JPH0459099B2 - - Google Patents

Description

[Detailed description of the invention]

[Industrial Application Field] This invention temporarily stores a storage box containing goods replenished from the outside in a storage means, replenishes the storage means as needed, and stores the supplies from this storage means. The present invention relates to an article supply device configured to supply an article to a department. [Prior Art] In the past, the inventors of the present application have developed a system in which articles such as component units of a product are automatically supplied to an assembly station, where they are automatically assembled into a product by a robot. goods supply device,
In patent applications No. 61-200949 and No. 61-200950,
This has already been proposed. These conventional article supply devices adopt a non-line method, and when combined with a multifunctional working mechanism such as a robot, they occupy a small area, can be used for many types of articles, and can be used for many different types of items. It is an easy-to-use device that allows mixed storage of items. [Problems to be Solved by the Invention] Here, in the conventional article supply device as described above, a storage box containing articles is supplied to an assembly line or an assembly stage, and the robot Remove the items from the storage box,
Configured to be assembled. However, when goods are supplied to the robot, so as not to interfere with the robot's work to take out the goods,
The top surface of the storage box is open. For this reason, there is a risk that the components accommodated in the storage box may become contaminated with dust or the like while they are stored in the storage means. Particularly when the article is an optical component, such contamination due to dust must be avoided as much as possible. Incidentally, as a conventional technique disclosing such a storage box, a tray delivery device filed as Japanese Patent Application Laid-Open No. 60-213630 is known. However, this prior art publication discloses a tray with an open top surface as described above, and the same problems as described above are pointed out. On the other hand, as a conventional technique disclosing a case having a lid, a storage device disclosed in Japanese Patent Application Laid-Open No. 60-36205 is known. However, in this prior art publication, after the case is transferred from the shelf to the table, the lid is removed by an opening/closing device to open the top surface of the case body. As a result, a long time is required from the time the case is removed from the shelf until the article is actually picked up, which poses a problem in terms of work efficiency. This invention has been made in view of the above-mentioned problems, and an object of the present invention is to supply articles that can reliably prevent dirt from dust etc. on the articles in the storage box without reducing work efficiency. The purpose is to provide equipment. [Means for Solving the Problems and Their Effects] In order to solve the above-mentioned problems and achieve the purpose, the article supply device according to the present invention includes the following steps in the article supply device that supplies articles to an external device:
a storage box with an open top surface for accommodating articles to be processed or assembled; a lid that is removably attached to the storage box and is placed so as to close the top surface of the storage box in the attached state; In order to supply articles to the external device, a storage unit that stores a plurality of storage boxes covered with the lid is provided, which is movable up and down;
a storage means with a drawer preparation position defined at a predetermined height; and a plurality of storage boxes attached to a side surface of the storage means facing the external device in correspondence with the drawer preparation position and housed in the storage means. a drawer means for pulling out the storage box in the drawer preparation position to the external device; and a lifting means for driving the storage box containing the type of article requested from the external device up and down to the drawer preparation position; The present invention is characterized by comprising a lid removing means disposed in the storage means and for removing the lid by lifting the lid from the storage box brought to the drawer preparation position by the elevating means. The storage box is usually closed with a lid.
When the elevating means moves the storage box to the pull-out preparation position, the storage box is closed until the lid removal means removes the lid. That is, the articles in the storage box are protected from dust and the like from the outside until they are taken out. Further, in order to achieve the above object, an article supplying apparatus having another configuration includes a storage box whose top surface is open and which accommodates articles to be processed or assembled; a lid that is removably attached to the storage box and is placed so as to close the top surface of the storage box in the attached state; and a lid that is placed on the storage box for supplying articles to the external device. A storage means that includes a storage section that stores a plurality of storage boxes that can be raised and lowered, a drawer preparation position defined at a predetermined height, and a side surface of the storage means facing the external device that corresponds to the drawer preparation position. After the storage box attached to the storage means and in the drawer preparation position among the plurality of storage boxes stored in the storage means is pulled out to the external device, and the article is supplied to the external device,
A drawer means for returning the storage means to its original drawer preparation position, a lifting means for driving up and down a storage box containing an article of a type requested from the external device to the drawer preparation position, and a lifting means disposed in the storage means. Immediately before the drawer pulls out the storage box, the lid is lifted and removed from the storage box brought to the drawer preparation position by the elevating means, and the drawer removes the storage box from which the feeding operation has been completed. It is characterized by comprising a lid opening/closing means for covering the lid immediately after returning the lid to the drawer preparation position. According to the above-mentioned supply device, the storage box is usually closed by a lid, and when the lifting means moves the storage box to the draw-out preparation position, the storage box is closed until the lid is removed by the lid removal means. The containment box is closed. Then, when the storage box that has been pulled out is returned, the lid is placed on the storage box again.
The items in the storage box are protected by the lid except during the time when the item is taken out and the storage box is returned after being taken out. [Embodiment] Hereinafter, the configuration of an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the following explanation, the explanation will be made in the order shown in the table of contents below. Table of contents 《Schematic configuration》 《Description of unmanned vehicle》 《Description of pallet》 《Description of pallet》 Composition of pallet Dimensions of pallet 《Description of buffer》 Composition of buffer stand Composition of separation mechanism 《Buffer operation》 Basic separation operation Position correction operation《Elevator Explanation》 Structure of the elevator main body Structure of the exchange mechanism Operation of the exchange mechanism - Taking in from the buffer - - Pulling in empty pallets - - Pushing out pallets - - Carrying out empty pallets - <<Description of the stocker>> Structure of the stocker Drawer Configuration of the lid opening mechanism Operation of the lid opening mechanism Operation of the drawer section《Description of the robot》 Configuration of the robot Operation of the robot

[Control of robot and stocker]

Until the remaining number becomes 1 When the remaining number becomes 1 [Effects of the embodiment] <<Schematic configuration>> First, an overview of the flexible assembly center (hereinafter referred to as FAC) 10 of this embodiment. This will be explained with reference to FIGS. 1 and 2. This FAC 10 includes an automatic assembly device (hereinafter simply referred to as a robot) 12 for automatically assembling a predetermined product from a plurality of parts x ₁ , x ₂ , x ₃ . . . A parts supply system 14 that automatically supplies parts x ₁ , x ₂ , x ₃ . The apparatus generally includes a control unit 16 for driving and controlling both, and an input/output device 18 connected to the control unit 16 and into which assembly information data is input by the operator. This parts supply system 14 supplies various parts x ₁ , x ₂ , x ₃ . . . 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 from the unmanned vehicle 20.
A buffer 22 serves as a temporary storage means for receiving and temporarily storing x ₁ , x ₂ , x _{3 .} . . and a robot 12.
A stocker 24 is provided adjacent to the robot 12 and serves as a storage means for sequentially supplying parts necessary for assembly to the robot 12 according to the assembly order, and a buffer 22
and the stocker 24, and the stocker 24
It basically includes an elevator 26 as a form of transfer means for transferring the parts x ₁ , x ₂ , x _{3 .} . . which are in short supply from the buffer 22 to the stocker . <<Description of unmanned vehicle>> This unmanned vehicle 20 selects this robot 12 from among the many parts x ₁ , x ₂ , x ₃ . . . stored in an unmanned warehouse.
The parts x ₁ , x ₂ , x _{3 .} . . to be assembled in the buffer 22 are selectively transported thereto. That is, as schematically shown in FIG.
and wheels 3 attached to the bottom surface of this housing 28.
0, 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 is connected to an unmanned warehouse and a buffer 2.
2 along a travel path previously provided on the road surface through the drive of wheels 30, and this traveling state is optimally controlled by a production control computer, which will be described later. . In addition, the selection of parts x ₁ , x ₂ , x _{3 . .} . to be transported to the buffer 22,
The loading operation on each unmanned vehicle 20 is also optimally controlled by the control unit 16 described above. Moreover, on the pallet mounting table 32 described above, pallets p ₁ , p ₂ , _{p 3} .
A plurality of x ₂ , x ₃ , etc. are stacked up in a state where they are accommodated respectively. On the other hand, an empty pallet mounting table 34 is placed on the lower surface of the housing so that a plurality of empty pallets p ₁ ′, p ₂ ′, p ₃ ′, etc. are placed in a stacked state.
is provided. In the following explanation, when a palette is representatively indicated, it is simply indicated by "p" without a subscript, and when an empty palette is representatively indicated, it is simply indicated without a subscript. “p′”
Let it be expressed as Here, the pallets p ₁ , p 2 , containing parts x ₁ , x ₂ , x _{3 .} . . placed on the pallet mounting table 32 are
A carry-out roller 32a is provided to carry out p ₃ . In addition, on the empty pallet mounting table 34,
A carry-in roller 34a is provided to carry in the empty pallets p ₁ ', p ₂ ', p ₃ ', . . . placed here. These, the carry-out roller 32a, the carry-in roller 3
4a is configured to be rotationally driven by a drive motor (not shown). <<Description of Palette>> Structure of Palette Here, each part x _{1 ,} x ₂ , x ₃ . . . is housed in a corresponding palette p ₁ , p ₂ , p ₃ . ₂ , p ₃ .
and is configured to be provided to the robot 12. That is, each palette p ₁ , p ₂ ,
p ₃ ... accommodates parts x ₁ , x ₂ , x ₃ ... of the same type, respectively, and as shown in Fig. 3,
A pallet body 36 in which corresponding parts x ₁ , x ₂ , x ₃ .
At least on both side edges along the conveying direction d of p ₁ , p ₂ , p ₃ . As is clear from the illustrated shape, the flange portion 38 is actually formed over the entire circumference of the pallet body 36. Further, a lid 40 is placed on each pallet main body 36 so as to releasably close the upper surface thereof. As shown in the figure, each flange portion 38 has first and second notches 38a and 38b located at both ends, and a third notch 38c located at the center. are formed respectively. Here, the first and second notches 3 on both sides
8a and 38b are palettes p _{1 and} 8a and 38b, respectively, as described later.
In order to take out p ₂ , p ₃ ... from the buffer 22 to the elevator 26, the robot 1 is also taken out from the stocker 24.
2 or elevator 26 for taking out/drawing. On the other hand, the third notch 38c in the center allows the lid 40 to be lifted upward and the pallet main body 36 stored in the stocker 24 to be opened to the robot 12 on the side.
