JPH03282601A - Method and device for control of automatic device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention]

[0001]

[Industrial application field]

The present invention relates to a control method and a control device for controlling an automatic device such as an assembly robot device, and in particular, the present invention relates to a control method and a control device for controlling an automatic device such as an assembly robot device. One item (e.g.
This invention relates to improvements in facilitating the creation of control programs in cases where the parts (components) correspond to each other. [0002]

[Conventional technology]

In assembly control and parts supply control in conventional robot devices, program control using so-called sequencer control is common. This sequence control program is written in a ladder program format. [0003] This ladder program is a program consisting of ladder elements that express conditions for driving individual actuators and solenoids used in the device using logical expressions such as sensor output signals. Each ladder element consists of an interlock condition and an actuator output. When one actuator is driven, the next actuator is driven when the sensor output confirming the driving of that actuator satisfies the driving condition of the next actuator. In this way, sequence operations are controlled. [0004]

[Problem to be solved by the invention]

Sequence control using such a ladder program is
Although this is a production control method suitable for production lines that occupy a large area, it is said that it is difficult to create control programs and production management programs because it is inconvenient to look over the whole thing. [0005] The reason for this difficulty is that in large production lines, each unit process uses different parts, and these parts are supplied from different supply lines, so each process is completely unique and unique. This is because it is difficult to organize the program into block structures. [0006] On the other hand, in contrast to the "line method" using a large-scale production line, a so-called "non-line method" in which a single assembly device assembles multiple parts into one finished product has recently been proposed. ing. [0007] When writing a control program for this non-line assembly device using the ladder program described above,
First, it is necessary to decide in what order the parts will be assembled. Once the order has been determined, in each assembly process, it is determined where the necessary parts for that process will be supplied from, then which fingers will grip the supplied parts, and the gripped parts will be handled by hand and Determine how the fingers will move and assemble. [0008] Once such a ladder program is created, the parts supply sequence ( That is, when a process (process) is changed, the finger exchange order and hand movement order all need to be changed in accordance with the process change. In other words, the conventional program control method is
It requires a lot of effort to change and is not suitable for "off-line" assembly equipment. [0009]The present invention has been made in view of the above-mentioned problems of the prior art, and its purpose is to control an automatic device in which a specific article corresponds to a process and the entire process is executed in the order of the process. An object of the present invention is to propose a control method and a control device for an automatic device, which are easy to create and maintain control programs for. [00101

[Means for Solving the Problem] In order to solve the above-mentioned problems and achieve the purpose, a method for controlling an automatic device according to the present invention controls an automatic device for executing a certain process consisting of a plurality of steps. In the control device, the plurality of steps are identified by the values of process variables by assigning numbers representing the steps to the plurality of steps,
The correspondence between the plurality of processes and at most one article used in any one of the processes is stored as a data array using the process variable as an argument, and the article required in any one process is The present invention is characterized in that by specifying the process variable as an argument, the process and the article are controlled in association with each other. [0011] According to the control method having such a configuration, one process is associated with at most one article used in that process. Each item is uniquely identified by a number representing the process in which the item is used. Therefore, the uniqueness of each item is reduced to the process number. If such an article representation method is used, control parts that depend on the uniqueness of each article will no longer be explicitly visible in the program expression, making the entire program clear and easy to see. Also,
Changing a process amounts to nothing more than changing the argument representing the article related to the process to which the change relates. That is, it becomes easy to change the process. [0012] Further, the configuration of the control device of the automatic device according to the present invention is such that in order to assemble one workpiece from a plurality of parts,
A control device for controlling an automatic assembly device comprising an assembly robot means for performing this assembly operation, and a supply means for storing a plurality of parts for supplying parts to the assembly robot means, the control device comprising: Data representing the correspondence between a plurality of processes constituting the operation of assembling a workpiece and the storage position within the supplying means of at most one part used in each process, using a process variable representing the process as an argument. The assembly robot means passes the process variables to the supply means when requesting necessary parts from the supply means in order of process, and the supply means receives the assembly robot means from the assembly robot means. The present invention is characterized in that a parts storage position is detected by searching the storage means using the passed process variable as an argument, and the parts at the detected position are supplied to the assembly robot means. [0013] According to the control device having such a configuration, one process is associated with at most one article used in that process. Each item is uniquely identified by a number representing the process in which the item is used and the location where the item is stored (this location itself is also expressed by the process number). Therefore, the uniqueness of each item is reduced to the process number. If such an article representation method is used, control parts that depend on the uniqueness of each article will no longer be explicitly visible in the program expression, making the entire program clear and easy to see. Further, changing a process or changing a storage location of an article merely changes the argument representing the article related to the process related to the change. That is, it becomes easy to change the process or change the storage location. [00'14] According to a preferred embodiment of the present invention, if the article is not only specified by a process variable, but is a part for assembling a part, a finger for gripping the part. The movement program of the hand that performs the movement specific to the assembly is also expressed by process variables. [0015] According to a preferred embodiment of the present invention, a process and an article (component)
, the storage position of the article (parts), etc. are displayed on the display means, and can also be input. [0016] [0016] Below, the configuration of an embodiment of the present invention will be described in detail with reference to the accompanying drawings. [0017] (Schematic Configuration) First, an overview of the flexible assembly center (hereinafter referred to as FAC) 10 of this embodiment will be described with reference to FIGS. 1 and 2. [0018] This FAClo includes a plurality of parts X1. X2. X3...
Automatic assembly equipment for automatically assembling predetermined products from
Hereafter, it will simply be referred to as a robot. )12 and this robot 1
2, parts X1. that are required depending on the assembly order. X2,
A parts supply system 14 that automatically supplies X3..., and a control unit that is connected to the robot 12 and the parts supply system 14 and controls the drive of both so that the robot 12 can efficiently execute assembly operations. 16, and an input/output device 18 connected to the control unit 16 and into which assembly information data is input by an operator. [0019] This parts supply system 14 supplies various parts Xi, X2, X3, etc. stored in an automated warehouse (not shown).
is 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. X2. X3・
A buffer 22 is provided adjacent to the robot 12, and a buffer 22 is provided as a temporary storage means for temporarily storing ....
A stocker 24 serves as a storage means for sequentially supplying parts necessary for assembly to the robot 12 according to the assembly order, and a stocker 24 is provided between the buffer 22 and the stocker 24, and a part X ,X2,
Basically, it includes an elevator 26 as a form of transfer means for transporting X3 . . . from the buffer 22 to the stocker 24. [00201 (Description of unmanned vehicle) This unmanned vehicle 20 has many parts X stored in an unmanned warehouse.
This robot 12 is selected from t, X2, X3...
Parts X1 to be assembled in X2, X3...
is provided for selectively conveying to the buffer 22. That is, as schematically shown in FIG. 1, each unmanned vehicle 20 includes a housing 28 formed from a frame into a rectangular parallelepiped shape,
The housing 28 has wheels 30 attached to the lower surface thereof, and a pallet mounting table 32 attached to the upper surface of the housing 28. This wheel 30 is configured to be rotationally driven by a drive mechanism (not shown).

In addition, each unmanned vehicle 20 moves between the unmanned warehouse and the buffer 22 by rolling its wheels 30 along a running path that has been prepared in advance on the road surface.
This running state is optimally controlled by a production control computer, which will be described later. Also, the parts X1. X
2. The selection of X3... and the operation of placing it on each unmanned vehicle 20 are also optimally controlled by the control unit 16 described above. [0022] Also, on the pallet mounting table 32 mentioned above, there are pallets p1. p2. p3... has parts Xi inside,
A plurality of X2, X3, and so on are stacked one on top of the other. On the other hand, on the bottom surface of the case is an empty pallet)I)1. 11) An empty pallet mounting table 34 is provided so that a plurality of pallets 2, p3, . . . are placed in a stacked state. In the following explanation, when a palette is representatively shown, it is simply indicated without a subscript.
Also, when representing an empty palette, it is simply represented as "p'" without a subscript. Here, on the pallet mounting table 32, the parts X1. Palettes p, p2 containing X2, X...
．． A carry-out roller 32a is provided to carry out p3.... In addition, the empty pallets placed on the empty pallet mounting table 34 are: )pl, I)2, p3.
A carry-in roller 34a is provided to carry in... These are the carry-out rollers 32a. The carry-in roller 34a is configured to be rotationally driven by a drive motor (not shown). [0023] (Description of Palette) Structure of Pallet Here, each part Xt, X2, X3... is a corresponding pallet) pl, p2. The pallets p p , p3 . . . are housed in pallets p p , p3 . 24 and is configured to be provided to the robot 12. That is, each pallet l-p, p, p...
, same type of parts x1. As shown in Fig. 3, the corresponding parts X2, X3, etc. are accommodated so that they can be inserted and removed along the vertical direction, and the top surface is open. The pallet main body 36 and the pallets I-p1. p
2. p3... are integrally provided with flange portions 38 formed to extend outward at least on both side edges along the conveyance direction d. As is clear from the illustrated shape, the flange portion 38 is actually formed around the entire circumference of the pallet body 36. Further, a lid body 40 is placed on each pallet body 36 so as to releasably close the upper surface thereof. [0024] As shown in the figure, each flange portion 38 has first and second notch portions 38a and 38b located at both ends.
Also, in the center position, press the third notch 3
8c are formed respectively. Here, the first and second notches 38a and 38b on both sides are formed on the pallet p1. p2. p3... from the buffer 22 to the elevator 26, and from the stocker 24 to the robot 12 or the elevator 26. On the other hand, the third notch 38 in the center
c is a lifting mechanism described later, in which the lid body 40 is lifted upward and the pallet body 36 stored in the stocker 24 can be taken out to the side of the robot 12 with its top surface open. It is provided for the body to pass through. [0025] Each of the first and second notches 38a and 38b is constituted by a recess formed in a planar substantially isosceles trapezoidal shape, with the shorter base defining the bottom of the recess. is formed. [0026] That is, this lid body 40 is constructed by the robot 12 as parts XI and X.
2, X3..., in other words, the corresponding pallets p1. It is placed so as to cover the upper surface openings of p2゜p3..., and parts Xi, X
2, X3... are prevented from being contaminated by dust or the like. [0027] Dimensions on the path, these pallets l'I)1, l)2.1)3...
As shown in Fig. 4, the thickness is 25 mm, 50 mm, or 50 mm depending on the size of the parts to be accommodated.
There are three types of 100mm. Here, in the following explanation, for the sake of simplicity, part X1 is placed on pallet p1 with a thickness of 25 mm with the maximum number set to 54, and part It is assumed that the maximum number is set to 38 and each of them is accommodated. [0028] Also, each palette p1. p2. In p3...,
The thickness of the flange portion 38 is set to a common value of 12 mm. In addition, as shown in FIG.
A recess 36a (indicated by a broken line in the figure) is formed around the entire circumference of the shaft, into which the lower portions of the recesses 36a are fitted to prevent lateral displacement. Here, the depth of this recess 36a is set to 7 mm. In this way, for example,
Three types of palettes p1. p2. When p3 is stacked one by one, the height of this stack is 25+50+
It will be set to 10O-7X2=161mm. [0029] Note that each palette p1. p2. Flange part 3 of p3...
As shown in Figure 3, on the side of 8, each pallet p
1, p2. p3...Parts stored inside X1
．． 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. [0030] (Description of Buffer) Next, a pallet p1. p2. p3... is received and stored -, and the empty pallets p, p2... The buffer 22 for sending out p3... to the unmanned vehicle 20 will be explained with reference to FIG. [0031] Configuration of buffer stand This buffer 22 includes a base 42 fixed on a base (not shown), and pillars 4 erected at each of the four corners of this base 42.
4a, 44b', 44c, 44d and pallets p1, p
2. A pair of supports 44a along the conveyance direction d of p3...
44b: Each of the inner surfaces of 44c and 44d is provided with upright plates 46a and 46b that extend over the hook 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 its four corners supported by these four sliding members 50, respectively. [0032] This buffer stand 52 is provided with a pallet p1. p2
．． l) 3... are placed on this buffer stand 52, and the parts X, X,
Pallet containing X... p1. A carry-in roller group 54 for receiving p2, 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). [0033] On the other hand, a slit 58 is formed in a portion of the opposite upright plate 46b in FIG. 6 sandwiched between both guide members 48 so as to extend 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. [0034] Here, this buffer stand 52 is used when there is only one remaining part X in the stocker 24, as will be described later, from among the pallet groups p1. It is configured to be able to move up and down in order to replenish or replace the pallet p that has become empty, or to separate a predetermined pallet p. [0035] 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 is provided to move the servo motor up and down along the guide member 48. This servo motor MB is
It 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 is configured to rotationally drive a ball screw 60 extending along the vertical direction. It is connected to the. On the other hand, this ball screw 6
0 is screwed into the aforementioned protruding piece 52a. In this way, the ball screw 60 is rotationally driven by the rotation of the rotating shaft of the servo motor MB, and the buffer table 52 is thereby moved up and down. [0036] An encoder 62 is attached to the servo motor MB to detect its rotational position, that is, the height position of the buffer stand 52. Configuration of Separation Machine With the above configuration, the buffer table 52 can be moved up and down to any height position.As described above, the pallet group I) 1. p2p3・
In order to separate a specific pallet p from ..., this buffer 22 is equipped with a separating mechanism 64. [0037] 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 first separation claws 66 disposed a predetermined distance below the first separation claws 66. and a second separation claw 68. In addition, both standing plates 46a,
The first and second separation claws 66, 68 in 46b are set at the same height position. [0038] Here, each of the first and second separation claws 66,68 separates the pallet group p1 stacked on the buffer table 52.
．． p2. It is provided so that it can be hooked onto the flange portion 38 of p3... from both sides. In other words, each standing plate 46a, 4
The first and second separation claws 66 and 68 provided on 6b are
Pallet group p stacked on buffer table 52
1. p2. The flange portions 38 of p3... are provided so as to be able to reciprocate between a protruding position where they are latched from below and a retracted position spaced apart from these flange portions 38. [0039] That is, the first separating claw 66 of each village is connected to the corresponding upright plate 46.
A and 46b are integrally provided with a supporting long door 0 that protrudes and reaches the back surface. Both support rods 70 are connected to the upright plates 46a, 4
6b, they are integrally connected via a connecting plate 72, as shown in the figure. A first air cylinder CB1 for reciprocating the first separation claw 66 is connected to the connection plate 72. In this way,
In response to the drive of this first air cylinder CB machine, the first
The separating claw 66 is reciprocated between an extended position and a retracted position. [00401 On the other hand, regarding the second separating claw 68, a second separating claw 68 is used as a driving source.
The configuration is the same as that for driving the first separating claw 66 except that it includes the air cylinder CB2, so a description thereof will be omitted. [0041] Note that the distance between the first separation claw 66 and the second separation claw 68 described above is based on the pallet p1. p2. The height is set at 110 mm, which is slightly longer than the maximum height of 100 mm in p3. [0042] Furthermore, a barcode reader 74 is disposed on the side of the pallet N) that is hooked on the first separation claw 66 described above to read the barcode B drawn on the pallet p. It is set up. Since this barcode reader 74 has a well-known configuration, its explanation will be omitted. [0043] 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,
I) 2, p3... are provided to carry out the above-mentioned empty pallet mounting table 34 of the unmanned vehicle 20,
It 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). [0044] The height position of this unloading mechanism 76 is set to be at the same height 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. 2
The height position is set to be the same as the height position of the pallet mounting table 32 of No. 0. (Operation of Buffer) Basic Separation Operation In the configuration of the buffer 22 equipped with the separation mechanism 64 as described above, the operation when separating a predetermined pallet p based on a request from the buffer stand 12 is as shown in Figs. 7A to 7A. This will be explained with reference to FIG. 7D. [0045] First, as shown in FIG. 7A, on the buffer stand 52,
A total of 12 pallets are loaded with the lower blades pl, p2, p3,
pl・ p2・ p3・ pl・ p2・ p3・
Assume that they are placed in the order pl.p2p3. Incidentally, on this buffer stand 52, a group of pallets 1) with a height of 800 mm is placed. p2. p3... is set to be placed, and in the above case, the 12 pallet groups are (25+5'0+100)X4-7X11
= 623mm and a height of 623mm. In this state, the robot 12
When it is requested to separate the pallet p1 containing the part An instruction is sent to separate the third pallet p1. In addition, in the following explanation, the third palette p1 from the top is
, and the pallet located directly above this, that is, the second pallet from the top, is given the symbol pb. [0046] As described above, when a request is issued from the robot 12 to separate pallet p, first, the pallet pb placed directly above the pallet p to be separated is
, as shown in FIG. 7B, by the first separating claw 66,
until the servo motor MB is brought into the latched position.
is rotated to move the buffer stand 52 (in this case,
lower). Note that the first and second separation claws 66 and 68 are both moved to the retracted position in the initial state. [0047] In the state shown in FIG. 7B, the first air cylinder CB1 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. [0048] After this, as shown in FIG. 7C, the servo motor MB
From the state shown in FIG. 7B, the buffer table 52 is rotated so as to be lowered by 94 mm. As a result, the palette p
The pallet pb is brought to a position where it is hooked to the second separation claw 68, and the pallet pb is held by the first separation claw 6.
It will be hung on 6. That is, the pallet positioned above pallet pb is hooked onto this first separating claw 66. [0049] 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. This allows the flange portion 38 of the pallet p to be hooked onto the second separating claw 68 from below. [0050] After this, as shown in FIG. 7D, the servo motor MB
From the state shown in FIG. 7C, the buffer table 52 is rotated so as to be lowered by 15 mm. As a result, the palette p
Only pallet a is hooked to the second separating claw 68, and the pallets located below this pallet pa are brought to the apparatus consisting of pallet p. In this way, only the pallet p is separated from the other pallets at the position where it is latched onto the second separation claw 68 (hereinafter referred to as
It is simply called the separation position. ), it will be set to a state where it can be taken out independently. [0051] 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. [0052] In other words, during this return operation, first, the second air cylinder CB2 operates to draw the second separation claw 68 from the latching position to the retracting position, contrary to the previous operation. After that, the servo motor MB rotates and moves the buffer table 52 to the uppermost position of the pallet group on the buffer table 52 from the take-out position to 134 mm (that is, the downward stroke of the buffer table 52, 94+15=109 mm). A certain pallet is brought into a lifted state with the pallet pb, which is hooked on the first separating claw 66, placed on top of it. [0053] In this state, the first air cylinder CB1 is moved Conversely, the first separating claw 66 operates to be pulled from the latching position to the retracting position.As a result, the pallet group above the pallet pb that was latched to the first separating claw 66 has already been moved to the buffer stage. The entire pallet group is placed on top of the pallet group that was placed on the buffer table 52, and the entire pallet group is eventually brought to a state where it is placed on the buffer table 52.In this position, it is in a standby state. , robot 12
The next separation instruction will be awaited. Pallet position correction operation during separation A. The operation of the buffer 22 detailed above is basic and does not take into account manufacturing errors of each pallet. That is, each pallet is allowed a manufacturing error of ±0.3 mm. Therefore, if this manufacturing error is accumulated when a large number of pallets are stacked on the buffer table 52,
An error may occur in the operation of moving the pallet PB to the latching position by the first separation claw 66 in the above-mentioned basic operation, and the pallet PB may not be accurately moved to the latching position by the first separation claw 66. . [0054] In detail, assuming the worst case, all loaded pallets have a minimum thickness of 25 mm, pallet p
1, and since the maximum dog placement height is 800 mm as mentioned above, 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 M is rotated to move the predetermined pallet PB to the latching position of the first separating claw 66 according to the basic operation described above. However, in reality, due to the above-mentioned error, it may not be possible to locate the locking position. [0055] Therefore, in this embodiment, as shown in FIG. A sensor 80 is provided. This sensor 80 is composed of a well-known reflective photocoupler, and although a detailed explanation thereof will be omitted, it is composed of a pair of light emitting element and light receiving element, and is located adjacent to the circumferential surface of the flange portion 38 of the pallet. 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. In addition, as shown in FIG. 8A, the installation position of this sensor 80 is such that it detects the upper end surface of the flange portion 38 of the pallet p, and the upper end surface of the pallet p is


The first separation claw 6 of the pallet pb force mounted on a
It is set so that it is brought to the latching position according to 6. [0057] In a state where the sensor 80 as described above is provided, the pallet pb is calculated after considering the manufacturing error of the pallet described above.
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. [0058] Here, the range in which the side surface of the pallet main body 36 appears is the eighth
As shown in Figure A, in the case of the pallet p1 with a height of 25 mm, the thickness of the flange portion 38 is 12 mm, and it is fitted into the fitting recess 36a of the pallet main body 36 located on the lower side. Considering 7mm, 2525-12-7=6. Therefore, considering the accumulation of the maximum manufacturing error mentioned above, the relative positions of the pallets pa, pb calculated by the servo motor M8 and the sensor 80 are as shown in FIGS. 8B, 8C, and As shown in FIG. 8D, three modes are envisaged. [0059] As shown in FIG.
The peripheral surface of the flange portion 38 of the pallet pb to be hung on the first separation claw 66 is in a second aspect facing the sensor 80, and as shown in FIG. A third aspect occurs in which the pallet pb to be hung faces the side force plate sensor 80 of the pallet body 36. [0060] 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. [0061] Then, when the sensor 80 is turned off in this manner, the barcode B drawn on the pallet whose upper end surface is not detected is read via the barcode reader 74. If it is determined from the barcode B read as a result that this pallet is the pallet p to be separated, as described above, the pallet pb placed on the pallet p to be separated is Therefore, according to the basic operation described above, the first separation claw 66 is brought to the latching position.
The air cylinder CB1 is activated, and the first separating claw 66
will be pushed out to the latching position. [0062] On the other hand, if it is determined that this pallet is not the pallet I-p to be separated as a result of reading the barcode B drawn on the pallet whose upper end face was detected,
The pallet whose barcode B is read is automatically determined to be the pallet pb directly above the pallet p, so that the buffer stand 52 moves upward by the height of the pallet pb. , servo motor Mb is rotationally driven. In this way, the sensor 80
As shown in FIG.
According to the basic operation described above, the first air cylinder CB
□ is activated, and the first separation claw 66 is pushed out to the latching position. [0063] If the barcode B of the lifted and detected pallet is read and it is determined that it is not the pallet to be separated, there is a clear control error or the pallet is different from the requested pallet. This is a case where the vehicle has been transported by the unmanned vehicle 20 from an unmanned warehouse, so at that point, the control operation is stopped and a predetermined warning operation is started. [0064] Further, the sensor 80 is turned off when the side surface of the pallet main body 36 is adjacent to it, that is, when the pallet is moved according to the calculated value. Only the third aspect shown in is considered. Therefore, the buffer stand 52
As shown in Figure E, the sensor 80 is raised until it detects the upper end surface of the flange portion 38, in other words, until the sensor 80 is turned on. [0065] Then, when the sensor 80 is turned on in this way, 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 p to be separated, the pallet pb placed on the pallet p to be separated is , the first separation claw 66 is brought to the latching position, so the first air cylinder CB1 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. [0066] By executing the pallet position correction operation detailed above, even if there is a manufacturing error in the pallet, it will be placed on top of the pallet p to be separated, regardless of this manufacturing error. Pallet pb force plate first separation claw 6
6, a securely latched state is achieved. [0067] (Description of elevator) Next, the elevator is disposed 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. As shown in FIG. 9 of the 1997 Elevator, this elevator 26 is fixed on a common base 142 with a stocker 24, which will be described later, and on the buffer 22 side portion of this base 142. is a pair of supports 82a, 82b that stand upright adjacent to the support posts 44a, 44C on the robot 12 side of the buffer 22 mentioned above, and a pair of support posts 82a, 82b that stand upright and are spaced a predetermined distance apart from the robot 12 side. Pillars 82c, 82d
is provided. These four pillars 82a, 82b,
The upper ends of 82c and 82d are connected to each other by a connecting member 84, respectively. In this way, the basic frame of the elevator 26 is constructed. Note that this connecting member 84 also
It is configured in common with the stocker 24 described later. [0068] Here, the elevator main body 86 is arranged to be movable up and down between the pair of columns 82a:82c and the pair of columns 82b82d along the conveyance direction d. [0069] This elevator main body 86 has pallets p1 and p2
．． It is composed of a box body with a pair of open faces perpendicular to the transport direction d of p3.... This elevator main body 86 is requested by Robot I/12 (request issued when the remaining number of parts in a given pallet is 11).
The separated pallet pa at the separation position based on
is received from the buffer 22 and held in the elevator main body 86, and then, when the demand from the stocker 24 (remaining number as described above) is used for assembling the parts force plate and there are no parts left. The held pallet p is transferred to the stocker 24 in response to a request issued by the operator. Here, guide members 8 are provided along the vertical direction on the mutually opposing surfaces of the pallet pd.
8 is fixed. And each guide member 88 has
A pair of sliding members 90 are attached at a predetermined distance apart in the vertical direction so as to be movable up and down along this. Here, the four sliding members 90 in the upper horizontal plane are
The above-mentioned elevator main body 86 is attached with its corners supported, and also with its four lower corners supported by four sliding members 90 in a lower horizontal plane. [0070] On the other hand, the pair of columns 82b and 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.

