JPH06211307A - Article supply device - Google Patents

Abstract

PURPOSE:To certainly separate a magazine on the top by separating it after lifting up a storage box on the top and having it knock against a standard member. CONSTITUTION:An article supply device is constituted of a first lift 102a to supply a storage box storing an article to a specified position, a pusher to move an empty storage box to a discharge side and a second lift 102b to discharge the empty storage box. Additionally, driving means 105, 106, 107a to move the first and second lifts in a seesaw motion and detection sensors 120a, 120b to detect positions of the lifts 102a, 102b are furnished, and the first and second lifts are lifted up and down. At the time when the storage box on the top is separated from others, the storage box on the top is lifted up by the first lift 102a and separated after it knocks standard members 140a and 140b. Consequently, a clamp mistake and others of a work at a robot are not caused, and it is possible to improve an operation rate of the whole device.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article supply apparatus for supplying a storage box containing articles such as assembly members or workpieces to a predetermined position in an automatic assembling apparatus or an automatic processing apparatus. The present invention relates to an article supply device having a part for supplying a storage box containing a box and a part for discharging an empty storage box.

[0002]

2. Description of the Related Art In an automatic assembling apparatus or an automatic processing apparatus, an article such as an assembly member or a processed member (hereinafter,
A storage box such as a box in which "work" is stored (hereinafter referred to as "workpiece")
"Magazine") is automatically conveyed to a predetermined work supply position, and after all the works in the magazine are taken out by the work supply robot of the automatic assembly device or the automatic processing device, the empty magazine is removed. A magazine supply device for replacing with a new magazine has been proposed.
For example, Japanese Patent Application No. 4-294246.

The magazine feeder (hereinafter referred to as stocker) comprises a real box (a storage box containing a work) and an empty box (a blank storage box) which are lifted up and down in opposite directions by an endless chain at equal distances. The endless chain is moved clockwise or counterclockwise by a drive device including a motor and a drive sprocket.

The real box lifting platform descends when the endless chain moves clockwise and rises when it moves counterclockwise. The reverse of the empty box elevator is the opposite. The magazine supply by the stocker is performed in the following cycle. First, magazines containing a predetermined number of workpieces are stacked on the real box lift table. Next, raise the real box elevator to position the upper and left side flanges of the uppermost magazine on the upper edge of the main unit and above the shutter that is open and wait, and detect the upper edge of the magazine with the actual box upper edge sensor. However, the top magazine is separated from the rest by lowering the shutter after closing it.

[0005]

When the magazines are separated, the following problems occur. The magazine is a molded product, and the heights on the right and left sides of the magazine differ when stacked in multiple layers. When a thin magazine is used, there is a small gap between the flanges of the upper magazine and the magazine one below, and therefore, when the shutter is moved to the gap between the flanges of the magazine, the shutter may hit the flange.

Due to the above reasons, a separation error has occurred. Therefore, since the magazine cannot be properly positioned, the work rate of the entire device is significantly reduced due to a work clamp error in the robot. The present invention has been proposed to eliminate such a problem.

[0007]

In order to achieve the above object, the present invention provides a first elevating means for performing an ascending / descending operation to supply a storage box containing articles to a predetermined position, and an empty storage box. To a discharge side, a second elevating means for performing an elevating operation for ejecting an empty storage box, a driving means for making a seesaw motion of the first and second elevating means, and the first In an article supply device having a separating means for separating the uppermost storage box raised by the elevating means of
When the uppermost storage box is separated from the others, the uppermost storage box is raised by the first elevating means, the uppermost storage box is abutted against the reference member, and then the storage box is separated. It is characterized by that.

[0008]

Embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is an overall view of an automatic assembly system of an embodiment to which the present invention is applied. This system includes a robot assembly apparatus 300 having a finger 301 at a tip thereof for holding a component, a pedestal 500 for fixing the robot apparatus 300, and a component supply device 10 called "stocker".
It consists of 0,200.

The mount 500 is an assembly robot device 300.
And the stockers 100 and 200 for supplying the parts are fixed. CCD cameras 700 and 701 for detecting the positions of components are arranged above the stockers (100 and 200). The stocker (100, 200) has a slave control unit (413, 41) which is a drive unit of the stocker I / O.
4) are fixed respectively. Further, the gantry 500 accommodates a master control unit 400 that controls the entire system, a robot slave control unit 415, and an image processing device 417.

The master controller 400 and the slave controller (4
13, 414, 415, 417) are connected by a cable with a connector as shown in FIG. The image processing device 416 (417) is connected to the camera 700 (701) via a dedicated cable, the robot slave control unit 415 is connected to the robot assembly device 300 with a dedicated cable, and the stocker slave control unit 413 is connected. Is connected to the stocker 100 by a dedicated cable, and the stocker slave control unit 414 is connected to the stocker 200 by a dedicated cable.
, And the NC device for the finger 301 is connected from the servo circuit 420 via a dedicated cable. <Structure of Stocker Device> FIGS. 3 and 4 are perspective views of the stocker device 100 (200). FIG. 5 shows the structure of the magazine used in this stocker.

In this system, the robot assembling apparatus 300 is used.
The parts are taken out from the two magazines supplied by the stockers 100 and 200, respectively, and assembled as work units. Therefore, functionally, the stocker 10
Both 0 and 200 have the same function and are structurally substantially the same. Therefore, only the stocker 100 will be described in the following structural description and standalone operation of the stocker.

As shown in FIG. 3, the stocker 100 is a box 3 which is a magazine (FIG. 5) containing a predetermined number of works W.
0 to 33 are placed on the lift table 102a, and they are conveyed one by one to the upper end thereof. Each of the boxes 30 to 33 is provided with a left side flange 30a and a right side flange 30b, which are both side edges to be engaged with a shutter 115, which will be described later, and have notches 30c and 30d, respectively. Other boxes 31-
Since the same applies to 33, the description is omitted.

The main body 100 of the stocker 100 is a box-shaped frame. At its front end, an opening 101b for carrying in a box accommodating the work W (hereinafter referred to as "real box") and carrying out an empty box (hereinafter referred to as "empty box").
Is provided, on each side surface of the main body 100, the real box lift table guide shafts 101A and 101B and the empty box lift table guide shafts 101C and 101D extending in the vertical direction are arranged, and a rectangular upper frame 100g is arranged at the upper end. Has been done. The real box lift table guide shafts 101A, 101
B vertically guides the real box lift table guides 103A and 103B supporting the real box lift table 102a. Similarly, the empty box elevator guide shafts 101C and 101D are
The empty box lift table guides 103C and 103D that support the empty box lift table 102b, which is a lift table, are vertically guided. Further, the real box elevating table 102a and the empty box elevating table 102b respectively include an actual box presence sensor 104a and an empty box presence sensor 104b for detecting whether or not the actual box is placed.