A lifting body, which will be described later, is inserted therethrough so that it can be taken out to the side. Note that each of the first and second notches 38a,
The recess 38b is formed into a substantially isosceles trapezoidal planar shape, and is formed such that its shorter base defines the bottom of the recess. That is, this lid body 40 is a part of the robot 12.
The final step is to handle x ₁ , x ₂ , x _{3 .} . . , in other words, the palettes p ₁ , p ₂ , p ₃ .
The upper openings of _the corresponding pallets _{p 1} , p ₂ , _{p 3 .}
This prevents the surface from becoming contaminated with dust or the like. Dimensions of pallets As shown in Fig. 4, these pallets p ₁ , p ₂ , p ₃ . The type is set. Here, in the following explanation, for simplicity, part x ₁ has a thickness of 25 mm and the maximum number is set to 54 on pallet p ₁ , and part x ₂ has a thickness of 50 mm. With the maximum number set to 38 on pallet p ₂ , and parts x ₃
The maximum number of pieces is placed on a pallet p ₃ with a thickness of 100 mm.
It is assumed that the number is set to 13 and each of them is accommodated. Further, in each of the pallets p ₁ , p ₂ , p _{3 .} . . , the thickness of the flange portion 38 is set to a common value of 12 mm. As shown in FIG. 5, the lower parts of the pallet bodies 36 (indicated by broken lines in the figure) stacked directly above each other are fitted into the inner circumferential edge of each pallet body 36, so that the pallet bodies 36 are aligned with each other in their lateral positions. A recess 36a for preventing displacement is formed around the entire circumference.
Here, the depth of this recess 36a is set to 7 mm. In this way, for example, when three types of pallets p ₁ , p ₂ , p ₃ ... are stacked one by one, the height of this stack is set to 25+50+100-7×2=161mm. become. In addition, the flange portion 38 of each pallet p ₁ , p ₂ , p ₃ .
As shown _in FIG _{. 3 ,} on _the side of
A barcode B is drawn that indicates information on the type and number of x ₃ ..., and information on the height of the pallet. <<Description of Buffer>> Next, receiving pallets p ₁ , p ₂ , p ₃ , etc. containing parts x ₁ , x ₂ , x ₃ , etc. from the pallet mounting table 32 of the unmanned vehicle 20 configured as above, The buffer 22 for temporarily storing empty pallets p ₁ ', p ₂ ', p ₃ ', . . . to the unmanned vehicle 20 will be explained with reference to FIG. Composition of buffer stand This buffer 22 includes a base 42 fixed on a base (not shown), and pillars 44a, 44b, 44c, and 44d erected at the four corners of this base 42, respectively.
and an upright plate 4 that spans the inner surfaces of each of a pair of supports 44a, 44b, 44c, and 44d along the conveyance direction d of pallets p ₁ , p ₂ , p ₃ .
6a and 46b. Each standing board 46a,
A guide member 48 is fixed along each upright side edge of the opposing surface of 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. This buffer stand 52 stores pallets p ₁ , p 2 , p ₃ containing parts x ₁ , x ₂ , x _{3 .} . . from the aforementioned unmanned vehicle 20.
... is placed on this buffer stand 52.
Above, a group of carry-in rollers 54 for receiving pallets p ₁ , p ₂ , p ₃ . . . containing parts x ₁ , x ₂ , x ₃ .
6 and is rotatably supported. Note that these carry-in rollers 54 are configured to be rotationally driven by a drive motor (not shown). On the other hand, the opposite side upright plate 46b in FIG.
A slit 58 is formed in a portion sandwiched between both guide members 48 so as to extend in the vertical direction. While protruding into this slit 58,
A protruding piece 52a is integrally formed on the buffer stand 52 mentioned above. Here, the buffer table 52 selects a pallet from among the pallet groups p ₁ , p ₂ , p ₃ . It is configured to be able to move up and down in order to separate a predetermined pallet p in order to replenish or replace it. That is, a servo motor M _B for moving the buffer stand 52 up and down along the guide member 48 is disposed between the upper ends of the pair of supports 44c and 44d to which the opposite upright piece 46b is attached. ing.
This servo motor M _B 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 connected to a ball extending along the vertical direction. It is connected to rotate the screw 60. On the other hand, the midway portion of this ball screw 60 is screwed into the aforementioned protruding piece 52a. In this way, the rotation of the rotating shaft of the servo motor M _B rotates the ball screw 60, and as a result, the buffer table 52 is moved up and down. An encoder 62 is attached to the servo motor M _B to detect the rotational position of the servo motor M B, that is, the height position of the buffer stand 52. Configuration of Separation Mechanism With the above configuration, the buffer table 52 can be moved up and down to any height position, but as described above, the pallet groups p ₁ and p ₂ placed on it can be , p ₃ . . . , p 3 . . .
It is equipped with 4. This separation mechanism 64 includes each standing plate 46a, 46b.
a pair of first separation claws 66 provided at the upper end of the
A pair of second separation claws 68 are provided below the first separation claws 66 by a predetermined distance. In addition, the first
The second separating claws 66 and 68 are set at the same height. Here, each of the first and second separation claws 66, 6
8 is provided so as to be able to be hooked from both sides to the flange portions 38 of the pallet groups p ₁ , p ₂ , p _{3 .} . . stacked on the buffer table 52. In other words, the first and second
The separating claws 66, 68 have a protruding position where the flange portions 38 of the pallet groups p ₁ , p ₂ , p ₃ . It is provided so that it can reciprocate between positions. That is, each pair of first separation claws 66 is integrally provided with a support rod 70 that projects from the corresponding upright plates 46a, 46b and reaches the back surface. Double support rod 70
are integrally connected via a connecting plate 72 on the back surfaces of the upright plates 46a and 46b, as shown in the figure. A first air cylinder C _B1 for reciprocating the first separation claw 66 is connected to this connection plate 72. In this way, the first separation claw 66 is driven back and forth between the protruding position and the retracted position in response to the drive of the first air cylinder C _B1 . On the other hand, the second separation claw 68 is equipped with a second air cylinder C _B2 as a driving source.
Since it is the same as the configuration for driving the first separating claw 66, the explanation thereof will be omitted. The distance between the first separating claw 66 and the second separating claw 68 mentioned above is set to 110 mm, which is slightly longer than the maximum height of 100 mm among the pallets p ₁ , p ₂ , and p ₃ . has been done. Furthermore, a barcode reader 74 is disposed on the side of the pallet p that is hooked on the first separation claw 66 described above to read the barcode B drawn on the pallet p. . Since this barcode reader 74 has a well-known configuration, its explanation will be omitted. Here, a carry-out mechanism 76 is provided on the base 42 and extends to a position below the elevator 26 (that is, a position adjacent to the stocker 24). This carry-out mechanism 76 is provided to carry out empty pallets p ₁ ', p ₂ ', p ₃ '... in the stocker 24 to the empty pallet mounting table 34 of the unmanned vehicle 20 described above. unloading roller 78
It consists of These carry-out rollers 78 are
It is configured to be rotationally driven by a drive motor (not shown). Note that the height position of the unmanned vehicle 2
The standby position of the buffer table 52 is set to be at the same height as the empty pallet table 34 of the unmanned vehicle 20. . (Buffer operation) Basic separation operation Buffer 2 equipped with the separation mechanism 64 as described above
In the configuration of 2, a predetermined pallet is selected from among the pallet groups p ₁ , p ₂ , p ₃ .
The operation when separating p _a will be explained with reference to FIGS. 7A to 7D. First, as shown in FIG. 7A, the buffer stand 52
Above, there are a total of 12 pallets, starting from the bottom: p ₁ , p ₂ ,
It is assumed that they are placed in the order p ₃ , p ₁ , p ₂ , p ₃ , p ₁ , p ₂ , p ₃ , p ₁ , p ₂ , p ₃ . Furthermore, on this buffer stand 52, there are pallets p ₁ , 800 mm in height.
p ₂ , p ₃ . become. In this state, the robot 12 removes the parts.
When it is requested to separate the pallet p ₁ containing x ₁ , first, by applying the first-in/first-out principle from among the plurality of pallets p ₁ placed on the buffer table 52, An instruction is sent to separate the third pallet _p1 from the top. In the following explanation, the third palette _p1 from the top will be designated with the symbol p _a , and the palette located directly above it, that is, the second palette from the top, will be designated with the symbol p _b . do. As mentioned above, from the robot 12, the pallet p _a
If a request is made to separate the
As shown in FIG. 7B, the pallet p _b placed directly above the pallet p _a to be separated is
The servo motor M _B is rotationally driven to move the buffer stand 52 (in this case, lower it) until it is brought to the latching position by the separating claw 66 . Note that the first and second separation claws 66 and 68 are both moved to the retracted position in the initial state. In the state shown in FIG. 7B, the first air cylinder C _B1 is activated to urge and push out the first separating claw 66 from the retracted position to the latching position. As a result, the flange portion 38 of pallet p _b
is in a state where it can be hooked onto the first separating claw 66 from below. After this, as shown in Figure 7C, the servo motor
M _B is the buffer stand 5 from the state shown in Fig. 7B.
2 is rotated to lower it by 94mm. As a result, pallet p _a is brought to a position where it is latched to second separation claw 68 , and pallet p _b is latched to first separation claw 66 . That is, the pallets located above pallet p _b are latched onto this first separating claw 66 . In the state shown in FIG. 7C, the second air cylinder C _B2 is activated to urge and push out the second separation claw 68 from the retracted position to the latching position. As a result, the flange portion 38 of the pallet p _a
is in a state where it can be hooked onto the second separation claw 68 from below. After this, as shown in Figure 7D, the servo motor
M _B is changed from the state shown in Fig. 7C to the buffer stand 5.
Rotate and drive 2 to lower it by 15mm. As a result, only the pallet P _a is hooked to the second separating claw 68, and the pallets located below the pallet P _a are brought to a position separated from the pallet P _a . In this way, the palette p _a
The position where the pallet is latched onto the second separation claw 68 in a state where it is separated from other pallets (hereinafter simply referred to as
This is called the separation position. ), it will be set to a state where it can be taken out independently. Incidentally, after the pallets p _a separated in this way are taken out to the elevator 24, which will be described later, all the pallets are placed on the buffer table 52 so that any pallet can be separated next. The operation will be performed to return to the initial state in which it was placed. That is, during this return operation, first, the second air cylinder C _B2 operates to draw the second separating claw 68 from the latching position to the retracting position, contrary to the previous operation. After this, the servo motor M _B rotates and moves the buffer table 52 by 134 mm (i.e., 94 + 15 = the stroke that the buffer table 52 has descended).