July: Also, the upper ends of the pair of columns 82b and 82d on the opposite side were connected to each other.
The part of the connecting member 84 that is connected to the
Move the beta main body 86 up and down along the guide member 88
A servo motor ME1 is provided for this purpose. This server
Bomotor ME1 has a rotating shaft that extends along the vertical direction.
This rotating shaft rotates between the two branches 82b and 82d.
A ball that is rotatably arranged and extends vertically.
The same 92 is connected to rotate. on the other hand,
The middle part of this ball screw 92 is screwed into the above-mentioned protruding piece.
are doing. In this way, the rotation of the servo motor ME1
The rotation of the shaft drives the ball screw 92 to rotate.
As a result, the elevator main body 86 is moved up and down. [0072] Note that this servo motor ME1 has its rotational position, immediate
First, for detecting the height position of the elevator main body 86,
An encoder 94 is attached. With the above configuration
The elevator main body 86 can move up and down to any height position.
It is something that can be done. [0073] Pallet p full of separated parts from Fa 22
At the same time as taking in the pallet p of this a, push it out to the stocker 24,
Also, in order to pull in the empty pallet p' from the stocker 24,
A replacement mechanism 96 is provided. [0074] This exchange mechanism 96 uses a servo motor as a driving source.
ME2 is placed on the top surface of the elevator main body 86 via the stay 98.
It is provided in a fixed state. This servo motor M
One end of the swing arm 100 is fixed to the drive shaft of E2.
It is designed to be oscillated according to the rotation of the drive shaft.
has been done. In the middle of this swing arm 100, there is a
A long groove 100a is formed along the longitudinal axis direction. Moreover, the swinging arm 100 of this long groove 100a swings.
on the upper surface of the elevator main body 86, which is the area covered when
The guide groove 102 is shaped along the conveyance direction d mentioned above.
has been completed. This guide groove 102 is located in the elevator main body.
It is formed over almost the entire length along the conveyance direction d of 86.
Ru. [0075] Here, common to the long groove 100a and the guide groove 102,
The guide pin 104 is inserted in the vertical direction.
is provided. The head of this guide pin 104 has a diameter of
The grooves 100a and 102 are formed to have a large diameter.
is prevented from falling. With such a configuration
, by driving the servo motor ME2 to reciprocate,
The swing arm 100 is driven to swing, and therefore the guide pin
104 along the guide groove 102, that is, in the conveying direction d
[0076] Also, as shown in FIGS. 10 to 12, this guide
The lower end of the pin 104 is located within the elevator body 86.
In this state, the slide plate 106 is fixed. This sura
The side plate 106 extends along a direction perpendicular to the conveying direction d.
It is attached to the guide pin 104 so as to protrude. this
At both ends of the side surface of the slide plate 106 on the buffer 22 side,
, the first hook 108 is connected to the first hook slide member 11
0, along the longitudinal axis direction of the slide plate 106,
In other words, the slide is carried out along the direction perpendicular to the transport direction d.
installed so that it can be read. The first foot of this pair
108, each of the aforementioned palettes p1. p2. p3...
The first part on the elevator 26 side formed on the flange part 38 of
Formed in a shape that can be engaged from both sides in the notch 38a of
has been done. That is, the tip of this first hook 108 is
, an isoscele that complementarily matches the isosceles trapezoid that is the notch shape.
It is shaped like a trapezoid. [0077] On the other hand, on both ends of the slide plate 106, along the conveyance direction d,
In the extended state, the air cylinder support plates 112 are
It is fixed. This air cylinder support plate 112
A first hook 108 is reciprocated at the end of the buffer 22.
The first air cylinder C is installed to
Ru. The first piston of this first air cylinder CE1
The first hook 108 described above is connected to the tip of 114.
has been done. In this way, the first air cylinder C
In response to the drive of E1, the first hook 108 moves to the flange portion.
It is reciprocatingly driven to engage and disengage from the first notch 38a of 38.
It will be. [0078] Also, the side surface of this slide plate 106 on the stocker 24 side
At both ends, a second hook 116 is attached to a second hook slide.
in the longitudinal axis direction of the slide plate 106 via the door member 118.
In other words, along the direction perpendicular to the transport direction d.
It is attached so that it can slide. The first of this pair
2 hooks 116 are for each of the aforementioned pallets) pl, p
2, an unmanned part formed on the flange portion 38 of p3...
Can be engaged with the second notch 38b on the car 20 side from both sides.
It is formed into a flexible shape. [0079] 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
C is attached. This second air cylinder C
The aforementioned $2 is attached to the tip of the second piston 120 of E2.
hook 116 is connected. In this way, the
In response to the drive of the second air cylinder CE2, the second foot
The hook 116 is attached to the second notch 38b of the flange portion 38.
It will be driven back and forth to engage and disengage. Here,
A first or second hook 1 is provided on the lower surface of the beta main body 86.
08116 and rotates the servo motor ME2.
Sliding pallet (I) that is pulled in/pushed out according to
A pair of fixed slide guides 122 are provided to freely support
has been done. That is, both fixed slide guides 122 are
Flanges on both sides of pallet p to be pushed in/out
It is slidably set on the lower surface of 38. [0080] The height of the upper edge of both fixed slide guides 122 is set at the maximum height.
Pallet p3 with a large height of 100mm
It is set at a height sufficient to slidably support it, and
The standby position of this elevator main body 86 is on both fixed slides.
The upper end surface of the guide 122 supports the pallet p in the separation position.
, is set at a height that allows it to be received horizontally.
. [008] Also, each of the above-mentioned air cylinder support plates 112
At the bottom, there is a line along the same direction as the extending direction of the slide plate 106.
In the extended state, the mounting for the third hook is attached to the plate 124.
is fixed. Here, this installation is performed by the plate 124
A third hook 126 is provided at both ends of the side surface on the tocker 24 side.
slides through the third hook slide member 128.
Along the longitudinal axis direction of the plate 106, in other words, in the conveying direction
attached so that it can slide along the direction perpendicular to d.
ing. This pair of third hooks 126 are connected to the stocker 2.
4.Each empty pallet to be emptied in 1), I)2. p
311. A second notch formed in the flange portion 38 of
It is formed in a shape that can be engaged with the portion 38b from both sides.
. [0082] On the other hand, air cylinders fixed to both ends of the slide plate 106
A third hook 126 is provided at the lower end of the conductor support plate 112.
The third air cylinder CE3 for reciprocating the
is attached. This third air cylinder CE3
The aforementioned third foot is attached to the tip of the third piston 130.
126 is connected. In this way, the third air
- The third hook 126 in response to the drive of the cylinder CE3.
should be engaged and disengaged from the second notch 38b of the flange portion 38.
It will be driven back and forth. [0083] The third hook 126 is located under the elevator main body 86.
A guide groove 132 (
It is shown in FIG. ) below the elevator main body 86.
It has been taken out. Here, below the elevator main body 86
Under the surface, this third hook 126 allows the stocker 24
In order to slidably receive the pallet p' taken out from the
A pair of movable slide guides 134 are provided. Both movable slide guides 134 are received here.
The empty pallet p' is transferred to the unloading roller of the aforementioned unloading mechanism 76.
In order to place it on the 78th group, the direction perpendicular to the conveying direction d
In other words, if the empty palette p' received here is
It is configured to be slidable so that it can be removed from the That is,
As shown in Figures 10 and 11, both movable slide guides
The id 134 is connected to the element via the slide members 136, respectively.
It is slidably attached to the lower surface of the beta main body 86.
There is. On the other hand, on both sides under the lower surface of the elevator main body 86,
Air cylinder support plates 138 are fixed to each. Each air cylinder support plate 138 has a movable slide guide.
A fourth air cylinder C for reciprocating the door 134
E4 is installed. This fourth air cylinder
At the tip of the fourth piston 140 of CE4, the above-mentioned
A movable slide guide 134 is connected. in this way
Then, according to the driving of the fourth air cylinder CE4,
The movable slide guide 134 is attached to the flange of the empty pallet p'.
It will be driven back and forth to engage and disengage from the portion 38. [0084] In the switching mechanism 96 configured as described above, the part
Regarding the replacement operation of (re) I) and pallet p,
This will be explained with reference to FIGS. 13A to 13G. [0085] First, in the initial state, the elevator main body 86 is
The height position of 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 is at the same height.
It is set to take In addition, the exchange mechanism 9
6, the swinging arm 100 of this is shown in FIG.
so that it is at the middle position of the guide groove 102.
The initial state has been set. Also, each air cylinder
CE1. cE2” E3” E4 is supplied with high pressure air
corresponding hooks 108, 116, 126
and the movable slide guide 134 are respectively in the retracted position.
It is set to a drawn state. [0086] - Operation of importing from buffer - When such an initial state is set, the loading operation
From the bot 12, as mentioned above, from the robot 12
request, i.e. for a given pallet p in the stocker 24.
When the remaining number of part X reaches 1,
Based on the request to prepare for the change, the buffer 22
At the same time, the operation of separating a certain pallet p is started,
In this elevator 26 as well, in the buffer 22
The separated pallet) p is taken into the elevator main body 86.
The embedding operation is performed. [0087] That is, when the above-mentioned request is issued from the robot 12, this
First, in the elevator 26 shown in FIG. 13A,
From the state, the arrow in the servo motor ME2 force plate Figure 9
Rotate and drive in the direction shown by A to move the exchange mechanism 96 to the back.
Move it to the F22 side. With this movement, Figure 13B
As shown in FIG.
1 hook 108 is in the separated position in the buffer 22.
Formed on the flange portion 38 of the pallet p separated at
In the first notch 38a on the elevator 26 side,
It will be set so that it can be engaged from the side. still,
In the engageable state of the first hook 108,
This first hook 108 causes separation movement in the buffer 22.
It is set up so as not to interfere with the production in any way. [0088] In this state, the operation of the elevator 26 is in the waiting state.
This process continues until the separation operation is completed in the buffer 22.
The capture standby state continues. Then, the separation operation is completed.
Upon completion, a separation completion signal is issued from the buffer 22.
In response to the output of this separation completion signal, the switching mechanism 9
6 starts the operation of taking in the separated pallet p.
Ru. [0089] That is, first, high pressure air is supplied to the first air cylinder CE1.
Pallet p supplied and with the first hook 108 separated
The first notch portion 38 formed in the flange portion 38 of
engage a from the side. After this, servo motor ME2
The exchange machine is rotated as shown by arrow B in Figure 9.
The structure 96 is moved inside the elevator main body 86 along the transport direction d.
Incorporate into. Then, as shown in Figure 13C, the palette
The state in which the top p8 is completely taken into the elevator main body 86
At this point, the drive of servo motor ME2 is stopped, and the drive of servo motor ME2 is stopped.
After that, the first air cylinder CE1 is connected to the first hook 10.
8 is separated from the first notch 38 of the pallet p.
It works like that. [0090] In this way, the palette p separated by the buffer 22
is taken into the elevator 26. This acceptance letter
In the state, the switching mechanism 96 partially replaces the elevator.
24 from the main body 86 to the stocker 24 side.
has been done. Then, servo motor ME2 rotates in the direction shown by arrow A.
This switching mechanism is actuated as shown in Figure 13D.
96 completely within the elevator body 86.
made. [0091] Empty pallet retraction operation - After this, the servo motor ME1 is rotated to move the elevator.
The main body 86 is placed inside the pallet p stored in the stocker 24.
Then, the pallet that becomes empty when the part X stored in it disappears.
Lower the cutter p′ to the position where it is pulled in, and
The empty pallet p from the stocker 24 is
It will wait for a replacement request. [0092] This retracted position is the same as that of the stocker 24, which will be described later.
From the supply position of the pallet p to the robot 12,
The position above one pallet after parts have been supplied to port 12.
stipulated by. Now, as mentioned earlier, this palette
There are three different heights for the pull-in height.
There are three types of viewing positions depending on the height difference.
It becomes. [0093] Also, the elevator main body 86 facing this retracted position
The standby position is the flap of pallet p in the retracted position.
A replacement mechanism is provided in the second notch 38b of the hinge part 38.
The third hook 126 of 96 assumes an engageable height position.
So, it's set. In this way, elevator 2
The pull-in standby position of the empty pallet p' at 6 is defined.
It will be done. [0094] Meanwhile, the elevator brought to this pull-in standby position
In the exchange mechanism 96 in the main body 86, the above-mentioned
As shown above, part X is inside this elevator main body 86.
A fully loaded pallet p is moved between a pair of fixed slides.
is held on the id 122. [0095] In such a pull-in standby position, the stocker 24 is
Empty pallet p' is moved to the retracted position at
and the servo motor is activated upon completion of movement to this retracted position.
The 13th motor ME2 is rotationally driven in the direction shown by the arrow B.
As shown in Figure E, the third hook 1 of the exchange mechanism 96
26 is the flange part of the empty pallet) I)' in the retracted position
can be engaged with a second notch 38b formed in 38.
moved to position. After this, the third and fourth air series
High pressure air is supplied to each cylinder CE3”E4, and the third cylinder
The second notch 38b of the empty pallet p
At the same time, the movable slide guide 134 is pulled
The loaded empty pallet p' is placed below the elevator main body 86.
is extruded into a supportable state. [0096] After this, servo motor ME2 rotates in the direction shown by arrow A.
The empty pallet p' is moved under the elevator main body 86.
to draw towards. In this way, the empty pallet p can be moved
FIG. 13F in a state supported by the slide guide 134
As shown, it is held below the elevator main body 86,
The operation of pulling in the empty pallet p is completed. And the first
The third hook 126 on the air force plate C is empty.
away from the second notch 38b of the pallet p.
will be operated. [0097] - Pallet push-out operation - Here, in the retracted state of this empty pallet p,
The second hook 116 of the exchange mechanism 96 is attached to the fixed slider.
The second cut of the pallet p supported on the guide 122
It is brought into a state where it can be engaged with the notch portion 38b. Therefore, from this state, high pressure air is supplied to the second cylinder CE2.
supplying air, the second hook 116
2 to engage with the notch 38b. a [0098] On the other hand, in parallel with the above-mentioned second hook engagement operation, the
In the elevator 26, the servo motor ME1 rotates.
to lower the elevator main body 86 and remove the pallets inside.
Place the cut p opposite the pull-out position in the stocker 24.
position. Then, the servo motor ME2 is
Rotate in the direction shown by B, as shown in Fig. 13G.
, the pallet p is transferred from inside the elevator main body 86 to the stocker 2
4. Push it out to the empty storage position. After this, the second
The air cylinder CE2 has a second hook 116 attached to the pallet.
operation to separate from the second notch 38b of the top p.
be done. Then, servo motor ME2 rotates in the direction shown by arrow A.
The switching mechanism 96 is driven into the elevator body 86.
to draw into. In this way, the stocker 2 of pallet p
The push-out operation to 4 is completed. [0099] Unloading operation of an empty pallet - As described above, the empty pallet p' and the parts X are fully loaded.
When the replacement operation with pallet p is completed,
The lower part of the elevator main body 86 is
An empty pallet p' is supported. Therefore, this empty palette
The cut p' must be placed on the carry-out roller 78 of the carry-out mechanism 76.
Then, the pulse motor ME1 rotates and the elevator main
The body 86 is lowered, and this empty pallet p' is transferred to the carry-out roller.
If no empty pallet p' is placed on 78,
Directly above this carry-out roller 78, also carry-out roller 78
If an empty pallet p' is already placed on top, this
is moved directly above the empty pallet p already placed on the
let And after this, the fourth air cylinder CE4 force
Operates to pull in the eight movable slide guides 134,
The empty pallet p' supported by the elevator main body 86 is
, and are stacked on the carry-out roller 78. child
The empty packages piled up on the carry-out roller 78 are
When the number of lets p' reaches a predetermined number, each discharge roller
78 is rotationally driven, and the stack of empty pallets p is
, the unmanned vehicle is transported to the bottom of the buffer stand 52, and then
20 empty pallets are carried out onto the mounting table 34. like this
Then, the -th series of empty pallet unloading operations is completed. [01001 On the other hand, after the empty pallet p' is discharged to the unloading mechanism 76,
In the elevator 26, the servo motor MEl is rotationally driven.
to raise the elevator main body 86 and return to the initial stage described above.
position, i.e., opposite the separation position in the buffer 22.
It will be moved to this location and will be put on standby. [0101] (Description of stocker) Next, the stocker is provided adjacent to the robot 12, and this robot
12, include parts Xi, X2, X3, etc. necessary for assembly.
Regarding the configuration of the stocker 24 that supplies sequentially according to the assembly order.
This will be explained with reference to FIGS. 14 to 16. [0102] Configuration of Winter Friend As shown in FIG. 14, this stocker 24 has a
It is fixed on a base and is common to the elevator 26 mentioned above.
The base 142 and each of the four corners of this base 142 were erected.
Supports 144a, 144b, 144c, 144d and this
and the upper ends of the supports 144a, 144b, 144c, and 144d.
A connecting frame 84 that connects each other is provided. Here,
Pillars 144 of each village on the elevator 26 side and the robot 12 side
a, 144b: opposite each other in 144c, 144d
In order to
A door member 148 is fixed. And each guide member
148, a sliding member 150 is movable up and down along this
is attached. These four sliding members 150 have four corners.
Lifting frame 1 configured in a substantially rectangular parallelepiped shape with
52 is attached. [0103] This elevator frame 152 is pushed from the elevator 26 mentioned above.
As will be described later, the robot 12 is used to assemble the robot 12.
A plurality of pallets p are pulled out to the drawer part 154.
It can be stored in tiers and in a drawer standby position (described later).
It is configured such that it can be pulled out one by one. Therefore, the inner surface of the lifting frame 152 along the conveying direction d is
is a plurality of shelves on which the flange portion 38 of pallet p is hung.
With the plates 156 each extending horizontally, and in the vertical direction
Fixed at equal intervals of approximately 30 mm along the
has been done. [0104] Here, each shelf board 156 has a center portion thereof as shown in the figure.
(In other words, the pallets p placed on each shelf board 156
A third notch 3 formed in the center of the flange portion 38
A notch 158 is formed in the part opposite to 8C).
ing. That is, this notch 158
54 for opening the lid 40 of the pallet p pulled out.
Lifting of the opening mechanism 170 (shown in FIG. 15), which will be described later.
It is formed so that the arm 160 can be inserted therethrough. [0'105] On the other hand, the pair of columns 144b on the opposite side in FIG.
: In the part sandwiched by 144d, there is a
When it is out, the space is defined. Rush into this space
In the extended state, the above-mentioned elevating frame 152 has a protruding piece 16
2 are integrally formed. [0106] Also, a pair of support columns 144c on the opposite side: Above 144d
The portion of the connecting frame 84 that connects the ends to each other has the above-mentioned parts.
The lifting frame 152 is moved up and down along the guide member 148.
A servo motor Ms1 is provided for the purpose of This service
-The motor Ms1 has a rotating shaft extending along the vertical direction.
This rotating shaft is connected to both branches 144c and 144d.
A bolt is rotatably arranged between the two and extends vertically.
connected so as to rotationally drive the wheel screw 164.
. On the other hand, the midway portion of this ball screw 164 is
It is screwed into the protruding piece 162. In this way, the servo motor
Due to the rotation of the rotating shaft of the motor Ms1, the ball screw 164 is rotated.
Rotationally driven, the lifting frame 152 is moved up and down.
It becomes. Incidentally, the vertical movement of this lifting platform 152 is as described above.
Feed at an integer multiple of 30 mm, which is the arrangement pitch of the shelf boards 156.
The amount is set to be set. [0107] Note that this servo motor Ms1 has its rotational position, immediate
In addition, an encoder for detecting the height position of the lifting frame 152 is used.
A carder 94 is attached. Elevating and lowering with the above configuration
The frame 152 can be moved up and down to any height position.
It is something. [0108] Needle Mountain U Rhyme q Configuration Next, referring to FIG.
The configuration of is explained below. [0109] This drawer portion 154 is not used for assembly by the robot 12.
The pallet p containing the parts
It is provided to receive and hold, and basically it is not shown in the figure.
A drawer stand 16 fixed at a predetermined height position from the base.
8, and on this drawer stand 168 is a lid opening machine to be described later.
The lid body 40 is removed by the mechanism 170 (shown in FIG. 15).
Inserting and removing the pallets) p from the lifting frame 152
An insertion mechanism 172 is provided. [01101 This drawer stand 168 is attached to the support 144 on the robot 12 side.
A pair of support stays 174 fixed to a and 144c, respectively.
It is fixed in horizontal position through. this drawer stand
The pulled out pad is attached to the end of the robot 12 side of 168.
The tip of the pallet p is brought into contact with the pallet p and the pallet p is pulled.
A stopper 176 is attached to define the ejection position. Further, on both sides of this drawer stand 168, there are
A pair of slide guides 178 are provided along the
ing. Note that the upper end surface of these slide guides 178,
In other words, the slide support surface is in a stopped state during intermittent feeding.
Each shelf board 156 of the elevator frame 152 in the
It is set to match. In addition, if you slide it like this
Shelf board 15 in horizontal alignment with door guide 178
The pallet p supported by 6 is in the standby position for pulling out.
Defined as a pallet. [0111] Further, the above-described loading/unloading mechanism 172 is
They are arranged symmetrically on both sides of the drawer stand.
168, extending along the conveyance direction d.
The provided guide member 180 and each guide member 180
A slidably attached sliding member 182 and each sliding part
A support plate 184 is fixed to the upper surface of the material 182.
Ru. On each support plate 184, there is a drawer stand for the elevating frame 152.
Formed on the flange portion 38 of pallet p in the machine position
Hook 1 capable of engaging with first notch 38a
86 can move forward and backward along the direction perpendicular to the conveyance direction d.
It is provided. [0112] On the other hand, on this support plate 184, there are
for moving the hook 186 forward and backward in the state where it is located at
Air cylinder C81 is attached. this air
- The piston of cylinder C81 is connected to the corresponding hook 186
is connected to and supplies high pressure air to air cylinder C81.
By supplying the above-mentioned notch 38a,
It is set to be pushed out at the same position. [0113] Also, the end of each side edge of the drawer table 168 on the robot 12 side
A drive roller 188 is rotatably fixed to the shaft.
, and an idle roller 1 at the end on the elevator 26 side.
90 is rotatably fixed on the shaft. Drive at each side edge
The roller 188 and the idle roller 190 have an endless roller.
The belt 192 is wound, and the drive roller 188
This endless belt 192 is driven by rotation.
will be moved. In addition, the drive rollers 1 on both side edges
88 are connected to each other so as to rotate together via a connecting shaft 194.
is connected to. [0114] Here, the support plate 184 at each side edge
It is fixed to the dress belt 192 and is an endless bell.
According to the running of the tray 192, the top of the drawer table 168 is conveyed.
It will be reciprocated along the direction d. Also, the drive
A driven roller 196 coaxial with the roller 188 is fixed to the roller 188.
It is. On the other hand, the center of the side edge of the drawer stand 168
A servo motor Ms.
2 is installed. The drive of this servo motor Ms2
A drive roller 202 is fixed coaxially to the moving shaft. This drive roller 202 and the above-mentioned driven roller
An endless belt 204 is wound around 196.
Ru. [0115] With the above configuration, this servo motor Ms2 can rotate.
By rotating, the drive rollers 188, 202 rotate.
Therefore, the endless belt 192 is driven to -35
= The hook 186 is driven to travel, and the hook 186 is moved along the conveyance direction d.
It will be moved back and forth. [0116] Lid opening mechanism Ω groove Next, with reference to FIGS. 15 and 16, the lid opening mechanism
170 will be explained. This lid opening mechanism 170 is
Inside the lift frame 152, the pallet in the drawer standby position
The gourd is placed in the gourd drawer position via the loading/unloading mechanism 172.
Prior to the pulling out operation, the pallet p was covered with
Lift the lid 40 upwards and release the puller on the drawer base 194.
In other words, only the pallet p is at the unloading position, in other words, the robot
It is possible to take out part X stored inside by cut 12.
The pallet p set in the state will be pulled out.
It is set up for the purpose of [0117] Here, as shown in FIG. 15, this lid opening mechanism 17
0 is a pair of supports 144a and 144c on the robot 12 side.
The air shield attached to the side of the elevator 26 side
cylinder C82 and the piston of this air cylinder C82
A lifting arm 160 attached to the tip of the
It is growing. This air cylinder C82 is the piston of this
The sliding direction of the pin 206 is in a plane perpendicular to the conveyance direction d.
and face the lift frame 152 at an angle of 45 degrees from the horizontal direction.
It is installed at an angle so that it rises. [0118] Also, a lift attached to the tip of this piston 206
The arm 160 is fixed to the piston 206 and
A main body portion 160a extending along the extending direction of 206;
It is integrally formed at the tip of this main body part 160a, and
It has a surface 160b and an outer part of this upper surface 160b.
and a protrusion 160c that protrudes upward.
There is. Here, this air cylinder C82 is a high pressure air cylinder.
It has two input ends 208a and 208b, one of which
When high pressure air is supplied to the input end 208a, the piston
The lifting arm 160 is moved by retracting and driving the pin 206
The tip is biased to a retracted position away from the lid body 40,
Furthermore, when high pressure air is supplied to the other input end 208b,
To do this, the piston 206 is pushed out and the lifting
The tip of the arm 160 is at the push-out position where it engages with the lid body 40.
It is configured to be biased. [0119] Furthermore, the arrangement of the air cylinder C82 configured in this way
The position, i.e. the height position, is the lifting position in the extrusion position.
The upper surface 160b of the tip of the arm 160 is in the pull-out standby position.
The third notch of the flange portion 38 of the pallet p located at
The lower portion passes through the portion 38c and is placed on the lid body 40 that is placed over the portion 38c.
It is set so that it can be engaged from both sides. [0'120] In the lid opening mechanism 170 configured in this way,
According to the vertical movement of the lifting frame 152, the lift frame 152 is moved to the drawer standby position.
In this drawer standby position for the pallet p that has been
As soon as it is detected that pallet p has arrived, the lid opening machine
The operation of the system 170 is started. In other words, the air cylinders on both sides
High pressure air is supplied to the second input end of the cylinder C82, and each
The piston 206 is pushed diagonally upward. [0121] As a result, the grips connected to the tips of the piston 206 respectively
The tip of the raising arm 160 is attached to the pull-out standby position.
formed at the center of the corresponding flange portion 38 of the let p.
passing through the third notch 38c, respectively, and both lifting abutments.
The upper surface 160b of the tip of the arm 160 is connected to the lid body 40 from below.
This will lift both sides of the rim. In this way, as shown in FIG. 16, the lid body 40 is
Move upward away from pallet p in the drawer standby position.
Therefore, this pallet p is
It is ready to be pulled out to the position. [0122] On the other hand, in the pallet p pulled out to the pull-out position
, the operation of taking out part X by the robot 12 ends.
Then, this pallet p is placed in this drawer standby position again.
When the force plate is returned, the air cylinder
In the converter C82, high pressure air is supplied to the first input end.
be done. In this way, the lifting arm 160 is
During this downward movement, the odor is
Then, the lid body 40 is attached to the pallet that has been returned to the pull-out standby position.
It is placed over the pallet p so as to cover the top surface of the pallet p.
Become. In this way, the series of lid opening operations is completed.
. [0123] The lid 40 was removed by the lid opening mechanism 170 as described above.
Pull pallet p from the pull-out standby position to the pull-out position.
Pull out the drawer and return it to the original drawer standby position.
The loading/unloading operation in the loading section 154 will be explained below.
. [0124] First, in the initial state, the hook 186 is connected to the servo motor.
Move in the direction opposite to the transport direction d by driving the motor Ms2.
and the flap of pallet p in the drawer standby position.
A position where the first notch 38a of the hinge part 38 can be engaged
is being brought to. In addition, in this state, the air cylinder
C81 is set with the hook 186 retracted.
There is. [0125] From this initial state, the lifting operation of the lid body 40 starts.
At the same time as the air cylinder C81 is started, the air cylinder C81 operates.
The hook 186 is attached to the pallet p in the drawer standby position.
1 notch 38a. After this, the lid body 40 is
Upon completion of the push-up operation, servo motor Ms2
The hook 185 is rotated in the opposite direction to the previous time, and as a result, the hook 185 is
, moves along the transport direction d. That is, this hook 18
The pallet p in the drawer standby position where 6 is engaged is
, is pulled out from the lifting frame 152 onto the drawer stand 168.
It turns out. In addition, this pulled out pallet p has a pair
It will slide on the slide guide 178 of. [0126] While sliding on the slide guide 178 in this way,
The pallet I-p that has been pulled out along the conveyance direction d is
It stops when it comes into contact with the stopper 176, and the servo motor
The drive of the motor Ms2 is also stopped. In this way,
The kit p is held in the pulled out position. [0127] After this, the robot 12, which will be described later, moves this drawer position.
Work to take out part X from pallet p brought to the location
With the completion of this retrieval work, the
The motor Ms2 rotates in the opposite direction again to rotate the foot
186 in a direction opposite to the transport direction d. this
In this way, the pallet p is directed toward the lifting frame 152 again.
It will be returned to you. Then, palette p is completed.
When the servo motor M is completely returned to the elevating frame 152,
The drive of s2 is stopped, and the pallet p is placed in the lifting frame 152.
will be retained. [0128] After this, the lid 40 in the lid opening mechanism 170 described above
The putting operation is executed and a series of putting in and taking out operations is completed. (Description of the robot) Next, referring to Figures 1 and 2, the buffer described above will be explained.
22, parts supply system equipped with elevator 26 stocker 24
After receiving parts X from the stem 14, assemble the specified product.
The configuration of the standing robot 12 will be schematically explained. [0129] Configuration on concave boss As shown in FIG. 2, this robot 12 has a stocker 2
4 including the part located below the drawer part 154.
It is equipped with an assembly stage 210 arranged horizontally.
Ru. On one side of this assembly stage 210, a pair of pedestals 2 are provided.
12 is erected, and on the drawing stand 212 is a robot.
12 X-axis (axis extending in the direction along the conveyance direction d)
An X-axis robot arm 214 is attached to the rack. Moreover, on this X-axis robot arm 214, a robot
12 Y-axis (axis extending in the direction perpendicular to the conveyance direction d)
One end force plate of the Y-axis robot arm 216 that defines
It is supported so as to be movable along the direction. [01301 Also, the supply system side of this Y-axis robot arm 216
The Z-axis (extending along the vertical direction) of the robot 12 is shown on the side of the
A robot arm 218 is provided that defines the axis of output.
ing. This robot arm 218 moves along the vertical direction.
It is configured to be movable along the Y axis.
and is configured to be rotatable. [0131] That is, on the X-axis robot arm 214, the Y-axis robot
The arm 216 is moved along the X-axis direction (transport direction d).
A servo motor MR1 is provided for the purpose of adjusting the position. Also
, the robot hand 2 is mounted on the Y-axis robot arm 216.
18 along the Y-axis direction (direction perpendicular to the transport direction d)
Servo motor MR2 for movement and X-axis direction (upper
Servo motor MR3 for moving along the
and a servo motor for rotating the robot arm 218.
A data controller MR4 is provided. [0132] Here, on the bottom surface of this robot hand 218, there is a
Parts X1. Finger 22 corresponding to X2, X3,...
0 is removably attached. This finger 22
0 is configured to grip the corresponding part
, other frames corresponding to the remaining parts Xi, X2, X3...
The finger 220 is provided on the X-axis robot arm 214.
It is housed in the finger station 222 so that it can be taken out freely.
It is. Note that there is a frame on the assembly stage 210 mentioned above.
A slanted assembly table for assembling the part X held by the finger 220
224 is provided. In addition, the input device 18 described above
is adjacent to the side of one pedestal 212. Part X in the robot 12 configured as follows
The assembly operation of the product will be explained below. [0133] First, in the initial state, the robot hand 218 is
It is positioned above the extraction section 154. this state
The necessary parts X are stored according to the predetermined assembly order.
