JPH042430A - Part feed device - Google Patents

Abstract

PURPOSE:To facilitate chuck changing-over and assemble various parts effectively by disposing respective pallet carrying devices in parallel, on which assembly parts and products are placed within the movable area of multiple assembling robots. CONSTITUTION:Loaded parts of a stopped part pallet 10 are assembled by a stopper 20 in a product pallet 4 stopped by a stopper 21 by a robot 2. At this time, a robot 1 performs a change to a chuck for a part placed on a part pallet 11 by a chuck stock device 8. After assembly is completed by the robot 2, the stopper 21 releases stopping and the pallet 4 moves to a stopper 19. At the same time, the stopper 21 also releases stopping and a pallet stopper 16 releases stopping, so that the pallet 11 becomes ready to move. Because a carrying device 15 carries a pallet twice as high a speed as the carrying device 14, a pallet 10 moves out of the movable range of the robot 1, and while the pallet 4 moves to the stopper 19, the pallet 11 moves to the position of the stopper 18 and is stopped by a stopper 18.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a control method and configuration of mechanical elements in a line for assembling products using robots and the like.

[Prior Art] Conventionally, in assembly, as shown in FIG. 2, parts sorted by a sorting device 25 are assembled into a product 23 placed on a pallet 24 by an assembly robot 22. Alternatively, the part 26 placed next to the product 23 is assembled into the product 23 placed on the pallet 24 by the assembly robot 22. Furthermore, the sorting device 25 or the parts 26
However, when a plurality of parts are to be assembled into a product 23, the robot 22 that performs the assembly is equipped with a plurality of chucks and can be installed one after another, or the chucks installed separately are replaced one after another and the assembly is performed.

[Problem to be solved by the invention] However, in the conventional configuration system, when multiple parts are assembled into a product, multiple chucks are mounted on the robot,
Either the chucks are changed over and installed one after another, or the chucks are installed separately and the chucks are replaced one after another. It takes time to sequentially switch to the mounted chuck, and the robot cannot be assembled into the machine.6 Also, when replacing with a separately installed chuck, the chuck stock device must be installed within the robot's movable range. When a single robot is used to assemble a plurality of parts, it is necessary to install a plurality of transport devices within the movable range of the robot, which poses a problem in securing space.

Therefore, in order to solve these conventional problems, the present invention places a plurality of transfer devices outside the robot's movable range.
The purpose is to ensure a space for the chuck stock device within the movable range of the robot and to use multiple built-in robots to ensure smooth chuck changeover.6 [Means for solving the problem] In order to solve the above problems, the parts supply device of the present invention arranges a pallet transport device carrying built-in parts and a pallet transport device carrying products in parallel within the movable range of a plurality of built-in robots. , characterized in that the speed of the pallet transport device on which the built-in parts are mounted is moved at a speed several times the speed of the pallet transport device on which the products are mounted, and the plurality of built-in robots are used to assemble a plurality of different parts. shall be.

[Function 1] In a machine configured as above, when assembling multiple parts one after another, after one robot completes the assembling work,
When the product pallet moves, the parts pallet moves at several times the speed of the product pallet. Therefore, the other robot can have a different parts pallet in its movable range than the previous robot, and can incorporate different parts from the previous robot.

[Embodiment 1] An embodiment of the present invention will be described below based on the drawings. In FIG. 1, robot 2 is placed next to robot l,
A chuck stock device 8 was placed within the movable range of the robot 1, and a chuck stock device 3 was placed within the movable range of the robot 2.

Within the movable range of each robot 1 and robot 2, a pallet conveying device 14 carrying products and a pallet conveying device 15 carrying assembled parts are arranged in parallel. Conveying device 1
5 is a stopper 16 that controls the parts pallet 10.
A pallet 10 on which parts are placed, controlled by a stopper 16, and a pallet 10 on which parts are fed by the sorting device 6, and a pallet 11, on which parts are fed by the sorting device 7, are arranged. Furthermore, a pallet 12 is supplied with parts by a sorting device 6.
A pallet 13 to which parts are supplied by the sorting device 7 is arranged next to the pallet 11.