The real box lift table 102a and the empty box lift table 102b are the real box lift table shafts 101A, 101, respectively.
The endless chain 105 moving in the clockwise direction or the counterclockwise direction along the B and the empty box elevator shafts 101C and 101D raises and lowers them in opposite directions. The drive sprocket 106 for moving the endless chain 105 in the clockwise direction or the counterclockwise direction is driven by a motor 106b (not shown) that is a drive unit via the reduction gear 106a. , An idler sprocket 107a for movably supporting the endless chain 105 on the upper and lower ends of the main body 100, and a tension adjusting sprocket 10 for adjusting the tension of the chain 105.
7b and are arranged.

An opening 100b is formed near the lower end of the main body 100.
A pair of guide rails 109a and 109b for guiding a real box and an empty box carried in / discharged through are arranged. FIG. 6 illustrates a mechanism for facilitating the placement of a plurality of real boxes on the real lift table 102a at predetermined positions. As shown in FIG. 6, the side plate 110a is formed around the lower portion of the main body 100.
~ 110h are provided. Side plates 110d to 110a
Guides the real box along the guide rails 109a and 109b. The side plates 110b and 110c stop the real box (not shown) loaded along the guide rails 109a and 109b from the opening 100b by abutting the real box on the real box lift table 102a.

In the stocker 100 of this embodiment, as described above, the loading mode that allows the operator to load a plurality of magazines or the empty magazines to be ejected, and the plurality of loaded magazines can be set. A separation mode for separating the highest magazine among them on the shutter 115 is set. The upper frame 100g of the main body 100 has a pair of positioning references 114a, 114 fixed to the front end thereof.
b, 114c and a pair of shutters 115a, 115b
And a set of cylinders 116a and 116b and a magazine positioning device. Shutters 115a, 115b
When the real box lift table 102a is raised, the top real box of the real boxes mounted on the real box lift table 102a is separated from the remaining real boxes by a method described later. The cylinders 116a and 116b drive the shutters 115a and 115b. The magazine positioning device includes two left and right positioning devices 11 for positioning the real boxes separated by the shutters 115a and 115b.
It consists of 7,118. The shutter 115 is composed of shutter plates 115a and 115b that are movable in the directions of approaching and separating, and the shutters 115 are opened and closed by moving the shutter plates 115a and 115b in the directions by the cylinders 116a and 116b.

7 and 14 show a method of connecting and fixing the stocker and the mount 500. The fixing bolt 150 provided at the rear end of the main body 100 positions the stocker 100 with respect to the frame 500 of the automatic assembly apparatus or the automatic processing apparatus. In FIG. 7, a gantry 500 on which the robot 300 is mounted has beams extending from the bottom of the gantry to both sides, and the stockers 100 and 200 are arranged on the beams. Leveling members 501A, 501B, 501C, 5
01D is connected to the main frame of the stocker 100 at four places. Further, in FIG. 14, the leveling member is the pedestal 5
It is possible to adjust the clearance between the pedestal side surface and the stocker body frame base by pushing the bolt 501A-1 or retracting the bolt 501A-2 with respect to the side surface of 00.

Further, the bolt at the bottom of the stocker and the beam at the bottom of the gantry can be connected. FIG. 4 shows a pusher device 144 that pushes an empty magazine provided in the stocker device toward the empty lift table 102b, and a lid removing device 146 that removes the lid of the magazine. These devices are provided above the work 100g of the stocker 100. The pusher device 144 includes an air cylinder 144a and a rod 144b connected to the air cylinder 144a. Air cylinder 144a
When air is supplied to the rod 144b, the rod 144b is driven forward, and when air is supplied from the opposite direction, the rod 144b returns.

The lid removing device 146 includes a suction vacuum pad 148 supported by a support member 149, a shaft 149a for rotatably supporting the member 149, and an air cylinder 1.
47 and a rod 149b connected to the actuator of the air cylinder 147.
When the switch is turned on, the pad 148a via the rod 149b,
148b and 148c will be rotated.

The left positioning device 117 comprises a piston rod 117a which moves toward the center of the main body 100, and a cylinder 117b which is a positioning drive means for driving the piston rod 117a. Right positioning device 118
Consists of a cylinder 118b and a cylinder 118b which is a positioning drive means having a piston rod 118a which moves toward the center of the main body 100. The tips of 117a and 118a have an arc shape, and the notch 3 of the magazine
0c and 30d are inclined, and the real box is attached to 114c by driving 117a and 114a and 114b by driving 118a. Thus
The magazine is positioned on the shutter 115. The positioning is necessary for the fingers of the robotic device 300 to accurately grip the components in the magazine. If this positioning is not performed accurately, the cameras 700, 70
The image processing by 1 becomes inaccurate, resulting in inaccurate detection of the component position in the magazine.

Further, on the upper frame 100g of the main body 100, a real box top sensor 120a for detecting that the upper end of the real box separated by the shutter 115 has risen to a predetermined height,
120b and the shutter 11 after the shutter 115 is closed
A real box presence / absence sensor 121, which is a detection means for detecting whether or not there is a real box that has descended above 5, is provided. Top frame 100
At the front end of g, positioning standards 114a, 11 of the main body 100 are provided.
4b and a stopper angle 12 provided at the rear end thereof
2a and 122b, an empty box upper end sensor 123 that detects the upper end of the empty box that is raised to a predetermined height by the empty box lifting platform 102b before opening the shutter 115, and the upper frame 100a of the upper frame 100a when the shutter 115 is closed. Empty box push sensor 124 for detecting the presence / absence of an empty box slid from the front end to the rear end
Is provided. Furthermore, the shutter plate 115
shutter opening sensors 125a, 125d, 125e for detecting the opening of the shutter 115,
125 h is provided, and the real box lifting shaft 10 is further provided.
An empty box lower end sensor 127 for detecting when the empty box elevating table 102b is located at the lower end of the hoistway is provided near the upper ends of the empty box elevating shafts 101C, 1C.
Near the upper end of 01D, there is provided a real box lower end sensor 126 for detecting when the real box lifting platform 102a is at the lower end of the hoistway. <Certification of Box Separation> The stocker of the present embodiment is devised to surely perform the actual box separation operation performed on the shutter 115. As shown in FIG. 3 and FIG. 4, these are real box top abutments 140a and 140b provided on the frame 101g. This butting 140a,
Since 140b is connected to the cylinders 141a and 141b, when the cylinders 141a and 141b perform a sliding motion, the abutments 140a and 140b also perform a sliding motion.