The loaded pallet p is moved from the stocker 24 to the pull-out position.
As it is being pulled out, the pallet p will be in the pulled out position.
From the moment it is detected that the servo motor M
R3 rotates and lowers the robot I hand 218.
Then, the gripping operation of the part X by the fingers 220 is executed.
Ru. When the gripping operation of part X is completed, the servo motor
The robot hand MR3 rotates in the opposite direction.
218 and apply the servo motors MR1' and MR2.
It is rotated as needed and moved onto the assembly table 224. [0134] Then, rotate the servo motor MR3 again to
Lower the bot hand 218 and place it on the assembly table 224.
Then, the assembly operation for part X is executed. This assembly operation is completed
Then, the grip state of the part X by the robot fingers 220
The state is released and servo motor MR3 rotates in the opposite direction.
Then, the robot hand 218 is raised. After this, servo motor MR"R2 is rotationally driven,
The robot hand 218 returns to the initial position described above.
be done. In this way, if we focus on one part
The series of assembly operations in is completed. [0135] Furthermore, while such a series of assembly operations is being executed,
Then, the robot hand 218 receives the grip of the part X.
Supply of girder pallet p, that is, part X to robot 12
The robot hand 218 removes the pallet p that has been finished with the pallet p.
from the upper position of the cut p to the assembly position, and again this pallet
Until it returns to the upper position of the cut p, the next assembly work
A pallet p containing parts X required in the process and
The insertion and removal operations are executed. [0136] Here, one part X in the robot 12 mentioned above is
The time required to assemble the pallet)
0.3 seconds, 0.2 seconds for gripping part X, pallet P?
0.3 seconds for the upward movement of the assembly table 224, and the upward movement of the assembly table 224
0.5 seconds to move, 0.3 seconds to lower to the assembly table 224,
0.0 for the assembly operation on the assembly table 224. 2 seconds, assembly table 224
0.3 seconds for the rising motion from the top of the pallet) 1)
Since it takes 0.5 seconds to move in the direction, the total time is 2.
．． It is set to 6 seconds. [0137] The operation of taking in and out the pallet p is carried out by the robot 1 described above.
During operation time 2, the robot hand 218 picks up the pallet.
From the upper position of pallet p after being lifted from p
, must be executed before being returned to this upper position again.
No. In other words, the robot hand 218
- descends from the standby position above p and onto pallet p.
grip part X and raise it to the upper position of pallet p.
It is prohibited to take in or take out pallet p until it is lifted up.
At times other than this, pallet p is put in and taken out.
There must be. For this reason, pallet loading and unloading operations
The allowable time is 0.5+0.3+0.2+(13+0.5=1.8 seconds)
The maximum time will be specified. In other words, this 1
．． If the loading and unloading operation of pallet p is completed within 8 seconds,
, without stopping the assembly operation in the robot 12.
The supply operation of component X will be achieved. For this reason
, in the stocker 24 mentioned above, within this 1.8 seconds
The movement of pallet p is
The production time is set. (System operation) The following is how to control the operation of the FAC system of this embodiment.
I will explain about this. <Configuration of control unit> Figure 18 shows the control unit that controls the FAC system of the embodiment.
The module configuration of the knit 16 (FIG. 2) is shown. mentioned above
As mentioned above, this FAC system has robots, stockers, and machines.
The main components are a elevator and a buffer. This above
As mentioned above, these components are mechanically modularized.
It is also modularized in terms of control. That is, the control unit 16 includes a master that controls the robot.
Microprocessor board, microprocessor board that controls the stocker
Processor board, microprocessor that controls the elevator
board, a microprocessor board that controls the buffer, and
It has four microprocessor boards called
Microprocessor boards use well-known multipath interfaces.
connected by a face. 4 microprocessor boards
The management microprocessor board is located above it.
System management is performed by the code. Management microphone above
The input/output device 18 shown in FIG.
232 interface, and this general
An input/output device using a personal computer 18
The assembly environment of this FAC system (e.g. inside a pallet)
Specify the parts included in the process, process order, etc.)
. [0138] The internal force plate of the control unit 16 as shown in FIG.
This F is modularized for each controlled object.
The AC system is subject to the installation light conditions, e.g. environment, constraints.
Considering the above, the above module can be selected as an option.
In addition, the above assembly environment can be input/output
You can freely change process settings etc. by inputting from device 1.8.
As the name suggests, this FAC system has
allows you to reorganize your system environment in a “flexible” manner.
It was made by sea urchin. This is based on the previously mentioned FAC system.
Program description of the control unit for basic configuration
Furthermore, various equipment configurations evolved from this basic configuration.
From the explanation of the modified examples and modified examples of the program, it is obvious that
It will become clear. <Input of assembly environment> The technical philosophy of this FAC system is not limited to manufacturing only.
, ultimately, multiple groups of items prepared in advance.
(Each group of goods includes only goods of the same means)
items one by one in a predetermined order that had been previously determined.
, and then move the selected item to a certain - point
It means "supplying" towards. And above
The above-mentioned points are selected from a plurality of groups of articles prepared in advance.
When goods are supplied to
do. Therefore, what is the technical philosophy of this FAC system?
, for this group of goods, efficiently and at the above-mentioned point.
“Replenish” new goods without stopping supply to
It can be summarized in that. Technical concept of this FAC system
The application of this concept to product assembly is detailed below.
Automatic assembly by robots in the narrow sense of FAC
Yes, in this narrow sense FAC system, "supply of goods"
corresponds to the “supply of parts” to the robot by the stocker.
, "Replenishment of goods" includes buffers, elevators (and even
(including unmanned vehicles, unmanned warehouses, etc.)
This corresponds to the supply of parts. Therefore, F in this narrow sense
The “assembly environment” in the AC system is explained below.
Ru. [0139] The display screen of the input/output device 18 is shown in FIGS. 19A to 19C.
shows. This display screen is displayed when the operator uses the included keyboard.
This is a screen for inputting and changing various assembly environments.
In addition, the current control status is displayed as the control progresses.
It is also a screen for viewing. [01401 The assembly environment of this FAC system includes, for example, pallet information.
etc., that is, for a certain part, its part name, its
A shelf position S in the stocker of a pallet that accommodates parts;
The total number of parts T that can be accommodated on a pallet, the pallet
Thickness eH1 A robot assembles the parts and finishes them into a product.
program number P for
Barcode B attached to the part, to be used for that part
Finger number F etc. attached to the robot hand
It is. In this FAC system, as shown in Figure 3,
Standard size pallets are used. Therefore, the parts
assembly program P (for example, screw tightening).
(e.g.), the standards for the pallets that will accommodate the parts have been decided.
Put it away. The pallet is determined by the number of pieces that can be accommodated in the pallet.
T, pallet thickness H, etc., which depends on the height of the parts, is determined.
That's true. [0141] The used parts table in FIG. 19A is independent of the process order,
While the operator is looking at the CRT display screen of the input/output device 18,
The part name, the total number of pallets that accommodate the part T, and
The thickness of the pallet Hl The bar code of the part B, the part
Number F of the robot finger necessary for assembling the product and
The program number P is entered. Other,
The process sequence number G and stocker shelf position S are based on the process sequence table described later.
At the time of blue input, the management module program (first
(Fig. 8) automatically displays the input on behalf of the operator, and also displays the remaining information.
The number Z changes as the process progresses.
, for this Z, the above management module program also tells the operator
Instead, the latest updated number of remaining items is displayed. During the parts table input process, each part is given an index number I.
DX is assigned. Once the IDX is assigned, the book
In the FAC system process order manual process (Figure 19B), this
The part can be identified by the IDX@ number, so the part name can be directly
It's easier than typing. [0142] In the specific example shown in FIG. 19A, the component index ID
The part name for the pallet with "X is 11" is "screw" and the pallet is
The number of items stored in the kit is 38, and the pallet thickness is 50mm.
The ram number is entered as l-1001, and the part index is
For the pallet whose IDX is 12, the part name is “Natsuto,”
The number of items stored in the pallet is 13, the pallet thickness is 25 mm,
The program number is manually set to ``200j'' and the parts index is
A pallet with a wash IDX of "3" has a part name of "washer".
The number of items stored in the pallet is 54, and the pallet thickness is 1.
00mm, enter the program number as "300"...
...There's a lot of yelling. [0143] Note that the assembly environment information input by the operator above is
If we do, everything will be uniquely determined. be
The parts needed to assemble a product are usually known in advance.
Therefore, the package that accommodates those necessary parts is
Lets, programs, fingers, etc. are also uniquely determined. Therefore, when managing multiple units of this FAC system at the same time,
Central production control computer system (Figure 18)
You may also provide this information. [0144] To assemble parts into a product, information about the parts alone is not enough.
There are not enough parts, and it is important to assemble which parts and in what order.
. Therefore, the operator of this FAC system can use various products.
During assembly, we restore all the parts necessary for each process.
and input it into the process order table (Figure 19B) on the CRT.
To go. In the input process, the process order is from the beginning in the input order.
1.2.3..., and the number is assigned to the variable G
It is said that for instructing which parts to use in each process.
Input is performed by the operator inputting the parts index ■DX.
It is done by. Furthermore, the process order table shows the
Which shelf position S [G
] and enter it. Enter this S [G]
The need to strengthen the system is based on the following points. In other words, the process is different.
However, the same parts may be used, and this same
Since the parts are stored on the same pallet, the above
This is because the process may require pallets with the same shelf.
be. The details of the process order table entered in this way
An example is shown in Figure 19B [0145] Figure 19B shows how to assemble a specific product from multiple parts.
Enter the parts needed to complete the process and their process order.
Is displayed. The process order is 64 processes from 1 to 64 in this F.
Can be defined in AC system. The operator follows the process order.
So, while looking at the parts table display in Figure 19A,
The product IDX and shelf position S [G] are input one after another. The program number P2 part name in the process order table is
This is inserted by the program. This process sequence
In the bull, process number G and parts index IDX are related.
Once attached, the parts table (Figure 19A)
The process number G and the pallet used for that process are associated.
It will be done. [0146] In addition, the input of S [G] in the process order table input is for one part.
/ 1 process / 1 shelf, that is, the same type of parts are different
When using in a process where pallets are placed on different shelves.
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 be known from the parts table, the operation
The management program operates even if the person does not input S [G].
Calculate the shelf position S [G] on behalf of the author and enter it in the table.
I can do it. Intentionally processing the same part in different ways
Even the process is like taking it out from the pallet on the same shelf.
When assembling the order, the operator should consider the pallet thickness H.
Therefore, it becomes necessary to input S[G]. Department
As with inputting the product table, the process order is
Is the product decided in advance in the production plan?
The predetermined process order is then controlled by central production management.
This FAC system is sent from the computer system via the communication line.
You can also enter it into the stem. <Variating factors for efficiency of parts supply> Now, in the FAC system, the order of "supply of goods" (i.e.
, assembly order (process order) improves the efficiency of "supply of goods"
have an extremely large impact. Assembly cycle of this FAC system
The basic premise is one part/one process. parts supply, parts
The factors that influence the efficiency of replenishment are the pallet thickness eH
[G] and which pallet to place on which shelf position S[G]
It's up to you. What is the total pallet thickness H in the stocker?
Limit the number of pallets that can be stored. This FAC system can be stored on the maximum number of shelves in the stocker.
Assemble products from parts within the number of pallets. subordinate
Therefore, the number of pallets is limited depending on the pallet thickness H.
This means that if multiple steps are required to assemble one product,
If the same parts are used in the
The total number of pallets can be reduced by
I am forced to do so. Same pallet in multiple different processes
If you take out the parts inside, the stocker will move up and down.
becomes random, and the supply speed of the stocker to the robot
associated with a decline. In this way, the process order G and the pallets)
H and shelf position S [G] are related to efficiency and thickness.
Therefore, when creating a process order table, these various items are required.
It must be prepared carefully, taking into account the requirements. Also, accommodation
Since the number T [G] is also determined for each part, assembly
Accordingly, the frequency and order of occurrence of empty pallets are also affected.
Replacement of empty pallets, i.e. movement of elevators and buffers.
This is because it also affects the efficiency of production. [0147] Figures 17A to 17E assume that the pallet thickness H is the same.
The total number of items accommodated T [G] and the shelf position S [G] are
It explains how it affects the Figure 17A is the simplest example, and even if the parts are different, each
The T[G] of the pallets in the process is the same, and
Each pallet was placed on a shelf in process order (i.e., S
is in normal order). In this case, the palette
The process sequence is such that the parts become empty at the
, the movement of the stocker also moves upward. [0148] Next, parts A and B are required for assembly, and the order of assembly is also
It must be A-A-B, and there are 10 parts on a pallet.
If 0 pieces can be accommodated and 50 pieces of B parts can be accommodated.
Assume that [0149] Figure 17B shows steps 1 → 2 → 3 from each pallet in order.
This is a case where parts A-+A-+B are taken out. in this case
, the movement of the stocker moves upwards in an orderly manner and the pallet
Requires many pallets and force plates that are not frequently replaced.
[0150] Figure 17C shows that in step 1.2, the
It involves using parts. In this case, the stocker
Movement is orderly, pallets are not frequently changed, and
There is no waste of pallets. Special characteristics of assembly, process order G
, an ideal one that takes into account the parts capacity T of the pallet.
It is. [0151] When the assembly order is A, B-A, the process order and shelf position are
If you do it as shown in Figure 17D, there will be waste in the number of shelves, but
The stocker moves in an orderly manner. I did it as shown in Figure 17E.
When there is no waste in the number of pallets and pallets can be replaced easily.
The continuous movement of the force plate stocker causes intense vertical movement.
arise. [0152] Above are specific examples, assembly order, process order G, number of parts.
T[G], Shelf position S[G1 Power supply and replenishment efficiency of plate products
explained how it affects. This FAC system
analyzes the factors that affect the efficiency of the above factors.
, does not provide optimal assembly order or parts supply planning.
However, once the assembly plan and process order are
or as determined by the production control computer.
It can flexibly adapt to process orders and plans such as
Supply parts to the robot most efficiently within the range, and
, for replenishing the stocker with parts. That is,
The process order G, shelf position S [G], etc. are as shown in Figure 21A.
The idea is to make these variables into variables and deal with them flexibly. [0153] Furthermore, as shown in FIG. 17A, for example, if the pallet in the stocker
Enter the process order table so that the placement order is the process order.
The purpose of this is to provide "flexibility" to this FAC system
Along with “softness”, how can it hinder assembly operations by robots?
How to efficiently supply parts to robots by avoiding
This is because the main focus is on In other words, the pallets in the stocker
The order in which the pieces are placed does not have to be in the order of the process; for example, on a pallet.
Arrange the parts in the order in which they become zero and need to be replaced.
Also good. However, the main focus of this system is robot movement.
Control for supplying parts to robots without interfering with operations
The number of parts stored in a pallet varies depending on the parts.
Therefore, the pallet replacement period is not necessarily within the stocker.
It is difficult to predict because the order of loading is not followed, and the order of loading is difficult to predict.
Flexibly responds to changes in the number of remaining parts due to parts picking mistakes
What can be done and how to enter the process order as shown in Figure 19B.
In view of the fact that the force is ergonomically appropriate, this implementation
In this example, the order in which the pallets are placed is the order of the processes. subordinate
So, the pallets I in the stocker are placed in the order of the process.
Robots, stockers, and electric
Programs to ensure proper control of beta etc.
The basic configuration example and its
This will become obvious from the explanation of the control of the modified configuration example.
There will be. [0154] Shelf board 1 of the stocker shown in FIG. 14 of this FAC system
In this embodiment, 56 has a total of 20 stages,
From top to bottom: 1st row, 2nd row, etc. 20th row
. As shown in Figures 14 and 20, each shelf board is spaced evenly (
approximately 30 mm). Therefore, three types of thickness
(25mm, 50mm, 100mm) pallets
For example, 1100rn
A thick pallet would occupy four shelves. 19th A
In the specific example shown in the figure, the IDX in the first step is “jl”.
The pallet containing the “screws” is placed on the first shelf.
and inserting the “washer” which is IDX “3” in the second step.
The pallet is placed on the third shelf, and the pallet is placed on the third shelf.
The palette that contains “Natsuto”, which is IDX “2” of Hodo, is
, will be placed on the seventh shelf. A palette
On the shelf board of the truck (i.e., the stocker position in Figure 19A)
As mentioned above, whether it is placed on the number S) depends on each part.
The management program calculates and determines the thickness of the let.
or the operator should decide and input it considering efficiency.
Display them in order in the table shown in Figure 9A. [0155] In this way, the operator can
After entering the required minimum information, the management program will:
In the parts table, process order, stocker placement number S, etc.
It calculates and displays it, so you can easily understand complex and huge assembly environments.
The settings are extremely easy to operate, and changes can be made as described above.
Since you only need to change the input information, there are no process changes or parts changes.
You can respond more flexibly. <Other display elements> Figure 19C shows the icons (pictures) on the display screen of the input/output device.
character keys). “Continuous” refers to normal continuous assembly/parts.
This is a key that instructs the product supply operation mode, and this "continuous"
When a key is pressed, the management microprocessor (Figure 18)
The 5INGLE flag in the memory (not shown) is “0”°
be made into is set to continuous operation mode and then
When the ``Start'' key is pressed, the ``Stop'' key is pressed.
continues until an error occurs and the system stops.
The system works properly. “Single” means a single operating model.
When this key is pressed, the 5INGLE
The flag is set to “1'' and the “Start” key is pressed.
each time a single operation (each module performs that single operation)
(with different ranges of operation) are executed. Figure 21A shows variables used for control by the microprocessor of each module.
Common variables (global) that are commonly used (accessible)
variable). These variables are arranged in a two-dimensional array.
Arranged and indexed by argument G (process number)
. The replacement flag I [G] is the process order G (i.e., the
The pallet on the Gth shelf from the top in the rack is empty.
This is a flag indicating that. Many of the other common variables
Figure 19A. Since it is the same as that shown in FIG. 19B, the explanation will be omitted. [0156] FIG. 21B shows robot to elevator and buffer
Instructions for preparing the replacement pallet to be sent (remaining items on the pallet)
When the number Z becomes 1, move it to the elevator and buffer.
In order to queue the
, the save area for its process number (El, E2.Dl, D2)
It is a. As can be seen from Figure 21B, the number of queues is
There are 2 pieces. The reason for using two is that it is used in this example.
Consider the mechanical speed (e.g. motor speed) of each module.
Considering that, in the worst case, three or more queues will not occur.
be. Of course, this may actually depend on the device you use.
Since the speed changes, increase the number of queues to 3 or more.
Good too. Furthermore, how is this queue used in this example?
Whether it is possible will be discussed later. <Vertical movement range of each module> Using Figure 22A, determine the vertical movement range of each module.
Explain the surroundings. [0157] As for the buffer, there is an unmanned vehicle located 900mm above the floor.
The buffer stand 52 receives the pallets piled up.
. The first separation claw picks up the pallet above the pallet to be separated.
The position where the clock is latched (referred to as the "-hour storage position") is on the floor.
1410mm, the second separation claw hooks the pallet to be separated.
The stopping position (referred to as the "separation position") is 1300m above the floor.
It is m. However, the above temporary storage location and separation location are public.
As mentioned above, there is an allowance for pallet thickness.
There is a size error, and the buffer is moved up and down taking that error into consideration.
Amount control is performed as described below (FIG. 25B). bag
The maximum lowering position of the fan base 52 is 500mm above the floor.
Yes, this position is the source of teaching for buffer movement control.
It is marked as a point. The maximum number of pallets that can be loaded on the buffer stand is
, when multiple pallets are stacked, the buffer
When the platform 52 rises to the temporary storage position,
Place each pallet so that it does not exceed 2225mm above the floor.
It is set taking into consideration the thickness of the sheet. [0158] The installation position of the unloading mechanism 76 is 350 mm above the floor. mentioned above
As shown above, the buffer stand 52 is at the lowest position 500 m above the floor.
This buffer is a force plate that can be lowered up to
Transport of empty pallets when the machine is fully loaded with empty pallets.
The buffer table rises during transport so as not to obstruct transport.
. [0159] The vertical movement range of the elevator will be explained. elevator
The highest raised position is the separation position and the second separation claw is the separation target.
A pallet full of parts, a slide guide 122, and
is the position where the ``pallet removal position'' matches,
Teach the elevator control this pallet removal position.
as the starting point. With this setting, the elevator straw
The range is 800mm. [01601 The movement range of the stocker will be explained. The stocker is mentioned above.
As shown, there are 20 shelves spaced at 30mm intervals, and therefore,
The width of the top and bottom of the stocker is 600 (=30X20) mm
It is. The pallet on the first shelf is in the drawer section 154
When pulled out, the 20th shelf position is lowered to the lowest position.
position, and using this position as the origin of teaching,
Set to 300mm above. [0161] The origin of vertical movement of robot teaching is on the floor 12
25 (900+17l75-1-150), and
The fingers of the bot hand touch the pallet on the drawer part 154.
From the cut, grasp one part, move it upwards, and then
Move horizontally to the assembly position and lower. <Operation outline of pallet exchange> Here, using Figure 22B, one pallet full of parts will be replaced.
It is taken out from the buffer by the lettuce elevator.
, and how it is replaced with an empty pallet in the stocker.
Explain. [0162] When the number of parts in the pallet is reduced to one, the robot
Prepare the pallet and separation in the elevator, and prepare the separation in the elevator.
Instruct them to move to a certain position. Then, in the buffer
Separated parts at a more separated position (this position is fixed)
Rhett waits to be taken out by the elevator. workman
The elevator has moved to the separation position (removal position).
, takes the pallet from the buffer into the elevator body
And, this elevator has its slide guide 134 force.
will be (or is already) empty in the stotzka.
) pallet (usually a drawer 154 to the robot)
It is located one level above the pallet that is pulled out above.
) and wait. This standby position
varies depending on the process order and shelf position S [G], but the
If the pieces are arranged in order of process from top to bottom, this waiting position is
, the position indicated by the solid line 230 as shown in FIG. 22B.
Ru. Thus, preparing to replace the empty pallets in the elevator.
ends. [0163] The pallet with 1 component remaining is pulled out from the stocker body again.
It is pulled out to the extraction part 154, and this last one is pulled out to the robot.
When the kit grips the pallet, the number of pieces remaining in the pallet becomes °°0.
. Then, the pallet is inserted between the stocker and the elevator.
The exchange will begin. That is, the elevator is in the standby position.
At state 230, an empty pallet is first pulled into the lower part of the elevator.
It's crowded. After that, the elevator went down one step and was full of parts.
Push the pallet to an empty stocker shelf. This extrusion state
The position is indicated by dashed line 232 in Figure 22B. Then the elevator
The motor further descends and loads the empty pallet onto the transport mechanism 76.
Look up. This completes the replacement of empty pallets I.
Ru. <Detailed explanation of control of each module> Thus, the general operation of each module of the FAC system is explained below.
Now that you understand the details, we will explain the detailed control operations of each module below.
The operation will be explained with reference to FIG. 23A et seq. Furthermore, I mentioned earlier
uni, this control program is as shown in FIGS. 17A to 17E.
It has a structure that allows it to respond flexibly to situations such as
So it's complicated. Therefore, each module explained below
In explaining the operation, general configuration (assembly order, process
order, pallet loading order), and if necessary,
, each module starts from a certain concrete initial state,
Its initial state changes under the control of each module.
I will explain the process step by step. its initial state and
■: All tanks in the stocker (i.e., all 20 shelves)
, pallets of the same thickness are placed, and the pallet
The number of parts inside varies. ■: Processes also follow this shelf order, and one process is one
Use only one part from the pallet. In other words, the total number of steps
M is 20 steps, which is equal to the total number of tanks in the stocker. ■: Also, a necessary spare pallet is placed on the buffer stand 52.
are piled up in advance. [0164] For convenience, the configuration having such an initial state is referred to as “simplified”.
This will be referred to as "Configuration Example". This "simplified configuration example"
The expected behavior of the module starting from
1 piece from each pallet/1 process of assembling parts
■: The stock is placed on the 20th shelf from the 1st shelf.
154 until it reaches the drawer section 154.
After pulling out the pallet and pulling out the 20th pallet,
, the entire stocker is lowered, and the first shelf pallet is
Pull out the cut. ■: For elevators and buffers, the number of remaining parts Z is
The number of pieces may be 1 or 0 depending on the pallet.
In order to
For example, a replacement request will not be generated. [0165] Now, the explanation starts from the point where the robot starts assembly work.
Start. [Control of robot and stocker] ゛The robot is controlled according to the flowcharts in Figures 23A and 23B until the fixed number reaches 1.
This is done according to the program shown in the chart. Also, strike
The control of the controller is as shown in the flowcharts in Figures 24A and 24B.
This is done according to the program shown in . These two
Modules are described together in any part of the stocker.
Until the remaining number of parts Z on that pallet reaches 1'',
This is because elevators, buffers, etc. do not operate. [0166] As mentioned above, the management microprocessor program
When the “Start” button on the input/output device 18 is pressed, each module
Start the Joule program. robot module
, the microprocessor uses the process number argument G in step S8.
Initialize to "1". This process number G is '1''
This means that the robot requests the part with process number].
In other words, for the stocker, the stocker's
means requesting the pallet on the S[1]th shelf.
Ru. In step SIO, the above-mentioned 5INGLE flag (the
Check the status of Figure 19C). Be in 5INGLE mode
For example, proceeding from step S10 to step S12,
The following controls are executed only when the "Start" key is pressed.
to perform a single action. In the following explanation
mainly describes continuous operation. [0167] In step S14, the stocker is activated and started. this
Directives for other modules such as
This is done via the The robot starts the stocker
If the stocker is S [G] in step S16,
The numbered pallet is pulled out to the drawer section 154 (i.e.
, pallet ready). [0168] On the other hand, the robot waits for activation from the robot in step S60.
In the case of the stocker, when this activation occurs, the process goes to step S62.
Proceed and if any pallet is already on the drawer 154.
Check to see if it has been pulled out. This confirmation is
This is confirmed by a sensor (not shown) on the output portion 154. This type of confirmation indicates that the stocker has stopped for some reason.
For confirmation when restarting later, and 5INGLE
This is for when you are in mode. Therefore, if the pallet is already
If it has been drawn out to the drawing section 154, the step
Proceed to S64 and select this pallet (which one) was pulled out.
The robot is required to
It is determined whether the pallet is the one for process G=1 that was desired. If it is a pallet requested by a robot, the pallet
There is no need to pull out the card, so proceed to step S84.
, multiple notifications to the robot that the pallet is ready.
Send via path. In step S64, the
The pallets I, which had been stored, are replaced by the robot in process G (shelf S [G
If it is not the first palette, step S6
At step 6, return the pallet to the stocker. Furthermore, this stock
Air cylinder C and motor Ms2
Since the manner in which S4 operates has been described above, the explanation thereof will be omitted. [0169] 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 it is returned in step S66, the process advances to step S68 and the
Note which palette the bot is requesting in a variable.
I remember. The variable G indicating the pallet requested by the robot is
What Tokka stores in L is robotized using this FAC system.
Although the stocker and stocker are synchronized from time to time, basically
This is to enable independent and parallel operations. [0170] Proceed to step S70, move the stocker up and down,
Align the pallet requested by the robot with the drawer section 154
Calculate the amount of rotation of motor Msl required to achieve this. The origin of each column of the stocker (from Figure 22A, 30.0 points above the floor)
mm) as shown in Figure 20.
Let me teach you. Therefore, the robot requests
The pallets of process G (=L=1) are indexed by the number of L.
Since it is in the stocker shelf number S [L], the second
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 the teaching point in Fig. 20.
Find that value as the servo motor's travel amount STP.
do. That is, 5TP=TP [S [L] ]. Then, in step S72, depending on the amount of movement,
Move the stocker. Servo motor to STP position
When M81 rotates, the pallet requested by Robot I.
The entered shelf reaches the drawer position. C of step S74
The H flag indicates that there has already been a replacement request from the robot.
This flag indicates that if G = L = 1, it must be replaced.
This is because it is being reset before the required condition occurs.
, proceed to step S78. Step S78. Step S
At step S80, the lid of the pallet is opened, and at step S82,
The pallet with the lid opened is moved to the drawer section using the control described above.
Pull it out to 154. The pallet is in the drawer section 154.
When the robot comes into contact with the stopper 176, the robot stops in step S84.
The pallet is ready on the drawer 154 for
Notify me of what has happened. And the stocker becomes a robot
Wait for the specified notification. [0171] Now, in step 816 (Figure 23A), the
Wait for readiness ν) or the robot will receive a completion notification
Then, the process proceeds to step S18, and the paper is placed on the drawer section 154.
to pick a part in a pallet that has been
Go skyward, then descend, and try to pick the part.
Ru. Next, in step S20, the part of the process number G is
Reduce the remaining number Z [G] by one. In step S22,
Check whether the remaining number Z has become 1. Still remaining quantity Z
When [G] is 1 or more, in step S28, the robot
Check to see if the fingers were able to pick the part. The parts
Failure to pick correctly means that the fingers are not grasping the part.
In addition to failure to hold the parts in place on the pallet.
For example, if the In such a case
until the part can be gripped normally or there is only one piece left.
In step S18, the pick is retried until the result is reached. After confirming that the part was picked successfully,
In step S32, the stocker is notified of the completion of picking.
is returned to the stocker [0172] Upon receiving notification that the robot is operating and that the pick has been completed,
On the stocker side, step S86→step S88→step
Proceed to step S90 and remove the pallet on the drawer section 154.
Return it to the stocker. Furthermore, in step S92, the CH
Examine the flag. This flag has not yet been reset.
Therefore, the process advances to step 5100. At step 5100
I [L] is detected by the robot mentioned above.
The remaining number Z of the fifth pallet becomes zero and it is replaced.
Is this a flag indicating that the request was made by a robot?
Now, this flag has been reset. Therefore, the
Proceed to step 5118 and increment L by one.
That is, L=L+1. [0173] From step 8118 to step 8126, the robot
