that had been lifted by 462 is transferred to roller 54.
Return the air cylinder CT to the top, and then release the separation claw 46.
Disengage from 2. In this way, the withdrawal of empty pallets in a fixed position,
The push control of the actual pallet at the fixed separation position is completed. In addition, in the control program shown in FIG. 50B, the lift mechanism 402
The start of the rise on the side was due to a request for replacement (zero pieces remaining).
, when there is less than 1 piece left in the pallet.
You may do so. Furnace side of another embodiment In the configuration of the other embodiment described above, the buffer stand 52
The second group of pallets placed on top is stored in the stocker 24.
It is set so that they are stacked sequentially from the bottom in the order in which they are requested to be replaced.
has been established. In this way, the
The pallets separated to be transferred to the stocker 24 are
The pallet p placed directly on the buffer stand 52, immediately
Therefore, it is always specified for the pallet p located at the lowest position.
Become. For this reason, the elevator as described in one embodiment
The motor 26 is no longer necessary, and a
The structure includes a separation mechanism 454 and a replacement mechanism 480.
It will be a good thing if you do it. However, the present invention is not limited to the configuration of the other embodiments described above.
Without being limited to, FIG. 51 shows a modification of another embodiment.
As shown in FIG.
It may be configured such that various pallets p are placed thereon. That is, as shown in FIG.
The configuration is the same as that described in the above-mentioned embodiment.
A buffer 22 is provided. Therefore, in this modification
In this case, a plurality of layers arbitrarily stacked on the buffer stand 52 are used.
from the pallet p to the second separating claw 68 of the buffer 22.
Then, a predetermined pallet p is separated. On the other hand, in this modification, the separation of this buffer 22
separated in this buffer 22 adjacent to the position.
The separated pallet p is raised to the same height as the separation position.
In addition to the transfer means for transferring to the stocker 24
A transfer 550 is provided as an embodiment. Here, this transfer 550 is one of the embodiments described above.
In an elevator mechanism with a configuration of
with the body 86 adjacent to the separation position of the buffer 22;
Moreover, it is provided in the same state although its position is fixed. That is, in this transfer 550, the elevator
The main body 86 serves as the transfer main body 552, and is supported by four wooden supports.
It is provided in a fixed state at 82a to 82d. Ma
In addition, this transfer body 552 has the above-mentioned implementation.
Exchange mechanism 9 having the same configuration as the exchange mechanism in the example
It is equipped with 6. In other words, in this 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 by ir&
In order to carry out Fa-, this carrying out mechanism 76 is
The lift mechanism 402 described in the fourth modification of the embodiment is
This is what we have in place. 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 the 8 movements up to that position are
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 Also, 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-mentioned two embodiments and various modifications,
Inside the stocker 24, the packages hung on each shelf board 156 are
Let p simply attach the flange part 38 of this to the shelf plate from below.
156.
Ru. For this reason, the stocker 24 transfers the pallet p to the robot 12.
When moving up and down to supply the
There is a possibility that the supporting position of the pallet p may shift. here
If the support position of pallet p shifts in this way, the pull
Hook 18 of the take-out mechanism 172 in the take-out portion 154
6 is a pallet supported by the shelf board 156 in the pull-out position
A situation may arise in which the first notch 38a of p cannot be engaged.
There is a possibility that For this reason, as shown in Figures 52 to 54,
Then, each pallet p is loaded into the support position in the stocker 24.
By including a locking mechanism 600 that locks the
Effective. Please note that this locking mechanism 600 is not activated.
As shown in FIG.
The rear end of the lower surface of the flange portion 38 (i.e., in relation to the conveyance direction d)
A second notch 38b is formed on the opposite side.
(the end on the opposite side) is locked by a locking mechanism 600.
A locking hole 38d is formed. On the other hand, the locking mechanism 600 described above is shown in FIGS.
As shown in FIG. 4, this locking mechanism 600 is
Attached to the lifting frame 152 in the tocker 24
At the rear of this elevating frame 152, the vertical
A lock rod 602 is provided in a state extending along the direction.
There is. This lock rod 602 has both upper and lower ends raised.
Guide members 6 attached to both upper and lower ends of the rear part of the lowering frame 152
Can reciprocate along the vertical direction via 04a and 604b
It is located in Noh. This lock rod 602 is reciprocated along the vertical direction.
Therefore, the air cylinder CR is attached to the air cylinder mounting plate.
606 to the rear lower end of the lifting frame 152.
ing. This air cylinder has DaCR piston 608.
The upper end is connected to the lower end of the lock rod 602 mentioned above.
ing. Here, this air cylinder CR has a high
In a state where compressed air is not supplied, the piston 60
8 is biased to the retracted position, and high pressure air is supplied.
configured to be biased to a protruding position when
ing. The lock rod 602 that is moved up and down in this way has the above-mentioned structure.
Each pallet is placed at the same pitch as the shelf boards 156.
The lock member 610 is attached in a state corresponding to p.
Ru. Each lock member 61° is fixed to the lock rod 602.
The attached mounting piece 610a and the tip of this mounting piece 610a
A lock pin is integrally formed on the top surface and protrudes upward.
610b. Here this lock
The pin 610b is attached to the flange portion 38 of the pallet p described above.
It can be inserted and removed freely into the locking hole 38d formed on the lower surface of the rear end.
It is formed. In addition, each lock pin 610b is connected to the air cylinder CR.
With the piston 608 biased to the retracted position, the fifth
As shown in Figures 3 and 54, from each pallet p
The air cylinder is regulated to the unlocked position that is spaced downward.
The state in which the cylinder CR biases the piston 608 to the protruding position
Although not shown, the locking holes of each pallet p
38d is inserted from below to the locked position.
It becomes. Here, this air cylinder CR is used to raise the stocker 24.
The pallet p is pulled from the lowering frame 152 onto the drawer stand 168.
The supply of high pressure air may be stopped prior to being discharged.
is biased from the locked position to the unlocked position.
It is configured as follows. This locking mechanism 600 is configured as described above.
Therefore, the lifting frame 152 moves up and down within the stocker 24.
While the air cylinder CR of the locking mechanism 600 is
High pressure air is supplied. For this reason,
Each lock bin 610b of the lock mechanism 600 is
It is inserted into the locking hole 38d of the kit p, and as a result, all
The pallet p is secured to the shelf board 1 by this locking mechanism 600.
It will be locked in the supported position on 56. Therefore, by providing this locking mechanism 600, example
Well, even if the lifting frame 152 moves up and down, the pallet p
The support position will be well fixed. That is, the palette
When the top p is pulled out, it is securely engaged by the hook.
It will be combined. On the other hand, since the pallet p is pulled out, the lifting frame 152
When the machine is stopped, high pressure air is supplied to the air cylinder CR.
The supply of Qi will be stopped. In this way, each
The lock pin 610b is inserted from the corresponding locking hole 38d.
After being pulled out, each pallet p moves on the shelf board 156 in the transport direction.
It will be set so that it can slide freely along d.
. In this way, this locking mechanism 600 is provided.
Therefore, the pallet p is supported based on the vertical movement of the lifting frame 152.
The positional shift no longer occurs, and the drawer part 154
The hook 186 of the loading/unloading mechanism 172 is in the pulled out position.
The first notch of the pallet p supported by the shelf board 156 of
It is always reliably engaged with the portion 38a. In addition, the control in the stocker with this locking mechanism is as follows:
Just add the following points: In other words, the target at the stocker
The shelf was moved 8 times to the drawer position of the drawer section 154.
If the pallet is equipped with a lid 40, open the lid.
Drive the air cylinder Cl2 (Fig. 16) to open the lid.
Furthermore, drive the air cylinder CR to lock the lock pin 610.
Pull it out. Step 582 (Figure 24A) Pallet Pull
The withdrawal to the withdrawal section 154 is started. In addition, the vertical movement of the stocker workpiece can be started by using, for example, a step.