FIG. 7 shows a shutter 115 and an abutment 140.
The operation of a and 140b is better represented. Cylinder 141
When a and 141b are operated, they are pushed by them and the abutments 140a and 140b come to the frame 100g from the left and right. When the real box is placed on 102a and is raised while the shutters 115a and 115b are open to the left and right, the state shown in FIG.
As shown in,
0a, 140b. As mentioned above, since the magazine is a molded product, the heights of the right side and the left side of the magazine will be different if they are stacked in multiple stages as they are. In the case of a thin magazine, the shutters 115a, 11 are provided in the gap between the flanges of the upper magazine and the lower magazine.
There is a risk of hitting the flange when 5b is inserted. However, when the uppermost real box hits the abutments 140a and 140b, the lifting platform 102a abuts all the real boxes against the abutment 140, so that even if the real box is slightly deformed, it is shaped. Returning to the given shape, the shutter 115 is prevented from abutting the flange portion of the box. <Outline of Operation of Stocker> The overall operation of the stocker 100 will be described with reference to FIGS. 8 to 13.

The actual magazines P stacked manually are
It is input from the direction of the arrow in FIG. That is, the stacked magazines P are placed on the magazine guide plate 109,
Push it to the top. At this time, when the stacked real magazines P hit the frame 110 (FIG. 6),
The insertion of the actual magazine is completed. FIG. 9 shows the robot device 3.
00 indicates a state in which the parts in the real box can be accessed. That is, FIG. 9 shows a state after one box is separated from the state of FIG. That is, in order to separate one box, the real box top abutting cylinders 141a, 14a
1b is driven in the closing direction to hit the real box tops 140a, 1
40b is moved in the closing direction. Further, the motor 106b
Is rotated in a predetermined direction, the chain 105 raises the base 102a. One box is placed above the shutter 115 (this is because the boxes abut 140a, 14).
0b is contacted with the ascending position sensors 120a, 120
It is done by detecting the existence of the real box by b).
Then, the shutter 115 is closed. Therefore, the motor 106 rotates in the reverse direction to move down the actual lift table 102a and separate the actual box on the shutter 115 from other actual boxes. As a result, one box is supported by the shutter 115. In this state, the positioning devices 117 and 118 described above position the box. With this, the fingers of the robot 300 can accurately grasp the components in the box.

FIG. 10 shows an empty box pushing operation. That is, when the components in the magazine are consumed by the robot device 300, it is necessary to transfer the empty box to the empty lift table 102b. For this transfer, as shown in FIG. 10, with the shutter 115 being closed, the pusher device 144 pushes the box to slide it on the shutter plate 115 and push it out to the lift table 102b side. is there.

FIG. 11 shows the recovery of the empty box onto the lift table 102b. That is, when the chain 105 is rotated by the motor 106 so that the platform 102b rises and the box and the shutter 115 no longer interfere with each other, the rotation of the chain 105 is stopped. Whether the box and the shutter 115 no longer interfere with each other is detected by the empty box raised position sensor 123. Then, the shutter 115 is opened, and then the chain 105 is rotated in the opposite direction to lower the elevating table 102b.

The lowering of the lifting platform 102b causes the lifting of the lifting platform 102a. If the chain 105 is rotated while the shutter 115 is open, a new real box comes above the shutter 115 as shown in FIG. This state is detected by the sensors 120a and 120b. Therefore, the shutter 115 is closed, the chain 105 is rotated clockwise, and the real box is placed on the shutter 115.

As described above, the cycle of loading an actual box → positioning → transferring an empty box → collecting an empty box and supplying the actual box in parallel is continuously performed. <Configuration of Control System> The operation of the above-described automatic assembly system is performed by various control units shown in FIG.
A, controlled by the control circuit system shown in FIG. 15B.

The master control unit is connected to the personal computer 404 and the teaching pendant 405 (position teaching device) via the RS232C serial I / Fs 406a and 406b. These edit the operation procedure program (described in the robot language) of each device and register the data and the like necessary for the program. 406
C is a network serial I / F, which is connected to a host management computer (not shown) or another automatic assembly machine controller.

Reference numeral 408a is a known dedicated I for serial transmission.
This is a serial I / F realized by C, and in this embodiment, an I / O (on / off sensor, solenoid valve S
Only V) is treated exclusively. That is, each serial I / F
Are concatenated (or daisy chain connected) to the I / O input / output circuits 418a to 418e of each control unit. Reference numeral 413 is a slave control unit for the stocker 100, and 414 is the component supply device (stocker 20).
0) is a slave control unit, and 420 is a control unit for fingers. The CPU 401 then controls the control unit 413 and the control unit 41 via the serial I / F 408a.
4, control unit 415, and control unit 420 are connected to respective I / O input / output circuits.

The I / O input / output circuits 418a to 418e are
It is the minimum constituent element in each slave control unit, and two modules are used for each of the two stockers, and one module is used for the slave control unit for the robot apparatus. Each module includes, for example, an electric valve for air of an air cylinder 117 fixed to each device mechanism portion,
A proximity sensor (for example, the sensor 121) and an induction motor (not shown) via a relay (not shown) are connected.

Reference numeral 408b is a known serial transmission dedicated IC
The slave controller 41 for the robot apparatus is realized by
Connected to 5. The control unit 415 includes the position servo input / output circuit 419a and the I / O input / output circuit 418e described above.
It consists of The position servo input / output circuit 419a positions the DC servo motor with an encoder fixed to the robot apparatus mechanical unit in response to an instruction from the CPU 401. The robot of this example has four DC servo motors.

Reference numeral 411 denotes a bus buffer for connecting the master control unit 400 and the image processing device 416 (417), which is connected to the bus via the 2-port memory 421 of the image processing device 416. Reference numeral 410 represents an image processing apparatus, and in this case, the entire apparatus serves as a slave control unit. An image from the CCD camera is taken in by a command from the CPU 401, and the image taken from the camera 700 (701) is image-processed according to the operation procedure from the CPU 401.
It is designed to detect position information.