The part picked in step 518 (Figure 23A) by
While assembling, the stocker moves to the next pallet I (parts).
) is prepared on the drawer section 154. Immediately
In step 5120, it is determined whether the current process is the final process.
investigation, the final process (in the above "simplified configuration example", the total process
Since the number is 20 steps, it must be (when L = 20)
If so, proceed to step 8126 and the robot picks the part.
The shelf of the pallet next to the one you just checked (L is step 51)
18, which has already been incremented by 1), in the drawer section.
Calculate the amount to move to the 154th position. Step 51
28,5130, when in 5INGLE mode,
The stocker is moved every time the "Start key" is pressed.
Now control. From step 5130, in FIG.
Returning to step S72, the calculation was performed in step 8126.
Send STP to motor Msl and move the next shelf to drawer section 1.
54 position. The following control repeats the control described above.
Go back. The above control is performed using the remaining number Z of any pallet.
Repeat until there is only one [G]. Furthermore, in Figure 24B
The stocker control program shown is for parts control in all processes.
This is intended for assembly that requires. deer
However, in reality, parts such as finger replacement, etc.
There may be processes that do not require
There is no need to move the rack (step 5126). There
Then, the control variables in the description (Figure 21A, etc.) indicate that the process is part of the
Set a flag to determine whether the process requires a product (young
(For example, change the part index to alphabetical characters.)
Then, before step 8126, check the value of this flag,
If the process does not require parts, proceed to step 8126.
Do not proceed, return to step 8118 and advance the process one step.
You may also do so. When the remaining number becomes one, the remaining number of pallets Z [G] on the shelf S [G] will eventually become
, becomes 1 in a certain process G. In other words, the parts up until then
From the pallet with two pieces remaining, one copy is made in step S18.
When you pick an item, there is only one item left, so step
Proceeding from S22 to step S24, the process number G is
Can be used in elevator and buffer control programs
Save it in process number variables E and D so that it can be used. So
Then, in step S26, the buffer, elevator,
You will soon have an empty pallet, so you can prepare a replacement pallet.
Instruct them to start preparations. This replacement preparation instruction is
, is stored in the aforementioned queue area, and if elevator 1
If the buffer is not busy with the previous swap preparation operation
, the elevator ,buffer takes this queue and
Start the replacement preparation operation. [0174] After giving instructions to prepare for switching to buffer and elevator
In step 816, the robot also removes the pallet from the stocker.
Notification that the kit has been pulled out to the drawer section 154 position
Continue picking as long as there is. [0175] On the other hand, in the control of this embodiment, the stocker controls its movement.
It stops at a certain process G (-L) when the remaining pallets
The robot detects that the number Z has become zero and displays a message to that effect.
The stocker is informed (by I [L]) and the stocker
, pull the pallet for the next process G+1 (=L+1)
Pull it out to the output section 154 and remove the G+1 pallet section.
The robot picks the item and the remaining number found in the previous process G
When the replacement work for a pallet with zero is not completed (the
Step 594). That is, replacement
The stocker waits until the work is finished. this
is the process G+ following the process G where the remaining number Z[G] became zero
There are parts left on pallet 1, so in that case, load it.
Part assembly of process (G+1) by bot and process L (
= G) so that empty palettes can be replaced in parallel.
This is because [Pallet replacement] *Pallet separation using buffer* Figure 25A shows the changes used in the buffer control program.
Show the number. That is, these variables are set to the current buffer base.
Number and bar code of the highest pallet stage
Read data storage area B by the reader, and each stage
Information on the height of each pallet, its part name, etc. Mogami
The number of the next pallet row is determined by these variables.
As taken out by elevator from buffer
, the information of the extracted pallet will be deleted, so
This is to indicate which parts of these variables are currently in effect.
. As described later, this information is processed without human intervention.
This FAC system is operated unattended via the production control computer.
Request the necessary pallets from the warehouse and the pallets will be delivered to the unmanned vehicle.
If passed to the buffer from the system (see Figure 18)
management microprocessor program) is assigned to the buffer.
make it possible to On the contrary, it is manually placed on the buffer table 52.
When stacking, input the above information from the input/output device 18.
do. [0176] Now, in step 826 (Figure 23A), the robot
, instructs the buffer to prepare for replacement via the queue.
ing. The construction work that corresponds to the pallets required for this replacement preparation.
The process number is saved to a variable in the queue in step S24.
It is. The buffer receives this replacement preparation instruction in step 5.
If received at 150, proceed to step 5152 and replace
The part name (or part index) of the pallet that requires
(IDX) according to the process number informed by the robot.
Accordingly, the variable table shown in FIG. 21A is searched. and
, enter this part name (part IDX) in the table in Figure 25A.
Parts palette that can be replaced by searching for
Find out how many pallets are packed. And step
Step 5154 determines the distance between buffer stands 52 of this pallet.
Find the distance (taken as -). This is the palette or
Thickness of all pallets at (from table in Figure 25A)
), and calculate the total value below the current position of the buffer stand 52.
Knowing the distance from the floor of the end (let it be m), these m, -
, the pallet to be exchanged is moved to the separation position.
In step 8156, the moving distance until the distance is calculated from (1410-(m+→)) mm. In step 5158, this calculated moving distance is
The buffer table 52 is moved up and down by a distance. This travel distance is
Referring to Figure 7A, place the replacement pallet in the third position from the top.
It is well understood if we consider the palette as follows. [0177] In step 5160, the sense state of sensor 80 is checked.
Ru. If sensor 8o 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 for this is already explained in Figures 8A to 8E.
Since this has already been explained in detail, a re-explanation thereof will be omitted. [0178] When the desired pallet reaches the separation position, for confirmation
is attached to the pallet by the barcode reader 74.
Read the barcode. In step 5168, this read
Data R and B [D] of the variable table (Figure 21A)
Compare with. If this comparison does not match, the separation position
The pallet that has been moved to is one of the pallets to be replaced.
Since this is the next highest palette, proceed to step 5170.
, the thickness of the pallet one above it is shown in the table in Figure 25A.
, and in step 5172, the buffer table 5 is
2 and move the desired pallet to the separation position.
Ru. Step 5174. At step 8176, the barcode
Retry the code and confirm. Step 8168 or
From step 8176, proceed to step 5178 to
At step 5180, the separation claw 66 of No. 1 is energized, and the predetermined
Foot distance Li (distance greater than or equal to the maximum pallet thickness,
In the example shown in Figure 22A, lower the buffer stand by 94 mm).
, to the state shown in FIG. 7C, and in step 5182, the second
The separation claw 68 is energized, and in step 5184
Lower the distance by L2 and move the buffer as shown in Figure 7D.
To separate. Then, in step 8186,
step 5, notifying that buffer separation is complete.
At 188, the elevator lifts this separated pallet.
Wait for it to pull into the beta body. *Pallet I/drawer by elevator *The elevator is
, there is no need to replace empty pallets in the stocker.
There is no need to operate. And this swapping operation
is always a package full of parts separated by buffers.
The first step is to take the let into the elevator frame.
It becomes necessary. Therefore, normal waiting for elevator slots
the position aligned with the separation position by the buffer (second
(origin position of the elevator shown in Figure 2A), then
, the robot gives instructions to prepare a new pallet.
Moreover, the separation operation was completed immediately on the buffer side.
In such a case, immediately move into the lift frame without the time required to move.
The advantage is that you can start importing palettes into
be. Therefore, the elevator control of this embodiment is also performed as shown in FIG. 26A.
As shown in step 5200 of
The standby position is made to coincide with the separation position by the buffer. [0179] Now, independent of the movement of the buffer, the robot moves
At step 826 (Figure 23A), for the elevator as well.
, instructs replacement preparation via the queue (Figure 21B).
ing. The construction work that corresponds to the pallets required for this replacement preparation.
The process number G is added to the variable E in the queue in step S24.
It has been evacuated. The elevator receives this replacement preparation instruction.
If the
, Notification of completion of pallet separation at separation position by buffer
wait. [0180] As mentioned above, on the buffer side, in step 8186
Send a separation completion notification to the elevator side.
At step 5188, the elevator picks up the pallet.
I'm waiting for you to get into it. [0181] Therefore, the elevator that received this notification performs step 52
At step 08, the pallet is pulled out. this drawer
The operation is as detailed in connection with FIGS. 13A to 13D.
First, rotate the elevator motor ME2 in the A direction.
and move the first hook 108 to the position where it hooks onto the pallet.
move, then drive air cylinder CE1 to release the pallet.
the hook 108, and then the motor ME2
Rotate in direction B and lift the pallet from the buffer side.
The data is taken into the elevator frame. data from buffer
Once the withdrawal of the let is complete, in step 5210, the
Returns a notification to the buffer. And step 821
Proceed to 2 or below. * Combination of upper and lower pallets using buffer * Notified pallet
From step 5188 to step 5L90, the buffer
, and in step 5192, L1+L is released.
2+H [D] Raise the bamboo buffer stand 52 and separate it into upper and lower parts.
The first separation is performed in step 8196.
Return the claw 66 and return to step 5150.
Wait for the next pallet preparation instructions. Furthermore, this step 5
The waiting position for instructions from the robot at step 150 is
Increased by (L1+L2+H['D]) at 192
Not the position, but the origin position (500 mm above the floor in Figure 22A)
). This is like in this example.
The number of parts on a pallet varies depending on the pallet.
Then, the time when there will be only one remaining item (although it is possible to predict)
This is because it is random. *Elevator replacement standby position* Before explaining the movement control to the replacement position,
Explain how the position should be determined. Book
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. [0182] Now, in the above-mentioned "simplified configuration example", 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 trying to do so, the drawer part 15 in FIG. 27A
When it is drawn out to 4 and there is only 1 piece left, the
Instruct Beta Buffer to prepare for pallet replacement.
The remaining 1 pallet becomes 0 until the next draw.
Since this is when it is pulled out to the output section 154, that 0 piece
The lower pallet is moved upwards, and the lower pallet
is being pulled out to the drawer section 154, a new
The most effective method is to replace the palette with an empty one.
Be proactive. That is, in FIG. 27A, the remaining number of pallets is 0.
The elevator lifts the pallet while the pallet is in the position shown.
It would be nice if they could replace it. So, the elevator
How far does the machine move and descend?
Consider whether the change position will be reached. [0183] In FIG. 27A, the second separating claw 68 on the buffer side and
Its height position matches that of the elevator slide 122.
This allows for smooth withdrawal. 134
pulls out the empty pallet from the stocker shelf.
It is a board for sliding, and the distance between both sliding boards
is fixed. Therefore, the elevator force is separated from the pallet.
The position of the slide plate 134 when the cut is pulled into the frame
The position is a fixed distance above the floor (see Figure 22A). There
Then, the elevator moves the empty pallet to slide plate 13.
To move it so that it can be placed on 4, swap
The number S of the shelf on which the target pallet is placed is easily known.
Because the distance to the teaching position on that shelf is
This is the distance traveled by Beta. In addition, in Figure 27A, the buffer
The pallet that the elevator is about to pull out from the
A pallet with 0 pieces left is about to be replaced.
However, for convenience of explanation, this is not the case.
In the "Simplified configuration example", 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. [0184] What if the process order and pallet shelf position are different?
mosquito. In such a case, the process G is 1, 2, 3...
・The stacker moves up and down according to S [G].
Moving. In FIG. 27B, in such a general example,
The pallet of process L (=G) becomes Z [G] = 1.
This shows the case where Then the elevator enters with the buffer.
Begin preparations for replacing the buffer and insert the new
Pick up the pallet and move it to the waiting position of the elevator.
I try to sleep. Now, at this time, the robot has already started the next process (L
Since you are requesting a pallet with +1), the stocker will not be pulled.
The pallet of process L+1 is pulled out to the unloading section 154.
ing. The pallet used in this process is shown in Figure 27C.
It has moved to the position shown in . Things to keep in mind here
In this case, after the process G goes around from 1 to its maximum value, it returns again.
and in the same order starting from 1 and changing according to the same order.
Ru. In other words, after a certain cycle process, there is only one piece left.
The pallets) (placed on S [L]) are transferred to the next process L.
+1 causes the pallet S[L+1] to be pulled into the drawer section 154.
The position that exists when the process is being exported is
Then the next cycle starts, and the process comes around again, and the remaining
The remaining number of pallets that was 1 piece has become 0 pieces, and
, Pallet S[L-1-1] is pulled out in process L+1.
Processing pallet when pulled out to section 154
is equal to the position of Therefore, when the remaining number is 1,
, predict the replacement standby position when the remaining number becomes zero.
Doing so is consistent with the - direction. [0185] From this point of view, the calculation of the replacement standby position is performed in the 27th D.
This will be explained using figures. The left side of FIG. 27D shows the initial position of the stocker. Immediately
The 20th shelf when the first shelf is in the drawer position.
Distance t from the floor of the shelf of the tier. is also 30 from Figure 22A.
It is 0mm. In a certain process, the pallet of shelf S [L]
When the number of pieces remaining is 1, S [L+1
] is drawn out into the drawer section 154.
At that time, the pallet on the shelf after processing was as shown in Figure 27D.
moving to a certain position. See this situation from the elevator side.
Then, as shown in Figure 27D, the shelf S [E+1]
Pallet on shelf S [E] when is in the drawer position
This is equivalent to calculating the position of . That is, Figure 27D
Therefore, the replacement standby position has a distance between shelves of 30 mm,
Considering that the total number of shelves is 20, 30X (2
0+S [E+1]-3[E]) +t. It is. In this way, the waiting position for exchange by elevator
is determined. [0186] In addition, in Fig. 27C, the pallet in process L+1 is in the drawer section.
154, and the remaining number Z[L+11 detects 1 piece.
When issued, the second replacement preparation instruction is sent to the robot control.
from step S26, and this is queued.
This is as mentioned above. *Move to standby position* Now, step 5212 of the elevator control program is
, inside the stocker of the pallet in process E where there is only one piece left.
Shelf position S
It is determined whether this is the final tank. Total shelf of this example
All the tanks of the stocker with several 20 stages are loaded with pallets I.
If so, the final stage is the 20th stage. the necessity of this judgment
There is no shelf itself below the final stage, but there is a shelf.
However, if pallets are not incorporated into the process (therefore,
This is because there may be no pallet). That is,
, In this example, the pallet is
The algorithm for position determination has been changed. child
The judgment as to whether or not the final stage of
All values of shelf position information S (Figure 21A) in the table and
Compare and determine whether S[E] is the maximum
done by [0187] I will leave the explanation of the control when the final stage is reached later, but I will explain it now.
, S [E] is determined not to be the final stage.
Proceed to step 5214 and set the above-mentioned exchange position, 30X.
(20+S[E+1]-3[E]) +t. Calculate. 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. [0188] In other words, the robot detects a pallet with one remaining pallet,
According to the detection, the buffer and elevator are replaced.
A backup instruction is issued, and the elevator responds to the instruction by
receive a new palette from the
the elevator moves to the standby position.
It has come. *Detection of remaining number O* The robot side detects the number of remaining pieces O on the pallet of consecutive processes.
If discovered consecutively, issue up to two replacement preparation instructions.
What can be achieved is as explained in connection with Figure 21B.
Ru. That is, until then, the robot will not be able to use buffers or elevators.
parts are removed one after another from the stocker independently of the operation of the stocker.
Continue unloading and assembling. In other words, new
By the time I found the third pallet with 1 piece left,
The first pallet with at least one remaining item will be the first to reach zero.
This means that it is supposed to be. [0189] The remaining number O is found in step 534 (Figure 23A).
be exposed. If this is detected, a flag is set in step S36.
Set I [G] to 1 and continue the next control. That is,
The bot has completed one cycle of all processes and is now empty.
By the time you get to the process that requires the same parts as the pallet,
pallets are exchanged by the elevator at the stocker.
I hope that. And at least replace
If not, in step S16, the
The robot will stop waiting for the preparations to be completed. *Pallet replacement* On the stocker side, detect I[G]=1 set by the robot.
It comes to step 5100 (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. [01901 Figure 24C shows that each of the five pallets in the stocker contains
Initially, 3.2°3.4.5 parts from the top are stored.
Suppose there was. [0191] In this state, assembly (all processes) by the robot continues.
Then, the number of parts is (2, 1, 2, 3, 5). Pulling out the second pallet from the top to the drawer section 154
When replacing the pallet, send instructions to prepare for pallet replacement to the elevator or back door.
Needless to say, it was sent to Fa. Now, the next rhino
When the parts are taken out from the first pallet using a truck, this is what happens.
Since there is only one remaining pallet in the first stage of
Preparation instructions are queued. Next, the second stage
If you take out the parts from the let, there will be 0 pieces, so at this point
Then, the I[G] flag in the second stage is set to 1. [0192] 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). and step 582-step
Proceed to Step S84 to have the robot complete the pallet extraction process.
Notify of completion. The robot that receives this notification will
Step 516-Step S18--Step
In step S36, the I[G1 flag is set. [0193] On the stocker side, step S84→step S86→step
Step S88→Step 590-Step 592-Step
Proceeding to step 5100, I[L]=1 is detected. paraphrase
Then, the stocker side will pick up the pallet with the remaining number of pieces.
The robot pulls it out into the drawer section 154 and picks it up.
The stocker returns the pallet with 0 pieces inside.
At that point, I[L]-1 is detected. [0194] When I[L]=1 is detected in step 5100, the step
Proceeding to step 5102, the CH flag is set to '1'. C
Just by setting the H flag, the exchange operation will be started immediately.
What you should not do at this point is pull out the data to the robot side.
There is a pallet with the remaining number Z of zero on the stocker side at the position
exists and the part is present on the pallet of one method process.
Therefore, for the time being, the stocker is the drawer to 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 zero remaining quantity is
Check whether it is the last shelf in the storage. [0195] If it is not the last shelf, proceed to step 5106 and check the remaining
The process number whose number becomes 0 is temporarily saved in register P.
I'll leave it there. The reason for this is that the stocker is
Pull out the robot so as not to interfere with its operation.
In order to advance the pallet for the next process (L+1) to the position
, in order to retain the original process number that became zero.
. Then, step 8118 to step 513 described above.
0, the process number is advanced, and in step S72, the next process number is advanced.
Move the stocker to the shelf position of the process. Step S74
Now, since the CH flag is already set, step
In step S76, an empty pallet and a new pallet are placed in the elevator.
Send a request for replacement with a new pallet [0196] If the elevator has already received a new pallet at this point,
If you have reached the exchange standby position, the stocker
Independently of the control, the elevator immediately lifts the pallet.
The replacement should start. As mentioned above, pare
Preparations for replacing parts will begin when there is only one piece left.
Therefore, in step S76, enter the elevator.
When you issue a request for a change, the elevator is already at the point where it will be changed.
It is highly anticipated that the
. See Figure 27E in this regard. [0197] After sending this replacement request to the elevator,
Control is performed until the remaining number is zero in steps 878 to S82.
The pallet for the next process is placed on the pull-out section 154.
step 384 to step 592-step.
In step S94, the robot selects the parts on the pallet for the next process.
are assembled, and the pallet is placed in step S94.
Wait for the change to finish. In this way, the robot's movements can be adjusted as much as possible.
Empty pallets are replaced in a way that does not interfere with
Ru. [0198] Return to the elevator control program. Step 5218
The elevator was waiting for a replacement request from the stocker.
Upon receiving the above request, the printer selects the palette in step 5220.
Exchanging operation is performed. Specifics of step 5220
The control is performed from step 8240 to step 82 in FIG. 26B.
The order of operation under the control of the force plate shown in 56 is 13A.
The explanation is repeated as it follows Figures 13G to 13G.
do not have. The controls in Figures 27E, 27F, and 26B are
By association, FIG. 27E shows steps 8240 through
Corresponding to step 8246, FIG. 27F shows step 8248.
~corresponds to step 5256. Also, β is shown in Figure 4.
The thickness of the pallet is 38 mm, and in this example it is 12 m.
It is m. [0199] Once the elevator has finished changing pallets, the elevator will
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 pallet I of process P to be replaced.
・Restore the remaining number of pieces. Then, in step S98, C
Reset the H flag and also reset the same <I[P]
. Then, proceed to step 5100 → step 5118.
Then, proceed to the next step L=L+1, and step 5120→・
...→Step 5130→Return to step S72,
Repeat the above operation. *Stacking empty pallets* On the other hand, on the elevator side, the empty pallets held at the bottom of the elevator
Controls the operation of stacking the pallets I on the transport mechanism 76.
Now. [0200] That is, in step 8226, the stack of empty pallets up to the previous time is
From the current pallet height 3H[E] to the raising height eQ,
Add the value minus the edge β of the let, and add the value below the elevator.
Find the descent position. That is, the lowered position is Q+H[E]-β. This can be understood by referring to FIG. Move the elevator to this lowered position and press air cylinder C.
Release E4 and stack empty pallets. And the product
When you look up, the pallet is removed by the amount of stacking allowance α (-7mm).
Since the cut is on the bottom, the updated stacking position Q is Q=Q+H[E]-α. Next, in step 5234, the stacked empty pallets are
A sensor that detects whether the elevator is obstructing the movement of the elevator.
position S4 (shown at the bottom of the elevator in Figure 1).
Check to see if you have reached it. If reached, step 82
36 drives the transport mechanism 76 to move the empty pallet to the unmanned vehicle position.
Transport it to the location. 020Thus, the replacement of empty pallets was completed, and the robot
Supply parts to the robot without stopping operation,
Parts are continuously replenished to the stocker. [0202] The basic form of operation control of this FAC system has been explained above.
This control program pursues efficiency in various ways.
So, we put a lot of effort into it. *Replacement of the final shelf* One method for increasing efficiency: Replacing the final shelf of the power board
This is a change in the procedures. The stocker of this FAC system has a total of 20 shelves. Therefore, pallets are placed on shelves in order of process from top to bottom.
When there is no pallet under the 20th row. Ma
In addition, even if all the pallets used for all processes are placed on shelves,
Even if the stocker is not full, the lowest shelf
There's no pallet underneath either. In this way, from top to bottom in process order.
When the pallet is placed on the shelf, the above-mentioned
The final shelf is replaced according to the replacement position determined.
Even though there are no pallets on the shelf for the next process,
Move the shelf without a pallet to the drawer part 154 position,
Move it and insert an empty pallet at the exchange position above it.
I will have to change it. However, in this case, the robot
In step S16, until the exchanging of the let is completed,
No need to stop assembly work while waiting for the drawer to complete
must not. [0203] In order to eliminate this inconvenience, step 8 in FIG. 24B
104 to step S116 and step 5 in FIG. 26A
212. There is step 5224. In other words, the final stage
If it is necessary to replace the strip, mark the replacement location.
Tokka drawer position (sliding plate of drawer part 154)
178). Replacement in this case
The standby position is 30XS[E] as shown in Figure 27G.
+t. It is. Therefore, on the elevator side, step 5212
→ Proceed to step 5224 and wait according to the above formula.
Calculate the position and move to the pull-out position, step 52
At step 18, it waits for a replacement request from the stocker. [0204] On the other hand, on the stocker side, in step 5100, the replacement
When it is detected that flag I [L] is set,
Set the CH flag in step 5102, and
5104 - Proceed to step 5108 to set the stocker
and submit a replacement request. [0205] The subsequent control is the same as the normal shelf position switching operation.
Therefore, the explanation will be omitted. [0206] In this way, when the replacement pallet is the 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 [Queuing of replacement preparation instructions] Another way to improve efficiency is queuing. This key
Ewing is necessary for the following reasons. Immediately
This reduces the time and energy required to separate pallets using buffers.
Input information, such as the time it takes to move the beta to the replacement standby position, etc.
The total time required to prepare for replacement is one step in assembling the robot.
The time required for each module is
Set the operating speed of the motor (e.g. motor rotation speed, etc.)
If possible, from Robot I to the buffer, to the elevator.
, multiple replacement preparation instructions (step 826) are issued.
It never happens. However, it is also possible that the former takes a long time.
It will be done. In such cases, multiple instructions may be issued.
In order to deal with such cases,
It is necessary to queue the display. For example, continuous
7': When the total number of pieces in the pallet is the same in the two processes
If the parts wear out in the same way, replace them consecutively.
Preparation instructions may be issued. In particular, the above consecutive two
In the process (these two processes are stockers, let them be L and L+1)
, if shelf positions S[L] and S[L+1] are not consecutive
, the stocker moves up and down, making it difficult to replace the pallet.
It takes time. In such a case, Figure 21B
When queuing the replacement preparation instruction as shown in
, the robot's motion is never stopped. in buffer
, separation of pallets in preparation for one exchange.
and then hand the separated pallet to the elevator.
immediately after the next swap finger in the queue.
from the queue and perform the next pallet separation operation.
This is because it can be done. Note that in this embodiment, the cue
-The number is set to 2, but you can increase it if necessary.
stomach. [Initial operating state settings] In the above control, when a pallet is placed on the stocker,
I explained it with that in mind. So, I put it in this stocker.
The initialization control for inserting the
Ru. With this initial setting, the robot stocker will not operate.
, the buffer and elevator are connected to the stopped stocker.
Insert the pallet into the shelf. [0207] First, in step 5300, the buffer is stacked from the unmanned vehicle.
Receive the given pallet. In step 5302, the cow
Set the counter n to 1. In step 5304, the nth stage
Move the pallet to the separation position and remove it in step 8306.
Separate the pallets. In step 5308, the elevator
In step 5310, the
Wait for Beta to finish pulling out the pallet. [0208] On the other hand, on the elevator side, at the same time as the program starts
Then, in step 5352, move to the separation position and
5354, waiting for notification of completion of separation from the buffer.
Ru. When this notification is received, the buffer sets the counter.
Then, calculate the shelf position of the stocker from 5TP=TP [n], move to that position, and proceed to step 5358.
Then push this pallet into the shelf. and step
Notify the buffer of transfer completion at 8360, and proceed to step 5.
At 352, wait for the next pallet. [0209] When the buffer receives this notification, in step 5312,
Update counter n. This update is performed in step 5300
Based on the pallet thickness information received from the unmanned vehicle,
Calculate the number of tanks required for the 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. [0210] In this way, the initial operating state setting is completed. [0211] (Description of Modification) The present invention is based on the structure of the above-mentioned embodiment.
without departing from the gist of this invention.
It goes without saying that various modifications can be made within the range. [0212] Below, various modifications of the embodiment not mentioned above will be described.
This will be explained in detail. In addition, in the following explanation, the same structure as that of the above-mentioned embodiment will be used.
For the first part, the same reference numerals are given and the explanation thereof is omitted.
Omitted. [0213] Description of the first rectangular example First, in the buffer 22 of the embodiment described above, the
The bot 12 determines the remaining number of parts X in pallet p.
It is recognized that this part was done in one piece, and then this part
Once the pallet has been emptied from being used in an assembly operation,
This empty pallet p′ is replaced by a pallet p full of parts
The movement of the robot 12 to be replaced with
In order to be able to execute without
When it is recognized as a piece, there is only one piece left.
A pallet p full of parts
Separation mechanism 64 is installed so that it can be taken in from 22.
separated from other pallets p in buffer 22 via
It is configured to do so. [0214] However, this invention is limited to the above configuration.
Instead, this buffer 22 may be provided with a separation mechanism 64.
Instead, the first modification shown in FIGS. 31 to 34 is
A plurality of pallets are stacked on the buffer table 52 so that
tp1. A stage that separates p2p3... from each other by -closing them together.
It may be configured to include a release mechanism 250. [0215] *Configuration of step-unfolding mechanism* That is, as shown in FIG. 31, this step-unfolding mechanism 250
Above the buffer stand 52, each standing plate 46a,
46b, along the conveying direction d, respectively.
Multiple separation claw mounting plates 252 that 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.
[0216] 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
Move vertically along guide shafts 254a and 254b
Possibly supported. In addition, each guide shaft 254a, 25
The upper end of 4b (7) is connected to the
and is fixed to the upper ends of the corresponding upright plates 46a and 46b.
, the lower end is fixed to a buffer stand 52. [0217] Also, as shown in FIG. 32, each separation claw mounting plate 252
In the center, there is an air cylinder CD1 attached to the Rikishintai.
The piston 258 of this air cylinder CD1
is configured to extend downward. This pin
The lower end of the stone 258 is attached to the separation claw mounting plate located directly below.
At the upper end of air cylinder C91 attached to 252
It is fixed. Here, each air cylinder CD1 is
It has two input ends 260a and 260b, one of which
The input end 260a is connected to the cylinder above the piston 258.
The other input end 260b is connected to the piston 258.
It communicates with the lower cylinder chamber. [0218] On the other hand, one input end 26 of all air cylinders CD1
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 ff12'60b is applied via the other introduction pipe 262b.
Then, the other output end 264 of the above-mentioned switching valve 264
connected to b. Here, this switching valve 264
The input end 264C is connected to the
Not connected to a compressor. [0219] With the above configuration, for example, the switching valve 264
so that high pressure air comes out from one output end 264a.
When this switching valve 264 is switched,
This high-pressure air is passed through one introduction pipe 262a.
above the piston 258 of each air cylinder CD1.
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 CD1
By doing so, as shown in Fig. 32, the adjacent parts
The distance between the detachable claw mounting plates 252 will be widened. [02201 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
Through the introduction pipe 262b, each air cylinder CDI
is introduced into the cylinder chamber below the piston 258 of the
The screw I/N 258 will be biased upward. paraphrase
Then, this high pressure air flows into the other side of the air cylinder CDI.
By being supplied to the input terminal 260b, as shown in FIG.
There is a narrow space between adjacent separating claw mounting plates 252 so that
You will be punished. [0221] Here, in the narrowed state shown in FIG.
For example, all pallets p are 25 mm thick.
If p1, the arrangement pitch of the separation claw mounting plate 252
is set to 2525-7=18. Also, the third
In the unfolded state shown in Figure 2, there is a mating allowance of 7 mm.
Since it has to be separated from the separation claw mounting plate 25
The arrangement pitch of No. 2 is longer than the above-mentioned 25 mm, e.g.
, 30mm. In other words, the third
From the state shown in Figure 3, one input end of each cylinder C91
By supplying high pressure air to 260a, the piston
258 is pushed downward by 12mm and the separation claw is attached.
The arrangement pitch of the plates 252 will be widened. [0222] Furthermore, as shown in FIG.
is perpendicular to the transport direction d on the bottom surface of each separation claw mounting plate 252.