The thickness of the pallet p _a taken out is 25 to 109 mm.
Value plus mm. ). As a result of this rise, the pallet at the top of the group of pallets on the buffer table 52 is brought to a lifted state with the pallet p _b , which is hooked on the first separating claw 66, placed on top. . In this state, the first air cylinder C _B1
In contrast to the previous operation, the first separating claw 66 operates to pull in the first separation claw 66 from the latching position to the retracting position. As a result, the pallet group above the pallet p _b that was hooked on the first separating claw 66 has already been removed from the buffer table 5.
The entire pallet group is placed on top of the pallet group that was placed on the buffer stand 52.
It will be brought to a state where it will be placed on top.
At this position, it enters a standby state and waits for the next separation instruction from the robot 12. Pallet position correction operation during separation operation The operation of the buffer 22 detailed above is basic and does not take into account manufacturing errors of each pallet. That is, each pallet is allowed a manufacturing error of ±0.3 mm. Therefore,
If this manufacturing error is accumulated when a large number of pallets are stacked on the buffer table 52, the first separating claw 6 of the pallet p _b in the above-mentioned basic operation
There may be a case where an error occurs in the movement of the pallet p b to the latching position by the first separation claw 66, and the pallet p _b is not accurately moved to the latching position by the first separation claw 66. In detail, assuming the worst case, all pallets placed are pallets p ₁ with a minimum thickness of 25 mm, and the maximum placement height is 800 mm as described above, so 800 ÷ (25-7) x 0.3 = 13.3mm is the maximum cumulative error amount. If the height position changes with this maximum cumulative error amount, the servo motor
Even if M _B is rotationally driven to move a predetermined pallet p _B to the latching position of the first separating claw 66 according to the basic operation described above, in reality, due to the above-mentioned error, this latching position is There will be cases where it will not be possible to reach the stop position. Therefore, in this embodiment, as shown in FIG.
A sensor 80 is provided adjacent to the side surface of the vehicle. This sensor 80 is composed of a well-known reflective photocoupler, and although detailed explanation thereof will be omitted, it is composed of a pair of light emitting element and light receiving element, and when adjacent to the circumferential surface of the flange portion 38 of the pallet. It turns on when it receives light from a light emitting element,
When adjacent to the side surface of the pallet body 36, the light emitting element cannot receive light from the light emitting element and is turned off. In addition, the arrangement position of this sensor 80 is as follows in detail:
As shown in FIG. 8A, when this detects the upper end surface of the flange portion 38 of the pallet p _a , the pallet p _b placed on the pallet p _a is latched by the first separating claw 66. It is set to be brought into position. In a state where the sensor 80 as described above is provided, and taking into account the manufacturing error of the pallet described above, the details of the control for moving the pallet p _b to the latching position by the first separating claw 66 are shown in FIGS. 8A to 8A. This will be explained with reference to FIG. 8E. Here, the range in which the side surface of the pallet main body 36 appears is as shown in _FIG . Considering the fitting allowance of 7 mm into the fitting recess 36a of the pallet body 36, 25-12-7=6 mm. Therefore, considering the accumulation of the maximum manufacturing error mentioned above, the relative positional relationship between the pallets p _a and p _b calculated by the servo motor M _B and the sensor 80 is as shown in FIGS. 8B and 8C. Figures, and
As shown in FIG. 8D, three modes are envisaged. That is, as shown in FIG. 8B, the peripheral surface of the flange portion 38 of the pallet p _a to be separated (in other words, the pallet p _a hooked on the second separating claw 68) faces the sensor 80. The first aspect of
As shown in the figure, the peripheral surface of the flange portion 38 of the pallet p _b to be hooked on the first separating claw 66 is in a second aspect facing the sensor 80, and as shown in FIG. 8D, The side surface of the pallet body 36 of the pallet p _b to be hooked on the first separating claw 66 is opposed to the sensor 80 in a third manner. Here, the sensor 80 is turned on in a state in which the peripheral surface of the flange portion 38 of the pallet is adjacent to it. A second aspect is considered. For this reason, the buffer stand 52 is
As shown in FIG. 8E, it is lowered until the sensor 80 detects the upper end surface of the flange portion 38, in other words, until the sensor 80 is turned off. Then, when the sensor 80 is turned off in this manner, the barcode B drawn on the pallet whose upper end face has been detected is read via the barcode reader 74. As a result, if it is determined from the read barcode B that this pallet is the pallet _p to be separated, then as described above, the pallet p placed on _the pallet to be separated is _b is
Since the first separation claw 66 has been brought to the latching position, the first air cylinder C _B1 is activated according to the basic operation described above, and the first separation claw 66 is brought to the latching position. will be pushed out. On the other hand, as a result of reading the barcode B drawn on the pallet whose upper end surface was detected, if it is determined that this pallet is not the _pallet to be separated, then this barcode B is read. Since the pallet is automatically determined to be _the pallet p _b directly above the pallet p _a , the servo motor M _b is driven to rotate. In this way, the sensor 80 detects the upper end surface of the flange portion 38 again as shown in FIG. 8E, but the pallet having the flange portion 38 whose upper end surface is detected is separated. Therefore, after confirming this via the barcode _reader 74, the first air cylinder C _B1 is moved according to the basic operation described above.
is activated, and the first separation claw 66 is pushed out to the latching position. If the barcode B of the lifted and detected pallet is read and it is determined that the _pallet is not the pallet that should be separated, then there is a clear control error.
Or, if the palette is different from the one requested,
Since this is a case where the vehicle has been transported by the unmanned vehicle 20 from an unmanned warehouse, the control operation is stopped at that point, and a predetermined warning operation is started. Further, the sensor 80 is attached to the pallet body 36.
The 8th C
Only the third aspect shown in the figure is considered. Therefore, the buffer stand 52 is raised until the sensor 80 detects the upper end surface of the flange portion 38, in other words, until the sensor 80 is turned on, as shown in FIG. 8E. Then, when the sensor 80 is turned on in this manner, the barcode B drawn on the pallet whose upper end face 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, then the pallet p placed on _the pallet to be separated is removed as described above. _b is
Since the first separation claw 66 has been brought to the latching position, the first air cylinder C _B1 is activated according to the basic operation described above, and the first separation claw 66 is brought to the latching position. will be pushed out. By executing the pallet position correction operation detailed above, even if there is a manufacturing error in the pallet, the pallet placed above the pallet _p to be separated can be moved regardless of the manufacturing error. A state in which p _b is reliably latched by the first separating claw 66 is achieved. <<Description of the Elevator>> Next, we will explain the structure of the elevator 26, which is disposed between the buffer 22 and the stocker 24, and is used to replace the empty pallet p' in the stocker 24 with a pallet p full of parts x. about,
This will be explained with reference to FIGS. 9 to 13G. Structure of Elevator Main Body As shown in FIG. 9, this elevator 26 is
It is fixed on a base 142 common to the stocker 24, which will be described later, and on the part of the base 142 on the buffer 22 side, the buffer 22 described above is mounted.
A pair of pillars 82a, 8 stands upright adjacent to pillars 44a, 44c on the robot 12 side.
2b, and a pair of pillars 82c and 82d that stand upright at a predetermined distance from the robot 12 side.
is provided. These four pillars 82a, 8
The upper ends of 2b, 82c, 82d are connected to the connecting member 8, respectively.
4 are connected to each other. In this way, the basic frame of the elevator 26 is constructed. Incidentally, this connecting member 84 is also attached to the stocker 2, which will be described later.
It is configured in common with 4. Here, a pair of support columns 82a along the conveyance direction d;
An elevator main body 86 is arranged vertically movably between the column 82c and the pair of pillars 82b and 82d. This elevator main body 86 has pallets p ₁ , p ₂ ,
It is composed of a box with a pair of open faces perpendicular to the transport direction d of p ₃ . The elevator main body 86 transfers the separated pallet p _a to the buffer 22 at the separation position based on a request from the robot 12 (a request issued when the remaining number of parts in a predetermined pallet reaches "1"). and held in the elevator body 86, and then:
In response to a request from the stocker 24 (a request issued when the aforementioned one remaining part is used for assembly and there is no part left), the held pallet _p is transferred to the stocker 24. It is configured to be replaced. Here, the palettes p ₁ , p ₂ ,
Each pair of supports 82a, 82 along the conveyance direction d of p ₃ ...
c; On the mutually opposing surfaces of 82b and 82d,
Guide members 88 are fixed along the vertical direction, respectively. A pair of sliding members 90 is attached to each guide member 88 so as to be vertically movable along the guide member 88 and spaced apart from each other by a predetermined distance in the vertical direction. Here, the four upper corners are supported by the four sliding members 90 in the upper horizontal plane, and the lower four corners of the four sliding members 90 in the lower horizontal plane are supported. The above-mentioned elevator main body 86 is attached in a supported state. On the other hand, a pair of columns 8 on the opposite side in FIG.
A space is defined between the portions 2b and 82d, extending in the vertical direction. The above-mentioned elevator main body 8 is in a state of protruding into this space.
6 is integrally formed with a protruding piece (not shown). Further, the above-mentioned elevator main body 86 is attached to the guide member 8 at the portion of the connecting member 84 that connects the upper ends of the pair of columns 82b and 82d on the opposite side.
Servo motor M _E1 for vertical movement along 8
is installed. This servo motor M _E1 is equipped with a rotating shaft extending along the vertical direction, and this rotating shaft is rotatably disposed between both supports 82b and 82d, and is connected to a ball extending along the vertical direction. It is connected to rotate the screw 92.
On the other hand, the midway portion of this ball screw 92 is screwed into the aforementioned protruding piece. In this way, the rotation of the rotating shaft of the servo motor M _E1 causes the ball screw 9 to
2 is rotationally driven, and as a result, the elevator main body 86
will be moved up and down. An encoder 94 is attached to the servo motor M _E1 to detect its rotational position, that is, the height position of the elevator main body 86. With the above configuration, the elevator main body 86 is
It can be moved up and down to any height position. Configuration of Exchange Mechanism The elevator main body 86, which is provided to be movable up and down as described above, takes in a pallet P _a full of separated parts from the buffer 22, and also transfers the pallet P _a therein. Karastotsuka 2
An exchange mechanism 96 is provided for pushing out the empty pallet p 1 ' from the stocker 24 and pulling in the empty pallet p _{1 '} from the stocker 24. This exchange mechanism 96 includes a servo motor M _E2 as a driving source fixed on the upper surface of the elevator main body 86 via a stay 98.