At step S72, air cylinder C32 (Fig. 16)
Reset the air cylinder, close the lid, and then restore the air cylinder CR.
, the lock bin 610 has returned to the locked state.
Change it so that it starts with (Parts replenishment for FAC) The FAC system of the above basic embodiment
Efficient supply of parts from the stocker and from the buffer to the stocker
The goal is to efficiently supply parts to
. However, the FAC system alone will eventually become a robot.
It is no longer possible to supply parts to the warehouse or to the stocker.
, therefore, there is some form of external access to the FAC system.
Parts need to be replenished. Parts replacement for FAC system
As mentioned above, Mitsuru is developing unmanned vehicles and production management computers.
Automatic replenishment by data and manual replenishment are available.
Ru. It is not possible to definitively decide which one to choose; each has its own merits.
There is a short one. This is an opportunity for external parts replenishment for the FAC system.
What can be done is: ■: Because of supplying new pallets to Stotsuka, other
Even if there is a pallet of parts, there is only one pallet of that part.
If it runs out, ■: Load it on the transport mechanism 76.
Empty pallets are so large that they obstruct the vertical movement of the elevator.
When the number reaches to the degree. The occurrence of these conditions is at least immediately
When the above conditions occur to result in the stoppage of the
must immediately replenish the pallet buffer.
do not have. In addition, the conditions for replenishing the buffer with pallets are
, ■: 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
1&T light to remind people to generate empty pallets.
be. The former is automatic replenishment, and the latter is manual replenishment.
be. By the way, replenishing the buffer with a new pallet is
Adding a new palette to an existing palette on the fan table
buffer stop operation for loading and unloading mechanism 76
Includes an operation to move the empty palette that was previously stored to the buffer side.
It will be done. Therefore, the preparation and actual pallet replenishment of this pallet
At what stage should the let buffer be refilled?
, which is important from the point of view of efficient robot operation. *Replenishment using unmanned vehicles* Using Figures 55A and 55B, new parts will be refilled using unmanned vehicles.
Explain replenishment of let. Figure 55A shows the central production control computer and unmanned vehicle.
An overview of the pallet replenishment system is shown below. F.A.C.
In step 5770, during the assembly process,
Send the above replenishment request to the production control computer
Ru. There is no replenishment preparation instruction from the production control computer.
For example, proceeding from step 5772 to step 5776,
Empty pallet by elevator unloading mechanism 76 in FAC
Check whether unloading has started. Not started
If not, return to step 5770 to continue assembly.
. At step 5750, the replenishment request from the robot described above is
While counting, we record the requests.
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,
The driverless vehicle will not be launched immediately, but the driverless vehicle will be
On top of the car are loaded the requested pallets taken from the warehouse.
Please prepare a system for departure at any time.
Each time a pallet is loaded onto an unmanned vehicle, the warehouse
, information regarding the palette (Figure 25A) is given. Other elements of the predetermined state occurrence in step 5752 are
For example, if the robot fails to pick a part,
The parts in the set were consumed more than the production plan, and the production
onto the transport mechanism 76 earlier than expected by the management computer.
, empty pallets are piled up so much that they obstruct the vertical movement of the elevator.
This is the case as described above. Now, when such a predetermined condition occurs, step 575
In step 4, issue a departure instruction to the unmanned vehicle, and in step 5
755 -> At step 5756, - Regular time progress monitoring is performed.
This fixed period of time is when the unmanned vehicle reaches the FAC.
This is slightly shorter than the time required for this time
Once elapsed, in step 3758, for the FAC-
Instructs to start preparation for pallet replenishment. Multiple FACs
Even if the production control computer is
The time it takes for an unmanned vehicle to reach the FAC is known in advance.
. Therefore, shortly before the unmanned vehicle arrived at FAC, FAC
If preparations for replenishment have been completed, at the time of the unmanned train
You can immediately start replenishing from unmanned vehicles.
It is. In other words, during this certain period of time, the replenishment level within the FAC is
By not making preparations, robots can
Assemble with f4! It has the advantage of being able to continue
This is because that. On the other hand, the unmanned vehicle uses the production management computer in step 3762.
After receiving the departure instruction from the taxi, the vehicle begins traveling towards the FAC.
It's starting. Additionally, the FAC system performs production management in step 5772.
When you receive an instruction to start replenishment preparation from the computer, the step
In step S 74, the preparation operation is started. 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 S 776 -> step 3778.
Then, the preparatory action begins. This preparatory action has been completed.
Then, in step 3780, the process waits for the unmanned vehicle to arrive. This wait
This time should be the minimum time for the reasons mentioned above. Nothing
When the unmanned vehicle arrives, in step 3782 the unmanned vehicle receives a backup.
Step 87
At step 84, information about the newly added palette is sent to the
Additional updates are made in the memory area shown in Figure 25A. 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. The management microprocessor performs production management in step 5aoo.
Upon receiving replenishment preparation instructions from the computer, the step
At 5802, the operation of the elevator etc. is stopped. step
At 5804, the buffer is instructed to start raising the buffer platform.
to complete the ascent from the buffer in step 5806.
Wait for notification of completion. The buffer that received this rising instruction in step 5840
At step 5842, the buffer platform is raised. buff
If you raise the platform, if it is separated at that point.
If the pallet is hung on the separation claw 6B,
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 884
8, even if the buffer table is lowered, the pallet will not be separated as described above.
It will be hung on the claw 68, and the pallet will be placed on the buffer stand.
There is no cut. Then, in step 5850, the transport
The mechanism 76 is notified that the buffer is ready. The transport mechanism 76 that received this notification in step 5822
At step 5824, the rollers are rotated to remove the empty pallet.
starts moving to the buffer side, and in step 5826,
Send the notification to the buffer side. The buffer that received this notification performs step 5852c3.
Proceed to step 5854 and wait for the unmanned vehicle to arrive. mentioned above
As such, the driverless car should arrive soon. When the unmanned vehicle arrives, the empty pallet is handed over to the unmanned vehicle.
In addition, the robot receives a new pallet from an unmanned vehicle.
, and simultaneously drive each roller. Step 58
57, the buffer table is moved together with the newly loaded pallet.
and remove the existing package that was caught on the separation claw 68.
Combines with Rhett. In step 5858, newly added
Receives information about the created pallets from the unmanned vehicle and
Step 5860 updates the memory contents of Figure 25A.
Ru. In this way, the preparation for replenishing new pallets can be done as quickly as possible using unmanned vehicles.
By doing this just before arriving, the unmanned vehicle can be stopped as much as possible.
Downtime can be kept to a minimum. *Manual replenishment* Manual replenishment of pallets is done by the robot mentioned above.
Turn on the warning light every time a refill is requested and check the warning display.
The operated vehicle manually ejects empty pallets and replaces them with new pallets.
Stacking and inputting pallet information from the input/output device 18
The gist of this operation is: FIG. 56A shows the input display screen on the input/output device 18 mentioned above.
The arrangement of the entry key in Figure ISA is added to Figure 56C.
An outline of the operation sequence is shown below. The input key is the r pallet replenishment key as shown in Figure 156B.
-1 and "r ready key". Outline of replenishment operation
This will be explained according to FIG. 56C. When there is a replenishment request from the aforementioned robot, step 59
At 00, a warning etc. lights up. The operator who saw this
Check the request palette in step 5902 and proceed to step 5904.
Turn on the r pallet replenishment key 1. In this way, on the buffer 1 side, in step 5906,
Move the buffer stand to the exchange position (separation claw 68 position).
and hook the existing pallet to this claw. Unloading mechanism
Side 76 is cleared of empty pallets thereon in step 5908.
put out At this point, the operator selects the empty palette in step 5910.
the requested palette in step 5912.
Place the paper on the buffer stand. In step 5916, information as shown in FIG. 56A is provided.
It is manually operated from the input/output device 18. Each time you make these inputs
In step 3918, the data in FIG. 25A is updated.