Separation claws 26 are provided to move forward and backward along the direction of
It is equipped with 6. That is, a pair of separating claws 2 facing each other
66 is attached to the flange portion 38 of each pallet p from below.
The protruding position to be latched and the pull apart from the flange portion 38
It is configured to be able to freely move forward and backward from the cutting position. Also,
The lower surface of each separation claw mounting plate 252, and the corresponding separation claw
266, move this separation claw 266 forward.
Air cylinder CD2 for retracting is installed.
Ru. The piston 268 of this air cylinder CD2 is
It is driven back and forth along the direction perpendicular to the feeding direction d.
The tip of this is connected to the corresponding separation claw 266.
ing. [0223] With the above configuration, high pressure is applied to the 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 p1.
is set to the same state. Here, air cylinder CD
By supplying high pressure air to 2, the separation claw 266
, each separation claw 2 is projected from the retracted position to the extended position.
66 is attached downward to the flange portion 38 of the corresponding pallet p1.
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. [0224] First, a plurality of pallets p1 are stacked on the buffer stand 52.
When it is transported in a state where the
High pressure air is supplied to the cylinder CD2, and the separation claw 266
, the corresponding part is biased from the retracted position to the extended position.
A state where it can be hooked onto the flange portion 38 of let p1 from below.
is set to After this, the first air cylinder C01
High pressure air is supplied to the input end, and each separation claw 266
is biased upward to widen the arrangement pitch. child
As shown in the figure, each separation claw 266 opens the flange portion from below.
38, each pallet p1 is located directly below.
Separated so that it can be pulled out to the side from pallet p1
will be set to . [0225] As detailed above, according to this first modification, the battery
The plurality of pallets p1 placed on the facilitator 52 are
By using the step removal mechanism 250, everything can be removed at once.
pallets p1 can be separated from each other and pulled out to the side.
It becomes possible to set it to a certain state. For this reason,
As described above, from the robot 12, the remaining number is 1.
The same parts as the parts recognized as being individually made are stored.
At what height position on the pallet p1 power plate buffer stand 52?
Even if there is, move pallet p1 from that position to elevator 2.
It is now possible to pull it out to 6, which reduces operating time.
Compared to the case where the separation mechanism 64 of the embodiment is used, the short
It will be reduced. [0226] Furthermore, 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, elevator pallet I/replacement
The standby position in preparation determines which pallets are taken from the buffer.
It depends on how you pull it out. For that reason, 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 [0227] Next, in the elevator 26 of the above-described embodiment, the entrance
Three hooks 108, 116, 126 of switching mechanism 96
As a drive source for moving along the conveyance direction d,
The camera explained to use the common servo motor ME2
This invention is not limited to such a configuration, but can be
As shown in FIGS. 35 to 39 as a second modification,
A pallet p full of parts X is moved along the transport direction d.
for driving hooks 108, 116 to move
The drive motor and the empty pallet p' are moved along the transport direction d.
a drive motor for driving the hook 126 to move the hook 126;
The configuration may be such that the data is provided separately. [0'228] *Description of elevator* That is, as shown in FIG.
The elevator 300 has guide grooves 10 on its upper and lower surfaces.
One fruit, except that 2,132 are not formed respectively.
Elevator body 86 similar to the elevator body 86 of the example
It is equipped with Moreover, the exchange mechanism 96 is an elevator
The part X attached to the lower surface of the upper plate 86a of the main body 86 is
Actual pallet replacement for replacing fully loaded pallet p
under the elevator mechanism 96a and the lower plate 86b of the elevator main body 86.
An empty pallet for replacing the empty pallet p attached to the surface.
and a let exchange mechanism 96b. [0229] 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 are provided on the lower surface of the . 302b extending along the conveyance direction d.
Ru. Then, the first guide members 302a and 302b
, the first slide plate 304 reciprocates along the conveyance direction d.
movably supported. [02301 Here, in the center of this first slide plate 304, there is a rear
A protrusion 308 into which the first ball screw 306 described above is screwed.
are integrally formed. This first ball screw 306
is a pair whose front and rear ends are fixed to the lower surface of the upper plate 86a.
rotation via the first rotation support members 310a, 310b of
Possibly supported. Also, this has been the first. child
The rotation of the rotating shaft of the first servo motor M1 is performed as follows.
As a result, the first ball screw 306 is rotationally driven.
The first slide plate 304 reciprocates along the conveyance direction d.
will be moved. [0231] This first slide plate 304 is perpendicular to the conveying 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 CE1.
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 p1. p2, 1) 3... on the flange part 38.
The first notch 38a on the elevator 26 side
, and the second notch 38b on the unmanned vehicle 20 side, respectively.
It is formed in a shape that can be engaged from both sides. [0232] 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. [0233] In addition, the upper edge of both fixed slide guides 316
The height of the main body 86 from the lower plate 86b is the maximum height.
Slideably supports pallet p3 with a height of 100 mm.
It is set high enough to hold it. [0234] On the other hand, the empty pallet exchange mechanism 96b described above is
A pair of second gaskets are provided on the lower surface of the lower plate 86b of the beta main body 86.
The side members 322a and 322b extend along the conveyance direction d.
It is in a state of readiness. And the second guide member 3
22a, 322b, the second slide plate 324 is conveyed.
It is supported so as to be able to reciprocate along the direction d. [0235] Here, in the center part of this second slide plate 324, there is a rear
A protrusion 328 into which the second ball screw 326 described above is screwed.
are integrally formed. This second ball screw 326
is a pair whose front and rear ends are fixed to the lower surface of the lower plate 86b.
rotation via the second rotation support members 330a, 330b.
Possibly supported. Also, this second ball screw 3
26 is rotatably driven by a second servo motor M2.
It is composed of In this way, the second servo motor
Due to the rotation of the rotating shaft of the motor M2, the second ball screw 32
6 is rotationally driven, so that the second slide plate 324
It will be reciprocated along the conveyance direction d. [0236] This second slide plate 324 is perpendicular to the conveying direction d.
It is formed to extend along the direction, and this second
At both ends of the lower surface of the slide plate 324, there is a
A hook member 332 integrally equipped with a third hook 126
is slidable along the direction perpendicular to the transport direction d.
are installed respectively. This third hook 126 is
Each of the aforementioned palettes p1, p2. p3...
A second cut on the unmanned vehicle 20 side formed in the flange portion 38 of
The cutout portion 38b is formed in a shape that can be engaged from both sides.
ing. [0237] 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
According to the drive of the air cylinder C2 of No. 2, the third hook 1
26 is engaged with the second notch portion 38b of the flange portion 38.
It will be driven back and forth in order to escape. [0238] Also, on the lower plate 86b of the elevator main body 86, this number
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, leave the empty palette p′ received here.
It is set so that it can slide. That is, FIGS. 38 and 38
As shown in FIG. 39, both movable slide guides 336 are
Elevator main body 86 via slide members 338, respectively.
is slidably attached to the lower surface of the lower plate 86b of the
. On the other hand, movable slide guides are provided on both sides of the lower surface of the lower plate 86b.
Third air cylinder for reciprocating the id 336
C3 is installed. This third air cylinder
The above-mentioned movable
A slide guide 336 is connected. Do it like this
According to the drive of the third air cylinder C3, the movable shaft
The ride guide 336 is attached to the flange portion 38 of the empty pallet p'.
It will be driven back and forth to engage and disengage. [0239] Actual pallet exchange mechanism 96a configured as above
and an empty pallet changing mechanism 96b.
In structure 96, replacing pallet p and pallet p
In operation, the first and second hooks 108, 116 simultaneously
The input in one embodiment described above, except that it is driven
The switching operation is the same as that of the switching mechanism 96, so
The explanation will be omitted. [02401 As detailed above, in this second modification, the actual
The driving source for replacing the pallet) 11) and the empty pallet
When replacing the cut p, the drive source and the
Even if it is configured from the motors Ml and M2, the above-mentioned
It is possible to achieve the same effect as the configuration of the embodiment described above.
It is something. [0241] Note that the control according to this second modification is the same as that in 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. [0242] Hooks 108, 116, 126 are provided, and the actual pallet p
The first and second hooks are used for taking in and pushing out the
108 and 116 are placed on the upper stage and empty pallets p are pulled in.
The third hook 126 is permanently disposed for use.
However, the present invention is not limited to this configuration.
Figures 40 and 41 show the third modified example.
As shown in FIG.
With the hook removed, the first and second hooks 108,1
It may be configured to include only 16. [0243] *Explanation of 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,
Through this cutout part 86c, the pallet) P is transported in the conveying direction.
It is formed so that it can be passed along. [0244] Here, at both ends of the slide plate 106 mentioned above,
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 second air cylinder CE1 for reciprocating the
is attached. This first air cylinder CE1
At the tip of the first piston 114, the above-mentioned first foot is attached.
108 is connected. In this way, the first
In response to the drive of the arch cylinder CE1, 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, this slide board
A second flap is provided at both ends of the side surface of the stocker 24 side of the 106.
hook 116 via second hook slide member 118
, along the longitudinal axis direction of the slide plate 106, in other words
, can be slidably mounted along the direction perpendicular to the conveying direction d.
is attached. This pair of second hooks 116 are
Each palette mentioned above) pl, p2, 1) 3...
A second cut on the unmanned vehicle 20 side formed in the flange portion 38 of
The cutout portion 38b is formed in a shape that can be engaged from both sides.
ing. [0245] On the other hand, air cylinders fixed to both ends of the slide plate 106
A second holder is provided at the end of the stocker support plate 112 on the stocker 24 side.
A second air cylinder for reciprocating the rack 116
CE2 is installed. This second air cylinder
At the tip of the second piston 120 of Da CE2, the aforementioned
A second hook 116 is connected. In this way
, the second air cylinder CE2 is driven.
The hook 116 is connected to the second notch 38 of the flange portion 38.
It will be driven back and forth to engage and disengage from b. here,
A first hook is provided on the lower plate 86b of the elevator main body 86.
Actual palette fetched from buffer 22 by 108
The stocker 24 is connected by the second hook 116 of p, and.
In order to slidably receive the empty pallet p' drawn in from the
A pair of movable slide guides 352 are provided. [0246] Here, both movable slide guides 352 are received here.
The empty pallet p' is transferred to the unloading roller of the aforementioned unloading mechanism 76.
In order to place it on the 78th group, the direction perpendicular to the conveying direction d
In other words, if the empty palette p' received here is
It is configured to be slidable so that it can be removed from the That is,
On the lower plate 86b of the elevator main body 86, there is a
Slide the movable slide guide 352 along the orthogonal direction
A sliding member 354 is attached for support.
There is. [0247] 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,
Then, 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. [0248] 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 replacement machine
Release the empty pallet p' from the structure 350 and remove it from the elevator body.
With buffer 86 emptied again, this time buffer 2
2, the receiver lifts the separated real pallet p to the top.
and move it to a height position adjacent to the separation position.
. At this separation position, the actual pallet is removed from the buffer 22.
Take p and convert this real pallet p to an empty pallet.
The predetermined position of the stocker 24, which is emptied by pulling in the stocker 24
I'm going to push it out. [0249] In this way, the series of pallet exchange operations is completed.
do. [0250] *Control* Using Figures 42A to 42H, perform this third modification.
The operation of the elevator will be explained along with the movement of the stocker.
. Regarding the control of this modification, the robot stocker,
Regarding the basis, the robot in step S26
Since the control in this example does not require modification, the robot
3A and 23B, and the stocker is shown in FIGS. 24A and 24.
Figure B is used for the buffer, and Figures 25B and 25C are used for the buffer.
. Regarding elevators, Figures 42A to 42
The sequence of control operations will be explained using diagram H. this strange
The elevator in this example has an empty panel at the bottom that was in the basic example.
Since the cut-out mechanism has been removed,
, first pull out an empty pallet from the stocker.
The sequence is to renew the stacking of pallets and insert new pallets.
. [0251] In FIG. 42A, the pallet with process number L (shelf S
(placed on [Lo]) becomes the remaining number Z[Lo] = 1.
At this point, the robot will be able to move the buffer, elevator
Instruct the staff to prepare for pallet replacement. This preparation finger
The indicated buffer is based on the buffer control of the basic embodiment described above.
Based on the part name etc. of process L (=Do) according to your instructions,
Determine how many stages on the buffer table 52 the supply pallet is placed on.
(see Figure 25A) and place the pallet in the separation position.
and separate. On the other hand, the modified version received instructions to prepare for replacement.
The elevator moves to its replacement standby position. the
Waiting position 282601. (84) Position means the position of stocker S [Lo] in process L.
It is a place. If the elevator does not arrive at this waiting position,
, as shown in FIG. 42B, the stocker process is a separate process L.
’. After the process completes, the shelf S
[Lo] pallet is the robot drawer stand at position 154
When it arrives, the remaining number Z[Lo] is zero. vinegar
At this point, the empty pallet is moved from the stocker side to the elevator.
(Figures 42C to 42D)
figure). Once the elevator has taken in the empty pallet, the elevator
The printer descends and stacks empty pallets on the transport mechanism 76.
(Figure 42E). In this condition, is the elevator available?
It doesn't even hold a palette. [0252] The elevator then ascends 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.
Lower the stocker to the S [Lo] position.
(Figure 42F). It descends to the standby position of this stocker.
The elevator pushes the new pallet into the stocker.
(Fig. 42G, AH), replace it with the stocker.
Send termination notice. The stocker that received this notification is a robot.
The supply of parts to the side will be resumed. [0253] 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. [0254] Description of fourth rectangular example *Structure* Also, in the unloading mechanism 76 of the embodiment not described above, the lower
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.
Upper and lower partial force plates of the unloading mechanism 76 located below the motor 26
It is configured to be movable and is configured to include a so-called lift mechanism.
You may do so. [0255] 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. [0256] On the other hand, as shown in the figure, the lift mechanism 402
Pillars 82a, 82b, 82c, 82d that constitute the
The guide member 88 attached to the elevator main body
86 is located below the sliding member 90 to which it is attached.
Another sliding member 404 is slidably attached thereto. With the four corners attached to these four sliding members 404,
, a lift stand 406 is arranged to be movable up and down. this
This was brought to the lowest position on the lift platform 406.
In this state, the unloading roller 7 provided in the fixed unloading mechanism 400
A carry-out roller 7 arranged in horizontal alignment with the group 8a.
A group 8b is provided. In addition, in the diagram, the pillar on the opposite side
This cartridge enters the space between 82b and 82d.
A protruding piece 408 is integrally attached to the side surface of the foot stand 406.
It is. Then, the racks were handed over to both branches 82b and 82d.
When installing the air cylinder, make sure that the member 410 is horizontal.
It extends to and is provided. This air cylinder
Attached to the upper surface of the member 410 is a piston 412 projecting downward.
Air cylinder CL is attached with it extended.
. The lower end of this piston 412 is connected to the above-mentioned protruding piece 408.
is fixed to the top surface of. [0257] 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
0 means that the piston 412 protrudes the maximum amount in the normal state.
high pressure air is supplied to it.
By doing so, the piston 412 can be pulled up.
In other words, the amount of protrusion is reduced and the lift platform 406 is driven upward.
It is configured to allow [0258] 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 S1, S2 . S3 along the vertical direction
They are arranged side by side. [02'59] These sensors S1, S2 . S3 is 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
There are three types of positions where the lift platform 406 is placed on standby to rise in advance.
It is arranged to control changes. [0260] That is, as shown in FIG.
Empty pallet p held at the bottom of the main body 86
, p3, depending on the height of this empty panel from the base.
The height to the bottom of the kits LD1, p2, and p3 is
, will change. For this reason, the elevator main body 86
Empty pallets p, p2, p3' held at the bottom of
It is released onto the empty pallet group p' on the force plate lift table 406.
The descending control of the elevator main body 86 when
At the same time, how high should the lift platform 406 be raised?
It becomes difficult to judge Inoka. [0261] In other words, the empty pallet in the elevator 26)p
, p2 and p3 are being pulled in.
During this period, the lift platform 406 is raised to a predetermined rising standby position.
If this is done, the descending time of the elevator main body 86 will be minimized.
The subsequent action will be done quickly on the power plate.
Become. In this way, these sensors S1. S2, S3
To simplify the descending control of the elevator main body 86,
In addition, with the aim of shortening the descent time, a lift
Empty pallets that can be stacked on the lift platform 406)
Depending on the height of p, I)2, p3, as much as possible
, is provided to keep it on standby at the rising standby position. [0262] Therefore, the sensor S1 at the top position is connected to the elevator main body 8.
6 is in the lowest position, under the elevator main body 86.
If the height of the empty pallet p held in the
In this case, the height position of the bottom surface of this empty pallet p1 is
It is set to be located a predetermined distance below the
Ru. [0263] Also, the sensor S at the second height position is the sensor
It is set to be located 25mm lower than
. That is, the second sensor S2 detects that the elevator main body 86 is
, at the bottom of the elevator main body 86 in the lowest position.
If the height of the held empty pallet p is 50 rom
, from the height position of the bottom surface of this empty pallet p2
, is set to be positioned downward by the predetermined distance mentioned above.
It is. [0264] Furthermore, the sensor S3 at the third height position is
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.
The lower part of the elevator main body 86 when the elevator is in the lowest position.
If the height of the empty pallet p held at is 100 mm, then
In this case, the height position of the bottom surface of this empty pallet p3 is
The position is set so that it is located the predetermined distance below.
has been done. [0265] Here, this predetermined distance is, with this interval remaining,
Empty pallet from the elevator main body 86 I), I)2. I)
3' is an empty pallet placed on the lift platform 406.
′ in the sky, this emitted sky
Pallets p, p2, p3' are empty on the lift platform 406.
set at a small enough distance to be superimposed on let p′.
It is. [0266] In this way, the elevator main body 86 is supported on the
The empty pallets p1p2 and p3' are placed on the lift table 406.
When transferring onto the empty pallet p' placed above,
The lift table 406 is equipped with an empty pallet placed on it in advance.
The top position of top p is the bottom position of the elevator main body 86 and
and the empty pallet p1p2. height of p3
It has been brought to a raised standby position corresponding to the As a result
, the elevator body 86 simply reaches its lowest position,
All you need to do is descend, and the descending control becomes easier.
, the descent time will be minimized. [0267] *Control* In this fourth modification configured as above, the following
The outline of the operation control will be explained below using Fig. 45.
. The control of this modification is from step 8226 in FIG. 26A to
Step 8236 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
. [0268] On the other hand, the lift mechanism 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 previously mentioned sensor S1 or S3 positions corresponding to
The lift table 406 is raised to . and step
At 8426, a waiting position arrival notification is sent to the elevator side.
First, wait for the empty pallet p′ release notification from the elevator side.
. [0269] On the other hand, the elevator, which has completed pallet replacement,
This notification is stored in the stocker using step 5222 (Figure 26A).
In step 5400 (Figure 45), Figure 43
Lower the elevator main body to the position shown in . and
, at this position, waits for the waiting position arrival notification from the lift mechanism.
Two. When notified by the lift mechanism, the elevator
The empty pallet p' held at the bottom of the motor and the lift platform 40
The distance to the topmost empty pallet p' on 6 is approximately close.
As mentioned above, Therefore, step 54
At 04, release the empty pallet held at the bottom of the elevator.
and sends a release notification to the lift mechanism in step 8406.
Ru. [02701 The lift mechanism side that received the release notification performs step 5428.
Proceed to step 5430 to move the lift platform 406 to the floor position.
lower to. At this point, the empty pallets that have just been piled up
Check whether the cut p' reaches the maximum height sensor position. most
If the large position height is reached, it will interfere with the vertical movement of the elevator.
Therefore, in step 5434, the fixed transport mechanism 400
drive to transport out stacked empty pallets. 027 By controlling elevators and lift mechanisms like this,
The elevator body 86 is simply lowered to its lowest position.
As long as it works, it will be fine, the lowering control will be easier, and the lowering will be easier.
The downtime will be minimized. [0272] In the elevator control of the basic embodiment described above,
The thickness of the pallet is given as H[L]
However, if the thickness is incorrect, the elevator body may be damaged.
As a means of checking the thickness of the empty pallet in order to
Additional mechanisms may also be provided. In other words, the elevator body
Empty pallets p, p, p3 pulled into the bottom of 86
In order to detect each height, a camera (not shown) is used.
There is an empty pallet drawn in at the bottom of the beta main body 86.
Topp, p2. Sensor for detecting the height of p3'
A group is provided, and the above H[L] and these sensors (not shown) are connected.
This is done by comparing and confirming the thickness type determined by detection. [0273] Also, the three sensors S1 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 held at the bottom of the machine and stacked empty pallets.
Lett means three different distances depending on the thickness of the pallet.
The elevator body descends further to cover this distance.
, the distance at which there is no problem even if the elevator body releases an empty pallet.
It is necessary to shorten the distance to . [Other Embodiments] *Configuration* In the description of the embodiment not mentioned above, 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. [0274] Particularly, 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. [0275] However, the present invention is not limited to the configuration of such an embodiment.
Other implementations shown in FIGS. 46 to 49 without being limited to
It may be configured as shown in the example. [0276] That is, in other embodiments, the portion in the buffer 22
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 [0277] Below, the configuration of FAClo according 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. [0278] That is, as shown in FIG.
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. [0279] Note that this buffer 450 is the same as the buffer of the embodiment described above.
Unlike the case 22, empty pallets p' can be removed from the stocker 24.
The pallet p is taken out and the separated pallet p is transferred to the stocker 24.
It has the function of pushing out to the replacement position of the
On the buffer stand 52, the number of parts in the stocker 22 is displayed.
Pallets p are stacked from the bottom in the order of zero.
Ru. Moreover, this buffer stand 52 has a fixed vertical position.
It is installed in the same condition. [02801 In detail, this buffer 450 is configured as shown in FIG.
, both upright plates 46a. 46b through the spacer block 452.
Then, the buffer stand 52 is placed on the pallet mounting stand 3 of the unmanned vehicle 20.
It is fixed at the same height as 2. In other words,
-Buffer stand 5 corresponding to the sub-block 452 provided
The side surfaces of 2 are spaced apart from the corresponding upright plates 46a and 46b.
ing. [0281] This buffer is placed above the buffer stand 52.
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. [0282] This separation mechanism 454 has the upper ends of both upright plates 46a and 46b.
The mounts each have a member 456 affixed to each mount.
A guide shaft is provided at both ends of the member 456 along the conveying direction d.
458 are installed in a state where they fall parallel to each other.
ing. A pair of guide shafts 45 along the conveyance direction
A separation claw attachment plate 460 is attached to the lower end of the separation claw 8 . The bottom surface of each separation claw mounting plate 460 is
A pair of separation claws 462 can be hooked onto the hinge part 38 from below.
can move forward and backward in the direction perpendicular to the transport direction.
is attached to. [0283] On the other hand, each attachment is provided in the center of the member 456 in the vertical direction.
The ball screw 464 is rotatably attached to the shaft while extending along the axis.
supported. The lower end of this ball screw 464
The support plate 466 fixed to the upright plates 46a and 46b
Rotatably supported. At this point, install the separation claw mentioned above.
In the center of the plate 460, there is a middle part of the ball screw 464.
The ball screw receiver to which the ball screw is screwed is provided with a portion 468.
. [0284] Also, for installation on the opposite side of the figure, there is a strip on the top surface of the member 456.
The servo motor MT is attached via the tie 470.
ing. The drive shaft of this servo motor MT has the above-mentioned bolt.
The upper end of the wheel screw 464 is connected, and its rotation
Accordingly, the ball screw 464 is configured to be rotationally driven.
has been done. Here, this drive shaft has a drive wheel 4.
72 are coaxially attached. On the other hand,
A driven wheel 474 is coaxially attached to the upper end of the screw 464.
It is worn. These drive pulleys 472 and
A timing belt 476 is wound around the pulley 474.
It is. In this way, the pair of ball screws 464
, are rotated in synchronization with each other. That is, both
The separation claw mounting plate 460, therefore both separation claws 462, are attached to each other.
It will be moved up and down with the same height. [0285] Then, each separation claw 462 described above is attached to a corresponding separation claw handle.
In order to move forward and backward from the attached plate 460, this separation claw mounting plate
Air cylinders CTl are provided on the rear surfaces of 460, respectively.
It is. A piston (not shown) of this air cylinder CT1
The tip of the ton is connected to the corresponding separation claw 462
. Here, each separation claw 462 is connected to a pair of guide pins 478.
It is supported so that it can move forward and backward freely. [0286] In addition, each air cylinder CT1 is supplied with high pressure air.
When the corresponding separation claw 462 is not
The high pressure air is biased to the retracted position away from the flange portion 38.
Can be hung on the flange part 38 in the state where air is supplied.
and is configured to be biased into a protruding position where it can be extended. [0287] Since the separation mechanism 454 is configured as described above, the
A plurality of pallets 9 stacked on a buffer stand 52
From the group, the lowest pallet p, that is, the pallet stand 5
2 and then transferred to the stocker 24.
When separating the pallets) p that are intended to be
First, the separation claw 462 is biased to the retracted position.
Then, attach 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 M. [0288] After this, high pressure air is supplied to the air cylinder C01,
The separation claw 462 is biased to the protruding position. This allows each minute
The release claw 462 is the part located second from the buffer base 52.
A state where it can be hooked onto the flange portion 38 of the let PB from below.
becomes. From this state, the servo motor M starts,
Move the separation claw mounting plate 460, that is, the separation claw 462 upward.
do. In this way, the second pallet from the bottom pb
is raised together with nine groups of pallets stacked on top of it.
It will be done. In other words, the bottommost palette
With the top p left on the buffer stand 52,
The pallet group p on the eyepiece is lifted and placed on the lowest pallet.
It will be separated from let p. Therefore, the separation
In other words, the next pallet p is
The pallet p to be transferred to the car 24 is
It is set so that it can be pulled out independently. [0289] On the other hand, this buffer 450 is arranged 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.
The lower surface of the buffer stand 52 via the rollers 484a and 484b.
It is configured to be tangent to . [0290] This ball screw 486 is attached to 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. [0291] On the lower 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
Mounted so that it can move forward and backward along the direction perpendicular to the transport direction d.
I'm being kicked. Further, on this lower surface, first hooks 490a, 490b are provided.
Air cylinder CT2 is installed to reciprocate the
has been done. Piston 492 of each air cylinder CT2
are connected to the first hooks 490a and 490b described above.
It is. [0292] Here, this air cylinder CT2 supplies high pressure air to it.
is not supplied, the corresponding first foot
490a and 490b, which are the flanges of pallet p.
operates to be biased to a position laterally away from the portion 38;
In addition, when high pressure air is supplied to this
Attach the first hooks 490a and 490b to the pallet.
It is engaged with the second notch 38b of the flange part 38 of l-p.
move to match. [0293] On the other hand, the exchanging mechanism 480
, 490b, it was pulled in from the stocker 24.
Movable slide guide 49 for receiving empty pallet p'
4a and 494b. Double movable slide guide 49
4a and 494b are attached to the corresponding upright plates 46a and 46b,
in the transport direction d via guide pins 496a and 496b.
It is provided so that it can move forward and backward along orthogonal directions. Each possible
The dynamic slide guides 494a, 494b have corresponding
of the construction cylinder CT3 fixed to the plates 46a and 46b.
It is attached to the tip of the piston 498. [0294] Here, this air cylinder CT3 supplies high pressure air to it.
is not supplied, the corresponding movable slide
Place the guides 494a and 494b on the empty pallet that has been drawn in.
at a protruding position where it is hooked onto the flange portion 38 of top p' from below.
When the air is biased and high pressure air is supplied to it, the
Pull the corresponding movable slide guides 494a, 494b.
Separate laterally from the flange portion 38 of the loaded empty pallet p'.
The retracted position is configured to be biased to a retracted position between the two. [0.295] Furthermore, the above-mentioned exchange mechanism 480
The actual pallet p is placed in the upper side of the stocker.
a pair of second hooks 500a, 5 for pushing into 24;
00b. Both second hooks 500a, 500
b is the second part of the flange portion 38 of the actual pallet p from both sides.
It is provided so as to be able to engage with the notch portion 38b. here
, both second hooks 500a and 500b are attached to the slide plate 4.
Support stays 502a, 502b integrally connected to 84
Piston 5 of air cylinder CT4 fixed to the top surface of
04, respectively. [0296] This air cylinder CT4 is supplied with high pressure air.
When the corresponding second hook 500
a, 500b laterally away from the flange portion 38.
It is biased to the loading position and high pressure air is supplied to it.
, the corresponding second hooks 500a, 500b are
, engages with the second notch 38b of the flange portion 38
It is configured to be biased to the protruding position. [0297] Furthermore, 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 45 also
At the separation position of 0, the drawer positions of each pallet p in the lifting frame 152 = 95 can be opposed to each other.
It operates as if [0298] 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.
(replacement request flag I [L] = 1)
, the part supply to the robot is temporarily stopped (i.e., the next process is started).
), the palette using the buffer described above.
The stocker elevator frame 152 is moved to the separation position. stop
At this separation position, insert the empty pallet and the real pallet.
Make a change. Then, follow the original process order again.
The pallet I on the shelf in the process of
Move the robot until it aligns with the drawer position.
This will restart the supply of parts to the factory. [0299] FIG. 50A shows a stocker control (wholesale) according to another embodiment.
It is a flowchart of the program. Step 5600
→Up to step 5608, the worker number received from the robot is
According to the number G (-L), place it in the shelf position corresponding to that number.
Move a certain pallet to the pull-out position of the pull-out stand 154,
Move the elevator frame 152 of the stocker 24 up and down to remove the drawer.
At position 154, pull the desired pallet.
This shows the control up to the start. Step 561 for robot
0, the pallet drawer is ready and the step
At step 5611, the robot waits for the robot to complete picking the parts. When the pick is completed, steps 5611 to 5
612, move the pallet on the drawer section 154 to the lifting frame.
152 and, in step 5614, by the robot.
Replacement request flag I [L] is set to “1”
Check to see if there are any.