Reference numeral 412 is a bus for the CPU 401. The slave control units 410, 413, 414, 415 are all connected to the master control unit 4 by a cable with a connector (not shown).
It is connected to 00 and is removable. In the control device of this embodiment, it is important that the I / O input / output circuits (418a to 418e) are concatenated in order from the serial I / F 408a. Since the I / O input / output circuit is a concatenate connection, in order to add a sub control unit having such an I / O input / output circuit, simply add the sub control unit to be added to the final sub control unit. Just connect the concatenate.

408a, 408b, 408c, 41
In this example, separate means are used as the connection means with the slave control unit of No. 1, but serial I / O such as the well-known RS485 is used.
It is also possible to use F. <Data Structure on Memory> From the above description, it has been clarified that various control devices are detachably and mechanically connected in this system. 16 to 32, the control system of this embodiment is functionally divided into a master control unit and a slave control unit, and the master control unit performs overall processing, and the slave control unit performs lower control. Will be clear.

FIG. 16 is a program configuration diagram of the ROM 402 of the CPU 401. The movement of each device such as the robot device 300 and the stocker device is assigned as a task. The robot device is a robot task RT (including finger operation), and the stocker device 100 is a stocker task ST.
1. The stocker device 200 is a stocker task ST2, the image processing device device is an image task, and the jig device (not shown) is a jig task.

The programs 422 to 426 in FIG. 16 are commonly used by all the devices. In this embodiment, an operation procedure program (written in robot language) for each device (for each task) is stored in the RAM described later. Reference numeral 422 is an operation program for each device and an editor program for editing and debugging data used in the program. Language compiler 4
Reference numeral 23 is a compiler that converts the operating procedure program into intermediate code. Reference numeral 424 is an interpretation execution program for interpreting and executing the language (compiled intermediate code) of this operating procedure program. 429,430
Is an allocation program for the input / output unit (I / O or position servo) of each device (for each task).

FIG. 17 is a configuration diagram of data in the RAM 403. Reference numeral 440 in FIG. 17 is an area for storing common variables referred to by all tasks, and variables relating to operation control of a plurality of processes (including the same contents as in JP-A-3-282601).
And the variables for adjustment between each task. What are common variables?
This means a variable that is commonly used by each task.

Reference numeral 441 is a supervisor program area for performing arbitration between tasks and the like, and a flowchart of a control procedure of an example thereof is shown in FIGS. 442 is
The robot 300 is an assembly operation procedure program group area. Details of the program group are shown in the flow charts of FIGS. 443 is a robot operation program 4
This is a variable area used in 42.

444 is a position servo input / output circuit 419a
This is position teaching data necessary for position control of the robot by. This teaching data is input by the operator via the teaching pendant 405. 445
Is an operation procedure program group area of the task ST1 of the stocker 100. Details are shown in FIGS. 446
Is a variable area dedicated to the operation procedure program of the task ST1 of the stocker 100.

447 is a task ST1 of the stocker 100
Is an area for storing teaching position data for the position servo input / output circuit used by the operation procedure program. This teaching position data is used when the stocker used is the NC stocker, but in the present embodiment, the rotation control of the motor 106b is driven / stopped based on the information from the sensor. So don't use it.

Reference numerals 448 to 450 are for the task ST2 of the stocker 200, and the contents are the same as 445 to 447. Although not shown, when there are jig tasks and image tasks for controlling the jig, the same areas as 445 to 447 are secured for these tasks.

The I / O allocation table 466 of FIG.
16 is a table showing the allocation state of the O input / output circuit (FIG. 15B). As shown in FIGS. 15A and 15B, the I / O input / output circuits are concatenated in order. The master control unit 4 unit 400 determines in advance to which I / O input / output circuit (418a to 418e) the data is sent via the serial I / F 408a.
It is managed by the address assigned to 418e). Also, I / O input / output circuits (418a to 418e)
Accepts only data from the control unit 400, each of which has its own dedicated address and has the same address data as its own address. The I / O allocation table 466 is currently
The numbers up to which I / O input / output circuits are connected are stored. Further, the I / O attribute table 461 stores which attribute (sub-control unit) is assigned to which address of the I / O input / output circuit. When adding the sub control unit, the operator connects the I / O input / output circuit of the sub control unit to the input / output circuit of the last sub control unit and adds the allocation table 466 and the attribute table 461. Update to reflect.

FIG. 18 is a diagram showing a data structure in the shared memories 409 and 421. This shared memory 409, 4
21 is an NC device (for example, the position servo input / output circuit 4
19a) and image processing devices (e.g. 416, 417) for storing control commands and data for devices that require a high degree of control. In this system, an instruction (for example, a move instruction MOVE) that describes an operation of an NC device such as a servo motor in an operation program described in a robot language (for example, a source code area (not shown) of the robot operation program 442) is a compiler. When compiled by 423, this instruction will cause the slave controller 4 to
It is converted into an intermediate code that can be interpreted and executed by 15, for example. During actual operation, the CPU 401 of the master control unit 400
Stores a specific value at that point in time in the shared memory 409 for the parameters in these intermediate codes stored in the outer robot operation program 422 which is the interpretation execution program 424. The slave control unit is the memory 409.
The inside is read using the serial I / F and used. That is, the memory 409 is used as a communication area.

The communication area 470 is an area where the CPU 401 and the CPU (not shown) of the position servo input / output circuit 419a transfer information such as the current position or target position data of the robot apparatus or information such as start and end of movement of the NC to the target position. . Area 47
Reference numerals 1, 472 and 480 are information transfer areas when the NC or the image processing apparatus is needed for another task.

FIG. 19 shows the input device 4 of the master control unit 400.
4 is a display screen displayed on the CRT at 04 during operation of the entire system. In this system, the work is assembled in the order of the process number (variable: WG). One process is the work (variable: WK) used in that process,
A program that describes the specified number of the finger used to grip the work and the operation of the finger (variable: WN)
And etc.

The name of the process is displayed on the CRT so that the operator can easily understand the process. In this embodiment, as an example, the product is assembled using two works, that is, the assembly process is up to 2. Therefore, in the table of FIG. 19, process number 3 (WG = 0).
3) means the end of the process, so the work number (W
Put more than 33 data in K).