, the updated palette order is the CR7 screen of the input/output device
displayed above. Steps 5916 to 3918
The routine is repeated for as many pallets as are needed. In step 5922, the operator turns on the "r ready key".
do. In this way, the buffer side performs the above steps in step 5924.
From the release claw position 68, the top part placed on the buffer stand.
Calculate the stroke of the stage to the pallet, step 39
At 26, start descending by this stroke and create a new pallet.
and the existing pallet, and zero FA.
The C system resumes operation. In this way, manual replenishment of pallets is completed. In addition, the above-mentioned 25 embodiments and various modifications (hereinafter,
(simply referred to as examples, etc.), is provided so as to be movable 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.
* Constructed so that a plurality of each X2 can be accommodated.
Needless to say, there is nothing good about it. Furthermore, in the embodiments described above, the buffer 22 is
A plurality of pallets p are stacked on a buffer table 52
However, this invention
For example, each pallet p
While standing up, hold multiple items horizontally.
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 is also good to have a buffer on the
If multiple pallets containing the same parts are loaded,
If the pallet loaded first (or higher)
Prioritize and separate the pallet (the one in the highest position)
Good too. *Setup change* In the many examples mentioned above, robots assemble the same product.
Therefore, it is assumed that one unit
Then, in order to assemble the next same unit, the first
parts to the robot one after another according to the same sequence as the
The stocker operates to supply
there were. However, this FAC was originally designed to combine various different units into one.
A window that can be assembled with one FAC
, and for that purpose, one unit must be
Assemble several units, then try to assemble another unit (
In other words, when changing setups, the following operations are required.
Ru. That is, the previous unit is stored in the stocker 24 and buffer 22.
A pallet containing parts for knitting is stored here.
Please check these before you start assembling the next unit.
Remaining pallets need to be ejected. And the 18th
The program of the FAC controller shown in the figure was also changed.
need to grow. When and how should such setup changes be made?
There are various possible ways to do this, but the methods explained below are
In the setup change embodiment, the controller program
Before replacing the pallets remaining in the stocker 24 etc.
I'm trying to drain it. According to Fig. 61 and Fig. 62, setup at stocker 24
An overview of the replacement will be explained below. The necessary parts of the unit currently being assembled.
If the total number of items required is n, up to (n-1) items, normal operation is performed.
operation (operation of the stocker 24 etc. in the above-mentioned embodiment).
Now. And when assembling the last unit, use this
If a unit consists of four parts a, b, c, and d,
Then, after assembling parts a (Fig. 62 (a))
, the pallet containing this part a is taken from the stocker 24.
(b) in Figure 62), then assemble parts b.
(C) in Fig. 62).
......, finally, eject pallet d (6th
This is shown in (e) in Figure 2. from stocker 24
The evacuation operation is performed by the elevator 26. i.e. elevator
26 is removed from the stocker 24 by the slide guide 134.
This unnecessary pallet is transferred to the transport mechanism 76.
It means piling it on top. on top of the transport mechanism 76
The stacked pallets are carried to the bottom of the buffer table 52.
, is transferred to the unmanned vehicle 20. On the other hand, remaining on buffer 22
The unnecessary pallets are collectively transferred to the unmanned vehicle 20. child
The pallet is finished being ejected for setup change.
Complete. At this point, program the controller (general
(stored on the floppy disk) is replaced.
20 unmanned vehicles will be provided with pallets for new units.
The assembly of this new unit was carried out by
Start. In addition, for convenience of explanation, Fig. 62 shows that the palette is
This shows the case where the processes are arranged from top to bottom. Figures 57A to 60 illustrate the implementation of such setup changes.
This shows an example control procedure. Figure 57A, 57th
Figure B shows the robot control procedure. This system
The major flow of control is that shown in Figures 23A and 23B.
There is no major change, and the parts with the same step numbers
performs the same action. Therefore, changes from Figure 23A etc.
I will mainly explain the parts that were mentioned. In step 5100O, the user
The total number n of nits is set in the register AN. After assembling one unit, proceed to step 5IOo4.
Decrement AN by one. Step 51001, step
The flag AHF checked in step 51002 is shown in Figure 61.
As explained in connection, the number of completed units is (n-1
) flag that is set when the
Assembly sequence of final unit ((n-1)th)
It has been set for a while. Step 51001. Step 5
Check flag AHF at 100°2 and this flag is set.
If the buffer 22 and
If the elevator 26 is not started and the step
This means an instruction to replace the empty palette in S36.
However, flag I [G] should not be set.
. These start instructions and pallet replacement instructions are
This is because it is not necessary during setup changes. Up to step 338, one part is assembled by the robot.
When the locating is completed, process G starts as a unit in step S40.
Check whether the assembly has progressed to the final stage. Until the final process
If it has not progressed, in step S42, step G is
The flag AHF is set in step 81016.
After confirming that this is not the case, return to step SIO.
and repeat the above control. When the process reaches the final step, the step G is set to "l" in step S44.
In step S1004, the number of remaining units AN
The 0th order is decremented by one, and step S1006
If the number of units remaining has not yet reached 1,
Returning to step 31008φ step SIO, the above
Repeat control. After assembling the second to last unit, step S4
0 o'clock step S44 day Proceed to step 51004 and
In step S1006, the remaining number AN has reached 1.
If detected, the flag AHF is set in step 51010.
cut. In step 51011, the elevator 26
Set the process variable E (indicating the shelf position) to "l" for
Ru. In step 5 LOL2, elevator 26. buffer
22, an instruction is issued to start preparations for discharging the remaining pallets.
At the same time, in order to return the discharged pallets to the warehouse,
A departure instruction is issued to unmanned vehicle 2o. In addition, if you are assembling the second-to-last unit,
In step S22, Z[G]=1 is detected, and in step S2
6 and buffer 22. Pallet for elevator 26
If you have already issued an instruction to start the replacement preparation operation, this start
Instructions and Step 5 Instructions to start discharge preparation operation at IOI2
Even if they overlap, elevator 26. In buffer 22
There is no problem because there is a command queuing function. Elevator 2 after the above flag AHF is set
The operation of step 6 will be explained based on FIG. This setup change
The elevator 26 is controlled by the steps shown in FIG. 26A.
The period between 5204 and step 5206 is shown in FIG. 59A.
and change Figure 26B to Figure 59B.
Ru. That is, in step 5200, the device was waiting at the separation position.
The elevator 26 receives the robot from the robot in step 5204.
Upon receiving the start operation (step 51012), the fifth
Proceeding to step S1200 in FIG. 9A, the flag AH is
Check the set status of F. This flag is not set
Otherwise, the normal elevator 26 operation described above is performed. If this flag is set, step 5120
2 or less, and the elevator 26 is also equipped with a robot.
Does it have a queuing function for starting instructions from
Then, in step S1200, it is determined that this queue does not exist.
The flag AHF should be checked only when there is a problem. Steps 51202 to 51208 are shown in FIG. 26A.
This is the same as step 8212 to step 5216.
A detailed explanation will be omitted. Waiting position of step 51204
The location is step 5IOI 1 or step 5 of the robot control.
Calculated based on the variable E in step 51018. vinegar
In step 51210, the wait calculated in this way is
It waits for a discharge request from the stocker 24 at the position. Therefore, control of the stocker 24 will be explained next. The major flow of this stocker 24 control is also shown in Figure 24A and 2.
1. There is no major change from that shown in Figure 4B. Same step
The numbered parts perform the same operation, so
As with the bot, we will mainly explain the parts that have changed. First, in the control up to step S72, the pallet removal position is
Move the pallet on the shelf in the process G=L to the location 0
Next, in step 5I100, the set state of the flag AHF is
status and if this flag is set, the status
In step 51102, an ejection request is issued to the elevator 26. child
At this point, the elevator 26 side goes to step 5L210.
and wait for the discharge request from the stocker to arrive.