If this flag is not set, step 86
28 to step 5634, and then step 560
Returning to step 6, the above control is not repeated until the replacement request flag I[L] reaches "1°" in step 5614.

In 030th, during the above repetition process, the robot side removed the pallet.
A pallet with only one component left was discovered (No.
If step 522 in Figure 23A), then step 826 (
(Fig. 23A), indicate the preparatory operation for switching to the buffer side.
There should have been an indication. [0302] That is, if there is such a replacement preparation instruction, the 50B
From step 5650 of the buffer control program in FIG.
, proceed to step 5652 and process step number D (FIG. 23A).
In step S24, since D=G), the new
The pressure H [D] of the pallet is determined from the variable table (Fig. 21A).
), and in step 5654
Separate the pallet in the lowest position. That is, H[D
] to raise the separation claw 462,
At that point, the actual pallet you are trying to separate is one or more levels above the actual pallet.
In order to hang the pallet of the step by the separating claw 462.
The air cylinder CTl is driven. After this latching, further
Rotate the motor MTl to separate the pallets to be separated.
Raise the pallet one or more levels above and remove the pallet to be separated.
Separate the parts. In this way, you can separate the actual palette from other palettes.
After separating from the stocker in step 5655,
A separation completion notification is sent, and in step 8656, the stocker
Wait for the replacement request instruction from . [0303] On the other hand, the robot sets flag I [L] to ° “1”.
When the stocker discovers in step 5614 that
, proceed to step 8616 and select the workpiece on the S [L] shelf.
Draw a moderately empty pallet as shown in Figure 50C.
Raise it to the out position. In other words, the empty space at the time of rising
The position of the shelf with the let from the floor is slide guide 4.
94a (494b). Therefore,
In step 5618, an empty palette is inserted into the buffer.
notification of replacement request. Then, in step 5620,
Until the pull-out mechanism at the bottom of the buffer pulls out the empty pallet.
wait. [0304] On the buffer side that received this exchange request, step 5
At 658, an empty pallet retraction operation is performed. That is,
Drive the air cylinder CT3 to move the slide guide 494.
bias a. Then, rotate a motor (not shown),
The first hooks 490a, 490b are not biased.
Then slide this hook into the stocker. and,
Driving the air cylinder CT2, the hook 490a,
490b is biased and the empty pallet is hung on this hook.
, the motor (not shown) is reversed, and the empty pallet is transferred to the back.
Pull it to the bottom of the fan. Proceed to step 8660 and
inform the customer that the empty pallet has been removed.
the slider so that it knows and moves to the pushing position of the actual pallet.
Urges Tokka. [0305] At this point, the control of the buffer becomes two parallel controls.
. That is, the above from the stocker in step 5662a.
Waiting for notification of extrusion position movement completion and step 566
At 2b, the lift mechanism Kamibuffer releases the empty pallet.
Wait until it has risen to a point where it is safe to do so.
It is. [0306] 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.
stomach. In other words, the exchange 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
81 in Figure 3. S2. Raise the lift platform 406 to S3).
let Upon arrival at this standby position, in step S706
, notifies the buffer to that effect, and in step 5708, the buffer
Waits for empty pallet release notification from buffer. [0307] 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. [0308] Now, if the lift mechanism 402 arrives at the standby position first,
Then, the buffer is transferred from step 5662b to step 56.
Proceed to 62c and release the empty pallet. In other words, air
Return the printer CT3 and release the empty pallet. vinegar
The lift mechanism 402 is notified of this in step 5662d.
Ru. Upon receiving this notification, the lift mechanism 402 performs step 57.
Proceed to step 10 and lower the lift platform 406 to the floor position.
, step S712. The empty palette in step 5714
Check whether the items are stacked on the lift platform to the maximum height.
Perform the action to investigate. [0309] Meanwhile, in step 5620, the empty palette 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. [0310] The buffer that received the movement completion notification in step 5662a
, in step 8664, the actual pallet is pushed into the stocker.
and start the operation. In other words, the air cylinder CT4 is biased.
the hooks 500a and 500b to the flanges of the pallet.
, and then rotates a motor (not shown) to
Push this actual pallet into the shelf of the stocker (50th
Figure D). Furthermore, the air cylinder CT4 is returned to its original position, and the
Reverse the data and place the pusher mechanism back into the buffer. vinegar
In step 8666, the stocker is notified of the end of replacement.
Send knowledge. Further, in step 5668, motor M is reversed.
and is lifted by guides 460 and 462.
[0311] In this way, the empty pallet is pulled out at the fixed position,
The push control of the actual pallet at the fixed separation position is completed. [0312] In the control program shown in FIG. 50B, the lift mechanism 402
The start of the rise on the side was due to a replacement request (zero pieces remaining).
Do this when there is only one item left in the pallet.
You may do so. [0313] Modifications of other embodiments In the configuration of the other embodiments described above, the buffer stand 52
The 9 groups of pallets placed on top are 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. [0314] However, this invention does not apply to the configurations of the other embodiments described above.
Without being limited to this, FIG. 51 shows a modification of another embodiment.
As shown, on the buffer stand 52, the
It may be configured to place various pallets p. [0315] That is, as shown in FIG.
The configuration is the same as that described in the above-mentioned embodiment.
A buffer 22 is provided. Therefore, in this variant
In this case, a plurality of layers arbitrarily stacked on the buffer stand 52 are used.
From the pallet p to the second separating claw 68 of the buffer 22
Thus, a predetermined pallet 1-p is separated. [0316] On the other hand, in this modification, the separation of this buffer 22
separated in this buffer 22 adjacent to the position.
The pallet p is lifted up to the same height as the separation position.
Other transfer means for transferring to the stocker 24
An exemplary transfer 550 is provided. [0317] Here, this transfer 550 is based on one embodiment described above.
In an elevator mechanism with a configuration of
with the body 86 adjacent to the separation position of the buffer 22;
Moreover, it is provided in the same state although its position is fixed. That is, in this transfer 550, the elevator
The main body 86 serves as the transfer main body 552 and has four pillars.
It is provided in a fixed state at 82a to 82d. Ma
In addition, this transfer body 552 has the above-mentioned implementation.
Exchange mechanism 9 having the same configuration as the exchange mechanism in the example
It is equipped with 6. [0318] 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. [0319] As described above, by configuring this modification, the battery
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.
. [0320] In addition, from the stocker 24 to the bottom of this transfer 550,
The empty pallet p' that has been pulled in is placed on the unloading mechanism 76.
In order to achieve this, the unloading mechanism 76 is configured as shown in one embodiment not described above.
Equipped with the lift mechanism 402 described in the fourth modification
It is something. [0321] 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, but not limited to - the second embodiment
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 [0322] The control according to the modification of this other embodiment is based on the input of an empty pallet.
The switching position is fixed, and movement to that position requires an electric
What is done by the stocker side due to lack of beta
Therefore, its basic operation is shown in FIG. 50A mentioned above.
It is similar to the control 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. [Others] <Locking of pallets in the stocker> In the above two embodiments and various modifications,
Inside the stocker 24, the packages hung on each shelf board 156 are
Let p simply attach the flange part 38 of this to the shelf plate from below.
156.
Ru. For this reason, the stocker 24 transfers the pallet p to the robot 12.
When moving up and down to supply the
There is a possibility that the supporting position of the pallet N) that has been removed 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
Pallet supported by shelf board 156 with 6 drawers
A situation may arise in which the first notch 38a of p cannot be engaged.
There is a possibility that [0323] For this reason, as shown in FIGS. 52 to 54, the stocker
24, a lock locks each pallet p in the supporting position.
It is even more effective to include the mechanism 600. In order to make this locking mechanism 600 effective, the
As shown in Figure 52, each flange part of each pallet 1-p
The third notch 38c formed in the center of 38 is
Both sides 38d of pallets 1-p are connected to the transport travel d.
It is formed from two orthogonal planes. So
Then, both sides 38d of this third notch 38c are as follows.
It is set to function as a locked surface. [0324] On the other hand, the locking mechanism 600 described above has the 53rd A[p to
As shown in FIG. 54, the lifting frame 1 in the stocker 24
52, in the center with respect to the conveyance direction d.
In other words, it is placed in the regular position in the stocker 24.
The position facing the third notch 38c of the pallet p
is equipped with a locking member 602 that is attached so as to be movable up and down.
It is growing. This locking member 602 is as shown in FIG.
The interior is opened so that both sides perpendicular to the transport direction d are open.
is formed hollow, and the arm 160 is lifted up and inserted through it.
A housing 602a made possible and an upper part of this housing 602a
Integrated on both lower end faces so as to extend along the vertical direction, respectively.
a pair of guide rods 602b and 602c formed in
It is equipped with These upper and lower guide rods 602b6
02 are attached to both the upper and lower ends of the central part of the lifting frame 152, respectively.
vertically through the guide members 604a and 604b.
It is arranged so that it can reciprocate along the direction. This lock part
Air is used to reciprocate the material 602 along the vertical direction.
Cylinder CR is installed via air cylinder mounting plate 606.
, is fixed to the lower end of the central portion of the lifting frame 152. this
The upper end of the piston 608 of the air cylinder CR is as described above.
is connected to the lower end of the lower guide rod 602C.
. Here, this air cylinder CR is filled with high pressure air.
When the piston 608 is not being supplied, the piston 608 is pulled.
It was biased to the inserted position and high pressure air was supplied.
configured to be biased to a protruding position when
. [0325] The inner left and right sides of the locking member 602 that is moved up and down in this way
On both end faces, the shelves are arranged at the same pitch as the shelf boards 156 mentioned above.
, lock piece 610 in a state corresponding to each pallet p.
are integrally formed. The left and right opening members 610 are
Both left and right sides of the third notch 38c of the corresponding pallet p
It is regulated at a position facing the end face. [0326] Note that each lock piece 610 is
With the ton 608 biased to the retracted position, the 53rd A
As shown in the figure, separate downward from each pallet p.
The air cylinder CR force plate pin is regulated to the unlocked position.
Figure 53B with the stone 608 biased to the protruding position.
As shown in FIG.
It is restricted to the lock position where it is inserted from below into 8c.
[0327] In this lock position, the inside of the third notch 38c is
The inserted pair of left and right lock pieces 610 are
They will face both end surfaces 38d with a slight gap between them.
As a result, pallet p is locked in its placement position.
It will be. Here, this air cylinder CR is
, the pallet) 1) is pulled from the lifting frame 152 of the stocker 24.
Prior to being pulled out onto the loading table 168, high pressure air is
By stopping the supply of
is configured to be biased to the lock position. [0328] This locking mechanism 600 is configured as described above.
Then, the lifting frame 152 moves up and down within the stocker 24.
While the air cylinder CR of the locking mechanism 600 is
Pressurized air is supplied. This lick, lol
Each lock piece 610b of the lock mechanism 600 is shown in FIG. 53B.
As shown, the third notch 38 of each pallet p
c, and as a result all palettes p are inserted into this
supported on the shelf board 156 by the lock mechanism 600
will be locked. [0329] Therefore, by providing this locking mechanism 600, example
Well, even if the lifting frame 152 moves up and down, the pallet p
The support position is well fixed without wobbling.
Become. In other words, when the pallet p is pulled out,
Indeed, it will be engaged by the hook. In addition, the lifting frame
152 was stored in pallet p when moving up and down.
Since there is no risk of parts falling over, the supply position to the robot is
When it is pulled out to the position, the parts stored in the pallet p
It will be securely clamped by the product-kami robot.
. [03301 On the other hand, in order to pull out the pallet p, the lifting frame 152 is
High pressure air to air cylinder CR when stopped
supply will be suspended. In this way, each
The hook pin 610b has a corresponding
is pulled out downward from the third notch 38c, and each part is pulled out from the third notch 38c.
Retsu HP slides on the shelf board 156 along the conveyance direction d.
It will be set in a state where it can be used freely. [0331] 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. [0332] Also, by providing this locking mechanism 600, it is possible to
The pallets p placed on each shelf board 156 of the frame 152 are
Since it is locked by the locking mechanism 600, the lifting frame 1
The shock that occurs when the 52 moves up and down also prevents transport.
There is no wobbling along the direction d. Do it like this
(I) Inconvenience of parts stored in the pallet falling down.
will be resolved. [0333] In addition, the stocker 24 to which this locking mechanism 600 is added
The following points can be newly added for control. [0334] That is, as shown in FIG. 24A, in step 72
Prior to moving the stocker 24, in step 71
, set the locking mechanism 600 to the locked state, and then
After that, in step 72, the stocker 24 stores the target shelf.
Move the plate 156 to the drawer position of the drawer part 154.
let If the pallet p is equipped with the lid body 40, the step
At 78, an air cylinder for opening the lid body 40
The lid body 40 is opened by driving the door c82 (shown in FIG. 16).
Open. Next, in step 79, the air cylinder C
Drive R to pull the lock piece 610 to the unlock position.
Lower it and remove it from the third notch 34c of pallet p.
. Then, in step S82, the pallet p is pulled.
The withdrawal to the withdrawal section 154 is started. [0335] Also, the start of vertical movement of the lifting frame 152 of the stocker 24 is
For example, the process returns to step S72 and the lock piece 610 is locked.
change so that it starts when the user returns to the target position.
. <Parts replenishment for FAC> The FAC system of the above basic embodiment is capable of supplying parts to the robot.
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, in some way, the FAC system can be accessed from the outside.
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. [0336] Trigger for external parts replenishment for the FAC system.
■: Supply new pallets to the stocker.
Therefore, even if there are pallets for other parts,
If one pallet is missing, ■; Conveyor
Empty pallets loaded on structure 76 Up and down of elevator
When the number reaches such a level that it interferes with the movement. [0337] The occurrence of these conditions should at least immediately
If the above conditions do not occur in order to cause the cut to stop
must immediately replenish the pallet buffer.
do not have. [0338] In addition, the conditions for replenishing the buffer with pallets are
,■: Each time an empty pallet occurs in the stocker
, replenishment using unmanned vehicles. However, this
Frequent back and forth between FAC and warehouse due to human resources or manual labor
This necessitates the complicated replacement of empty pallets. [0339] 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
This is a warning light to alert people to the occurrence of empty pallets.
Ru. The former is automatic replenishment, and the latter is manual replenishment.
Ru. [0340] By the way, replenishing the buffer with a new pallet requires
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. [0341] *Replenishment using unmanned vehicles* Using Figures 55A and 55B, replenishment using unmanned vehicles
Explain replenishment of let. [0342] Figure 55A shows a central production control computer and an 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 8776,
Empty pallet I by elevator unloading mechanism 76 in FAC
・Check to see if unloading has started. has been started
If not, return to step 5770 to continue assembly.
Ru. [0343] In step 5750, the replenishment request from the robot described above is
As the count continues, the requests are recorded. This means that the production control computer grasps the production control plan.
Because of this, there may be no parts on the pallet of one stocker.
Even if the same parts are on the buffer, they are on other pallets.
production management computer.
This is because the computer recognizes and manages the information. Therefore, the robot
Even if a replenishment request is received from
Replenishment will not be carried out using people's carts. Instead,
What the production control computer has in step 5752
Track record of pallets loaded in the buffer of
Examine the information and, if necessary, unattend at step 5754.
Issue instructions to the car to start. [0344] Furthermore, if a replenishment request is received from the robot in step 5750,
The driverless vehicle will not be launched immediately, but the driverless vehicle will be
On top of the car are loaded the requested pallets taken from the warehouse.
and have a system in place so that the train can depart at any time. Also, this
Each time a pallet is loaded onto an unmanned vehicle, the warehouse
, information regarding the palette (Figure 25A) is given. [0345] 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. [0346] Now, when such a predetermined condition occurs, step 575
In step 4, issue a departure instruction to the unmanned vehicle, and in step 5
755 - In step 8756, the elapsed time is monitored.
Now. This fixed period of time is the time required for the unmanned vehicle to reach the FAC.
This is slightly shorter than the time required for This time has passed
If the
Instructs the start of preparation for replenishing the kit. Multiple FACs installed
Even if the production control computer is
The time required for the unmanned vehicle to travel to C is known in advance. So
So, shortly before the unmanned vehicle arrived at FAC,
If the replenishment preparations for the unmanned vehicle have been completed, the unmanned vehicle will be immediately refilled upon arrival.
This is because replenishment can be initiated from an unmanned vehicle.
Ru. In other words, during this certain period of time, preparations for replenishment are made within the FAC.
robot assembly by avoiding
This is because it has the advantage of being able to continue
be. [0347] Meanwhile, in step 5762, the unmanned vehicle
After receiving the departure instruction from the taxi, the vehicle begins traveling towards the FAC.
It's starting. [0348] The FAC system also performs production control in step 5772.
When you receive an instruction to start replenishment preparation from the computer, the step
At step 5774, the preparation operation begins. This preparatory movement
Details of the operation are shown in Figure 55B. On the other hand, if F
The AC system discovers the need for replenishment preparation operation by itself.
If so, proceed to step 8776-step 5778.
Start the preparatory action. After completing this preparation,
At step 5780, the process waits for the unmanned vehicle to arrive. During this wait
This should be the minimum time for the reasons mentioned above. driverless car
When the unmanned vehicle arrives, in step 5782 the buffer is removed from the unmanned vehicle.
performs the actual replenishment of the pallet to step 5784.
In the 25th article, information about the newly added palette is posted.
Additional updates are made in the memory area shown in Figure A. [0349] 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. [03501 In step 5800, the management microprocessor
;When you receive instructions from the computer to prepare for replenishment, step
At 5802, the operation of the elevator etc. is stopped. In step 5804, the buffer is placed on the buffer stand.
Instruct to start raising, and in step 8806 read from the buffer.
, wait for notification of completion of ascent. [0351] The buffer that received this rising instruction in step 5840
At step 5842, the buffer platform is raised. buff
If you raise the platform, if it is separated at that point.
If the pallet is hung on the separation claw 68,
Release the latch, combine the separated pallets, and proceed to step 8.
At 846, the bottom pallet on the buffer platform is separated from the
It is latched by a claw 68. After this latching step 5848
Therefore, even if the buffer table is lowered, the pallet will not hold the separation claw.
68, and the pallet is placed on the buffer stand.
There is no such thing. Then, in step 5850, the carrier
The buffer preparation completion is notified to the system 76. [0352] The transport mechanism 76 that received this notification in step 5822
At step 5824, the rollers are rotated to remove the empty pallet.
starts moving to the buffer side, and in step 8826,
Send the notification to the buffer side. [0353] The buffer that received this notification will proceed from step 5852 to step
Proceed to Tsupu 5854 and wait for the unmanned vehicle to arrive. As mentioned above
The driverless car should arrive soon. [03'54] When the unmanned vehicle arrives, the empty pallet is handed over to the unmanned vehicle.
In addition, the robot receives a new pallet from an unmanned vehicle.
, and simultaneously drive each roller. Step 58
57, the buffer table is moved together with the newly loaded pallet.
and remove the existing package that was caught on the separation claw 68.
Combines with Rhett. In step 5858, newly added
Receives information about the created pallets from the unmanned vehicle and
Step 8860 updates the memory contents of Figure 25A.
Ru. [0355] In this way, preparations for replenishing new pallets can be made as much as possible by the unmanned vehicle.
By doing this just before arriving, the unmanned vehicle can be stopped as much as possible.
Downtime can be kept to a minimum. [0356] *Manual replenishment* Manual replenishment of pallets is performed by the robot mentioned above.
Turn on the warning light every time a refill is requested and check the warning display.
The operated vehicle power board manually ejects empty pallets and installs new pallets.
Stacking and input from pallet I/information input/output device 18
The gist is the action of force. [0357] FIG. 56A shows an input display screen on the input/output device 18 described above.
, and the arrangement of the entry key in Figure 56B is added to Figure 56C.
An outline of the operation sequence is shown below. Figure 56B for human oysters
The “Pallet Replenishment Key” and “Ready Key”
-” is there. An outline of the replenishment operation will be explained with reference to FIG. 56C. [0358] When there is a replenishment request from the aforementioned robot, step 39
00″C: A warning, etc. lights up.The operator who sees this
Check the request palette in step 5902, and proceed to step 59.
At step 04, turn on the "Pallet Replenishment Key". [0359] In this way, the buffer side will
Move the buffer stand to the exchange position (separation claw 68 position).
and hook the existing pallet to this claw. The unloading mechanism side 76 removes the empty pallet above it in step 5908.
Eject the cut. [03601 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. [0361] In step 8916, information as shown in FIG. 56A is
Input from the input/output device 18. Each time you make these inputs
In step 5918, the data in FIG. 25A is updated.
, the updated palette order is the CRT screen of the input/output device
displayed above. Step 8916 to Step 5918
The routine is repeated for as many pallets as are needed. [0362] In step 5922, the operator turns on the “ready key”.
do. [0363] In this way, the buffer side performs the above steps in step 5924.
From the release claw position 68, the top part placed on the buffer stand.
Calculate the stroke of the step to the pallet, step 89
At 26, start descending by this stroke and create a new pallet.
Combine the pallet with the existing pallet. And this FAC
The system resumes operation. [0364] Thus, the manual replenishment of pallets is completed. [0365] The above-mentioned five embodiments and various modifications (hereinafter simply referred to as
These are referred to as Examples. ), it is installed so that it can move up and down.
The elevator main body 86 and the elevator frame 152 slide at the four corners.
in other words, supported from both sides.
It was explained that it is arranged so that it can be slid in a state where it is closed. death
However, this invention is limited to such a configuration.
For example, the elevator main body 86 and the elevator frame, respectively.
Supported slidably on a pair of columns corresponding to 152, in other words
If so, it is constructed so that it can be slidably disposed with so-called cantilever support.
Needless to say, there is nothing that can be done. [0366] In addition, in the above-mentioned embodiments, one pallet p
, explain so that multiple common parts X are accommodated.
Takami This invention is not limited to this configuration.
For example, in one pallet) p, multiple types of parts Xi
, X2 may be configured to accommodate a plurality of each.
Needless to say, there is nothing to be said about it. [0367] Furthermore, in the embodiments described above, the buffer 22 is
A plurality of pallets) I) are stacked on the buffer table 52
This invention is like this:
For example, each pallet p
Hold multiple items horizontally in a standing position.
Needless to say, it may be configured. [0368] In addition, in the above-mentioned embodiments, the buffer table 52 is
Separate only one pallet stacked on the pallet using the separating claw.
In order to absorb manufacturing errors, the separation position
When making adjustments, fix the position of the separation claw and
The camera that explained how to move the buffer table 52 up and down
Akira is not limited to this kind of configuration, but for example,
The buffer stand 52 is fixed and the separation claw is configured to move up and down.
Needless to say, it's a good thing. Also, on the buffer
, multiple pallets containing the same parts are loaded.
If so, the pallet loaded first (or
The higher-ranking palette) will be prioritized and separated.
It's okay. (Hierarchization of control) In many of the embodiments explained above, FIG.
Robot stocker, elevator, buffer as shown
The control programs such as
It is stored in the memory in the subboard, and each task is
It was managed and operated under multitasking O8. That is,
, under such an environment, as shown in Figure 21A,
Control variables are shared between each task in the program (immediately
(and stored on shared memory), and even between each board.
, this shared memory is shared in hardware. paraphrase
Therefore, there is a one-to-one correspondence between tasks and boards.
[0369] However, the ease of expansion of modules such as robots
From this point of view, tasks and microprocessors are not necessarily the same thing.
There is no need for one-to-one correspondence. Because robot
, stockers, elevators, buffers, etc., from a hardware perspective.
Basically, servo motors, encoders, sensors, and
It is a collection of hard devices such as lenoid. Therefore, the
The above devices can be operated from the control program shown in Figure 23A.
These devices can be used as long as they have enough data to
Dedicated input/output control microprocessor for high-speed processing
Even if the operation of the above devices is controlled by the
Because it doesn't matter. In other words, robots, stockers
, elevator, buffer, etc. (multi-tasking)
(screen processing) is performed by one microprocessor, and
microprocessors, robots, stockers, and elevators.
of the above-mentioned devices used for data, buffers, etc.
Bus connection with lower-level microprocessor that performs control
This is what we are trying to do. In other words, this is a hierarchy of control. [03701 From this point of view, the block configuration of the embodiment shown in FIG.
Still other embodiments in which the
Shown below. <Configuration of control unit> The control device that controls each functional element to be controlled above is 1.
6 indicates six microprocessors as shown in FIG.
Consists of a board. The board 702 is for the robot.
This is a servo block board that performs servo-related control.
The board 703 is for the stocker, and the board 704 is for the stocker.
That for the elevator, board 705 that for the buffer.
It is. The I10 block board 706 is
Ka. Various sensors and sensors used in elevators and buffers
This is the board that performs input/output to the solenoid.
With this sheet, I10 control of the above four functional units is completed.
Stop and do it. This I10 block board is a system
Robots, stockers, and elevators for easy expansion.
Each data and buffer is modularized. [0371] The main block board 701 is a multitasking operator.
robot language under the operating system (hereinafter abbreviated as O8).
interprets the words and interfaces with the input/output device 18.
Now it's a microprocessor board. These 6 photos
The black processor board is as shown in the basic embodiment shown in Figure 18.
They are coupled by a well-known system bus 700. [0372] Figure 58 shows the connections centered around the main block board.
FIG. First, the main block 701 operates according to a certain communication protocol.
R3232C interface that communicates with the input/output device 18
Ace 802 and main memory of main block board 701
local memory 803 and main block control
It is composed of a CPU 805 and the like that performs control. [0373] Each servo block 702 to 705 is connected to the main block 7
For example, the servo motor 80
8a, 808b and encoders 809a, 809b
control of operations. I10 block 706 is
The solenoid valve is activated by the operation command of the main block 701.
Controls Lube 5V811 and Sensor 5812-4'.
ing. These, for example, buffer servo block 7
The motor 808b of 05 is the servo motor MB of Fig. 6.
be. [0374] The main block 701 that controls each block is
The servo block is connected via the shared memory 806 on the bus 700.
command to block 702 etc. or I10 block 706.
Let's do it. The above servo block and I10 block are
In this implementation, simplified operation of driven elements such as motors
As will be described later, this example is specialized for example control.
This is a major feature of [0375] Programming of each functional block manually inputted from the input/output device 18
The program is sent via the R3232C interface 802.
The data is then stored in a predetermined area of the local memory 803. As shown in FIG. 58 etc., the input/output device 18 includes each functional block.
Another major feature of this embodiment is that it is shared between the
Ru. <Memory map of main block> FIG. 59 shows the logic of the CPU 705 of the main block 701.
This is a memory map showing the physical address space. 820 is ma
Multitask O3, 821 exchanges data with input/output device 18.
This is a handler program that performs handling. Also
, 822 indicates which task the input/output device 18 is assigned to.
This is an allocated register that stores information on whether the Also, 823
- 826 are modes for processing modes such as robots, etc.
827 is a processing program, and 827 is a workpiece for each task.
rear, 828 stores variables commonly used between tasks.
This is the task common variable area. Also, 829-832
is the area where each application program is stored.
833-836 are each teaching for robots etc.
This is an area for storing monitoring points. [0376] Furthermore, in 837, the main block 701 connects each servo block.
to communicate with the block and I10 block 706.
This is the shared memory used for command communication, and as mentioned above.
uni, the data for this command communication is shared via the shared message shown in Figure 58.
It is stored in memory 806. That is, the above-mentioned 820 to 836
is stored in the local memory 803 and used for command communication.
Data is stored in shared memory 806. <Multitasking O3> Figure 60 shows the hierarchical structure between each program shown in Figure 59.
This is shown in . That is, handler task 821. Robot task 823~
Batsufuask 826 is under multitasking 03820
Receive management. This O8 is an event-driven system.
It is multitasking, and the task controller is set when registering the task.
box (see Figure 63), and then
Start address of task code, task-specific data
data area (task work area 827), and each data area (task work area 827).
Data area commonly used between disks (common variable area 8)
28). [0377] This multitasking O8 also performs flag set/reset.
for email (inter-task communication), R3232 interface
System for face input/output, servo block, etc.
System calls (system control commands) are available.
. The execution/stopping of the task is determined by using the "suspension flag" described later.
” depends on the status of the flag. example
For example, the system call WAIT-FLAG is issued.
5ET-FLAG from another task.
If the system call called is issued from another task,
, as is, the abort flag is not set and therefore the WA
IT is not executed and task execution continues. But other
The system call 5ET-FLAG is issued from the task.
If not, the task's suspend flag is set.
The task relinquished the right to use CPU805.
This will cause it to go into a waiting state. i.e. among other tasks
Power board CPU8 only for those whose interrupt flag is not set
Occupies 05. On the other hand, if the interrupt flag is set,
5ET-FLAG system code from other tasks.
If there is a wait state, the abort flag is reset.
The flag becomes executable. [0378] Application programs such as robots, stockers, etc.
The so-called robot language written as Gram is a multitasking language.
Structure check by interpreter in block 03820,
This is done through interpretation and execution. In that execution routine,
By using the above system call, you can create a message between each task.
data exchange using the function, and each task using the flags mentioned above.
This makes it possible to arbitrate execution between groups.
This allows us to provide a robot language that supports multitasking.
It becomes. [0379] As a task common variable, the type shown in Figure 21A is used.
There are various control variables. Generally, the work area used within a task is
is unique and closed, but common to each task.
By providing the variable area 828, it is possible to
will also be able to access these variables. child
Applications in common areas between this task, such as
Tasks as a robot language, which is a simple program description language.
By constructing common variables, you can
also allows manipulation of numbers or characters. and,
Synchronization between tasks is performed by the O8 system in the execution routine.
Multitasking vs.
This is realized using a custom robot language and task common variables.
Ru. [03801 In this way, the application of each functional block by multitasking is
Parallel execution at the application program level is
Data is exchanged between networks via memory.
This eliminates the need for complicated wiring, and eliminates the need for complicated communications.
This eliminates the need for other programs, resulting in faster speeds. deer
As will be explained later, robots, stockers, etc.
The uniqueness of the operation is that the task under this multitasking
Keep in mind that all the differences will be absorbed by
should be kept. 0381] In FIG. 61, the input/output bundler 821 and each task are
shows a logical data bus. That is, the input/output bundler
821 has three input/output ports (PT1 to PT3)
It is intended. On the other hand, as mentioned above, 823-826
Each task is dedicated to data exchange with the input/output device 18.
Mailboxes (MB - MB4) are available.
Ru. The input/output coupler 821 has three input/output ports.
, since there are four mailboxes, each input/output port
is currently assigned to which task (which mailbox)
data that is stored or retained, and that data is
The allocation is the data in register 822. This assignment is
As mentioned above, the data is stored in the area of the local memory 803.
822, with one word for each port.
ing. <Allocation register> Figure 62 shows the configuration of the allocation register. as mentioned above
, this allocation register is 1 for each port/channel.
One is prepared, and its value is "'0'°."
means the port/channel is open
. Also, if the value is 1'', the robot task
If it is “2”, the stocker is occupied.
Occupied by a task is defined as “3′°
teeth,······. Reset (open) this assigned bit
What is done is the input/output device 18 to the ii D O++ frame.
assigned to the robot task when the command is entered.
When the command “Di” is input from the input/output device 18,
When you are forced to... <Task Control Box> FIG. 63 shows the configuration of the task control box. This task control box is multitasking○58
20, it is created at the time of its initialization. child
Tasks that can be registered in the task control box of
, to mention only those particularly related to this example, the 63rd
As shown in the figure, the input/output device handler task 821 (
(hereinafter abbreviated as RS handler task), robot task 8
23. Stocker task 824 Elevator task 825
, Buff Axf 826, and ○5820
Startup tasks that are launched and unavailable to users
There is. This startup task has its property number, number
Not shown in Figure 59. [03'82] Data stored in the task control box
To explain, the "step" that indicates the start instruction address of the task
"start address", indicating whether it is registered in the system or not.
``Registration flag'', ``Startup flag'' indicating that the task has not been started.
'active flag', indicating whether it has started but is currently suspended.
"suspension flag" and the RS handler
1 assignment indicating whether or not the
A flag indicating that there is data entry in the mailbox
``Mailbox flag''. Above “Interruption Flag”
"log" indicates that the data for the task is in the mailbox.
``Mailbox'' indicates that it is waiting for input.
Waiting for message input flag”, ■/○ completion percentage from the servo board
"■10 Completion wait flag" indicating that there is a busy wait, RS
The handler assigns the task to one of the channels.
The "Assignment is pending" flag indicates that the assignment is pending.
If any of the bits in the ``lag'' are set, an interrupt
Become a state. Now, scheduling and switching between tasks
is registered and activated according to the so-called round tropin method.
Search for "suspension flags" in order for the tasks that have been
Then, a task whose “suspension flag” is “0”
Execute the application program, ``1
', the task suspends execution and the next task's
This is a search for "flag". [0383] The above “mailbox flag” is set by the system 820.
is set. [0384] Also, the task control box of the RS handler task
In this embodiment, three channels are provided. All Ta
You can prepare channels for each task, but all tasks must be done at the same time.
Entering the communication state with the RS handler is the result of this automatic assembly.
/ Since it is small for replenishment equipment, the program scale and system
It is important to reduce the number of channels in order to prevent the complexity of
ing. Therefore, if the operation of this embodiment device becomes complicated,
, of course there is a need to increase the number of channels, and
without changing the system algorithm.
It is easy to understand from the explanation below that it can be expanded.
. [0385] In the control program described below, for convenience of explanation,
A port/channel will be explained as one channel. <Assignment of input/output device 18 to tasks>
There are seven control modes for dynamic assembly/supply equipment.
is set. These modes are robot
A mode that interprets the lobram and instructs each block to operate.
(automatic mode), a mode for creating and storing robot programs.
(program mode), input/output device 18 or each
mode for monitoring input from the sensor (input mode), output
Opening/closing mode (output mode), robot operating position
Teaching mode (teaching mode) of the robot
Mode (data mode) for inputting and memorizing the operating position, each
Modes for changing constants for block behavior (parameters)
There are seven modes (data mode). [0386] Commands to enter and exit these modes are
This is done from the force device 18. That is, the task follows the program.
The reason for this operation is whether there is activation from the input/output device 18.
, and for that purpose, the task must be connected to the input/output device 18.
Must be allocated via either port/channel
There is. Figures 64A and 64B illustrate this assignment.
This is a control program for Figure 64A is multitasking
The process up to the activation of each task by 08820 is shown in Figure 64B.
Until the RS handler 821 and each task are assigned
show. In addition, in FIG. 64B, due to space limitations, RS
Only the relationship between the handler 821 and the robot task 823
show. [0387] First, when the control unit 16 is powered on, the 64th
At step 810 in Figure A, the multitasking ○5820 work
Querier etc. are initialized. And by 08820
, the startup task is started. That is, Tas
"Registration flag" in the control box (Figure 63)
and “start flag” are marked as “1” and start
up task is started. [0388] Startup task step S20. Step S2
2, the RS handle corresponding to each channel 1 to 3
"Registration" of robot tasks, robot tasks-buffer tasks, etc.
Mark the “record flag” and “start flag” as 1″.
Then, in step S24, the startup task "startup" is executed.
Set the "motion flag" to "o" and the "interruption flag" to '1''.
Mark to pause this startup task. [0389] Thereafter, as described above, according to the Luntropin method,
The task is executed between the RS handler task and the buffer task.
Scheduling and switching are performed [039
0] This will be explained according to FIG. 64B. The RS handler side
The “startup flag” is set to “1” by the startup task.
If R3 is set by a system call in step S30,
Input/output device 1 via 232C interface 402