Work WK corresponding to process WG (argument W
Information (represented by WK drawn by G) is also input in advance before the automatic operation. 20
Figure 1 shows a table that displays information about a work piece.
It is displayed on the CRT in the same way as the table of No. 9. Figure 2
In 0, the information about the work is the work number WK.
According to the number of storage in the X direction in the magazine, WX (WK), Y
The number of storages in the direction WY (WK), the stocker device number WH (WK), the remaining number of workpieces in the magazine WZ (WK), the storage information WA (WK) and WE (WK) of robot palletizing take-out teaching position data.

When the entire system is automatically operated, f4 to f shown on the screen of the input / output device (personal computer) 404 in FIG.
Either one-step operation, continuous, or one cycle (until the end of the step) corresponding to the 6 key is selected. By this key input, the operating mode WC, which is a common variable, becomes 1, 2, 3 corresponding to each. In addition, the process to be executed initially is selected by the cursor.

When the operation mode is designated and the key corresponding to the f3 key is input, the supervisor program for controlling the overall operation shown in FIGS. 21 to 24 is started. This program is in the robot task. To stop driving,
Operation mode is 1 step (WC = 1) or 1 cycle (W
When C = 2), it automatically stops at the end of the process. However,
In the continuous operation mode (WC = 3), it is automatically stopped by switching to one process or one cycle (stop of supervisor program).

When it is desired to stop the apparatus in the middle of the process being executed, it can be stopped by the key corresponding to the f1 key, but it is stopped only by the robot task. To change the overall speed of the robot, press the key corresponding to f2 while the supervisor program is stopped. This change changes the value of the variable SPD.

The above-mentioned process number WG, stocker number WH,
The work number WK or the like is stored in the common variable area 440 of the RAM 403.
It is stored in. FIG. 33 shows common variables used in this system, which are used for coordination of movements of the stocker and robot (prevention of interference). In the figure, the variable COVR indicates whether or not the real box separated on the stocker needs to be capped, and is set / reset by the stocker ST. Variable R
EP indicates that the robot task RT requests the stocker ST to replace the magazine, the robot R
When T is set and the exchange is completed, the stocker ST is reset. The variable UNCVR = 1 indicates that the stocker ST is currently performing the lid removing operation for the robot RT. <Control Procedure> Supervisor Processing When the activation icon in FIG. 19 or the f3 key is pressed, the supervisor program is activated. The operation of the control procedure of this supervisor program will be described with reference to the flowcharts of FIGS. This supervisor program has a program number of 1 in the robot task. Further, in the supervisor program of this embodiment, steps 1 to 39 are defined as a series of automatic operation steps. Although not shown in the process table of FIG. 19, 40 to 64 are defined as auxiliary operations. Auxiliary driving is the "origin search" of the robot.
It means the operation and the abnormal reset operation of the stocker 100 and the stocker 200. Subprograms for these auxiliary operations are defined in FIGS. 23 and 24. That is, in FIG. 23, “origin finding” is, for example, process number 5
0 (step S86 to step S88), the "abnormality reset operation" is the process number 41, 42 (step S74
Up to step S80). The program number .4 (steps 51 to 64) in FIG. 24 is a step that can be registered (programmed) by the user.

When the start icon or the f3 key is pressed,
Based on the current process number WG, operation mode WC and robot speed variable SPD which have already been set, the process is executed according to the flow procedure. Step S2 to Step S1
In step 6, if there is an error code detected in the previous operation, processing is performed according to the error code. That is, the operator must have determined the process number corresponding to the error code and substituted it in the variable WG. If the process number WG = 40 is selected for the error code found in the robot task RT, and the process number WG = 41 is selected for the error code found in the task ST1 of the stocker 100. For example, if the process number WG = 42 is selected for the error code found in the task ST2 of the stocker 200, those error codes are calculated in step S16,
Reset in step S12. If any other process number is selected, the system is stopped.

In the flowchart of FIG. 21, step S20 and subsequent steps are a management procedure for assembling the robot 300 according to the process table of FIG. 19 when there is no error. In step S20, common variables (for example, variables in FIG. 33) excluding the process number WG in the area 440 are initialized. In step S22, the robot directs the stocker to turn on the interlock, which means a command that the lid stock removal operation should not be performed. This interlock is necessary in order to prevent possible interference with the stocker as the robot may move to the stocker side. In the flowchart, this interlock is expressed as R → S interlock (R → S) for convenience.

In step S24, the total number of magazines (real boxes) corresponding to the process number is WX (WG) × WY (W
Calculate based on G). Step S26 to Step S3
In 2, if the tasks of the two stockers have not been started, they are started. The common variable RUN is checked to see if the task is activated or not. This common variable RUN has a bit value of 1 for robot tasks.
However, the value 2 for the jig task, the value 4 for the image task, the value 8 for the task of the stocker 100,
A value of 16 is set for the task of the stocker 200. When each bit value is 0, it indicates that the corresponding task is not activated. For example, when RUN = 9, the robot task RT and the task S of the stocker 100 are
Only T1 is activated.

In step S34, it is checked whether or not the origin is set in the robot. If not, the process proceeds to step S40 to confirm that the process number WG is set to 50 and perform origin search in step S42. If the home search has been performed, the process proceeds to step S36, confirms that the process WG is less than 39, and proceeds to step S44 of FIG. Step S36
If the process WG is 39 or more, the operator determines that he / she desires a single-shot operation and executes the subprogram of FIG.

When the current process number WG is 39 or less, the process proceeds from step S36 to step S44. In step S44, the robot speed is set according to the common variable SPD. That is, the operator can arbitrarily change the speed of the robot by changing the variable SPD. In step S46, it is checked whether or not the value of the work number WK (WG) corresponding to the process number WG exceeds 32. As described above, in the present embodiment, when the work number WK is 33 or more, it indicates that it exceeds the process, so the process number WG is reset to 1 in step S50.

In steps S52 to S62, the assembling operation defined in the process table (FIG. 19) previously defined for the current process number WG is performed according to the current process number WG. That is, in step S52, the assembly program WN (WG) of the current process WG is executed. For example, in the process table of FIG. 19, process number WG
= 1, the assembly program number is WN = 10, so PRG10 (FIG. 25) is executed.
In step S54, the process number WG is incremented by one. In step S56, it is confirmed that the process number WG does not exceed 39, and the work number WK does not indicate 33, which means the final process for the product. Then, the process proceeds to step S62, and the operation mode is continuous. If it is the operation (WC = 3), the process returns to step S52, and if it is the one-cycle operation (WC = 2), the process proceeds to step S64. In step S64, the next process number WG is prepared in preparation for the next restart.
Is stored in the common variable WGB.