As mentioned above, issued this discharge request
Later, step 574 => step 578g step 5
80e=>Step 582=>Step S84#Step
Step S86) Step 5SS-=>Step 590->
Step 592 => Step 3100φ Step 811
8) Step 5L20->Step 3126φ
Step 5128 Step 51104 Step Sl 10
6, and as mentioned above, flag I [L] is set.
This is because it is not done. In step 51106, the elevator
Wait for completion of ejection of the pallet from the motor 26. Ejection complete
Then, the stocker control returns to step S72. To summarize the above operations of the stocker and elevator,
In step S72, according to the process variables, the
The pallet on the shelf is moved to the pallet drawer position 154.
However, the shelf (=L) reaches this drawer position 154.
) is moved, the robot retrieved it in the previous process.
The shelf of pallet (=L-1) is at position S[L-1]
. If the pallet is placed in the order of processes from top to bottom as shown in Figure 62,
If they are lined up, the shelf position of S[L-1] is S[
It is one level higher than [L]. In other words, such an operation
Remove parts from the pallet on the shelf where the
While taking out the elevator 26, the S [L-13
It is anticipated that the pallet on the shelf will be ejected.
It is established. In other words, the stocker 24 side and the elevator 26 side
Now, let's take a look at the parts that are taken out from the pallet at position S[L-1].
Subsequently, the pallet at the S[L-1] position is ejected.
It is. Returning to the explanation of the elevator 26 control in FIG. 59A. Step
An eject that received a request to carry out from the stocker 24 in step 51210
The elevator 26 proceeds to step 51212 and removes the pallet.
Perform a drawer operation. This withdrawal operation is shown in Figure 59B.
As you can see, the empty pallet and pallet with parts mentioned above
Unlike the replacement operation (Figure 26B), this is unnecessary.
The only operation is to pull out the loaded pallet out of the stocker 24.
Ru. Therefore, the description of FIG. 59B will be omitted. Figure 59A
Steps 51214 to 5L226 are
Steps 8220 to 8236 in Figure 26A
Since they are essentially the same, their explanation will be omitted. At step S L 228, flag AHF is set.
After confirming that the
Move to the standby position for discharging the pallet in the process.
. The variable E of this standby position is the step 5L of robot control.
It is given by O18. After moving to the standby position, step 51
At 210, wait for an ejection request from stocker 2.4.
The operation is as described above. That is, the control of the elevator 26
When flag AHF is set, flag AHF is set.
Step 51202 to Step 5 until reset
Do not repeat 1228. In this way, assemble the parts of the final unit.
As you continue to discharge unnecessary pallets, the stock
The pallet discharged from the car 24 is loaded onto the transport mechanism 76.
As time passes, step 5100
AN=O is detected at 8. Then, step 51014
The flag AHF is reset. On the elevator 26 side
proceeds from step 5L228 to step 51230.
, drive the transport mechanism 76 to transfer the unnecessary pallets to the buffer table.
Move down to 52. Then, in step S1232
Wait for the unmanned vehicle 20 to arrive. Unmanned vehicle 20 arrives
Then, the unmanned vehicle's carry-in roller 34a is driven to remove unnecessary pallets.
The vehicle is moved to the lower part of the unmanned vehicle 20. Next, the operation control of the buffer 22 will be explained according to FIG.
Ru. The buffer 22 control of the embodiment related to this setup change is also
Step 5150 and Step 5 of the Nose flowchart
152 as shown in Figure 60.
More realized. In step S1300 of FIG.
When it is detected that the flag AHF is set,
In step 51302, a pallet that is no longer needed is placed on it.
Set the buffer stand 52 to the initial position (as shown in FIG. 22A,
Move it up and down to a position 900mm from the floor). Then, in step S1304, the process waits for the arrival of the unmanned vehicle 2o.
When the unmanned vehicle 20 arrives, an error is made in step 81306.
The important pallet is moved to the upper part of the unmanned vehicle 20. In this way, the bottom of the unmanned vehicle 20 is filled with waste from the stocker 24.
The necessary pallets are on the top, and the unnecessary pallets from the buffer 22 are on the top.
This means that the text has been posted. Step 51226 will be explained. On the transport mechanism 76
In some cases, there are already many empty pallets before the setup change starts.
There is a possibility that there is a load on board. This empty palette
If you place more unnecessary pallets on top, the maximum height sensor S
Unnecessary pallets are piled up to position 4, and as a result, the stage
The maximum height sensor S4 can detect at 7”51224.
be. In such a case, in step 51226, the
It is necessary to transfer the pallet on the transport mechanism 76 to the unmanned vehicle 20.
Ru. Then, in step 51227, the unmanned vehicle 20 is called again.
It's Buno. Next, a modification of the embodiment related to setup change will be explained.
. All the spare pallets on the buffer table 52 are ready for the next unit.
It is not necessarily an unnecessary part when making knits. That is,
, if there are common parts between the previous unit and the next unit.
There is a case. A pallet of such parts is on the buffer 22.
Whether it is listed in the table in Figure 25A determines whether
The buffer itself manages it, and the FAC cannot know it.
Ru. Therefore, the production control computer shown in Figure 18
Even if they send the parts list for the next unit over a communication line, etc.
However, the parts list stored in the table above and the shipping
Check the parts list you received and find the parts needed for the next unit assembly.
Determine which parts pallets are needed and select such pallets.
are left in the buffer 22, and only the truly unnecessary ones are
Removed from buffer 22 and transported by elevator 26
It is loaded onto the mechanism 76. The outline of the control according to such a modification is as follows. First, in principle, the buffer side is used especially for setup changes.
The robot and stocker do not perform any special movements.
and the elevator, as mentioned above, is part of the last unit.
While assembling products, unneeded pallets are removed.
, the elevator transports the pallet discharged from the stocker 24.
The robot loads it onto the transport mechanism 76, and then the robot
Part IDX number of truly unnecessary pallets remaining in buffer
sends the palette to the buffer, and sends the palette to the buffer.
Separate from lettuce. Then, as shown in Figure 63,
, the separated parts pallet is placed in the elevator.
Pull it out from the bottom of the elevator to the lower retaining mechanism and transport it.
It is placed on the feeding mechanism 76. In addition, once the setup change is complete, the program for the next unit is
gram is loaded, but at that time
, information about pallets left on the buffer table is lost.
It ends up. To prevent this, for the above loading
This program stores information about pallets.
It is desirable not to initialize this area.
Of course, the above information cannot be manually loaded into the program.
It is also possible to enter the information after logging. [Blank below] (Effects of Example) The following effects can be obtained by the example described above.
. A: Effects obtained in the FAC system. This FAC 10 accommodates multiple parts X in a horizontal plane.
Multiple pallets p are stored on shelves, and these pallets are
One desired item can be pulled out from a fixed drawer position.
A stocker 24 that moves up and down to pull out the
Take part X from the pallet 24 pulled out to the unloading position.
The robot that takes out the part and assembles it into a product from that part
Basically, it is equipped with the following. For this reason, the robot
12 is a pallet that is always pulled out to a fixed position.
In order to be able to receive parts quickly from TopP.
become. That is, specifically, in order to supply parts to the robot 12.
(1) Pull out the pallet p to the drawer section. this
At the drawer section, the robot takes out the parts.
(2) Pull the pallet back to the stocker 24;
(3) The lifting frame of the stocker 24 is connected to the next part to be supplied.
The storage position of the stored pallet corresponds to the pullout position
All you need is the following 3 actions: Move up and down until
Ru. In this way, one part of the robot 12 is assembled.
The assembly operation time required for
The effect of simplifying control is achieved. On the other hand, Japanese Patent Application No. 61-200949 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
(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. Muni” - Nioudo Nizan! ΣΩIalS ay +1 supply
Ri L Kanboku A-1-■: Pallet P with 3 types of thickness
+ + P2 * P3 is calculated based on the capacity of the stocker 24.
They can be stored in any combination as long as they are included. Do it like this
to select a pallet p according to the size of each part
For example, you can place short parts on a deep pallet.