Examine the input from 8. If there is no input, step S3
In step 2, set the “suspension flag” and “input wait flag” to “1°”.
mark and waive the right to use the CPU 405.
. [0391] If there is no input from the input/output device 18, the RS handler
If the task is interrupted, task scheduling will
Can be switched to robot task. The robot task is already
registered and started by the startup task.
Since the
Initialize variables used in each mode described above. and
, in step S72, the step of the task control box is
change the start address. This is again the RS handler
When switched from a task to a robot task,
In order to avoid initialization in step S70
It is. Therefore, the start address to be changed is
Points to step S74. Step S74 is for robots.
Check if there is any input from handler 821 in the mailbox of
investigate. Without this input, this robot task's
Mark the ``interrupt flag'' and ``input wait flag'' as 1'°.
and other tasks (in the case of Figure 64B, the RS handler
The program switches to execution. If there is an input, step S7
Proceed to step 8, but in this case input from the vermilion RS handler.
``mailbox flag'' is not reset.
Since the RS handler task is still
Switch. [0392] The RS handler task side waits for input in step S32.
It is interrupted. If the interface 40
If there is an input from the input/output device 18 via 2, the multi
Task 03820 sets the “suspension flag” and “input wait flag”.
lag" has been reset, proceed to step S34.
nothing. Then, in step S34, 1 byte is sent from the port.
The command is interpreted in step S36.
The command executes step S40 and step S40.
The process advances to either step S48 or step S60. [0393] In step S40, the input command is an allocation command.
This is the case. This assignment command
The port/channel entered with
When trying to assign enter and exit that specified task
Assigned to the force device 18. Hereafter, the input/output device 18
communicates with that task through the allocated channel.
Let's do it. If the command is assigned to a robot task,
If you are trying to
For example, "Di". Therefore, in step S40,
A port other than the port/channel where the command was entered
/Check the channel allocation register. i.e. other ports
/The channel and the task may already be combined.
That's because there isn't. If already combined, the RS handle
Returns an error message to the driver task. this is
, providing two or more logical paths for one task is
This is only prohibited because it complicates control.
, if the input from the RS handler task and the RS handler task
It is possible to output to the screen separately for one task.
If it is recognized that
44 is unnecessary. [0394] If the determination in step S42 is OK, step S4
In step 6, enter the mailbox number of the task to be assigned.
is stored in the allocated register. Thus, the RS handler
If there is a mail connection between a task, a port/channel, and a specific task.
This means that they are connected via a box. [0395] The RS handler task executes the step after setting the logical path described above.
Return to step S30 and check if there is input from the port/channel again.
wait until In step S30, the input/output device 18
Even if there is no input and control is switched to the robot task.
, the robot task is currently processing the mailbox in step S76.
The RS handler task is waiting for data.
Control switches to the side. In step S30, input/output device 1
If it is detected that there is an input from 8, step S34→
The process proceeds from step S36 to step S38. to this input
Allocation is not a command, and allocation is not a release command.
If so, proceed to step S60. In step S60,
specified by this port/channel and this command.
Check to make sure that the task has already been linked.
Check the allocated registers to find out. Not assigned
If not, the error message is sent to the port in step S64.
to the RS handler task via the port/channel. Split
If the assignment is OK, the manufacturer with the number indicated in the assignment register
stored in the box, and the process returns to step S30. Koto
Multitasking O8 is a task control box.
If you mark the “Mailbox Flag” as “1”′,
Both reset the "suspension flag". [0396] There is no input in step S30, so the robot task is not controlled.
Even if the ``mailbox flag'' is moved, the ``mailbox flag'' is still set.
Since the robot task is executable, the step
In step S78, the data in the mailbox is retrieved.
vinegar. And according to this fetched command, the above
This task will transition to one of the seven modes
. [0397] In this way, the input data from the input/output device 18 is
A port/channel and a task are logically connected.
Commands are sent and received in this state. [0398] In addition, the robot task can use the mode escape command from each mode.
The computer escapes by inputting the key and returns to step S70. [0399] Here, the assignment is to input the release command from the input/output device 18.
Let's explain what happens when you press the button. At this time, step S
30 → Step S34 → Step S36 → Step S3
8→Proceed to step S48. In this step S48,
Map the corresponding channel of the allocation register to II OII.
and task control box assignments in the status view.
Set the cut to “0”. This assignment is used when the release command
For three ports/channels, this port/channel
Since there are four tasks that use , I have to use the open command
This is because it becomes necessary. Releasing the allocation is done for input/output devices.
The program in location 18 allows you to spin in a round-robin manner.
Just schedule it. [0400] Using Figure 65, select the RS handler task from each task.
The control when outputting to the input/output device 18 via
. Again, due to space limitations, the task is a robot task.
Let me explain. robot task application pro
During program execution, in step 5120, to the input/output device 18
Suppose that the output data of is generated. At this time, the system
The task control button is activated in step 5122.
The assignment of your task in the box has the flag set.
Find out. And if it is not allocated, the input/output
Allocation from the power device 18 waits for allocation by command.
Two. In other words, 1 assignment of the task control box is
"1" flag and "1 interruption flag" are marked as 1". [0401] On the other hand, on the RS handler task side, the above-mentioned algorithm
In step 8100 to step 8106, the point
This is because the port/channel is assigned to the task.
, in step 8106, the task of multitasking O8
To allocate 1 block, set the ``wait flag'' and ``interrupt flag'' to 0''.
and assign the mailbox number to that channel's allocation record.
Store in register. Eventually, the RS handler task will wait
state and control is switched to the robot task side?
At that point, control of the robot task proceeds to step 81.
It will restart on the 26th. In step 8126, the allocated register
, and find the email used by your task.
Find the channel that matches the number on the box. And this
Direct output in step 5130 from the port/channel of
do. In this way, at any time, on the task side,
Even if output data for the RS handler task occurs, it will not be discussed.
The output data is output after confirming the processing path, and the output data may be distorted.
It won't happen. [0402] As mentioned above, one port/channel can serve one task.
The blocks and allocations are connected by commands, and the allocations are open frames.
Being released at a command means that one task can be released between multiple tasks.
This means that it is possible to share two input/output devices 18.
Ru. In other words, automatic assembly/supply equipment under program control.
is used for various controls such as teaching, system initial settings, etc.
is required, and as in this example, a robot stocker is required.
, etc. operate independently, each block
Teaching, etc. is required for each lock, and the
Nowadays, multiple input/output devices are required for teaching, etc.
However, in this embodiment, at least one input/output
The device 18 will be sufficient. In this way, one entry and exit
Automatic assembly equipment, especially robots, stockers, etc.
This is shared between each functional block element in the installation.
Ru. Moreover, when adding more robots, etc.
Also, the necessary control block board (see Figure 57)
etc. will be newly required, but as before,
There is no need to add a teaching device for teaching. Also,
When entering data for each load,
The hassle of moving to the corresponding input/output device 18 is eliminated.
This can be omitted. <Main block and servo block> As mentioned above, multi-task O8 is used between each task.
Flag management using system calls and management using common variables
This allows each control module to operate synchronously. child
These tasks are controlled by the physical layer level of the multitasking O8.
Through the system bus 700, each servo block
Block board (702-705) and ■/0 block board
706. Here these servos
An example of the main block that includes blocks etc. and each of the above tasks.
Before explaining the interface, let us introduce the automatic mode mentioned above.
The control performed will be explained using FIG. 66. [0403] In step 5150, the task that called this automatic mode
check if data has been entered in the client's mailbox.
Ru. If no data is entered, disconnect to another task.
and wait for data input. mailbox
If there is data input, in step 5152 the data is entered.
data and performs its analysis in step 5154.
Then, determine what kind of action instruction is given. In this example,
Examples of six types of operation instructions are shown. The first is step 8156
This is the interpretation/execution of the program. At this time, the program
When the program is executed to the end (step 51)
60), the input/output device 18 is centered on the finished pointer line.
and output 5 lines. The second example is step 51
This is the interpretation/execution of one line of the program at step 62. child
, step 816 is performed for each line of interpretation/execution.
4, the pointer line is one line forward for the input/output device 18.
Outputs one line of the program after three lines. In a third example, in step 8166, the program number
The number will be changed. In this case, step 816
8, the changed program number is sent to the input/output device 18.
Sends the first five lines of the program for the issue. The fourth example is
This is the change of the pointer line in step 5170. this
If so, in step 5172, the changed pointer line is
Send 5 lines to your heart. The fifth example is step 5174
is to advance the pointer line by one. At this time,
1 line 3 lines after the pointer line after changing in step 8176
Send out. The sixth example is the point in step 5178.
This is to move back one row of data. In this case, step 5
At 180, send the line 3 lines before the pointer line after the change.
Ru. Note that these data transmissions are shown in Figure 65 above.
Use control. [0404] Next, using FIGS. 67 and 68, the main block 7
01 and each lower control block 702 to 706
- Explain the face. Figure 67 shows the relationship between each lower board.
It is a data format used for communication. This street
The communication data is an area 837 of the shared memory 806 (Fig. 59).
is stored in The operation instruction code is, for example, a servo motor.
For example, if a robot arm is moved by rotating the
This is a 1-byte code. The parameters at this time are
, the movement position is set. The number of bytes to be transferred is according to the instructions above.
This is the total number of bytes for the code and parameters. transferred bytes
The number is necessary because the parameter is of variable length.
. As shown in Figure 67, the robot's servo
If one device/word is used, the code contains 256 devices.
Communication area sufficient to drive devices such as servo motors
A is secured. 67th also for I10 block
An area as shown in the figure is secured in the shared memory 806.
ing. [0405] Control will be explained with reference to FIG. 68. application pro
For example, when the program executes a command such as "MOVE",
, a system call is generated and multitasking O8 is instructed to operate.
Prepare the display code and parameters. So, on the task side
In step 5200, the code and parameters are
are stored in a predetermined location in the shared memory 806. So
Then, in step 5202, for the lower board,
An interrupt is generated via system bus 700. step
At 5204, a system call is made and the task control
``■10 Completion Waiting Flag'' and ``Interruption Flag'' in the control box.
” to ``1'' and enters the waiting state. Step 5
At 212, the lower block side that received the interrupt executes the step
At 5214, the operation instruction code and parameters are retrieved from the shared memory 806.
parameter and, in step 8216, its operation.
Execute. Then, in step 5220, the main block
An operation completion interrupt is sent to block 701. this
On the main block side that received the interrupt, multitasking O
8 is the tag of the task that caused this I10 completion interrupt.
"Completion flag" and "Medium" of Screencon I/Roll box
Set the disconnection flag to 0'. In this way, the task is
and placed in an executable state. [0406] Also, for the I10 block, the
The same area is reserved in the shared memory 806,
For example, in a robot task, energize a certain solenoid.
When such an instruction is executed, the driven element becomes a solenoid.
and its control should be done within the I10 block.
The interpreter interprets these words and produces the behavior shown in Figure 12.
Prepare the operation support code etc. in the shared memory 806, and
Issue a system call to 820, then 038
20 interrupts this I10 block. So
Other operations are the same as for the servo block. strike
For solenoids of cars, elevators, buffers, etc.
The same ■10 block board is also used. [0407] As explained above, this main block and its subordinate
One is simple as shown in Figure 67 between the control block and
interfaced with a standardized command set
. Moreover, the data such as servo motors in each lower block is
Devices can extremely simplify their operations as commands.
. This brings out the following important characteristics. In other words, the robot
Each has its own function, and its operation is
The works are different. As before, this can be done for each different function.
Control programs that correspond to the functions of different control devices
However, as the number of functions increases, different
A control device is required. Tokorokami In the above example,
First, robots and stockers have different functions.
However, the only difference is the control algorithm.
Yes, the difference in algorithms is absorbed by the difference in tasks.
let Differences in tasks are simply differences in programs. So
For example, in robots and stockers, the algorithm
If we abstract away the differences between servo motors, solenoids, etc.
It is just a collection of devices that
The device expresses its operation using a simple instruction set as described above.
Therefore, the lower control board can be used even if it is a robot or a
This means that there is almost no difference between drivers. May again
The block is unique to driven elements such as servo motors.
is not affected, so this often happens just because the program is different.
This simply appears in the difference in memory capacity. That is,
In the main block, add functions and increase memory capacity.
However, lower control blocks have additional functions.
The same control board can be used for both
This will reduce costs. [0408] In the above embodiment, the input/output device 18 has three ports.
I have set 1, but it is the same whether it is 1 or 4 or more.
Ru. Furthermore, the number of input/output devices 18 is not limited to one, and for example
For example, if there are 10 control objects, considering efficiency, 2
More than one input/output device 18 can be installed. [0409] In addition, in the above embodiment, the controlled object is one block.
It becomes a lock, and it is for one task, one board.
However, if there is enough space on one board,
For example, it is also possible to mount multiple control blocks. [0410] Furthermore, in the control of FIG.
Polling using part of shared memory without board interrupts
It is also possible to use the Google method. Conversely, with the control shown in Figure 68,
, without using shared memory, when an interrupt occurs, the system
Mail the operation instruction code and parameters on the Mobus 700.
The CPU 805 of the main block is loaded and is controlled by the lower level control.
It can also be picked up by the control block's microprocessor.
It is Noh. <Effects of Examples> The following effects can be obtained by the examples described above.
. A: Effects obtained in the FAC system. This FACIO accommodates multiple parts X in a horizontal plane.
Multiple pallets) p are stored on shelves, and these pallets are
One desired item can be pulled out from a fixed drawer position.
A stocker 24 that moves up and down to pull out the
Take part X from the pallet 24 pulled out to the unloading position.
The robot that takes out the 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 constant position.
) You can quickly receive parts from I).
I'm going to growl. [0411] That is, specifically, for supplying parts to the robot 12
(1) Pull out the pallet p to the drawer section. this
At the drawer section, the robot takes out parts.
(2) Pull the pallet back to the stocker 24;
(3) The lifting frame of the stocker 24 is connected to the next part to be supplied.
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 in 60 bots 12 is
The assembly operation time required for assembly is shortened, and
The effect is achieved that the motion control is simplified. [0412] On the other hand, Japanese Patent Application No. 61-200949 described in the prior art
and in the article supply device related to No. 61-200905.
In this case, the stocker is fixed and the drawer can move up and down.
possible. Therefore, the robot is removed from the stocker.
In order to supply pallets to
Pull it out to the drawer section. (2) Turn the drawer into a robot
Move up and down to the parts removal position;
At the pick-up position, the robot takes out the parts.
(3) Pull out the drawer section and the pallet.
(4) Move the pallet up and down to the original position.
(5) Pull the pull-out part out to the next supplied
The pallet containing the parts to be stored is moved up and down to the storage position.
The following five actions are required: [0413] Furthermore, by further providing the following configuration, the storage
Parts can be efficiently supplied from the machine 24 to the robot 12.
becomes. A-1: Supplying parts to the robot 6. A-1-■:
Pallets p1. with three different thicknesses. p2. p3,
Can be stored in any combination as long as Tokka 24's capacity allows.
It is. In this way, the pattern according to the size of each part
Let p can be selected, for example, a deep palette
In some cases, non-standard designs such as accommodating low-profile components in only one layer can be used.
Efficient containment will be avoided. [0414] Also, on the upper side edge of this pallet p, a flange portion 3 is provided.
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 lunge portion 38 does not have such a single function.
, a notch for moving this along the conveyance direction d
It has the following. And to move this pallet p
In this way, engage the hook in the notch.
is executed through a mechanically engaged state by
That will happen. Therefore, the movement of this pallet)p is certain.
and the stopping position must be accurate.
The prescribed effect will be achieved. [0415] In particular, in the configuration of one embodiment, the first and second cutouts
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 I) is shifted, the hook will be cut securely.
This will engage the notch. In addition, this engagement state
, 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 of the shape.
Ru. In other words, 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.
[0416] A-1-■: Parts necessary for product assembly, parts required for 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 ■pallet/one part.
, for example, from the same pallet p in different processes
, it can also be set to take out the same part X. like this
You can flexibly set assembly factors.
It is something that can be effective. [0417] A-1-■: The process order etc. can be determined in the manual or in the host computer.
It can also be set automatically from a computer, so for example, if the factory
Depending on the size of the project, it can be handled in a variety of ways. Also
In response to the special characteristics of the product, even at factories and other sites,
It is changeable and easy to use. [0418] A-1-■: Inside each pallet stored in the stocker
The robot manages 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, which is the main body of assembly, triggers the start of the above operation.
By managing the machine, you can prevent any problems from assembling.
The robot itself can select the optimal start timing.
. [0419] A-2: In addition to the above-mentioned stocker 24, this space is used as the basic configuration for the communication order of @products.
Buffer 2 for supplying parts to the stocker 24
It is equipped with 2. Then, the buffer 22 is placed in the stocker 24.
When replenishing the necessary part X from stocker 2, first
4, it became empty because parts were supplied to robot 12.
At the same time as pulling out the pallet and carrying it out,
Place the actual pallet from the buffer into the empty storage position.
By taking out the stocker and replacing it, you can always keep the stocker
At 24, a state is realized in which no parts are lost. [0420] In particular, if part X is used up on a given pallet p,
The need to replace empty pallets (one remaining)
Make a predictive judgment and determine that it will be necessary
Then, prepare a new palette to replace the empty one.
(Preparation for replacement) improves the efficiency of parts supply.
It is planned. [0421] 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 p
22. Here, this buff
When the pallet p is instructed to prepare for the replacement, the pallet p
This is achieved by performing selective separation of . in this way
Therefore, even if the number of remaining animals 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 will be made more clear by the specific aspects below.
It will be. [0422] A-2-■: Regarding the separation position in the buffer 22,
The following effects are achieved: That is, A-2-■-1: The separation position is not fixed at the specified position.
In this case, only the pallet p to be separated is at that separation position.
They will be separated at the same location. For this reason, after separation,
By removing this separation, the remaining pallet can be
You can set the blocks to stack, and then
This means that the pallet at the height can be separated. [0423] There are two types of separation positions set at this predetermined position.
It is something that will be done. That is, A-2-■-1-a: This separation position is the buffer stand 52
If it is set at any height above the
From among the pallets p stacked on the buffer stand 52,
Any palette will be selected and separated. [0424] In addition, each pallet stacked on the buffer table 52
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. [0425] 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. [0426,] A-2-■-2: Separation position stacked on 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 separate 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. [0427] A-2-■: Buffer 22 having the separation function of A-2 and
A replacement preparation operation is performed with the stocker 24.
At this time, the separation position of the pallet in the buffer 22 and the
It is necessary to match the shelf position of empty pallets in Tokka 24.
There is. Examples of this matching include the following. [0'428] 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.
. [0429] A-2-■-2: Equipped with the separation function described 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. [0430] A-2-■: A battery having the separation function described 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. [0431] A-2-■: On the pallet loaded on the buffer table
By storing identification information about the
Replenishment from the fa to the stocker becomes easy and reliable. That is, the order in which new palettes are needed from the buffer is
, regardless of the order in which they are loaded on the buffer table.
It is from. Therefore, replenish pallets on the buffer stand.
Buffer the identification of each individual pallet to be refilled.
All you have to do is feed it, and you will be conscious of the loading order of the replenishment pallet.
This has the effect of eliminating the need to do so. As a result, unmanned
Loading order of replacement pallets onto unmanned vehicles in warehouses, manual labor
Consideration regarding the order of replenishment and loading onto the buffer table, etc.
This eliminates the need for work and improves work efficiency. [0432] On the contrary, even without such memory information, it is possible to
Then, in the order of occurrence of empty pallets that are known in advance.
, there is no problem if actual pallets are loaded. [0433] A-3: Replacing an empty pallet with a pallet Part 7
' After preparing to replace one tooth, empty pallet p'
and a new palette p.
This will result in more efficient switching operations.
Ru. There are three ways to perform this swapping operation:
There are aspects of [0434] A-3-■: Stocker 24 and elevator that moves up and down
26 and a separation mechanism for pallets p stacked in an arbitrary order.
a buffer 22 having a
The configuration including the exchange mechanism 96 provides the above-mentioned effects.
is achieved. [0435] A-3-■: Stocker 24 and stacked in arbitrary order
Separation mechanism that separates pallets N) at a fixed separation position
a buffer 22 having a
This I-Lance is equipped with a
Due to the configuration in which the fan 550 includes the exchange mechanism 96,
The above-mentioned effects are achieved. [0436] A-3-■: Stocker 24 and stages in a predetermined order
Separates the stacked pallets p at a fixed separation position.
A buffer 22 is provided to replace the buffer 22.
The above-mentioned effects can be achieved by the configuration including the lifting mechanism 480.
It is something that will be accomplished. [0437] A-3-■: This exchange mechanism 96 has hooks 108,
Using 116 and 126, cut out the notch 38 of the pallet p.
Move pallet p while mechanically engaged with a and 38b.
It is configured to move. In this way, put
In the changing operation, the pallet p is reliably moved.
At the same time, the stopping position is accurately defined and the input
The effect is that the switching operation is carried out reliably.
It will be done. [0438] Here, there are two modes depending on the number of hooks. Immediately
A-3-■-1: First notch 3 of pallet p
8a and take out the pallet p from the buffer 22.
the first hook 108 for and the second cut of the pallet p.
The pallet p is placed in the stocker 24 by engaging the notch 38a.
a second hook 116 for pushing out and an empty pallet p'
a third hook 126 for pulling in from the stocker 24;
In a configuration with three hooks, the third hook
positioning the hook 126 directly below the second hook 116;
By configuring it to move in unison, the first hook
108 movement stroke and movement of the second hook 116
The stroke can be set to the same distance, and the stroke can be exchanged.
The structure of the changing mechanism 96 is simplified and the switching operation is easily controlled.
A simple effect will be achieved. [0439] There are the following two modes as a hook driving source. That is, A-3-■-1-a: Three hooks are connected to a common slot.
This slide plate 1 is attached to the slide plate 106.
By reciprocating 06 with one drive motor,
, three hooks will be driven by one drive source.
, the effect of simplifying control will be achieved.
. [0440] 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. [0441] 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, pull in the empty pallet p' from the stocker 24.
It is equipped with two hooks, with a second hook 116 for
Even in the configuration, this switching mechanism 96 is functional.
It is. However, in this case, the second hook 116
However, in order to perform two operations, the operation time is as described above.
It is longer than the case of A-3-■-1.
It's true. However, it has a simple structure and is manufactured at low cost.
The effect is what is achieved. [0442] A4: Empty pallet removal - Score: Stocker 24
Pull out the empty palette p′ from the window and insert the real palette p here.
When you perform a push-and-swap operation, the FAC system always
An empty pallet p' will result in the stem 10. Here, in this embodiment, for this empty pallet p'
This empty pallet p'
Since it is carried out well when the force plate is below the specified number, the specified number
The next exchange operation will not be hindered by being stacked in more than one stack.
effect will be achieved. [0443] 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. [0444] 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 piled up empty pallets (I).
The empty pallet supported at the bottom of the elevator main body 86
p' is stacked on the delivery mechanism 76. Configure like this
In principle, pallet exchange operations can be reduced by
The empty pallet p' is transferred to the unloading mechanism 76 without any obstruction.
They will be piled up. [0445] A-4-■: Equipped with a 76-piece unloading mechanism and a lift mechanism 402.
The lift mechanism 402 rises and replaces the
The empty pallet p' supported by the mechanism 96 is
It operates to stack on the stacking mechanism 402. Do it like this
In addition, compared to the case of A-4-■, the switching operation
This will have the effect of reducing the possibility of inhibiting
Ru. In addition, in the configuration provided with this lift mechanism 402,
There are two types of aspects described below. [0446] A-4-■-1: This lift mechanism 402 mechanical elevator
If it is located below the main body 86, the elevator
Until the empty pallet p' is drawn into the main body 86,
This lift mechanism 402 moves up to a predetermined position and waits.
Therefore, the descending time of the elevator main body 86
This allows you to set it to a shorter value. Do it like this
This reduces the time required to carry out the empty pallet p'.
The next exchange operation may be delayed by
and is avoided. [0447] 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:
A fixed position adjacent to the separation position of the buffer 22
The downward lift mechanism 4 of the transfer 550 provided in
02 is placed, the empty pallet p' is pulled.
Transfer of transfer 550 that is ejected and supported
Since the position of the main body 552 is fixed, this empty pallet p
′ on the unloading mechanism 76, this lifting mechanism 4
02 is an essential component. [0448] A-4-■-2-b: Buffer 22 has a replacement function.
When the buffer table 52 is in a state where
When the mechanism 402 is installed, the empty pallet p'
The buffer stand 52 that is pulled out and supported is fixed in position.
Therefore, this empty pallet p' is placed on the unloading mechanism 76.
This lift mechanism 402 is an essential component in order to
Become. [0449] A-4-■: As explained in A-4-■ above
In the case where the lift mechanism 402 is provided, the sensor S
1. S2. By providing S3, the following two effects can be achieved.
will be achieved. That is, A-4-■-1: This
Sensor S1. S2. S3 is the elevated position of the lift mechanism 402
This rise when used to define
The position is the empty pallet p stacked on the lift mechanism 402.
It changes depending on the height of '. That is, pallet p
Regardless of the height of ', pallets p3 of maximum height are stacked
Defining a given elevation position so that the
When stacking pallets p1, this minimum height
The bottom surface of pallet p1 having
of the pallet placed on this lift mechanism 402
There will be a fairly large gap between it and the top position.
Ru. Therefore, the empty pallet 1) 1' is loaded through this gap.
When I tried to sleep, this empty pallet) pl''s posture collapsed.
If the
It has sex. [0450] However, sensor S1. S2. By S3, each pallet
The optimum lifting position is specified according to the height of the cut.
This will ensure that this empty palette does not cause the above-mentioned problem.
The cut p′ reaches the effect of being superimposed on the lift mechanism 402.
It will be done. [0451] A-4-■-2: This sensor S1. S2. S3 power riff
field used to define the raised position of the lifting mechanism 402.
In this case, the lift body 86 is further provided below the elevator main body 86.
If the lift mechanism 402 is provided, this sensor
S1, 52S3 are located at the lowest position of the elevator main body 86.
Then, in order to pick up the empty pallet p', the lift mechanism 40
By specifying the rising position of 2, the elevator body
86 to transfer the empty pallet p' to the unloading mechanism 76.
The required descending time of the elevator main body 86 is set to the minimum.
It turns out. In this way, the empty pallet p' is transferred to the unloading machine.
The time required to move to the structure 76 is shortened, making it easier for the next replacement.
The effect of reducing the possibility of slowing motion is achieved.
It becomes. [0452] A-5: Effects of covering the pallet with lid 40
:The top surface is opened to take out the part X stored inside.
When transporting part X using pallet p,
If the stored parts are being transported or stored in a buffer,
22 and stocker 24, from dust etc.
Each pallet p has a lid 40 to protect it from dirt.
The lid body 40 has a top opening that can be opened.
It is something that obstructs one's ability. In this way, put a lid on each pallet p.
Since the body 40 is attached, the parts housed inside
Product X has the effect of being reliably protected from dirt from dust, etc.
It is something that can be done. [0453] 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. [0454] A-5-■: This lid body 40 is removed from pallet p.
Lifting in the lid opening mechanism 170
The arm 160 moves diagonally upward in a straight line from diagonally downward.
Then, the lid is inserted through the third notch 38c of the pallet p.
It engages with the side edge of the body 40 from below and holds the lid body 40 upward.
I'm trying to raise it up. Lifting arm 1 like this
60 linear movement requires only one drive source
This allows for shorter lifting operation times.
In addition to achieving this, it also has the effect of reducing costs.
It is something to do. [0455] In this way, the third notch 38c of the pallet p is
The lifting arm 160 that has passed lifts the lid body 40 in this way.
When lifted up, the pallet p is moved along the transport direction.
The fact that it is configured so as not to impede the movement of the
Needless to say [0456] 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 on this shelf board 156
In the state where each pallet p is supported by the
along the transport direction on the shelf board 156.
Movement is arrested. In this way, for example,
152 moves up and down, each part
Even if the let p receives a moving force along the conveyance direction, the rod
Since each pallet is locked by the lock mechanism 600,
p is securely locked in a predetermined position on the corresponding shelf board 156.
will be done. [0457] 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
When the retraction operation is performed, it is ensured that
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 the robot
Hey, elevator. Mainly when combining various buffers, lift mechanisms, etc.
Is it the configuration of the hardware and the control program that controls it?
This is the effect seen from this perspective. Software such as control programs
should also be characterized by its ease of change, so
Therefore, the control program used for this FAC has been changed.
effectiveness from the perspective of how flexible it is to
See the fruit. [0458] That is, in the example, by the variable G called process, the
It associates the parts used in the process. palette and pallet
The shelf position where the item is stored is associated with the variable S, and this
The shelf position variable S of is arrayed (S [
G] ). Thus, the relationship between process-shelf position-one part on pallet is
It has been clarified. So just convert this array to
, the process changes, and even if the process changes, the pallets can be stored.
There is no need to change the location of the stored shelves. Also, the control program
This has the effect that there is no need to change . [0459] Furthermore, display the above arrangement on the CRT 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. [04601 This FAC system handles the process of parts supply and parts
By making the process of replenishment through rets independent of
There is. By making these two processes independent, the stocker
Even if it is no longer possible to replenish supplies to
Miso will no longer be supplied to robots from mosquitoes
The preparation process on the FAC side (on the buffer table)
The process of attaching all the existing pallets to the information and the elevator
(process of carrying out empty pallets loaded under the tank),
FAC and the outside (unmanned vehicle) that supplies parts to this FAC
The above part is divided into the actual replenishment process that works jointly.
The process of product replenishment is integrated with the above preparation process for pallet replenishment.
As a result, the overall time for parts replenishment has been shortened.
As a result, the time it takes for unmanned vehicles to stop is shortened.
You can get results. In addition, even in manual replenishment,
Although it takes time and effort, it takes into account the effects described in B above.
, on the buffer table increased by replenishing new pallets.
It becomes easier to update information about palettes. D: Effectiveness rate of layered control In FAC, robot stockers, elevators, and
Application program level control program
A task program that runs under multitasking O8
between these task programs in shared memory.
Stored and commonly accessible variables and multitasking
It is synchronized by the system call O8. these
The control is based on the main block board as a higher level control.
stored in the code. 04June Control servo motor and encoder as lower level control
Servo board for robots and servo boards for stockers
, servo board for elevators, servo board for buffers
, and to control elements such as solenoids and sensors
I10 boards are available. These boards are
Connected via multipath and further between these boards
has shared memory. [0462] D-1: Application program level control program
By making the program multitask, robots can
Streamlined development of control programs for multiple operating parts such as lockers
do. Then, by using common variables, each task
Application program level synchronization of programs
can be easily achieved. [0463] D-2: Main operations at the application program level
control is housed within the main block task program.
By doing so, the above servo block, ■10 block
Control of driven elements such as servo motors and solenoids
becomes easy and simplified. That is, the above-mentioned fruit
As clarified in the example, with a simple command system, it is possible to
The operation of dynamic elements can be described. And this command is
Main block as a control unit and each as a lower control unit
Sent via multipath between servo blocks
. By doing this, the servo board, ■10 board
, has become standardized, and changes such as the addition of robots I.
This can be done easily and at low cost. [0464] [Effects of the Invention] As detailed above, the control of the automatic device according to the present invention
A method for controlling an automatic device according to the present invention includes a plurality of steps.
to control an automatic device for carrying out a certain process consisting of
In the control device, a number representing the process is assigned to the plurality of processes.
By assigning a number to a process variable,
specified by the value of the plurality of steps and any one of them.
Correspondence with at most one article used in the process,
It is stored as a data array with process variables as arguments, and arbitrary
Items required in one process are specified using the process variable as an argument.
By specifying the
It is characterized by being controlled. [0465] According to the control method with such a configuration, one process
associated with at most one article used in So
Each item represents the process in which it is used.
Uniquely identified by number. Therefore, individual items
The uniqueness of is reduced to the process number. Table of such articles
Using the current method, control depends on the uniqueness of each item.
The part is no longer explicitly visible in the program expression, and the program
The whole rum will be clean and have a good outlook. Also,
A process change represents an article related to the process related to the change.
It becomes nothing more than changing the argument. i.e. process changes
becomes easier. [0466] Further, the configuration of the control device of the automatic device according to the present invention may include a plurality of configurations.
To assemble one workpiece from parts,
An assembly robot means for performing this assembly operation, and an assembly robot means for performing this assembly operation;
Store multiple parts to supply parts to bot means
A control device that controls an automatic assembly device consisting of a supply means
The control device controls the operation of assembling the workpieces.
The multiple steps that make up the process and the number of steps used in each step
Correspondence with the storage position of one component in the supply means
is a data array with a process variable representing the process as an argument.
the assembling robot means;
requests the necessary parts from the supply means in the order of the process.
At this time, the process variable is passed to the supply means, and the supply means
The stage takes the process variables passed from the assembly robot means as arguments.
By searching the storage means, the parts storage position is determined.
The assembly robot hand detects the position of the assembly robot and moves the parts at the detected position to the assembly robot hand.
It is characterized by being supplied in stages. [0467] According to the control device with such a configuration, one process
associated with at most one article used in So
Each item represents the process in which it is used.
number and the location where the item is stored (this location itself is also a construction site)
(represented by a process number)
. Therefore, the uniqueness of each product is reduced to the process number.
It will be done. If we use this method of representing goods, we can
Control parts that depend on the uniqueness of the product are expressed in the program.
The whole program becomes clearer and has a clearer outlook.
Become a good one. In addition, changes in processes or stocking of goods may occur.
A change in storage location indicates goods related to the process related to the change.
It becomes nothing more than changing the argument. In other words, process changes
This makes it easy to change the storage location.