Furthermore, within the movable range of the robot 2 and the robot 1, there is a stopper 20 that controls the parts pallet 10 and a stopper 1 that controls the parts pallet 10.
8 are arranged within the movable range of each robot 2 and robot 1.

On the other hand, a stopper 17 that controls the product pallet 4, and the product pallet 4 and the product pallet 5 controlled by the stopper 17 are arranged in the conveyance device 14. Further, a stopper 21 and a stopper 19 for controlling the product pallet 4 are arranged within the movable range of the robots 2 and 1, respectively.

In the above configuration, the stop of the product pallet 4 is released by the stopper 17 at the same time as the machine is started, and the product pallet 4 moves up to the stopper 21.

At that time, the stopper 17 stops the product pallet 5,
The function will stop until the next operation command is issued.

On the other hand, the stop of the parts pallet 10 is released by the stopper 16, and the parts pallet IO moves up to the stopper 20. At that time, the stopper 16 stops the parts pallet 11,
The function will stop until the next operation command is issued.

The parts placed on the parts pallet IO stopped by the stopper 20 are assembled by the robot 2 into the product pallet 4 stopped by the stopper 21.

In this frontage bot 1, the chuck stock device 8 performs the job of replacing the chuck with a chuck corresponding to the component to be placed on the component pallet 11.

When robot 2 completes the assembly work, stopper 2
1 releases the stop and the product pallet 4 moves up to the stopper 19. At that time, the stopper 20 also releases the stop, and the pallet stopper 16 also releases the stop, and the parts pallet 1
1 will be able to move.

Since the transport device 15 transports the pallet at twice the speed of the transport device 14, while the parts pallet 4 moves up to the stopper 19, the parts pallet 10 moves out of the movable range of the robot 1, and the parts pallet 4 moves to the stopper 19. 11 moves to the position of the stopper 18 and stops at the stopper 18.

At this time, the stopper 16 allows the parts pallet 11 to pass, stops the parts pallet 12, and stops functioning until the next operation command is issued.

The robot 1 incorporates the parts placed on the parts pallet 11 stopped at the stopper 18 into the product placed on the product pallet 4, which is stopped at the stopper 19.

This frontage bot 2 performs the job of replacing the chuck with a chuck corresponding to the component to be placed on the component pallet 12 using the chuck stock device 3.

When robot 1 completes the assembly work, stopper 1
8 and stopper 19 are released, and the product pallet 4
and the parts pallet 11 are pushed out of the robot's movable range. The next series of operations begins when the stopper 17 is released and the product pallet 5 begins to move. Then, the content of the above work is repeated using the parts pallet 12 and the parts pallet 13.

In the embodiments described above, the system uses two robots, but by increasing the speed of the pallet conveying device on which the parts are placed, the number of robots can be increased and it is possible to handle a plurality of parts. Furthermore, by supplying parts different from those supplied to the parts pallets 10 and 11 from the sorting device 6 and the sorting device 7 to the parts pallets 12 and 13, the 6C invention facilitates multi-step assembly. [Effects] As explained above, the present invention has a configuration in which a conveying device for a pallet on which built-in parts are placed and a conveying device for a pallet on which a product is placed are arranged in parallel within the movable range of a plurality of built-in robots. It is now possible to assemble parts with multiple robots, and to install the sorting device outside the robot's movable range, making it easier to change chucks and efficiently assembling various types of parts. is obtained.

[Brief explanation of the drawing]

FIG. 1 is a schematic plan view of the robot arrangement and peripheral parts according to the present invention. FIG. 2 is a schematic plan view of the arrangement and peripheral parts of a conventional robot-integrated device. 11, 2 ・ 3, 8 ・ 4, 5 ・ 7 ・ ・ 10~13 14, 15 ・XY robot, chuck stock device, product pallet, sorting device, parts pallet, conveyance device'! 21 sides or more

Claims (1)

[Claims] Within the movable range of a plurality of built-in robots, a pallet conveyance device carrying built-in parts and a pallet conveyance device carrying products are placed in parallel, and the speed of the pallet conveyance device carrying the built-in parts is adjusted to 1. A component supply device, which moves at a speed several times the speed of a pallet conveying device, and incorporates a plurality of different parts with the plurality of built-in robots.