On the other hand, if it is detected in step S56 that the process number WG exceeds 39 or the work number WK exceeds 33, step S56 is executed.
At 58, the process WG is reset to 1. Then, depending on whether the operation mode is continuous (WC = 3),
If it is the former, the process proceeds to step S52 to repeat the above operation, and if it is the latter, the process proceeds to step S64.

The above is the description of the control procedure of the main routine of the supervisor program. That is, in general,
This supervisor routine executes the assembly program according to the process number WG at that time. Assembly Procedure by Robot FIG. 25 is a flowchart showing a typical operation example (assembly operation) of the task RT of the robot apparatus, which is defined for the process number WG = 10.

In this assembling operation, "work access preprocessing" (control procedure in FIG. 26) is performed in step S130. As will be described later, this pre-processing confirms whether or not the magazine (real box) is prepared at the access position on the stocker side. When the magazine is at the access position, the real box is supported by the shutter 115. Positioning device 117,
It is in a state of being positioned by 118. And
In step S132, the finger 301 is prepared to be gripped (for example, the finger 30 is attached to the posture of the work detected by the image task).
1) is performed, and step S134 is performed.
Move finger 301 to the sky above the real box with step S
At 136, the finger 301 is lowered right above the target work in the magazine. Such movement is usually performed by a MOV command in robot language. In step S138, the work is gripped. Then, in step S138, the finger 301 is moved above the real box while gripping the work, and in step S140, "work access post-processing" is performed. After this "post-processing", the fingers holding the work in step S144 are moved over the jig. This jig is usually
It will be placed on the gantry 500. And step S
In 146, the finger is lowered right above the jig, and in step S148, the work is opened, that is, the work is assembled.

Referring to the flow chart of FIG.
The "preprocessing" will be described. In step S150,
Confirm that the work number WK (WG) of the process number WG is not 0 (because the work number is always set to an integer of 1 or more). The work number 0 means that the process of the process number WG does not use the work (that is, does not use the stocker). In such a case, since arbitration with the stocker is unnecessary, the "preprocessing" is ended without performing any control.

In step S152, it is determined which stocker the work is loaded into. This is known by indexing the common variable WH (Fig. 20) with the argument WK (WG). Since the value of the stocker number is 1 or 2 in this embodiment, it is confirmed in step S154 that WH is not 0. The process in which the stocker number WH is 0 means
Work is a process that uses work but does not use a stocker. For example, such work is stored in a magazine outside the stocker. This is because such a work is a work that is rarely used, and using a stocker for such a work is not cost-effective.

Here, the product manufactured by the process shown in FIG. 19 will be described again. This product is manufactured by assembling two parts for convenience of description. These components are stored in the stocker 100 magazine and the stocker 200 magazine, respectively. Therefore, in the pre-processing, it is confirmed whether the target magazine is separated in each stocker, and if not, the separation is performed. Since the separating operation is accompanied by the magazine lid removing operation, prior to performing the lid removing operation, the robot 300 performs an operation of retracting the arms and fingers so that the lid removing operation can be reliably performed.

That is, in step S156, it is confirmed that no error has occurred in the stocker with the number WH. In step S158, it is confirmed that the stocker has returned from the reset state (the reset operation may have been performed on the stocker immediately before). Step S16
At 0, it is confirmed that the stocker is in the automatic mode and is normal. In step S162, it is confirmed that the stocker is not in the loading mode (a plurality of real boxes are already loaded in the real box elevator of the stocker).

Generally, if there is no error in the stocker specified by WH, it is not in the reset state, and the stocker is in the automatic mode and normal, that is,
If the target magazine is separated and its lid is also removed, the process returns from step S160 to step S132 (FIG. 25), and this preprocessing is terminated. And
As described above, the gripping operation of the component is performed in and after step S132. If this pre-processing is executed while the operator has finished loading the magazine and the stocker is performing the operation of separating the first magazine on the elevator 102a, steps S164 to S170 (FIG. 2).
Proceed to 7). That is, the robot RT performs step S164.
Then, the value of the common variable COVR is checked. As previously mentioned,
This variable COVR is set / reset by the stocker ST. Separation Operation After Loading The control procedure showing the operation of the stocker corresponding to the robot operation shown in FIG. 25 will be described with reference to FIGS. 30 to 32. The stocker is controlled by step S242 in FIG.
From step S260 to 1 after inserting the magazine
The separating operation of the two real boxes (corresponding to the operation of FIGS. 8 and 9) will be described. Further, the loop operation from step S262 in FIG. 31 to step S294 in FIG. 32 describes a magazine replacement operation. The stocker task ST is activated by the robot task RT in steps S28 and S32.

In step S242, the stocker waits for the worker who has finished loading the plurality of magazines on the lift table 102a to press the start SW. If it is pressed, the shutter 115 is opened in step S244 (opening / closing cylinder 11
6). In step S245, the cylinder 141 is operated to close the abutment 140. In the loop of steps S246 to S248, the motor 106b is driven to rotate the chain 105 and raise the elevator 102a until the uppermost real box on the elevator 102a is detected by the elevated position sensor 120. If detected by the sensor, the lifting platform 102a is stopped (motor 106b is stopped) in step S250. When the elevating table 102a is raised with the abutment 140 closed in step S245, the real box raised by the elevating table 102a is pressed against the abutment, so that the deformation is absorbed and the shutter 115 is closed. Collision with the flange of the real box is prevented. Then, in step S252, the shutter 115 is closed. In step S253, the abutment 140 is opened. In step S254, the lifting platform 102a
To descend. Since the separated real box is supported by the shutter 115, the separated real box maintains the separated state even when the table 102a is lowered. The stop of the descending of the platform 102a in step S254 is performed by a timer.