One end of a swing arm 100 is fixed to the drive shaft of this servo motor M _E2 , and is configured to swing in response to rotation of the drive shaft. A long groove 100a is formed in the middle of the swing arm 100 along the longitudinal axis thereof. Further, a guide groove 102 is formed in the upper surface portion of the elevator main body 86 in the range that the long groove 100a covers when the swing arm 100 swings, along the above-mentioned transport direction d. This guide groove 1
02 is formed over almost the entire length of the elevator main body 86 in the transport direction d. Here, this long groove 100a and the guide groove 102
A guide pin 104 is provided so as to be inserted along a common vertical direction. The head of this guide pin 104 is formed to have a large diameter, and is prevented from falling out of these grooves 100a, 102. With such a configuration, the swing arm 100 is driven to swing as the servo motor M _E2 reciprocates, and therefore the guide pin 1
04 is reciprocated along the guide groove 102, that is, along the conveyance direction d. Further, as shown in FIGS. 10 to 12, a slide plate 106 is fixed to the lower end of this guide pin 104 while being located within the elevator main body 86. This slide plate 106 is attached to the guide pin 104 so as to extend along a direction perpendicular to the transport direction d. At both ends of the side surface of the slide plate 106 on the buffer 22 side,
A first hook 108 is attached via a first hook slide member 110 so as to be slidable along the longitudinal axis of the slide plate 106, in other words, along a direction perpendicular to the transport direction d.
This pair of first hooks 108 are connected to first notches 38a on the elevator 26 side formed in the flange portions 38 of each of the aforementioned pallets p ₁ , p ₂ , p ₃ .
It is formed in a shape that can be engaged from both sides.
That is, the tip of the first hook 108 is formed into an isosceles trapezoid shape that complementarily matches the isosceles trapezoid shape that is the notch shape. On the other hand, a first hook for reciprocating the first hook 108 is provided at both ends of the slide plate 106 extending along the conveying direction d, and at an end of the air cylinder support plate 112 on the buffer 22 side. Air cylinder C _E1 is installed. The aforementioned first hook 108 is connected to the tip of the first piston 114 of the first air cylinder C _E1 . In this way, the first air cylinder C _E1
In response to the drive, the first hook 108 is reciprocated to engage and disengage from the first notch 38a of the flange portion 38. Further, a second hook 116 is provided at both ends of the side surface of the slide plate 106 on the stocker 24 side.
It is attached so as to be slidable along the longitudinal axis direction of the slide plate 106, in other words, along the direction perpendicular to the transport direction d, via the hook slide member 118. This pair of second hooks 1
16 is formed in a shape that can be engaged from both sides with the second notch 38b on the unmanned vehicle 20 side formed in the flange portion 38 of each of the aforementioned pallets p ₁ , p ₂ , p ₃ . . On the other hand, a second air cylinder C _E2 for reciprocating the second hook 116 is attached to the stocker 24 side end of the air cylinder support plate 112 fixed to both ends of the slide plate 106 .
The aforementioned second hook 116 is attached to the tip of the second piston 120 of this second air cylinder C _E2 .
is connected. In this way, the second hook 1 is activated in response to the drive of the second air cylinder C _E2 .
16 is the second notch portion 38b of the flange portion 38
It will be driven back and forth to engage and disengage. Here, on the lower surface of the elevator main body 86, engaged with the first or second hook 108, 116,
Retract/retract according to rotational drive of servo motor M _E2
A pair of fixed slide guides 122 are provided to slidably support the pallet p being pushed out. That is, both fixed slide guides 122 are slidably set on the lower surfaces of the flange portions 38 on both sides of the pallet p to be drawn in/pushed out. The height of the upper edge of both fixed slide guides 122 is set to a height sufficient to slidably support pallet _P3 having a maximum height of 100 mm, and the height of the upper edge of this elevator body In the standby position of 86, the upper end surfaces of both fixed slide guides 122 are
It is set at a height that can horizontally receive the pallet p in the separation position. In addition, both air cylinder support plates 112 mentioned above
A third hook mounting plate 124 is fixed to the lower part of each of the hooks 124 in a state extending in the same direction as the extending direction of the slide plate 106. Here, a third hook 126 is connected to the slide plate 1 through a third hook slide member 128 at both ends of the side surface of the mounting plate 124 on the stocker 24 side.
06, in other words, along the direction orthogonal to the conveyance direction d. This pair of third hooks 126
is formed in a shape that can be engaged from both sides with the second notch portion 38b formed in the flange portion 38 of each empty pallet p ₁ ′, p ₂ ′, p ₃ ′ . . . emptied in the stocker 24. has been done. On the other hand, a third
A third air cylinder C _E3 for reciprocating the hook 126 is attached. This third
The aforementioned third hook 126 is connected to the tip of the third piston 130 of the air cylinder C _E3 . In this manner, the third hook 126 is reciprocated to engage and disengage from the second notch 38b of the flange portion 38 in accordance with the drive of the third air cylinder C _E3 . Note that both third hooks 126 are taken out below the elevator main body 86 via guide grooves 132 (shown in FIG. 9) formed on the lower surface of the elevator main body 86 along the transport direction d. There is. Here, under the lower surface of the elevator main body 86, this third
A pair of movable slide guides 134 are provided for slidably receiving the pallet p' taken out from the stocker 24 by the hook 126. Here, both movable slide guides 134 move the empty pallet p' received there to the aforementioned unloading mechanism 76.
In order to place the pallet on the group of carry-out rollers 78, it is configured to be able to slide along the direction perpendicular to the conveying direction d, in other words, to separate from the empty pallet p' received here. . That is, FIGS. 10 and 1
As shown in Figure 1, both movable slide guides 134
are slidably attached under the lower surface of the elevator main body 86 via slide members 136, respectively. On the other hand, air cylinder support plates 138 are fixed to both sides of the lower surface of the elevator main body 86, respectively. A fourth air cylinder C _E4 for reciprocating the movable slide guide 134 is attached to each air cylinder support plate 138. The aforementioned movable slide guide 134 is connected to the tip of the fourth piston 140 of this fourth air cylinder C _E4 . In this way, depending on the drive of the fourth air cylinder C _E4 ,
The movable slide guide 134 is reciprocated to engage and disengage from the flange portion 38 of the empty pallet p'. Operation of the exchanging mechanism The operation of exchanging pallets p and pallets p' in the exchanging mechanism 96 configured as described above will be explained with reference to FIGS. 13A to 13G. First, in the initial state, the elevator main body 8
6, the height position of this is fixed slide guide 1
22 and the second separating claw 6 of the buffer 22
8 and the upper end surface thereof are set to have the same height. Further, the switching mechanism 96 is set in its initial state so that its swing arm 100 is at an intermediate position in the guide groove 102, as shown in FIG. Also, each air cylinder
High pressure air is not supplied to C _E1 , C _E2 , C _E3 , and C _E4 , and the corresponding hooks 108 , 116 , 126
The movable slide guide 134 and the movable slide guide 134 are each set to a retracted position. -Fetching operation from the buffer- When such an initial state is set, as described above, the robot 12 receives a request from the robot 12 to retrieve the remaining part x on a predetermined pallet p in the stocker 24. When the number of pieces reaches one, a predetermined pallet is stored in the buffer 22 based on a request to prepare for replacement.
At the same time that the operation of separating the pallets p _a is started, the operation of taking the pallets p _a separated in the buffer 22 into the elevator main body 86 is also executed in the elevator 26 . That is, when the above-mentioned request is issued from the robot 12, in this elevator 26, first, from the state shown in FIG. 13A, the servo motor M _E2 is activated.
Rotationally driven in the direction shown by arrow A in FIG. 9,
The exchange mechanism 96 is moved to the buffer 22 side. Due to this movement, as shown in FIG. 13B,
The first hook 108 on the buffer 22 side of the exchange mechanism 96 is connected to the first notch 3 on the elevator 26 side formed in the flange portion 38 of the pallet p _a to be separated at the separation position in the buffer 22.
8a, so that it can be engaged from the side. Incidentally, when the first hook 108 is in the engageable state, it is set so as not to impede the separation operation in the buffer 22 in any way. In this state, the operation of the elevator 26 is in a take-in standby state, and this take-in standby state is continued until the buffer 22 completes the separation operation.
Then, with the completion of the separation operation, the buffer 22
When a separation completion signal is output from , the exchanging mechanism 96 starts taking in the separated pallet _p in response to the output of this separation completion signal. That is, first, high pressure air is supplied to the first air cylinder C _E1 , and the first hook 108 is connected to the first hook 108 formed on the flange portion 38 of the separated pallet _p .
It engages with the notch 38a from the side. Thereafter, the servo motor M _E2 rotates as shown by arrow B in FIG. 9, and the exchange mechanism 96 is taken into the elevator main body 86 along the transport direction d. Then, as shown in Figure 13C, the palette
When p _a is completely taken into the elevator main body 86, the driving of the servo motor M _E2 is stopped, and after this, the first air cylinder C _E1 is moved to the first air cylinder C E1.
The hook 108 of the pallet P a is moved away from the first notch 38 of the pallet P _a . The pallet p _a separated by the buffer 22 in this manner is taken into the elevator 26. In this loading state, the switching mechanism 96
A part of it is transferred from the elevator main body 86 to the stocker 2.
It is brought to a state where it protrudes on the 4th side. Then, the servo motor M _E2 is rotated in the direction indicated by the arrow A, and is operated to completely accommodate the exchange mechanism 96 within the elevator body 86, as shown in FIG. 13D. - Empty pallet retraction operation - After this, the servo motor M _E1 rotates and the elevator main body 86 is moved into the pallet p stored in the stocker 24, and the parts x stored therein disappear and become empty. To the position where pallet p′ is pulled in,
It is lowered and stands by at this retracted position, waiting for a request from the stocker 24 to replace the empty pallet p'. Note that this retracted position is the same as that of stocker 2, which will be described later.