Inefficient containment conditions, such as accommodating only layers, can be avoided.
It will be avoided. Additionally, a flange portion 3 is provided on the upper side edge of this pallet p.
8 are integrally formed. This flange portion 38 is
Next, place it in the stocker 24 and hang it on the shelf board.
It is designed for the purpose of However, this
The 38° flange part does not have such a single function.
There are no notches for carrying this out eight times along the conveyance direction d.
It has a hollow part. Then, move this palette p.
When moving, engage the hook in the notch like this.
Runs through mechanically engaged state by letting
will be done. Therefore, the movement of this pallet p is
It will be executed reliably, and the stopping position will also be correct.
Precisely defined effects will be achieved. In particular, in the configuration of one embodiment, the first and second notches
38a, 38b and corresponding hooks 108, 116
, 126 is a substantially isosceles base that engages in a complementary manner with each other.
It is formed into the shape of a shape. In this way, it will be slightly pared.
Even if the position of the hook is off, the hook will be cut securely.
It will engage with the notch. Also, this binding 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
. Namely 1. When the hook is engaged with the notch
, there is no gap between the hook and the notch.
state. In this way, the hook is
By moving the pallet with
The movement of the hook is directly transmitted to the pallet, and the pallet
The pallet is placed smoothly without any impact on the pallet.
It will be transported. A-1-■: Parts necessary for product assembly,
The order in which the parts are processed, and the pallets on which shelves the parts are placed for each process.
You can arbitrarily choose or change what is stored in top p.
For example, parts can be changed from top to bottom according to the process order.
In order, it can be accommodated in the form of 1 pallet/1 part.
, for example, from the same pallet p in different processes
, it can also be set to take out the same part X. like this
You can flexibly set assembly factors.
It is something that can be effective. A-1-■: The process order etc. can be determined by the manual or by the host computer.
You can also set it automatically from your computer, so for example,
This means that it can be handled in a variety of ways depending on the scale of the venue, etc. Ma
In addition, at factories and other workplaces, we respond to the special characteristics of products.
, can be changed and is easy to use. A-1-■: Inside each pallet stored in the stocker
By having the robot manage the remaining number of parts Z,
Trigger for starting pallet exchange preparation operation, loading empty pallet
The robot itself can manage the trigger for starting the switching operation. In other words, the robot that is the main body of the assembly receives the trigger for starting the above operation.
By managing the machine, you can prevent any problems from assembling.
The robot itself can select the optimal start timing.
. A-2: In addition to the above-mentioned stocker 24, this space is used as a basic configuration for parts replenishment.
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,
The actual barrette from the buffer is placed in the storage position that is now empty.
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 (1 piece remaining)
Make a predictive judgment and determine that it will be necessary
Then, prepare a new palette to replace the empty one.
(Preparation for replacement) improves the efficiency of parts supply.
It is planned. This efficiency is basically achieved by preparing multiple spare pallets.
Then collect the same parts as the used part X from among them.
A buffer that has the function of selectively separating the palette p that contains
22. Here, this buff
When the pallet p is instructed to prepare for the replacement, the pallet p
This is achieved by performing selective separation of . in this way
Therefore, even if the remaining number on pallet p becomes zero,
At this point, preparations for replacement have been completed, so please proceed immediately.
Immediately, an exchange operation is performed, and the total pallet p is
Replacement time is shortened and robot 12 is prevented from stopping.
, or the effect of minimizing the time even if it stops.
is played. This effect is due to the following specific
This will become more clear depending on the aspect. A-2-■: Regarding the separation position in the buffer 22,
The following effects are achieved: That is, A-2-■-1: separation position
If the device is fixed in place, it should be separated.
Only pallet p is to be separated at that separation position.
Ru. For this reason, after being separated, this separation must be removed.
Then, set the remaining pallets to the stacked state again.
After that, the pallet at any height position can be
It will be possible to separate. There are two types of separation positions that can be set at this predetermined position.
It is something that will be done. That is, A-2-■-1-a: This separation position is the buffer stand 52
set at any height above the
, from among the pallets p stacked on the buffer stand 52.
, any palette will be selected and separated. In addition, each pallet stacked on the buffer table 52 is
has a manufacturing error, so the separation position
The height of the pallets to be separated is precisely defined.
It will not be possible. Therefore, in this embodiment,
Equipped with 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: Buncho position is stacked on the buffer stand 52
is set for all palettes p that are being viewed.
In some cases, along with the separation operation, all the pallets are
This will result in separation of parts. In this way, any
It is possible to pull out the pallet and replace it with an empty pallet.
This makes it possible to simplify the switching operation.
Ru. A-2-〇: 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 = Stocker 24 has movement (vertical movement) function.
, and the separation position of pallet p is fixed in buffer 22.
If the separation position and the space in the buffer 22 are
The shelf position of the empty pallet p' in the stocker 24 is aligned.
The stocker 24 itself is located at a position adjacent to the separation position so that
Move up to. In this way, the stocker 24 itself is
I'm going to pick up the pallet, so I'm going to replace the empty pallet.
The shorter the time set, the better the effect will be achieved.
. A-2-■-2: Equipped with the separation function explained in A-2 above.
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 to the position.
Even in this case, the same effect can be achieved. A-2-■: On the pallet loaded on the buffer table
By storing identifying information about the
Replenishment from the fa to the stocker becomes easy and reliable. That is, the bar
The order in which new palettes are needed from the buffer is
This is because it has nothing to do with the order in which they are loaded on the counter.
Ru. Therefore, when replenishing the buffer table with pallets,
Gives the buffer the identity of each pallet to be replenished.
You need to be aware of the loading order of replenishment pallets.
This has the effect of eliminating As a result, unmanned warehouses
The order in which replacement pallets are loaded onto unmanned vehicles is manual.
There is no need to consider the order of replenishment and loading onto the buffer table.
This makes work more efficient. Conversely, even without such memory information, the data on the buffer stand
Then, in the order of occurrence of empty pallets that are known in advance.
, there is no problem if actual pallets are loaded. A-3 = Effect of loading operation between empty pallet and pallet
After preparing for rate replacement, the empty pallet p′ and the new
Due to the configuration that performs the actual exchange operation with pallet p.
, the efficiency of the switching operation can be improved. this
There are three ways to perform the swapping operation:
Yes. A-3-■: Stocker 24 and an elevator that moves up and down
26 and a 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.
is achieved. A-3-■: Stacked in stocker 24 in any order
Separation mechanism that separates pallet p at a fixed separation position
a buffer 22 having a
The transfer 550 is equipped with a
Due to the configuration in which the filter 550 is equipped with the exchange mechanism 96, the upper
The effects described above are achieved. A-3-■: Stocker 24 and the steps in the predetermined order of removal.
Separates the stacked pallets p at a fixed separation position.
A buffer 22 is provided to replace the buffer 22.
The above-mentioned effects can be achieved by the configuration including the lifting mechanism 480.
It is something that will be accomplished. A-3-■: This exchange mechanism 96 has hooks 108,
Using 116.128, cut out part 38 of pallet p.
Move pallet p while mechanically engaged with a and 38b.
It is configured to move. In this way, put
In the changing operation, the pallet p is reliably moved.
At the same time, the stopping position is accurately defined and the input
The effect is that the switching operation is carried out reliably.
It will be done. Here, there are two modes depending on the number of hooks. Immediately
A-3-■, -1: First notch 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,
By configuring the body to have eight positions, the first hook l
The movement stroke of o8 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
The hooks will be driven by one drive source, and the control
This results in the effect of simplifying the process. A-3-■-1-b: First and second hooks 108,1
The two hooks (16) are reciprocated by the first drive motor.
The third hook 126 is reciprocated by the second drive motor.
With this configuration, the number of drive motors can be reduced to the number of drive motors described in A-3-
■Although it increases compared to the case of -1-a, for each drive
This has the effect of simplifying the configuration. A-3-■-2=first notch 38a of pallet p
in order to engage with and remove pallet p from buffer 22.
the first hook 108 of the pallet p and the second notch of the pallet p
engages with the portion 38a and pushes the pallet p onto the stocker 24.