In steps S255 and S256, the positioning devices 117 and 118 are sequentially driven to position the magazine (real box) supported by the shutter 115 at a predetermined position. In step S257, the lid removing unit 146 is operated to remove the lid of the magazine.
Since the operation of removing the lid may interfere with the operation of the robot, the operation is performed while checking with the robot task RT. That is, in this step S257, the following i to iv
3 steps are performed. That is, i: a variable C indicating that the magazine lid needs to be removed
OVR = 1. The value of this variable is monitored by the robot RT in step S164. Since this variable is 1, step S of the robot task
At 170 (FIG. 27), the robot arm or finger is moved to a position where it does not interfere with the stocker. Step S
At 172, the robot task RT notifies the stocker task ST that the interlock is turned off. ii: The stocker side receives this interlock off notification. By this notification, the lid removing operation can be started. The stocker ST needs to lock the robot task RT so that the RT does not access the stocker during the lid removing operation. iii: Then, the stocker task ST sends this interlock-on command to the task RT. The task RT is the robot R from the stocker task ST in step S174.
Waiting for notification to T that interlock should be turned on. When the task RT receives this notification in step S174, the task RT notifies the stocker task ST of the end of the lid removing operation, that is, the tasker task ST releases the robot task RT (turns off the interlock). Wait for notification. iv: The lid removing unit 146 is operated to remove the lid of the magazine. Since the abutment 140 has already been opened in step S253, the lid can be removed without any problem.

The above description of i to iv is step S257.
3 shows details of the cooperative operation between the stocker task ST and the robot task RT in FIG. Stocker task S
After confirming that the positioning operation and the lid removing operation are completed in step S258, T notifies the robot task RT that the interlock for the robot task RT is turned off.

Now, on the stocker side, it becomes possible for the robot task RT to access the stocker device with the arms and fingers in order to grip the parts from the real box. On the other hand, in the robot task RT, step S178
Confirm that the stocker side is normal. And
In step S180, the stocker task ST is notified of interlocking. This is the robot task R
This is because T does not allow the stocker to perform an arbitrary operation in order to perform the picking operation of the component. As a result, the stocker ST is locked by the robot RT, and the stocker ST cannot remove the lid without permission. During that time, the robot surely does not interfere the parts from the stocker with the stocker. It becomes possible to pick.

In this system, the lid removing operation may interfere with the movement of the robot arm.
The lock control as described above is required. Therefore, of course, in a system having a structure without interference, lock control is unnecessary. Further, in the system of the present embodiment, the pallet separating operation (movement of the lifting table) excluding the lid removing operation does not interfere with the robot operation. It is movable inside 100. While the magazine exchange robot task RT picks up the parts in the magazine one after another, the stocker task ST proceeds to step S26.
2. In step S264, the robot waits for a real box replacement request.

Referring to FIG. 28, step S142 (see FIG.
The "magazine access post-processing" called in 5) will be described. This post-processing is performed by the robot for the workpiece W.
After assembling K (WG), it is checked whether or not there is any work remaining in the actual box. If there is no remaining work, the stocker is instructed to replace the empty box with the next real box. Step S
190 to step S194 (FIG. 28) is step S15.
The description is omitted because it is the same as 0 to step S154 (FIG. 26).

In step S196, the stocker WH
Check the remaining quantity WZ (WG) in the real box WK (WG) of (WG). If the remaining number is 2 or more, the process proceeds to step S236 in FIG. That is, in step S236, the remaining number of workpieces WZ (W
G) is decremented by 1. Then, after confirming that the remaining number is not 0 or less in step S238, the post-processing is ended.

At step S196, the remaining number of workpieces WZ (W
The case where G) becomes 1 or less will be described. In such a case, the stocker is caused to change magazines in steps S198 to S234. That is, it is confirmed in step S198 that there is no error in the stocker, and in step S2
At 00, it is confirmed that the stocker is not in the reset or stopped state, and at step S202, the remaining number MZ of the real boxes on the lift table 102a is checked. When the remaining number is one, in step S204, the message "final magazine" is displayed on the CRT. Further, when the remaining number is 0, a message "no magazine" is displayed on the CRT in step S208.

In step S220 and subsequent steps, the stocker is requested to be actually replaced. That is, step S
At 220, the robot arm and fingers are numbered WH (WG)
Move to a position that does not interfere with the stocker. This is because the stocker has a push operation by the pusher unit 144 of an empty magazine and a lid return operation by the unit 146.

In step S222, the stocker task ST is notified that the stocker interlock is released. Then, in step S224, the stocker is requested to exchange the magazine. This request is made by setting the common variable REP (in the area 440) to 1. The stocker task ST is step S26.
4 (FIG. 31), the variable REP is monitored. Variable R
If EP is detected to be 1, the stocker task ST
When the robot task RT is notified to the stocker task ST that the interlock will be turned off,
In step S266, the variable UNCVR (FIG. 33) is set to 1, and magazine replacement operation is performed. This variable UNC
VR indicates that the stocker task ST is replacing an empty magazine (empty box) with a magazine (real box) containing components. Replacing magazines involves removing the lid of an empty magazine, moving the empty box to the side of the elevator 10b, separating one new magazine, and removing the lid of the magazine. S
T and the robot task RT need to cooperate.

The cooperative operation in step S266 will be described in detail. In step S266, the robot task R
Upon receiving the interlock cancellation notification from T, the robot task RT is interlocked. Then, the variable UNCVR is set to 1. This robot task R
The interlock notification to T is issued by the stocker task ST.
However, it is necessary to prohibit the robot task RT from accessing the stocker since the robot task RT is in the replacement operation. The robot task RT waits for the notification of the interlock in step S226. The robot task RT sends the stocker task S in step S228.
The release of the interlock from T, that is, the end of the replacement operation is waited for.

The stocker task ST is step S267.
Then, the operation of returning the lid of the magazine to be replaced is performed.
When the lid is returned, in step S268, the empty box is moved to the platform 102.
To move to the b side, the pusher unit 146 is activated. In step S270, this empty box is replaced by the sensor 12
After confirming that 4 has detected, the unit 146 is returned.

In the loop from step S272 to step S274, the empty box lift base 102b is moved to the lift position sensor 12
The motor 106b is rotated in the reverse direction until the elevator 3 detects the lift table 102b or the uppermost empty box. If the sensor 123 detects, step S276
The motor 106b is stopped with. Next, the operation of separating a new real box starts. That is, in order to press the rising real box, the butting 140 is closed in step S277.
Then, in step S278, the shutter 115 is opened. The empty box can now be lowered, while the real box can be raised. Therefore, step S
In the loop of 280 to step S284, the motor is rotated in the normal direction until the real box upper end sensor 120a detects a new real box on the lift table 102a to raise the real box lift table 102a (lower the empty box lift table 102b). ).