The position is defined as the position one pallet box above the position at which the pallet p is supplied to the robot 12 in 4, after parts have been supplied to the robot 12. Here, as mentioned above, the height of this pallet p is
Since three types are set, there are also three types of pull-in positions depending on the height difference. Further, the standby position of the elevator main body 86 opposite to this retracted position is located at the second notch 38 of the flange portion 38 of the pallet p' in the retracted position.
b, the third hook 126 of the exchange mechanism 96 is set at a height position that can be engaged. In this way, the waiting position of the empty pallet p' in the elevator 26 is defined. On the other hand, in the exchange mechanism 96 in the elevator main body 86 brought to this retraction standby position, as described above, this elevator main body 8
A pallet full of parts x in 6
p _a is held on a pair of fixed slide guides 122. In such a retracting standby position, when the empty pallet p' is moved to the retracting position in the stocker 24, the servo motor M _E2 is driven to rotate in the direction shown by arrow B upon completion of movement to the retracting position. As shown in FIG. 13E,
The third hook 126 of the exchange mechanism 96 is moved to a position where it can engage with the second notch 38b formed in the flange 38 of the empty pallet p' in the retracted position. After this, high pressure air is supplied to the third and fourth air cylinders C _E3 and C _E4 , respectively, and the third
At the same time as the hook 126 engages with the second notch 38b of the empty pallet p', the movable slide guide 134 is pushed out to a state where the drawn-in empty pallet p' can be supported below the elevator main body 86. Thereafter, the servo motor M _E2 is driven to rotate in the direction indicated by arrow A, and draws the empty pallet p ₁ ' below the elevator main body 86. In this way, the empty pallet p' is held below the elevator main body 86 while being supported by the movable slide guide 134, as shown in FIG. 13F, and the retraction operation of the empty pallet p' is completed. Then, the third air cylinder C _E3 is operated so that the third hook 126 is separated from the second notch 38b of the empty pallet p'. - Pallet push-out operation - Here, in the state where the empty pallet p' is being pulled in, the second hook 116 of the exchanging mechanism 96
is brought into a state in which it can be engaged with the second notch 38b of the pallet p _a supported on the fixed slide guide 122. Therefore, from this state, high pressure air is supplied to the second cylinder C _E2 ,
The second hook 116 is operated to engage the second notch 38b of the pallet p _a . On the other hand, in parallel with the above-described second hook engagement operation, in the elevator 26, the servo motor
The M _E1 is rotationally driven to lower the elevator main body 86 and bring the pallet P _a therein to a position opposite to the pull-out position in the stocker 24 . Then, the servo motor M _E2 is driven to rotate in the direction indicated by the arrow B, and as shown in FIG. 13G, the pallet p _a is pushed out from within the elevator main body 86 to the empty storage position of the stocker 24. Thereafter, the second air cylinder C _E2 is operated so that the second hook 116 is separated from the second notch 38b of the pallet p. Then, the servo motor M _E2 is rotationally driven in the direction indicated by arrow A, and draws the exchange mechanism 96 into the elevator main body 86. In this way, the operation of pushing out the pallet p to the stocker 24 is completed. - Unloading operation of empty pallet - As described above, when the exchange operation between the empty pallet p' and the pallet _{p a} full of parts x is completed, the drawn-in empty pallet is Palette p′ is supported. Therefore, in order to place this empty pallet p' on the delivery roller 78 of the delivery mechanism 76, the pulse motor is activated.
M _E1 is rotationally driven to lower the elevator main body 86, and when the empty pallet p' is not placed on the carry-out roller 78, the empty pallet p' is placed directly above the carry-out roller 78. In addition, the unloading roller 7
If an empty pallet p' is already placed on the pallet 8, it is moved directly above the empty pallet p' that is already placed. Thereafter, the fourth air cylinder C _E4 operates to pull in the movable slide guide 134, and the empty pallets p' supported by the elevator main body 86 are stacked on the carry-out roller 78. In this way, when the number of empty pallets p' stacked on the carry-out rollers 78 reaches a predetermined number, each carry-out roller 78 is driven to rotate, and the stack of empty pallets p' is stacked on the buffer table 52. The pallet is conveyed to the lower part and then carried out onto the empty pallet mounting table 34 of the unmanned vehicle 20. In this way, a series of empty pallet unloading operations is completed. On the other hand, after discharging the empty pallet p' to the unloading mechanism 76, in the elevator 26, the servo motor M _E1
is rotationally driven to raise the elevator main body 86, and is moved to the above-mentioned initial position, that is, a position opposite to the separation position in the buffer 22, where it is put on standby. <<Description of stocker>> Next, regarding the configuration of the stocker 24, which is provided adjacent to the robot 12 and sequentially supplies parts x ₁ , x ₂ , x ₃ . . . necessary for assembly to the robot 12 according to the assembly order, This will be explained with reference to FIGS. 14 to 16. Structure of stocker As shown in FIG. 14, this stocker 24 has the following features:
A base 142 fixed on a base (not shown) and common to the elevator 26 described above, and pillars 144a, 144b erected at the four corners of this base 142, respectively.
144c, 144d and these supports 144a, 1
It includes a connecting frame 84 that connects the upper ends of 44b, 144c, and 144d to each other. Here, each pair of pillars 14 on the elevator 26 side and the robot 12 side
4a, 144b; 144c, 144d, which are opposed to each other, have guide members 148 fixedly extending in the vertical direction.
A sliding member 150 is attached to each guide member 148 so as to be movable up and down along the guide member 148.
An elevating frame 152 having a substantially rectangular parallelepiped shape is attached with its four corners supported by these four sliding members 150. This elevator frame 152 is connected to the elevator 26 described above.
A plurality of stages of pallets p are pushed out and pulled out to a drawer section 154, which will be described later, to be assembled by the robot 12.
It is configured such that it can be pulled out one by one from a drawer standby position, which will be described later. Therefore, on the inner surface of the lifting frame 152 along the conveyance direction d, a plurality of shelf boards 156 on which the flange portions 38 of the pallets p are hooked extend horizontally, and also along the vertical direction. They are fixed at equal intervals of approximately 30 mm. Here, each shelf board 156 has a third notch 38C formed at its center (in other words, at the center of the flange part 38 of the pallet p placed on each shelf board 156), as shown in the figure. (the part facing the
A notch 158 is formed. That is, this notch 158 is formed so that a lifting arm 160 of a later-described opening mechanism 170 (shown in FIG. 15) for opening the lid 40 of the pallet P pulled out to the drawer section 154 is inserted. has been done. On the other hand, a pair of support columns 1 on the opposite side in FIG.
A space is defined between 44b and 144d, extending in the vertical direction. A protruding piece 162 is integrally formed on the above-mentioned elevating frame 152 so as to protrude into this space. Also, a pair of support columns 144c; 144d on the opposite side
A servo motor M _S1 for moving the above-mentioned elevating frame 152 up and down along the guide member 148 is disposed in a portion of the connecting frame 84 that connects the upper ends of the frame 84 to each other. This servo motor M _S1 is equipped with a rotating shaft extending along the vertical direction, and this rotating shaft is rotatably disposed between both supports 144c; 144d, and is connected to a ball extending along the vertical direction. It is connected to rotate the screw 164. On the other hand, a midway portion of this ball screw 164 is screwed into the aforementioned protruding piece 162. In this way, the rotation of the rotating shaft of servo motor M _S1 causes
The ball screw 164 is rotationally driven, and the elevating frame 152 is moved up and down. Incidentally, the vertical movement of the lifting table 152 is set so that the feed amount is set at an integral multiple of 30 mm, which is the arrangement pitch of the shelf boards 156 mentioned above. Incidentally, an encoder 94 is attached to this servo motor M _S1 to detect its rotational position, that is, the height position of the elevating frame 152. With the above configuration, the elevating frame 152 can be moved up and down to any desired height position. Structure of Drawer Portion Next, the structure of the drawer portion 154 described above will be described with reference to FIG. 14. This drawer part 154 is provided to receive and hold a pallet p containing parts x used for assembly by the robot 12 from the lifting frame 152, and basically, it is placed at a predetermined height position from a base (not shown). A drawer stand 168 fixed to the drawer stand 168 and a lid opening mechanism 170 to be described later are mounted on the drawer stand 168.
(shown in FIG. 15) includes a loading/unloading mechanism 172 for loading and unloading the pallet p from which the lid 40 has been removed from the lifting frame 152. This drawer stand 168 is fixed in a horizontal state via a pair of support stays 174 fixed to the pillars 144a and 144c on the robot 12 side, respectively. A stopper 176 is attached to the end of the drawer stand 168 on the robot 12 side, which abuts the tip of the pallet p that has been pulled out and defines the pullout position of the pallet p. Further, a pair of slide guides 178 are provided on both sides of the drawer table 168 along the conveyance direction d. Note that the upper end surfaces of these slide guides 178, that is, the slide support surfaces, are set to be aligned in the horizontal direction with the respective shelf boards 156 of the elevating frame 152 in a stopped state during intermittent feeding. It should be noted that the pallet p supported by the shelf board 156 that is horizontally aligned with the slide guide 178 in this manner is defined as the pallet in the drawer standby position. Further, the above-mentioned loading/unloading mechanism 172 is arranged symmetrically on both sides of the drawer table 168, and a guide member 18 is provided extending along the conveyance direction d on the side edge of the drawer table 168.
0, a sliding member 182 slidably attached to each guide member 180, and a support plate 184 fixed to the upper surface of each sliding member 182. On each support plate 184, there is a hook 186 that can be engaged with a first notch 38a formed in the flange 38 of the pallet p in the pull-out standby position of the lifting frame 152. It is provided so that it can move forward and backward along the direction of movement. On the other hand, a hook 186 is mounted on this support plate 184.
An air cylinder C _S1 is attached to move the hook 186 forward and backward in a state located further outside. The piston of this air cylinder C _S1 is
It is connected to a corresponding hook 186, and is set to be pushed out to a position where it engages with the above-mentioned notch 38a by supplying high pressure air to the air cylinder C _S1 . Also, the robot 1 on each side edge of the drawer stand 168
A drive roller 188 is rotatably fixed to the end on the second side, and an idle roller 190 is rotatably fixed to the end on the elevator 26 side. An endless belt 19 is attached to the drive roller 188 and idle roller 190 at each side edge.
2 is wound around the endless belt 192, and the endless belt 192 is driven to run by the rotation of the drive roller 188. Note that the driving rollers 188 on both side edges are connected to each other via a connecting shaft 194 so as to rotate together. Here, the support plate 184 at each side edge is fixed to a corresponding endless belt 192,
As the endless belt 192 runs, it is reciprocated on the drawer table 168 along the conveyance direction d. Further, a driven roller 196 is fixed to the drive roller 188 and coaxially therewith.