At the same time, the empty pallet p' is pulled in from the stocker 24.
and a second hook 116 for holding the hook.
This switching mechanism 96 also functions in a configuration where
It is. However, in this case, the second hook 11
6 performs two operations, its operation time is
It is longer than the case of A-3-■-1 mentioned above.
be. However, it has a simple structure and is manufactured at low cost.
The effect is what is achieved. A-4: Improving the efficiency of empty pallet removal: 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
In system 1o, an empty palette p′ will occur.
. Here, in this embodiment, this empty palette p′
Since it is equipped with an unloading mechanism 76 for
’ is carried out well when the number is less than a predetermined number, so
If the number of stacks exceeds a certain number, the next exchange operation will be inhibited.
effect will be achieved. In this unloading operation, the empty pallet p' is transferred to the unloading mechanism 7.
6. When stacking on top of the
There are certain aspects. A-4-■: Elevator main body 86 of elevator 24 itself
is directly above the unloading mechanism 76 or is already on the unloading mechanism 76.
It descends to just above the stacked empty pallets p',
Empty pallet p' supported at the bottom of the elevator main body 86
are stacked on the unloading mechanism 76. You can configure it like this
As a general rule, pallet exchange operations are obstructed.
Without doing so, the empty pallet p' is transferred to the unloading mechanism 76.
It will be piled up. A-4-02 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
This will have the effect of reducing the possibility of interference.
. In addition, in the configuration provided with this lift mechanism 402, the following
2f! There are similar aspects. In A-4-■-, when this lift mechanism 402 is disposed below the elevator main body 86,
, an empty pallet p' is drawn into the elevator main body 86.
Until the lift mechanism 402 reaches the predetermined position,
The elevator itself can go up and wait.
This means that the descending time of 86 can be set shorter.
. In this way, the operation necessary for carrying out the empty pallet p'
By shortening the required time, the next replacement operation can be
The effect achieved is that the delay is avoided.
It will be done. A-4-■-2: This lift mechanism 402 is an elevator
If it is not disposed below the main body 86,
There are the following two aspects. That is, A-4-■-2-a: adjacent to the separation position of the puffer 22
transfer 550 provided in a fixed position with
When the downward lift mechanism 402 is provided,
Transfer in which empty pallet p' is pulled out and supported
Since the transfer body 552 of 550 is fixed in position,
In order to stack this empty pallet p' on the unloading mechanism 76,
Therefore, this lift mechanism 402 becomes an essential component. A-4-■-2-b: Buffer 22 is equipped with an exchange function.
When the buffer table 52 is in a state where
When the mechanism 402 is installed, the empty pallet p'
The buffer stand 52 that is pulled out and supported is fixed in position.
Therefore, this empty pallet p' is placed on the unloading mechanism 76.
This lift mechanism 402 is an essential component in order to
Become. A-4-■: As explained in A-4-0 above
In the case where the lift mechanism 402 is provided, the sensor S
l, S2. By providing S3, the following two effects can be achieved.
will be achieved. That is, A-4-■-1: This sensor S, , S2゜Ss is
field used to define the raised position of the lifting mechanism 402.
In this case, this raised position is
It changes depending on the height of the empty pallet p' that is thrown.
be. That is, regardless of the height of pallet p', the maximum height
A predetermined lifting position is defined so that the pallets p,
When overlapping pallets p, which have the minimum height
, the bottom surface of pallet p1 having this minimum height and
, lift mechanism 402 or mounted on this lift mechanism 402.
There is a fairly large space between the pallet and the top position of the pallet.
This will result in a large gap. For this reason, through this gap
Empty pallet p. ′, the appearance of this empty palette P+ ′
This could lead to a situation where the momentum collapses and it is not possible to build up well.
There is a possibility that However, due to the sensors St, S2, Ss, each
The optimal lifting position is specified according to the height of the pallet.
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=This sensor St, 32. In order for Ss to define the raised position of the lift mechanism 402,
In the case where the elevator main body 86 is
When this lift mechanism 402 is arranged below,
,This sensor S,,S,. S, is the empty pad at the lowest position of the elevator main body 86.
The lift mechanism 402 is raised in order to take the let p'.
By specifying the position, the elevator main body 86 is empty.
The elevator required to move the pallet p' to the unloading mechanism 76
The descending time of the motor main body 86 is set to the minimum.
. In this way, the empty pallet p' is transferred to the unloading mechanism 76.
This reduces the time required to complete the swap and delays the next swap operation.
This results in the effect of reducing the possibility of 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.
During storage in 2 and suitcase 4, protect from dust etc.
To protect it from dirt, each pallet p is provided with a lid 40.
The top opening of the lid body 40 can be opened.
It is a blockage. In this way, attach the lid to each pallet p.
40 is attached, so the parts housed inside
X does not have the effect of being reliably protected from dirt from dust, etc.
It is something that can be done. A-5-■: Here, this lid body 40 is placed in the stocker 24.
, the pallet p is at the pull-out position to the robot 12.
During all periods except during the
It covers the cut p. In this way,
During the period when the top surface of part P is open, part
The withdrawal period, which is the required open period for the
Since it is limited to a limited period, please put dust etc. into the pallet p.
The intrusion of dust is kept to a minimum, and the dirt of part X due to dust etc.
The effect is to prevent this as much as possible. A-5-■: 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 move the lid body 40 upward.
I try to lift it up. lifting arm like this
160 linear movement requires only one drive source.
This reduces lifting operation time.
At the same time, we have achieved the effect of achieving lower costs.
It is something to play. In addition, in this way, the third notch 38c of the pallet p is
The lifting arm 160 that has passed lifts the i-body 40 in this way.
When lifted up, the pallet p is moved along the transport direction.
The fact that it is configured so as not to impede the movement of the
Needless to say. A-6: Pallet lock stocker in the stocker
24, each pallet p is lifted and lowered by being driven up and down.
A state in which the frame 152 is supported on the corresponding shelf board 156
It is set to . Here, this shelf board 156
In the state supported above, each pallet p
The locking mechanism 600 allows the
movement is locked. In this way, for example, ascending and descending
Based on vibrations caused by vertical movement of the frame 152, each
Even if the pallet p receives a moving force along the conveyance direction, the pallet p
Since it is locked by the lock mechanism 600, each pallet
The top p is securely engaged in a predetermined position on the corresponding shelf board 156.
It will be stopped. As a result, when the elevator frame 152 is stopped, this
In the state where the lock by the lock mechanism 600 is released
Therefore, each pallet p is always brought to a predetermined position.
The operation of pulling out each pallet to the robot 12 and emptying
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 robot,
Various stockers, elevators, buffers, lift mechanisms, etc.
Mainly eight-doware and the controls that control it 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.
Sequence (S[G]) t, is, thus, process
→The relationship between shelf lid and pallet Sakaki parts has been clarified.
Ru. Therefore, just converting this array changes the process,
What's more, even if the process changes, the location of the shelves where pallets are stored remains unchanged.
No changes necessary. It is also necessary to change the control program.
There is an effect that there is no. Furthermore, display the above array on the CR7 screen of the input device.
It is said that it is extremely easy to change the process etc.
It's also effective. C: Effect of increasing the efficiency of replenishment from outside to FAC
The stem is a part in a fixed position from the stocker to the robot.
Based on supply, parts replenishment from buffer to stocker,
The unit of supply and replenishment is the pallet unit. Therefore, F.A.
If there are no parts left in the C system, we will fill them with parts from outside.
It is necessary to replenish new pallets. The wood FAC system handles the process of parts supply and the part performance of parts.