[Brief explanation of drawings]

[Fig. 1] 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;

[Figure 3] A perspective view showing the configuration of a pallet in which parts are stored;

[Figure 4
] Front view showing the shapes of pallets with three different heights;

[
Figure 5: Cross-sectional view showing how pallets are stacked;

[Figure 6] A perspective view showing the configuration of a buffer;

[FIG. 7A] A front view sequentially showing the separation operation of a predetermined pallet p in the buffer; [FIG. 7B] A front view sequentially showing the separation operation of a predetermined pallet p in the buffer; [FIG. 7C] A predetermined pallet in the buffer) I) [FIG. 7D] Front view sequentially showing the separation operation of a predetermined pallet p in the buffer; [FIG. 8A] Front view sequentially showing the position correction operation in the buffer separation operation; [FIG. 8B] [FIG. 8C] Front view sequentially showing the position correcting operation during the buffer separating operation; [FIG. 8D] Front view sequentially showing the position correcting operation during the buffer separating operation [FIG. 8E] A front view showing sequential position correction operations in a buffer separation operation; [FIG. 9] A perspective view showing the configuration of an elevator;

FIG. 10 is a side view showing the elevator main body of the elevator together with the switching mechanism;

[Figure 1] A front view showing the configuration of the switching mechanism with the elevator main body partially cut away; [Figure 12] A perspective view showing the switching mechanism taken out;

[Figure 13
A] Front view sequentially showing the switching operation in the elevator;

[
FIG. 13B is a front view sequentially showing the switching operation in the elevator;

[
FIG. 130 Front views sequentially showing the switching operations in the elevator;

[
FIG. 13D is a front view sequentially showing the switching operation in the elevator;

[
FIG. 13E] Front view sequentially showing the switching operation in the elevator;

[
FIG. 13F] Front view sequentially showing the switching operation in the elevator;

[
FIG. 13G] Front view sequentially showing the switching operation in the elevator;

[
Figure 14] Perspective view showing the configuration of the stocker;

[Figure 15] A side view showing the configuration of the lid opening mechanism;

[Figure 16] Side view showing the lid opening mechanism in a state where the lid is lifted

[Figure 17A] Depending on the process order and the shelf placement layer, A diagram explaining how the movement of stockers, etc. changes;

[Figure 17B] Depending on the process order and the shelf placement layer, A diagram explaining how the movement of stockers, etc. changes;

[Figure 170] Depending on the process order and the shelf placement layer, A diagram explaining how the movement of stockers, etc. changes;

[Figure 17D] Depending on the process order and the shelf placement layer, A diagram explaining how the movement of stockers, etc. changes;

[Figure 17E] Depending on the process order and the shelf placement layer, A diagram explaining how the movement of stockers, etc. changes;

FIG. 18 is a diagram showing the configuration of the control unit of the embodiment and the connection relationship between it and a production management computer, etc.;

FIG. 19A is a diagram showing an input menu to an input device and its display state;

FIG. 19B is a diagram showing an input menu to the input device and its display state;

FIG. 19C is a diagram showing an input menu to the input device and its display state;

[Figure 201 Diagram explaining the teaching of each shelf position of the stocker; [
Figure 21A] Diagram explaining variables commonly used in each control module;

[Figure 21B] Diagram explaining the configuration of the queue;

FIG. 22A is a diagram illustrating the vertical positional relationship of each module operation in the FAC system;

FIG. 22B is a diagram illustrating the vertical positional relationship of each module operation in the FAC system;

[Figure 23A] Flowchart of robot control program;

[Figure 23B
] Flowchart of robot control program;

[Figure 24A
] Stocker control program flowchart;

[Figure 24
B] Flowchart of stocker control program;

[Figure 24
0] Diagram explaining how process numbers change in stocker control;

[Figure 25A] A diagram explaining the configuration of variables used to control the buffer;

[
FIG. 25B Flowchart of buffer control program;

[Figure 25
0] Flowchart for buffer control program;

[Figure 26
A] Flowchart of elevator control program:

[Figure 26
B] Flowchart of elevator control program;

[Figure 27
A] A diagram that sequentially explains the pallet exchange operation focusing on the elevator;

FIG. 27B is a diagram illustrating the pallet exchange operation in sequence, focusing on the elevator;

FIG. 27C is a diagram illustrating the pallet exchange operation in sequence, focusing on the elevator;

FIG. 27D is a diagram illustrating the pallet exchange operation in sequence, focusing on the elevator;

FIG. 27E is a diagram illustrating the pallet exchange operation in sequence, focusing on the elevator;

FIG. 27F is a diagram illustrating the pallet exchange operation in sequence, focusing on the elevator;

[Fig. 27G] A diagram illustrating pallet exchange operations in sequence, focusing on the elevator;

[Figure 28] Diagram illustrating stacking of empty pallets on the transport mechanism;

[Figure 29] Flowchart of control for setting the system to the initial operating state;

FIG. 301 Flowchart of a control program according to the first modification;
FIG. 31 is a perspective view schematically showing the configuration of a buffer according to a first modification;

FIG. 32 is a front view showing a state in which the arrangement pitch of the separating claws in the stage separating mechanism shown in FIG. 31 is set to the maximum;

FIG. 33 is a front view showing a state in which the arrangement pitch of the separation claws in the stage separating mechanism shown in FIG. 31 is set to the minimum;

[Figure 34] A side view showing the configuration of the step removal mechanism;

FIG. 35 is a perspective view schematically showing the configuration of an elevator according to a second modification;

FIG. 36 is a bottom view showing the configuration of the actual pallet changing mechanism in the elevator shown in FIG. 35;

FIG. 37 is a side view showing the configuration of the actual pallet exchange mechanism shown in FIG. 36;

FIG. 38 is a bottom view showing the configuration of the empty pallet exchange mechanism shown in FIG. 35;

FIG. 39 is a side view showing the configuration of the empty pallet exchange mechanism shown in FIG. 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 is a front view showing the operation of the third modification in a simplified state;

FIG. 42B is a front view showing the operation of the third modification in a simplified state;

FIG. 42C is a front view sequentially showing simplified operations of the third modification;

FIG. 42D is a front view sequentially showing simplified operations of the third modification;

FIG. 42E is a front view showing the operation of the third modification in a simplified state;

FIG. 42F is a front view showing the operation of the third modification in a simplified state;

FIG. 42G is a front view sequentially showing simplified operations of the third modification;

FIG. 42H is a front view showing the operation of the third modification in a simplified state;

FIG. 43 is a perspective view showing a buffer equipped with a lift mechanism in a fourth modification;

[Figure 44] A side view showing the arrangement position of the sensor shown in FIG. 43;

[Figure 45
] Control flowchart of the elevator and lift mechanism in the fourth modification;

FIG. 46 is a perspective view showing a schematic configuration of another embodiment of the present invention;

[Fig. 47] A perspective view showing the configuration around the buffer stand in the buffer;

[Figure 48] Bottom view showing the condition of the underside of the buffer stand;

FIG. 49 is a side view showing the configuration of the exchange mechanism provided on the buffer stand;

[Figure 5OA] A flowchart of a control program according to another embodiment;

[
FIG. 50B: Flowchart of a control program according to another embodiment;

[
FIG. 50C is a diagram showing a sequence of pallet exchange operations in another embodiment;

FIG. 50D is a diagram showing a sequence of pallet exchange operations in another embodiment;

[Figure 51] A perspective view schematically showing the configuration of a modified example of another embodiment,

FIG. 52 is a perspective view showing a case where locking holes are formed on the lower surface of the flange of the pallet;

FIG. 53 is a front view showing the configuration of a locking mechanism for locking the supporting position of the pallet in the stocker;

[Figure 54] A side view of the locking mechanism shown in FIG. 53;

FIG. 55A is a flowchart showing a control program related to replenishment of pallets into a buffer via an unmanned vehicle;

FIG. 55B is a flowchart showing a control program related to replenishment of pallets into a buffer via an unmanned vehicle;

FIG. 56A is a diagram showing a human power display in an operation related to manually replenishing pallets to a buffer;

FIG. 56B is a diagram showing an input display in an operation related to manual replenishment of pallets into a buffer;

FIG. 56C is a diagram showing a sequence of operations related to manual replenishment of pallets into a buffer;

FIG. 57 is a diagram illustrating the board configuration within the control unit in still another example device;

FIG. 58 is a diagram showing connections between the input/output device, main block, and lower control block of the FIG. 57 embodiment;

FIG. 59 is a memory map diagram showing the memory space of the main block CPU 805 in the embodiment of FIG. 57;

FIG. 601 A program hierarchy diagram in multitasking in the embodiment of FIG. 57; FIG. 61 A diagram showing connections of logical paths of information between blocks in the embodiment of FIG. 57;

[Figure 62] The layout of the embodiment in FIG. 57 is a diagram showing the configuration of registers;

[
FIG. 63 is a diagram showing the configuration of the task control box in the embodiment of FIG. 57;

64A is a flowchart of an operation control program for sharing the input/output device 18 between tasks in the embodiment of FIG. 57;

FIG. 64B is a flowchart of an operation control program for sharing the input/output device 18 between tasks in the embodiment of FIG. 57;

FIG. 65 is a flowchart of data output control from the task to the RS handler task in the embodiment of FIG. 57;

FIG. 66 is a flowchart of a program related to control of the embodiment of FIG. 57;

FIG. 67 is a diagram showing the format of interface data between the main block and the lower control block in the embodiment of FIG. 57;

68 is a flowchart of a program related to control of the embodiment of the embodiment of FIG. 57; FIG.

[Explanation of sign]

10...Flexible assembly center (
FAC system), 12... Robot, 14... Parts supply system, 16... Control unit, 18...
Input device, 20... Unmanned vehicle, 22... Buffer, 2
4... Stocker, 26... Elevator, d... Transport direction, Unmanned vehicle I RakuN staff 28... Housing, 30... Wheels, 32... Pallet mounting stand, 32a... Carrying out roller, 34... Empty pallet mounting table, 34a... Carrying in roller, 36... Pallet body, 38... Flange portion, 38a... First notch portion, 38b... Second Notch part, 38c...
・Third notch, 40...lid, X (XI,
X2. X3...)...Parts, B...Barcode, Passue A Matamata 42...Base, 44a-44d...Strut, 46a
; 46b... Standing plate, 48... Guide member, 50
...Sliding member, 52...Buffer stand, 52a...
Projection piece, 54... Carrying-in roller group 56... Roller guide, 58... Slit, 60... Ball screw, 62
...Encoder 64...Separation mechanism, 66...First
separation claw, 68... second separation claw, 70... support rod, 72... connection plate, 74... barcode reader, 76... carry-out mechanism, 78... carry-out roller, 80・
...Sensor, B...Barcode, C;C...Air cylinder, MB...Server BI B2 Bomotor, 82a to 82d...Strut, 84... Connecting member, 86
...Elevator body, 88...Guide member, 90.
...Sliding member, 92...Ball screw, 94...Encoder, 96...Replacement mechanism, 98...Stay,
100... Swinging arm, 100a... Long groove, 102
...Guide groove, 104...Guide pin, 106...
・Slide plate, 108...first hook, 110...
- First hook slide member, 112... Air cylinder support plate, 114... First piston, 116.
...Second hook, 118...Second hook slide member, 120...Second piston, 122...Fixed slide guide, 124...Mounting plate, 126...
- Third hook, 128... Third hook slide member, 130... Third piston, 132... Guide groove, 134... Movable slide guide, 136... Slide member, 138...・・Support plate for air cylinder, 1
40... Fourth piston, 230... Elevator body at empty pallet pull-out position, 232... Elevator body at actual pallet push-out position, A; B...
Servo motor rotation direction, CEl; CE2; C93; C
14...Air cylinder, M...Servo motor,
ME2... Servo motor, each upper left cover ↓ turner 142... Base, 144a-144d... Support, 1
46... Connection frame, 148... Guide member, 150...
...Sliding member, 152... Lifting frame, 154... Drawer part, 156... Shelf board, 158... Notch part,
160... Lifting arm, 160a... Main body part,
160b...Top surface, 160c...Protrusion, 162.
...Protruding piece, 164...Ball screw, 166...Encoder, 168...Drawer stand, 170...Lid opening mechanism, 172...Take-in/take-out mechanism, 174...Support stay, 176... ... Stopper, 178 ... Slide guide, 180 ... Guide member, 182 ... Sliding member, 184 ... Support plate, 186 ... Hook, 18
8... Drive roller, 190... Idle roller, 1
92...Endless belt, 194...Connection shaft 19
6... Driven roller, 198... Stay, 200...
- Drive shaft, 202... Drive roller 204... Endless belt, 206... Piston, 208a; 2
08b... Input end base boss top cover turner 210... Assembly stage, 212... Frame, 214
...X-axis robot arm, 216...Y-axis robot arm, 218...robot hand, 220...finger, 222...finger station, 224...
...Assembly table, C81; C82...Air cylinder, M
sl...servo motor, Ms2...servo motor,
10th q modification rotation member 250... tier removal mechanism, 252... separation claw mounting plate, 254a: 254b... guide shaft 256a; 2
56b--fixing tool, 258...piston, 260a
: 260b--input end, 262a : 262b
; 262c...Introduction pipe, 264a; 264b
-...Output end 264C...Input end, 266...Separation claw, 268...Piston, CD1; CD2...Air cylinder, Ith modification 86a...Top of the elevator main body 86 Board, 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, 3
06...First ball shaft, 308...Protrusion, 31
0a: 310b...first rotation support member, 316
...Fixed slide guide, 322 a; 322
b-8 Second guide member 324...Second slide plate, 326...Second ball shaft, 328...Protrusion part,
330a; 330b... second rotation support member, 3
32... Hook member, 334... Second piston,
336... Movable slide guide, 338... Slide member, 340... Third piston, C1; C2; C
3... Air cylinder, Ml; M2... Servo motor, No. 1! 350... Replacement mechanism, 352... Movable slide guide, 354... Slide guide 356... Fourth
piston, 118th thread 400...fixed conveyance mechanism, 402...lift mechanism,
404...Sliding member, 406...Lift stand, 408
...Protruding piece, 410...Member for air cylinder attachment, 412...Piston, 414...Member for sensor attachment, Sl; S2; S3... Sensor, other embodiments 450 ...Buffer, 452...Spacer block, 454...Separation mechanism, 456...Mounting member,
458... Guide shaft, 460... Separation claw mounting plate, 4
62... Separation claw, 464... Ball screw, 468...
... Ball screw receiver part, 470... stay, 472.
... Drive pulley, 474... Driven pulley, 476...
・Timing belt, 480...exchange mechanism 482
a; 482b-guide shaft, 484-: slide plate, 48
4a; 484b...-Roller, 484c...Threaded portion, 486...Ball screw, 488a: 488b
...Rotation support member, 490a: 490b=...first hook, 492, , piston, 494a;
494 b, , guide pin, 496a: 496
b--Guide pin, 498. ,,piston,500a
;500b-=-second hook, 502a: 5
02b-support stay, 504, . Piston, other ``Example 7Jl'' carving example sales system 550...Transfer, 552...Transfer body, its imitation retainer 38d...For locking formed on the lower surface of the flange portion 38 of the pallet Hole portion, 600...Lock mechanism, 602...
・Lock rod, 604a: 604b... Guide member, 606... Air cylinder mounting plate, 608...
・Piston, 610...Lock member, 610a...
Mounting piece, 6.10b...Lock pin, CR...Air cylinder. 700...System bus, 701...Main block board, 702-705...Servo block board, 706...I10 block board, 802...Interface, 803...・Local memory, 805
...CPU, 806...Shared memory, 808a80
8 b... Servo motor, 809 a, 809
b-Encoder, 811...Solenoid valve, 81
2...Sensor, 823...Robot task, 82
4... Stocker task, 825... Elevator task, 826... Buffer task, 821...
Input/output device handler task 820 . . . multitask O8.

【Document name】

drawing

[Figure 1] ■

[Figure 3]

[Figure 4]

[Figure 51 [Figure 6]

[Figure 7D] [Figure 8B] [Figure 8C] [Figure 8D] [Figure 8E] [Figure 10] ME2

[Figure 11]

[Figure 12]

[Figure 13A]

[Figure 13B]

[Figure 130]

[Figure 13D]

[Figure 13E]

[Figure 13F]

[Figure 13G]

[Figure 14]

[Figure 15] 144b

[Figure 17A]

[Figure 17B]

[Figure 17CI [Figure 17D]

[Figure 17E]

[Figure 18]

[Figure 19A]

[Figure 19B]

[Figure 19C]

[Figure 21A]

[Figure 21B]

[Figure 24A]

[Figure 240]

[Figure 25A]

[Figure 25B]

[Figure 250]

[Figure 27A]

[Figure 27B] L-11111

[Figure 270]

[Figure 27D]

[Figure 27E]

[Figure 27F]

[Figure 27G]

[Figure 28]

[Figure 301 [Figure 31]

[Figure 32] 264b

[Figure 33]

[Figure 34]

[Figure 36]

[Figure 37]

[Figure 38]

[Figure 39]

[Figure 40]

[Figure 41]

[Figure 42A]

[Figure 42B]

[Figure 420]

[Figure 42D]

[Figure 42E]

[Figure 42F]

[Figure 42G]

[Figure 42H]

[Figure 43]

[Figure 44]

[Figure 45]

[Figure 46]

[Figure 47]

[Figure 48]

[Figure 49]

[Figure 500] strike, /zu-

[Figure 50D] Nutou Dan- 1\'° shift 1 No\Sif completed [Figure 52]

[Figure 53]

[Figure 55A]

[Figure 55B]

[Figure 560]

[Figure 58]

[Figure 61] ”− F

[Figure 62] 0: A3 reed 2: Enter 1 power 4: rs’, f. 1:0 Thu Nt 32rvX″″1)

[Figure 63]

[Fig. 64A]

[Figure 64B]

[Figure 66]

[Figure 67]

[Figure 68]

Claims (13)

[Claims] Claim 1. A control method for controlling an automatic device for executing a certain process consisting of a plurality of steps, wherein the plurality of steps are assigned a number representing the step to the plurality of steps, so that the plurality of steps are controlled by the value of a process variable. and storing the correspondence between the plurality of processes and at most one article used in any one of the processes as a data array using the process variable as an argument, A method for controlling an automatic device, characterized in that the article is controlled by associating the process with the article by specifying the article using the process variable as an argument. 2. The method of controlling an automatic device according to claim 1, wherein the automatic device is an automatic assembly device having assembly robot means, and the article is a part necessary for assembly. . 3. The automatic device comprises an assembly robot means and a supply means having a plurality of shelves storing a plurality of types of parts in order to supply parts necessary for assembly to the robot assembly means. The correspondence between a shelf position, a part stored in a certain shelf position, and a process in which the part is used is stored as a data array using the process variable as an argument, and the parts required in a certain process are stored in the When specifying in the supply means, by specifying the shelf that stores the parts required in the process using the variable representing the process as an argument,
2. The method of controlling an automatic device according to claim 1, further comprising controlling the supply of parts from the supply means to the robot means. 4. The assembly robot means, in order to have the necessary parts supplied from the supply means, sends the value of a process variable corresponding to the part to the supply means. A method for controlling an automatic device according to item 3. 5. The assembly robot means stores correspondence between each part and the assembly program as a data array using the process variables as arguments so that the operation of assembling the parts is controlled by an assembly program specific to each part. 4. The method of controlling an automatic device according to claim 3, wherein each assembly program is called by the assembly robot means using the process variable as an argument. 6. The assembly robot means has a plurality of fingers for gripping parts, and the control method includes: storing the correspondence between each part and the fingers as a data array using the process variable as an argument; 4. The automatic apparatus according to claim 3, wherein the assembly robot means uses fingers corresponding to process variables corresponding to the parts to grasp the required parts from the supply means. control method. 7. Assembly robot means for performing the assembly operation to assemble one workpiece from a plurality of parts, and supply means for storing the plurality of parts for supplying the parts to the assembly robot means. A control device for controlling an automatic assembly device comprising: a plurality of steps constituting the operation of assembling the work; and the supply of at most one part used in each step. The assembly robot means is provided with a storage means for storing the correspondence with the storage position within the means as a data array using a process variable representing the process as an argument, and the assembly robot means requests the necessary parts from the supply means in the order of the process. At this time, the process variable is passed to the supply means, and the supply means searches the storage means using the process variable passed from the assembly robot means as an argument to detect the parts storage position and retrieve the part at the detected position. A control device for an automatic assembly device, characterized in that the control device supplies the assembly robot means with the following: 8. The supplying means has a plurality of shelves storing a plurality of types of parts to be supplied to the assembly robot means, and the storage means stores shelf positions, parts stored at a certain shelf position, and the like. Correspondence with the process in which the part is used is stored as a data array using the process variable as an argument, and when specifying the part required in a certain process in the supply means, the variable representing the process is stored. As an argument,
The control device for an automatic device according to claim 7, characterized in that the supply of parts from the supply means to the robot means is controlled by specifying a shelf that stores parts required in the process. . 9. The control device further comprises: input means for inputting a correspondence between a shelf position, a component stored in the shelf position, and a process in which the component is used, which is stored in the storage means; A seventh aspect of claim 7, further comprising display means for displaying these input data.
A control device for an automatic device as described in paragraph. 10. The storage means further stores each part, an assembly program specific to each part for assembling the part to the workpiece, and a correspondence between the part and the assembly program, using the process variable as an argument. 7. A seventh aspect of claim 7, wherein the assembly robot means calls an assembly program for the part from the storage means using the process variable as an argument when assembling the part onto the workpiece. A method for controlling the automatic device described in Section 1. 11. The assembly robot means has a plurality of fingers for gripping parts, and the storage means stores the correspondence between each part, the finger gripping the part, and the location of the finger. The assembly robot means is characterized in that it is stored as a data array with variables as arguments, and the assembly robot means uses fingers corresponding to process variables corresponding to the parts in order to grasp the parts supplied from the supply means. A control device for an automatic device according to claim 7. 12. Control of an automatic device according to claim 8, wherein the storage means further stores the number of parts remaining in each shelf using a process variable as an argument. Device. 13. The eighth aspect of claim 8, wherein the supply means outputs the process variable to the outside in order to receive a new supply of parts when there is a shortage of parts on any shelf.
A control device for an automatic device as described in paragraph.