On the other hand, a servo motor is connected to a lower part of the center of the side edge of the drawer table 168 via a stay 198.
M _S2 is installed. this servo motor
A drive roller 202 is coaxially fixed to the drive shaft of M _S2 . This drive roller 202
An endless belt 204 is wound around the driven roller 196 described above. With the above configuration, this servo motor
By rotationally driving M _S2 , the drive roller 18
8, 202 is rotationally driven, and therefore the endless belt 192 is driven to run, and as a result, the hook 1
86 is reciprocated along the conveyance direction d. Configuration of Lid Opening Mechanism Next, the lid opening mechanism 170 will be described with reference to FIGS. 15 and 16. The lid opening mechanism 170 moves the lid 40 placed on the pallet p upward in the elevating frame 152 before the pallet p in the drawer standby position is pulled out to the drawer position via the loading/unloading mechanism 172. Then, only the pallet p is pulled out to the drawer position on the drawer table 194, in other words, the pallet p that is set in a state where the robot 12 can take out the parts x stored inside is pulled out. It is provided for. Here, as shown in FIG.
4a, 144c, an air cylinder C _S2 attached to the side surface on the elevator 26 side, and a lifting arm 160 attached to the tip of the piston 206 of this air cylinder C _S2 . This air cylinder C _S2 has its piston 206 sliding in a plane perpendicular to the conveyance direction d.
It is mounted so as to be tilted upward toward the elevator frame 152 at an angle of 45 degrees from the horizontal direction. A lifting arm 160 attached to the tip of the piston 206 is integrally formed with a main body 160a that is fixed to the piston 206 and extends along the direction of extension of the piston 206, and the tip of the main body 160a. It has a horizontal upper surface 160b, and a protrusion 160c that protrudes upward on the outer part of this upper surface 160b. Here, this air cylinder C _S2 has two input ends 208a and 208b for high pressure air, and when high pressure air is supplied to one input end 208a, the piston 206 is retracted and driven. The tip of the lifting arm 160 is biased to a retracted position away from the lid body 40, and the other input end 20
When high pressure air is supplied to 8b, the piston 2
06 and lifts the lifting arm 160.
is configured to be biased to a pushed-out position where the tip thereof engages with the lid body 40. Furthermore, the air cylinder C _S2 configured in this way
The arrangement position, that is, the height position is the upper surface 160b of the tip of the lifting arm 160 in the push-out position.
passes through the third notch 38c of the flange 38 of the pallet P in the drawer standby position,
It is set so that it can be engaged from below with a lid 40 placed over it. Operation of the lid opening mechanism In the lid opening mechanism 170 configured as described above, when the pallet p is brought to the drawer standby position in response to the vertical movement of the lifting frame 152, the pallet p is moved to the drawer standby position. When it is detected that the lid opening mechanism 170 has been reached, the operation of the lid opening mechanism 170 is started. That is, high pressure air is supplied to the second input ends of the air cylinders C _S2 on both sides, and the respective pistons 206 are pushed diagonally upward. As a result, the tips of the lifting arms 160 connected to the tips of the pistons 206 are able to lift the corresponding flange portions 3 of the pallet p in the pull-out standby position.
The upper surfaces 160b at the tips of both lifting arms 160 lift both side edges of the lid 40 from below, respectively. In this way, as shown in FIG. 16, the lid body 40 is biased upwardly away from the pallet p in the pull-out standby position, and therefore, the pallet p can be pulled out to the pull-out position. state. On the other hand, the pallet p pulled out to the drawer position
When the robot 12 finishes taking out the part x, the pallet p is returned to the extraction standby position, but at the time the pallet p is returned, the air cylinder C _S2
High pressure air is supplied to the first input end. In this way, the lifting arm 160 is pushed diagonally downward, and in the middle of this pushing down movement,
The lid body 40 is placed over the pallet p so as to cover the upper surface of the pallet p which has been returned to the pull-out standby position. In this way, the series of lid opening operations is completed. Operation of the Drawer Section As described above, the pull-out operation in the drawer section 154 is performed, in which the pallet p from which the lid 40 has been removed by the lid opening mechanism 170 is pulled out from the pull-out standby position to the pull-out position and returned to the original pull-out standby position. , explained below. First, in the initial state, the hook 186 is
The pallet p is moved in the opposite direction to the conveyance direction d by the drive of the servo motor M _S2 and is brought to a position where it can engage with the first notch 38 a of the flange portion 38 of the pallet P in the pull-out standby position. ing.
Note that in this state, the air cylinder C _S1 is set to a state in which the hook 186 is retracted. From such an initial state, the lifting operation of the lid body 40 is started, and at the same time, the air cylinder C _S1
is operated, and the hook 186 engages with the first notch 38a of the pallet p in the drawer standby position. Thereafter, as the lifting operation of the lid body 40 is completed, the servo motor M _S2 rotates in the opposite direction to the previous direction, and as a result, the hook 185 moves along the conveyance direction d. That is, the pallet p in the drawer standby position engaged with this hook 186
is pulled out from the elevating frame 152 onto the drawer table 168. Note that this pulled out pallet p slides on a pair of slide guides 178. The pallet p, which has been pulled out along the transport direction d while sliding on the slide guide 178 in this manner, is stopped by coming into contact with the stopper 176, and the drive of the servo motor M _S2 is also stopped. In this way, pallet p is held in the drawn-out position. Thereafter, the robot 12, which will be described later, picks up the part x from the pallet p brought to this pull-out position.
When the take-out work is completed, the servo motor M _S2 rotates in the opposite direction again to move the hook 186 in the transport direction d.
move it in the opposite direction. In this way, the pallet p is returned to the lifting frame 152 again. Then, when the pallet p is completely returned to the lifting frame 152, the driving of the servo motor M _S2 is stopped, and the pallet p is held within the lifting frame 152. Thereafter, the lid opening mechanism 170 performs the covering operation of the lid 40 described above, and the series of insertion and removal operations is completed. <Description of the robot> Next, referring to FIGS. 1 and 2, the robot receives a component The configuration of the robot 12 to be assembled will be schematically explained. Structure of the Robot As shown in FIG. 2, the robot 12 includes a horizontally disposed assembly stage 210 including a portion located below the drawer portion 154 of the stocker 24. As shown in FIG. This assembly stage 21
A pair of pedestals 212 are erected on one side of the 0, and on both pedestals 212 there is an 214 is spanned. Further, on this X-axis robot arm 214, one end of a Y-axis robot arm 216 that defines the Y-axis (an axis extending in a direction perpendicular to the conveyance direction d) of the robot 12 is arranged to move along the X-axis direction. Possibly supported. Further, a robot arm 218 that defines the Z axis (an axis extending in the vertical direction) of the robot 12 is provided on the side surface of the Y-axis robot arm 216 on the supply system side. This robot arm 218 is configured to be movable along the vertical direction, and is configured to be movable and rotatable along the Y axis. That is, the Y-axis robot arm 216 is mounted on the X-axis robot arm 214 in the X-axis direction (transfer direction d).
A servo motor M _R1 is provided to move the robot along the same direction. In addition, the Y-axis robot arm 216
On the top, there are a servo motor M _R2 for moving the robot hand 218 along the Y-axis direction (direction perpendicular to the transport direction d), and a servo motor M for moving the robot hand 218 along the Z-axis direction (vertical direction). _R3 and a servo motor M _R4 for rotating the robot arm 218 are provided. Here, fingers 220 corresponding to the parts x ₁ , x ₂ , x ₃ . . . are detachably attached to the lower surface of the robot hand 218. This finger 220 is configured to grip the corresponding part x, and other fingers 220 corresponding to the remaining parts x ₁ , x ₂ , x ₃ . . . are gripped by grips provided on the X-axis robot arm 214. inga station 22
It is housed in 2 and can be taken out freely. Incidentally, an assembly table 224 for assembling the component x gripped by the fingers 220 is provided on the assembly stage 210 described above. In addition, the input device 18 described above
is adjacent to the side of one pedestal 212. Operation of the Robot The assembly operation of the product will be explained using the part x in the robot 12 configured as described above. First, in the initial state, the robot hand 21
8 is positioned above the drawer part 154. From this state, when the pallet p containing the necessary parts x is pulled out from the stocker 24 to the pull-out position according to the predetermined assembly order, the pallet , the servo motor M _R3 is rotationally driven to lower the robot hand 218, and the finger 220 grasps the component x. Then, when the gripping operation of the component x is completed, the servo motor M _R3 is rotated in the opposite direction to raise the robot hand 218, and the servo motors M _R1 and M _R2 are appropriately rotated to move the assembly table 22.
4 Move it up. Then, the servo motor M _R3 is rotated again to lower the robot hand 218, and the assembly table 2
24, the assembly operation of part x is performed.
When this assembly operation is completed, the robot finger 2
20 is released, the servo motor M _R3 rotates in the opposite direction, and the robot hand 218 is raised. After this, the servo motor
M _R1 and M _R2 are rotationally driven, and the robot hand 218 is returned to the above-mentioned initial position. In this way, a series of assembly operations when focusing on one component x is completed. It should be noted that while such a series of assembly operations is being executed, the pallet p that has received the part x held by the robot hand 218, that is, the pallet p that has finished supplying the part x to the robot 12, is
During the time when the robot hand 218 reaches the assembly position from the position above the pallet p and returns to the position above the pallet p, the robot hand 218 moves in and out of the pallet p containing the parts x needed in the next assembly process. Action is performed. Here, the time required to assemble one part x in the robot 12 described above is
0.3 seconds to descend to , 0.2 seconds to grasp part x
0.3 seconds to move up from pallet p, 0.5 seconds to move upwards of assembly table 224, assembly table 224
0.3 seconds for the descent to the assembly table 224, 0.2 seconds for the assembly operation on the assembly table 224, and 0.3 seconds for the upward movement from the assembly table 224.
seconds, and for the upward movement of pallet p.