By making the process of replenishment through rets independent of
There is. By making these two processes independent, the stock
Immediately strike even if it is no longer possible to resupply the
The supply from the car to the robot will no longer be interrupted. So
The preparation process on the FAC side (buffer stand)
The process of attaching all the existing pallets above to the information and the elevator
process of removing empty pallets loaded under the motor) and
, FAC and an external (unmanned vehicle) that supplies parts to this FAC
The above is divided into the actual replenishment process that works jointly with
The process of parts replenishment is replaced by the above preparation process for pallet replenishment.
By matching, the overall parts replenishment time is shortened.
As a result, the time it takes for unmanned vehicles to stop will be shortened.
Effects can be obtained. Also, when replenishing manually,
Although it takes time and effort, it is possible to take into account the effects described in B above.
The number of buffer tables increased due to the replenishment of new pallets.
This makes it easier to update information about the palette. D: Efficiency of setup change In setup change, the last (F) unit of the same unit
In the kit assembly sequence, the robot moves from the stocker.
Supply of pallets to the side and unnecessary pallets from the stocker
Since the discharge and discharging of the
It can be done. In particular, when a pallet containing a certain part is pulled out to the removal position.
While the robot is taking out the part, the front
Discharging parts used in the process from the pallet stocker and
Since these steps are performed simultaneously, further efficiency can be achieved. [Margins below] [Effects of the invention] As detailed above, the article supply device according to the present invention has the following advantages:
, multiple types of items are repeatedly covered in a predetermined sequence.
In the article supply device that supplies the goods to the supply section,
A storage handle that stores multiple types of storage boxes containing items.
a stage, from the storage means to the supplied portion;
Store the items in order to supply them in sequence.
Remove the stored storage box and then return it to the original storage box in the storage means.
Supply means to return to position and supply sequence for multiple types of articles
a detecting means for detecting that the process ends, and the above detecting means.
This final sequence is detected by
each storage box is taken out by the supply means at the
After that, the removed storage box is discharged to the outside of the storage means.
It is characterized by comprising a discharge means for. From such a configuration, the individual objects in the final sequence
The supply of goods and the evacuation of storage boxes that store the supplied goods are
Because they are performed in parallel, efficient setup changes are possible.
Become. Further, a control for controlling the storing means and the discharging means is further provided.
the storage means for storing the plurality of types of storage boxes;
It has vertically stacked shelves and can be used to take out any object.
To move the container to the unloading position at an absolutely fixed height.
and vertical movement means for vertically moving the shelf body to
The feeding means is configured such that the vertical movement means moves the storage box to be taken out.
After being moved to the above-mentioned extraction position, this storage
After taking out the box to the front outside of the shelf, pull it to the rear inside.
the control means is configured to return the detecting means to the final
When a sequence is detected, the item supply for this final sequence is
After each storage box is pulled back into the shelf,
Then, the vertical movement means moves the shelf up and down to move the next supply article.
After moving the storage box containing the storage box to the extraction position,
Storage in which the ejection means is pulled back inside the shelf body before the above.
The storage means and the ejection means so as to eject the boxes to the outside of the shelf.
In the final sequence, one
supply of goods and storage for storing the goods of the previous order.
Even more efficiency is achieved because the container is ejected at the same time.
can be achieved. [Margin below]

[Brief explanation of the drawing]

FIG. 1 is a front view schematically showing the overall configuration of an FAC system according to an embodiment of the present invention; FIG. 2 is a perspective view schematically showing the overall configuration of the FAC system shown in FIG. 1; FIG. 3 is a perspective view showing the configuration of a pallet in which parts are stored; FIG. 4 is a front view showing the shape of pallets with three different heights; FIG. 5 is a cross-sectional view showing how the pallets are stacked; FIG. 6 7A to 7D are front views sequentially showing the separation operation of a predetermined pallet p in the buffer; FIGS. 8A to 8E are position corrections in the buffer separation operation. Figure 9 is a perspective view showing the structure of the elevator; Figure 10 is a side view showing the elevator main body together with the exchange mechanism; Figure 11 is a partially cutaway state of the elevator main body; A front view showing the configuration of the exchange mechanism: Figure 12 is a perspective view showing the exchange mechanism taken out; Figures 13A to 13G are front views sequentially showing the exchange operation in the elevator; Figure 14 is the configuration of the stocker. Fig. 15 is a side view showing the structure of the lid opening mechanism; Fig. 16 is a side view showing the lid opening mechanism in a state where the lid is lifted; Figs. 17A to 17E are Fig. 18 is a diagram illustrating the configuration of the control unit of the embodiment and the connection relationship between it and a production control computer, etc.: Figures 19A to 19C are diagrams showing the input menu to the input device and its display state; Figure 20 is a diagram explaining teaching of each shelf position of the stocker; Figure 21A is common to each control module. Figure 21B is a diagram explaining the configuration of the queue; Figures 22A and 22B are diagrams explaining the upper and lower relationships of each module operation in the FAC system; Figure 23A 24A and 24B are flowcharts of the stocker control program; FIG. 24C is a diagram explaining how process numbers change in stocker control; 25A Figures 25B and 25C are flowcharts of the buffer control program; Figures 26A and 26B are flowcharts of the elevator control program; Figure 27A Figures 27G to 27G are diagrams that sequentially explain the pallet exchange operation focusing on the elevator; Figure 28 is a diagram that explains stacking of empty pallets to the transport mechanism; Figure 29 is a diagram that sets the system to the initial operating state. Control flowchart: FIG. 30 is a flowchart of the control program according to the first modification; FIG. 31 is a perspective view schematically showing the configuration of the buffer according to the first modification; FIG. 32 is a diagram of FIG. 33 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. FIG. 34 is a side view showing the structure of the elevator mechanism; FIG. 35 is a perspective view schematically showing the structure of the elevator according to the second modification; FIG. 36 is a side view showing the structure of the elevator according to the second modification; Figure 37 is a bottom view showing the configuration of the actual pallet exchange mechanism in the elevator shown in Figure 3.
Figure 38 is a bottom view showing the configuration of the empty pallet exchange mechanism shown in Figure 35; Figure 39 is the configuration of the empty pallet exchange mechanism shown in Figure 38. FIG. 40 is a side view showing the configuration of the exchange mechanism in the third modification; FIG. 41 is a partially cutaway front view of the exchange mechanism shown in FIG. 40; FIG. 42A Figures 42H to 42H are front views showing simplified operations of the third modification; Figure 43 is a perspective view showing a buffer equipped with a lift mechanism in the fourth modification; Fig. 43 is a side view showing the arrangement position of the sensor; Fig. 45 is a control flowchart of the elevator and lift mechanism in the fourth modification; Fig. 46 is a schematic configuration of another embodiment according to the present invention. Fig. 47 is a perspective view showing the configuration around the buffer stand in the buffer shown in Fig. 47; Fig. 48 is a bottom view showing the state of the lower surface of the buffer stand shown in Fig. 48; Fig. 49 is a buffer 50A and 50B are both flowcharts of a control program according to another embodiment; FIGS. 50C and 5
Fig. 51 is a perspective view schematically showing the configuration of a modified example of the other embodiment; Fig. 52 is a diagram showing the pallet flange Fig. 53 is a front view showing the configuration of a locking mechanism for locking the supporting position of the pallet in the stocker; Fig. 54 is Fig. 53; A side view of the locking mechanism shown in FIGS. 55A and 55B are flowcharts showing a control program for replenishing pallets to the buffer via an unmanned vehicle. FIGS. Figure 56C is a diagram showing the sequence of operations related to manual replenishment of pallets into the buffer; Figure 57A;
7B is a flowchart of the robot control portion of the embodiment related to setup change, FIGS. 58A and 58B are flowcharts of the stocker control portion of the embodiment related to setup change, and FIGS. 59A and 59B are implementations related to setup change. FIG. 60 is a flowchart of the buffer control portion of the embodiment related to setup change, FIGS. 61 to 62 are diagrams explaining the operation of the embodiment related to setup change, and FIG. 63 is a flowchart of the elevator control section of the example. It is a figure explaining the modification of the Example regarding setup change. 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 1.24...Stocker, 26...Elevator, d
-... Conveyance direction, 28... Housing, 30... Wheels, 32... Pallet mounting stand, 32a... Carrying out roller, 34-... Empty pallet mounting stand, 34a... Carrying roller, pallet I + 2 + 3 ""36...
・Pallet body, 38...flange part, 38a...
First notch portion, 38b...Second notch portion, 3
8 c...Third notch, 40-...Lid, x
(X l +
: 46b... Standing plate, 48... Guide member, 50-
...Sliding member, 52...Buffer stand, 52a...Protruding piece, 54...Carrying roller group, 56...Roller guide, 58...Slit, 60-...Ball screw, 62
Encoder, 64 Separation mechanism, 66 First separation claw, 68 Second separation claw, 70 Support rod, 72 Connection plate, 74... Barcode reader, 76--Carry-out mechanism, F8...Carry-out roller, 80
...Sensor, B...Barcode, CBL; C8
2"" air cylinder, ME1-... servo motor, elevator 26 lever, 82 a to 82 d... column, 84-... connecting member, 86... elevator main body, 88... guide member, 90... ...Sliding member, 92...Ball screw, 94.
...Encoder, 96... Swapping mechanism, 98...
Stay, 100... Swinging arm, 100a... Long groove, 102... Guide groove, 104... Guide bin, 1
06...Sliding plate, 108...First hook, 1
DESCRIPTION OF SYMBOLS 10... First hook slide member, 112... Air cylinder support plate, 114... First piston,
tta--Second hook, 118--Second hook slide member, 120--Second piston, 122-
・Fixed slide guide, 124... Mounted on plate, 1
26... 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, 140- .
・Elevator main body at actual pallet extrusion position, A,
B-...Rotation direction of servo motor, CEl: CE2
: Cff13 : CE4...Air cylinder,
ME, -- Servo motor, ME2@'' Servo motor, Stocker 24 related 142 Base, 144 a to 144 d = Support column, 146 Connecting frame, 148 Guide member, 1
50...Sliding member, 152...Elevating frame, 154-...
- Drawer part, 156...Shelf board, 158...Notch part, 160...Lifting arm, 160a...Body part, 160b...Top surface, 160c...Protrusion part, 1
62...Protruding piece, 164...Ball screw, 166...
...Encoder, 168...Drawer stand, 170...
・Lid opening mechanism, 172... Insertion/removal mechanism, 174・
...Support stay, l flow...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... Sutii, 2
00--Drive shaft, 202--Drive roller, 204-
... Endless belt, 206 ... Piston, 208
a; 208 b-input end, dan! Yoot Fyu” C1 Section 210... Assembly stage, 212-... Frame, 214
. . .
・Assembly table, C111; C112"" air cylinder,
M... Servo motor, Mg2" Servosator, 11th section 250... Step release mechanism, 252... Separation claw mounting plate, 254 a: 254 b---Guide shaft , 256
a; 256 b--Fixing tool, 258-- Piston,
260a, 260b--input end, 262a; 26
2b; 262 c--Introduction vibe, 264 a;
264b...output end, 264c...input end, 2
66... Separation claw, 268... Piston, CDI; C
D2...Air cylinder, 11 section 86a...Top plate of elevator main body 86, 86b...
Lower plate of elevator main body 86, 96a...Real pallet exchange mechanism, 96b...Empty pallet exchange mechanism, 3
00--Elevator, 302a; 302b
- first guide member, 304... first slide plate,
306...first ball shaft, 308-...protrusion, 3
10a; 310b... first rotation support member, 316;
...Fixed slide guide, 322a; 322b...Second guide member, 324...Second slide plate, 32
6...Second ball shaft, 32 B-...Protrusion, 3
30a; 330b-second rotational support member, 33
2... Hook member, 334... Second piston, 3
36... Movable slide guide, 338... Slide member, 340... Third piston, C1; C2; C3
...Air cylinder, Ml; Ml...Servo motor, 1U1] CofidL trap beans 350...Replacement mechanism, 352-...Movable slide guide, 354...Slide guide, 356...No. 4 piston, ao 39 beans 400--fixed conveyance mechanism, 402--lift mechanism,
404-...Sliding member, 406...Lift stand, 408
-... Projection piece, 410... Air cylinder mounting member, 412... Piston, 414... Sensor mounting member, S+; St; S3... Sensor,
1 button B' 450...Buffer, 452...Spacer block, 454...Separation mechanism, 456-...Member for installation,
458--Guide shaft, 460--Separation claw mounting plate, 4
62... Separation claw, 464... Ball screw, 468...
...Ball screw receiver part, 470...stay, 472.
・・Drive pulley, 4F 4・・Driven pulley, 476・・
・Timing belt, 480... Replacement mechanism, 48
2a; 482b... Guide shaft, 484... Slide plate, 484 a; 484 b''-Roller, 484
c ---Threaded part, 486--Ball screw, 488
a; 488 b...Rotation support member, 490 a
: 49 Q b - 1st hook, 492 - Piston, 494 a : 494 b ・"Guide pin, 4
96 a; 496 b...Guide pin, 498
- Piston, 500 a; 500 b - Second hook, 502 a; 502 b... Support stay, 504... Piston, 550-) - Lancer, 552 ...Transfer body, other relations 38d...Latching hole formed on the lower surface of the flange portion 38 of the pallet, 600...Lock mechanism, 602...
・Lock rod, 604a: 604b...Guide member, 606-...Air cylinder mounting plate, 608...
・Piston, 610...Lock member, 610a...
Mounting piece, 610b...Lock bin, CR'' air cylinder. Fig. 7A Fig. 1'f7B Fig. 7C Fig. Height 7D Fig. Mε2 Fig. 12 Fig. 113E Figure @1
9Bfl! J Figure 19C Figure 23B Figure 25C Figure 26BM E Figure 27EJI Figure 28 @ Figure 30 Figure 32 Figure 33 Figure 36 Figure 38 Figure 39 E2 Figure 40 Figure 41 Figure 42A Figure 42B Fig. 42C Fig. 42D Fig. 42E Fig. 42F +78 156 156 Fig. 42G Fig. 42H Fig. 47 Fig. 48 Fig. 49 St, /1- High degree 1 mast, i1-
Bazoff 1 Fig. 50D Fig. 52 Fig. 53 Fig. 54 Fig. 56B ff1 (all Fig. 55A-27;

Claims (2)

[Claims] (1) In an article supply device that repeatedly supplies multiple types of articles to a supplied section in a predetermined sequence, the storage means stores a plurality of types of storage boxes each containing a plurality of articles of the same type, and the storage means a supplying means that takes out a storage box storing the articles in order to supply the articles in the sequence order to the supplied part, and then returns the storage box to the original storage position in the storage means; and a plurality of types of articles. a detection means for detecting the completion of the supply sequence; and upon detection of the final sequence by the detection means, after each of the storage boxes is taken out by the supply means in the final sequence, the taken-out storage boxes are An article supply device comprising: a discharge means for discharging the article to the outside of the storage means. (2) The storage means further includes a control means for controlling the storage means and the ejection means, and the storage means has a shelf for vertically stacking the plurality of types of storage boxes, and absolutely fixes any storage box to be taken out. The supply means includes a vertical movement means for vertically moving the shelf to move the shelf to a take-out position at a height, and the supply means detects that the vertical movement means has moved the storage box to be taken out to the take-out position. and means for pulling the storage box back to the rear inside after taking it out to the front outside of the shelf, and when the detection means detects the final sequence, the control means controls, for each article supply of this final sequence, After the taken-out storage box is pulled back into the shelf body, the vertical movement means moves the shelf body up and down to move the storage box containing the next supply article to the take-out position, and then the ejection means 2. The article supplying device according to claim 1, wherein the storage means and the ejection means are controlled so as to eject the storage box that was previously pulled back into the shelf body to the outside of the shelf.