Since 0.5 seconds is required, the total is set to 2.6 seconds. The operation of taking in and taking out the pallet p must be carried out during the operation time of the robot 12 described above, from the position above the pallet p after the robot hand 218 is lifted up from the pallet p, until it is returned to this above position again. It won't happen. In other words, until the robot hand 218 descends from the standby position above the pallet p, grasps the part x on the pallet p, and rises to the position above the pallet p, the robot hand 218 is not able to take in or take out the pallet p. is prohibited, and the pallet p must be put in and taken out at other times. Therefore, the maximum time allowed for loading and unloading of pallets is defined as 0.5 + 0.3 + 0.2 + 0.3 + 0.5 = 1.8 seconds. In other words, if the loading/unloading operation of the pallet p is completed within this 1.8 seconds, the next feeding operation of the part x will be accomplished without stopping the assembly operation in the robot 12. Therefore, in the stocker 24 described above, the operation time is set so that the operation of loading and unloading the pallet p is executed within this 1.8 seconds.

[Robot and stocker control]

The robot is controlled according to the program shown in the flowcharts of FIGS. 17A and 17B until the remaining number becomes 1. Also, the control of the stocker is shown in Figure 18A and Figure 18.
This is done according to the program shown in the flowchart in Figure B. The reason why these two modules will be described together is that the elevator, buffer, etc. will not operate until the remaining number Z of parts on any pallet in the stocker reaches "1". As described above, the program of the management microprocessor starts the program of each module when the "start" button on the input/output device 18 is pressed. The robot module's microprocessor is
In step S8, the process number argument G is initialized to "1". The fact that this process number G is "1" means that the robot requests the part with process number 1, that is, it requests the stocker for the pallet on the S[1]th shelf of the stocker. It means that. In step S10, the state of the SINGLE flag is checked. In SINGLE mode, step
Proceeding from step S10 to step S12, the following control is executed to perform a single operation only when the "start" key is pressed. In the following explanation, continuous operation will mainly be explained. The stocker is activated and started in step S14. Directives for such other modules are:
This is done via the aforementioned multibus. After the robot starts the stocker, in step S16,
The stocker waits until the pallet with the number S "G" is drawn out to the drawer section 154 (that is, the pallet is ready). On the other hand, the stocker, which has been waiting for activation from the robot at step S60, proceeds to step S62 when this activation occurs, and checks whether any pallet has already been pulled out onto the drawer section 154. This confirmation is confirmed by a sensor (not shown) on the drawer section 154. This kind of confirmation is for confirmation when restarting the stocker after it has stopped for some reason, and when in SINGLE mode. Therefore, if a pallet has already been pulled out to the drawer section 154, the process advances to step S64 and the pallet that has been pulled out (which pallet is known from the variable L)
It is determined whether the pallet of process G=1 is requested by the robot. If the pallet is the one requested by the robot, there is no need to pull out the pallet, so the process advances to step S84, and a notification of pallet preparation completion is sent to the robot via the multi-bus. In step S64, if the pallet that has already been pulled out is not the pallet in process G (shelf S[G]th) requested by the robot, the pallet in step S64 is
Return the pallet to the stocker with S66. In addition, in order to return it to this stocker, please use an air cylinder.
How C _S4 and motor M _S2 operate has been described above, so a description thereof will be omitted. If it is determined in step S62 that the pallet has not been pulled out, or if a pallet that has already been pulled out is returned in step S66, the step
Proceeding to S68, the variable L stores which pallet the robot requests. The reason why the stocker stores the variable G indicating the pallet requested by the robot in L is to enable the robot and stocker to basically operate independently and in parallel, although they synchronize from time to time in this FAC system. It's for a reason. Proceeding to step S70, the amount of rotation of the motor M _S1 required to move the stocker up and down and align the pallet requested by the robot with the drawer section 154 is calculated. The origin of each shelf in Stotzka (on the floor)
The position from 300mm) is also taught in the front. Therefore, the process G requested by the robot
(=L=1) is in the stocker shelf number S[L] indexed by the number L, so it is stored in the second
From the variable S[L] shown in Figure 1A, S of L=1
[L] is indexed, the teaching position TP [S [L]] is searched from the teaching point using that value as an argument, and the value is used as the servo motor travel amount STP.
shall be. That is, STP=TP[S[L]]. Then, in step S72, the stocker is moved according to the amount of movement. When the servo motor M _S1 rotates to the STP position, the shelf containing the pallet requested by the robot reaches the pull-out position.
The CH flag in step S74 is a flag indicating that a replacement request has already been received from the robot.
If G = L = 1, it is before the state requiring replacement has occurred, so the step is reset.
Proceed to S78. In steps S78 and S80, the lid of the pallet is opened, and in step S82, the pallet with the lid opened is moved to the drawer part 1 by the control described above.
Pull it out to 54. The pallet is in the drawer section 15
When it comes into contact with the stopper 176 of No. 4, step S84
When the pallet is placed in the drawer section 15 for the robot,
4 to notify you that the preparation is complete. The stocker then waits for a predetermined notification from the robot. Now, when the robot, which was waiting for the completion of preparation from the stocker in step S16 (FIG. 17A), receives the notification of completion, it proceeds to step S18 and picks up the parts in the pallet placed on the drawer section 154. move above the part and then descend to try to pick the part. Next, step
In S20, the remaining number of parts with the relevant process number G Z[G]
Reduce by one. In step S22, it is checked whether this remaining number Z has reached 1. If the remaining number Z[G] is still 1 or more, it is checked in step S28 whether the robot's fingers were able to pick up the parts. The failure to pick a component normally includes cases in which the fingers fail to grasp the component, as well as cases in which the component is not inserted at the relevant location within the pallet. In such a case, repeat the steps until the part can be gripped normally or there is only one part left.
At S18, retry the pick. When it is confirmed that the parts have been picked normally, a notification of the completion of the picking is returned to the stocker in step S32. Upon receiving the notification that the robot is operating and that the picking is complete, the stocker proceeds to step S86 → step S88 → step S90, and removes the drawer 15.
4. Return the above pallet to the stocker. Furthermore, in step S92, the CH flag is checked. This flag has now been reset, so the step
Proceed to S100. [L] in step S100 is a flag indicating that the remaining number Z of the L-th pallet detected by the robot as described above has become zero and a replacement request has been issued from the robot. , this flag has been reset. Therefore, the process advances to step S118 and L is incremented by one. That is, L=L+1. The steps from step S118 to step S126 are for the stocker to prepare the next pallet (components) on the drawer section 154 while the robot is assembling the parts picked in step S18 (FIG. 17A). That is, in step S120, it is checked whether the current process is the final process, and if it is not the final process, the process proceeds to step S126, and the robot picks up the parts on the next pallet shelf (L has already been picked up in step S118). incremented)
Calculate the amount of movement to the pull-out portion 154 position. Steps S128 and S130 are controls for moving the stocker each time the "start key" is pressed in the SINGLE mode. step
From S130, return to step S72 in FIG. 18A,
The STP calculated in step S126 is sent to the motor M _S1 to align the next shelf with the drawer section 154 position. The following control repeats the control described above. The above control is carried out by controlling the remaining number Z of any pallet.
Repeat until there is only one [G]. Furthermore, the 18th B
The stocker control program shown in the figure assumes an assembly in which parts are required in all steps. However, in reality, there may be processes that do not require parts, such as finger replacement, and in such cases, there is no need to move the stocker to the shelf (step S126). Therefore, a flag is set in the control variable of the description to determine whether or not the process in question requires parts (or the parts index is set to alpha), and the value of this flag is set before step S126. If the process does not require any parts, the process may be returned to step S118 and proceed one step without proceeding to step S126. When the remaining number becomes one, the remaining number of pallets on shelf S[G] will eventually become Z[G]
becomes 1 in a certain process G. In other words, from a pallet with 2 parts left until then, the step
If you pick one part in S18, the number remaining is one, so proceed from step S22 to step S24.
The process number G is saved in process number variables E and D so that it can be used in the elevator and buffer control programs. and step
At S26, Batsufua instructs the elevator to start preparing a replacement pallet because an empty pallet will soon be available. This shunting preparation instruction is stored in the aforementioned queue area, and if the elevator or buffer is not busy with the previous shunting preparation operation, the elevator or buffer takes out this queue and starts the shunting preparation operation. Even after instructing the robot to prepare for switching to the buffer and elevator, the robot continues the picking operation as long as it is notified in step S16 that the pallet has been pulled out from the stocker to the drawer section 154 position. On the other hand, in the control of this embodiment, the stocker stops its movement when the robot detects that the remaining number of pallets Z has become zero in a certain process G (=L), L]), Stotsuka is notified of the next step G+1 (=L
+1) is pulled out to the drawer section 154, and the robot picks up the parts on the G+1 pallet, and the replacement work for the pallet with zero remaining pieces found in the previous process G has not been completed (step S94). ). That is, the stocker waits until the replacement operation is completed. This is the process G where the remaining number Z[G] becomes zero.
Since there are parts left on the pallet of the next process G+1, in that case, the robot process (G+1) will be carried out.
This is because the assembly of parts in 1) and the replacement of empty pallets in process L (=G) can be performed in parallel. <Effects of Examples> The following effects can be obtained by the examples described above. This FAC 10 stores a plurality of pallets p, each of which accommodates a plurality of parts x in a horizontal plane, in the shape of a shelf, and moves up and down to pull out a desired one of these pallets to a fixed drawer position. a stocker 24 that performs this, and a robot 12 that takes out a part x from the pallet 24 pulled out to the drawer position and assembles the part x into a product.
It basically has the following. Therefore, the robot 12 can be quickly supplied with parts from the pallet p that is always pulled out to a fixed pull-out position. Specifically, in order to supply parts to the robot 12, (1) the pallet p is pulled out to the drawer section; In this drawer section, the robot performs a component removal operation; (2) pulls the pallet back to the stocker 24; (3) moves the elevating frame of the stocker 24 so that the storage position of the pallet containing the next supplied component is the drawer. Move up and down until it corresponds to the position:
Only the following three operations are required. In this way, the assembly operation time required for assembling one part in the robot 12 is shortened, and the assembly operation control is simplified. On the other hand, in the article supply apparatuses disclosed in Japanese Patent Application No. 61-200949 and No. 61-200905 described in the prior art section, the stocker is fixed and the drawer section is arranged to be movable up and down. Therefore, in order to supply pallets from the stocker to the robot, (1)
Pull out pallet p to the drawer section. (2) Move the drawer up and down to the position where the robot takes out the parts; At this part takeout position, the robot receives the part removal operation; (3) Move the drawer up and down to the position where the pallet was pulled out; (4) Pull the pallet back to the stocker 24;
The following five operations are required: (5) moving the drawer up and down to the storage position of the pallet containing the next component to be supplied. On the other hand, by covering the pallet with the lid 40, in order to take out the parts x stored inside,
When transporting parts x using a pallet p with an open top surface, this is to protect the stored parts from dirt from dust etc. during transport or while being stored in buffer 22 and stocker 24. Each pallet p is provided with a lid 40, which releasably closes the upper opening. Since the lid 40 is attached to each pallet p in this manner, the parts x housed inside are reliably protected from dirt from dust and the like. Here, the lid body 40 covers the pallet p during all periods in the stocker 24 except when the pallet p is brought to the drawing position to the robot 12. In this way, the period during which the top surface of the pallet p is open is limited to the withdrawal period, which is the opening period necessary for the component Intrusion is suppressed to a minimum, and contamination by dust and the like on the component x is prevented as much as possible. When the lid 40 is removed from the pallet p, the lifting arm 160 in the lid opening mechanism 170 moves diagonally upward in a straight line from diagonally downward to remove the third notch 3 of the pallet p.
He engages with the side edge of the lid 40 from below through the 8c to lift the lid 40 upward. Such linear movement of the lifting arm 160 allows it to require only one driving source, and has the effect of shortening the lifting operation time and reducing costs. It is something to play. The lifting arm 160, which has passed through the third notch 38c of the pallet p in this way, is configured so as not to obstruct the movement of the pallet p in the transport direction in the state in which the lid body 40 is lifted in this way. Needless to say, this has been done. Further, the timing at which the lid 40 is removed from the pallet p is set to be before the pallet p is taken out from the stocker 24. As a result, when the pallet p is taken out from the stocker 24, the upper surface of the pallet p is completely opened, and articles can be immediately picked up from there, resulting in extremely improved work efficiency. The parts assembly device as an example explained above is as follows:
When viewed as an article supply device, a pallet (FIG. 3) is supplied to an external device such as the robot assembly device 12, and serves as a storage box whose top surface is open and which accommodates parts as articles to be processed or assembled. . This pallet is covered with a lid 40. This article supply device supplies articles to an external device, and in order to protect the articles, it has a storage section that can be raised and lowered to store a plurality of pallets covered with lids 40, and a drawer preparation position at a predetermined height. Stocker 24 as a storage means (position where the loading/unloading mechanism 172 in FIG. 14 is provided)
The stocker 24 as the storage means is attached to the side surface facing the external device in correspondence with the drawer preparation position, and
4) A drawer mechanism 172 as a drawer means for pulling out the storage box in the drawer preparation position among the plurality of storage boxes stored in the storage box to the external device.
, a motor M S1 as a lifting means for driving the storage box containing the type of article requested from the external device up and down to the drawer preparation position; and a motor M _S1 disposed in the storage means (stocker 24), Immediately after the lid is removed by lifting the lid from the storage box brought to the drawer preparation position by the motor M _S1 as shown in FIG. A lid removal mechanism 170 is provided as a lid opening/closing means for covering the lid. [Effects of the Invention] As explained above, the article feeding device of the present invention has the following effects:
In an article supply device that supplies articles to an external device, there is a storage box whose top surface is open and which stores the articles to be processed or assembled, and a storage box that is removably attached to the storage box and is attached to the storage box. A lid covered to close the top surface of the box, and a storage section for storing a plurality of storage boxes covered with the lids for supplying articles to the external device, which are movable up and down, and positioned at a predetermined height. a storage means in which a drawer preparation position is defined, and a drawer preparation position is attached to a side surface of the storage means that faces the external device in correspondence with the drawer preparation position, and the drawer preparation position is set in a plurality of storage boxes stored in the storage means. a drawer means for pulling out a storage box at a position to the external device; a lifting means for driving a storage box containing an article of a type requested from the external device up and down to the drawer preparation position; and a lifting means disposed in the storage means. , further comprising a lid removing means for lifting and removing the lid from the storage box brought to the drawer preparation position by the elevating means. According to this article supply device, the storage box is usually
It is closed by a lid. When the elevating means moves the storage box to the pull-out preparation position, the storage box is closed until the lid removal means removes the lid. That is, the articles in the storage box are protected from dust and the like from the outside until they are taken out. In addition, an article supply device having another configuration is an article supply device that supplies articles to an external device, and includes a storage box whose top surface is open and which accommodates the articles to be processed or assembled, and a storage box that is detachably attached to the storage box. A storage box that stores a plurality of storage boxes covered with lids for supplying articles to the external device; a storage means that is movable up and down and has a drawer preparation position defined at a predetermined height; A drawer means for pulling out the storage box in the drawer preparation position among the plurality of storage boxes to the external device, and returning the storage unit to the original drawer preparation position after the article is supplied to the external device; an elevating means for elevating and lowering a storage box containing articles of the type requested by the external device to the drawer preparation position; Immediately after the lid is lifted and removed from the storage box that has been brought to the drawer preparation position by the drawer, and the drawer unit returns the storage box whose feeding operation has been completed to the original drawer preparation position, the lid is opened and closed to cover the lid. It is characterized by comprising means. According to this supply device, the storage box is normally closed with a lid, and when the lifting means moves the storage box to the draw-out preparation position, the storage box is closed until the lid removal means removes the lid. The box is closed. Then, when the storage box that has been pulled out is returned, the lid is placed on the storage box again, so that the items inside the storage box can be taken out to the outside.
The lid protects the storage box except when it is being returned after being removed.

[Brief explanation of the drawing]

FIG. 1 is a front view schematically showing the overall configuration of an FAC system according to an embodiment of the present invention; FIG. 2 is a perspective view schematically showing the overall configuration of the FAC system shown in FIG. 1; FIG. 3 Fig. 4 is a front view showing the shape of pallets with three different heights; Fig. 5 is a sectional view showing how the pallets are stacked; Fig. 6 are perspective views showing the structure of the buffer; Figures 7A to 7D;
The figures are front views sequentially showing the separation operation of a predetermined pallet P _a in the buffer; Figures 8A to 8E are front views sequentially showing the position correction operation during the separation operation of the buffer; Figure 9 shows the configuration of the elevator. Fig. 10 is a side view showing the elevator main body in the elevator together with the exchange mechanism; Fig. 11 is a partially cut away state of the elevator main body;
A front view showing the configuration of the exchange mechanism; Figure 12 is a perspective view showing the exchange mechanism taken out;
Figures 3A to 13G are front views sequentially showing the switching operation in the elevator; Figure 14 is a perspective view showing the configuration of the stocker; Figure 15 is a side view showing the configuration of the lid opening mechanism; Figure 16 is the lid opening mechanism; Side view showing a state in which the lid body of the body opening mechanism is lifted; 1st
7A and 17B are flowcharts of the robot control program; and FIGS. 18A and 1
Figure 8B is a flowchart of the stocker control program. In the figure, 10...Flexible assembly center (FAC system), 12...Robot, 14...Parts supply system, 16...Control unit, 18...Input device, 20...Unmanned vehicle, 2
2... Buffer, 24... Stocker, 26... Elevator, d... Conveyance direction, Pallet p (p ₁ , p ₂ ,
p ₃ ...) Relationship, 36...Pallet body, 38...Flange part, 38a...First notch part, 38b
...Second notch, 38c...Third notch, 40...Lid, x (x ₁ , x ₂ , x ₃ ...)...Parts, B...Barcode, stocker 24 related , 14
2... Base, 144a-144d... Support, 14
6... Connection frame, 148... Guide member, 150...
...Sliding member, 152...Lifting frame, 154...Drawer section, 156...Shelf board, 158...Notch section, 160...Lifting arm, 160a...Main body section, 160b...Top surface, 160c... protrusion,
162...Protruding piece, 164...Ball screw, 16
6... Encoder, 168... Drawer stand, 17
0... Lid opening mechanism, 172... Insertion/removal mechanism,
174...Support stay, 176...Stopper, 1
78...Slide guide, 180...Guide member, 182...Sliding member, 184...Support plate, 1
86... Hook, 188... Drive roller, 190
... Idle roller, 192 ... Endless belt, 194 ... Connection shaft, 196 ... Driven roller,
198...stay, 200...drive shaft, 202...
... Drive roller, 204 ... Endless belt, 2
06... Piston, 208a; 208b... Input end, robot 12 related, 210... Assembly stage, 212... Mount, 214... X-axis robot arm, 216... Y-axis robot arm, 218...
...Robot hand, 220...Finger, 222
...Finger station, 224...Assembly table,
C _S1 ; C _S2 ...Air cylinder, M _S1 ...Servo motor, M _S2 ...Servo motor.

Claims (1)

[Scope of Claims] 1. An article supplying device for supplying articles to an external device, comprising: a storage box with an open top surface for storing articles to be processed or assembled; and a storage box detachably attached to the storage box. In this state, a lid is placed to close the top surface of the storage box, and a storage section that stores a plurality of storage boxes covered with the lid is movable up and down in order to supply articles to the external device. a storage means with a drawer preparation position defined at a predetermined height position; and a storage means mounted on a side surface of the storage means facing the external device in a manner corresponding to the drawer preparation position;
A drawer means for pulling out the storage box in the drawer preparation position among the plurality of storage boxes stored in the storage means to the external device; A lifting means for driving up and down to the drawer preparation position; and a lid removing means disposed in the storage means and for removing the lid by lifting it from the storage box brought to the drawer preparation position by the lifting means. An article supply device characterized by: 2 In an article supply device that supplies articles to an external device, there is a storage box whose top surface is open and which accommodates the articles to be processed or assembled; A lid is placed to close the top surface of the storage box, and a storage section for storing a plurality of storage boxes covered with the lid is movable up and down to supply articles to the external device, and is placed at a predetermined height position. a storage means in which a drawer preparation position is defined, and a plurality of storage boxes that are attached to a side surface of the storage means facing the external device in correspondence with the drawer preparation position, and that are housed in the storage means; a drawer means for pulling out the storage box in the drawer preparation position to the external device and returning the storage box to the original drawer preparation position of the storage means after the article is supplied to the external device; Lifting means for lifting and lowering a storage box containing articles to the drawer preparation position; and a lifting means disposed in the storage means, for lifting the storage box containing articles to the drawer preparation position by the lifting means, immediately before the drawer pulls out the storage box. The method further comprises a lid opening/closing means for removing the lid by lifting it from the stored storage box, and for covering the lid immediately after the drawing means returns the storage box after the feeding operation to its original drawer preparation position. Goods supply device.