In step S286, the motor is stopped and
In step S287, the shutter 115 is closed, and step S
Open the butt at 288. Then, in step S289, the motor 106b is rotated to lower the lifting platform 102a. The lowering of the platform 102a is controlled by a timer. In steps S290 and S292, the new real box on the lift table 102a is positioned. Also, step S2
At 94, the lid removal unit 146 is used to remove the lid of the real box, and at step S296 it is confirmed that these operations have been completed, and then the robot task RT is notified that the magazine exchange operation has been completed. To do. This notification is issued to the robot task RT by an interlock (step S2
(Sent to the robot task RT at 66)). In step S300, the variable UNCV
After resetting R, the process returns to step S262 and waits for a replacement request from the robot task RT.

On the other hand, when the robot task RT waiting for the interlock release notification from the stocker task ST in step S228 receives the release notification, the robot task RT confirms in step S230 that the stocker state is normal. , In step S232, the replacement request is reset (REP = 0). In step S234, the stocker task ST is interlocked so that the robot occupies the stocker again, that is, the stocker does not operate arbitrarily.

The magazine exchange operation is completed as described above. When the magazines are replaced, the process WG
The remaining number of workpieces WZ (WG) is 0. Therefore, when 1 is subtracted from WZ in step S236, WZ becomes negative. Therefore, since WZ is minus when the magazines are replaced, step S240
Then, the remaining number of the magazine is set to the maximum number. This maximum number is calculated in step S24 in FIG. <Effects of the Embodiment> Since the task control unit collectively controls the operation procedure of each device by the multitask OS, the control unit cost can be made easier than the operation procedure control for each device individually.

The slave control section can be freely attached to and detached from each device such as a component supply device, so that an automatic assembly machine can be easily constructed as needed (in case of two stockers, 1
In the case of a stand, when unnecessary). Even if some new equipment is developed, a new automatic assembly machine can be easily constructed.

Once the product is improved and used for production, the device can be easily added or deleted. Since the master control unit is one and the editing procedure and the operating method of the operating procedure program are always performed by one means, the user can easily operate any device (even if a new device is developed). The competition between the robot task RT and the stocker task ST is
Arbitration is easy to do by using common variables.

By detecting that the uppermost pallet has hit the reference member 140 and then moving the shutter, the pallet can be reliably separated from the others. Therefore, the work clamping error of the robot does not occur and the operating rate of the entire apparatus can be improved. <Modification> The present invention can be variously modified without departing from the spirit thereof.

For example, the system configuration is not limited to the robot, stocker, and gantry. Furthermore, the number is not limited. Further, the number of works and the number of steps are merely examples. Further, even when the shutter of the pallet feeder is divided into two, the shutter may be moved in the closing direction after the pallet is brought into contact with the reference member when the uppermost pallet is separated from the others.

[0086]

As described above, according to the article supply apparatus of the present invention, the storage boxes can be reliably separated.

[Brief description of drawings]

FIG. 1 is an overall view of an automatic assembly system according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating connections of various control units used in the system of FIG.

FIG. 3 is a perspective view showing a configuration of a stocker of the system shown in FIG.

FIG. 4 is a perspective view showing the configuration of the upper part of the stocker of the system of FIG.

FIG. 5 is a diagram illustrating a structure of a pallet used in the embodiment.

FIG. 6 is a plan view illustrating the structure of a magazine loading mechanism in the stocker.

FIG. 7 is a diagram for explaining the connection between the stocker and the gantry, and also for explaining the structure of the magazine abutting mechanism in the stocker.

FIG. 8 is an operation diagram illustrating a separating operation in the stocker.

FIG. 9 is an operation diagram illustrating a separating operation in the stocker.

FIG. 10 is an operation diagram illustrating a separating operation in the stocker.

FIG. 11 is an operation diagram illustrating a separating operation in the stocker.

FIG. 12 is an operation diagram illustrating a separating operation in the stocker.

FIG. 13 is an operation diagram illustrating a separating operation in the stocker.

FIG. 14 is a diagram illustrating a method of connecting the stocker and the gantry.

15A is a diagram showing connections of various control circuits in the system of FIG. 1. FIG.

15B is a diagram showing connections of various control circuits in the system of FIG.

FIG. 16 is a diagram illustrating a data structure of a ROM 402 in the master control unit.

FIG. 17 is a diagram illustrating a data structure of a RAM 403 in the master control unit.

FIG. 18 is a diagram illustrating a data structure of a shared memory 409 in the master control unit.

FIG. 19 is a CRT when operating the system of FIG.
The figure which shows the example of the above system status display screen.

20 is a CRT when operating the system of FIG.
The figure which shows the example of the above system status display screen.

FIG. 21 is a flowchart showing the control procedure of the supervisor program of the master control unit.

FIG. 22 is a flowchart showing the control procedure of the supervisor program of the master control unit.

FIG. 23 is a flowchart showing the control procedure of the supervisor program of the master control unit.

FIG. 24 is a flowchart showing the control procedure of the supervisor program of the master control unit.

FIG. 25 is a flowchart showing an example of an assembly program for the robot 300.

FIG. 26 is a flowchart showing a partial subroutine of a robot operation program.

FIG. 27 is a flowchart of a continuation of the flowchart of FIG. 26.

FIG. 28 is a flowchart showing a partial subroutine of a robot operation program.

FIG. 29 is a flowchart of a continuation of the flowchart of FIG. 28.

FIG. 30 is a flowchart of an operation program of the stocker device.

FIG. 31 is a flowchart of a continuation of the flowchart of FIG. 30.

32 is a flowchart of a continuation of the flowchart of FIG. 31.

FIG. 33 is a view showing a part of common variables.

[Explanation of symbols]

100, 200 ... Stocker device, 300 ... Robot device, 400 ... Master control unit, 500 ... Stand, 115 ... Shutter, 140 ... Butt, 141 ... Air cylinder

Claims (2)

[Claims] 1. A first elevating means for performing an ascending / descending operation for supplying a storage box containing articles to a predetermined position, a means for moving an empty storage box to a discharge side, and an empty storage box for discharging. Second elevating means for performing an elevating operation, a drive means for seesaw motion of the first and second elevating means, and an uppermost storage box lifted by the first elevating means. In the article supply device having a separating means for separating the uppermost storage box from the others, the uppermost storage box is raised by the first elevating means, and the uppermost storage box is used as a reference member. An article supply device characterized in that the storage box is separated after being hit. 2. The separation means comprises: a shutter member capable of supporting a storage box to be separated; and a shutter member above the shutter member when the storage box to be separated is raised by the first elevating means. A control means for controlling opening / closing operations of the abutting member placed in contact with the storage box to be separated, the first elevating means and the shutter member, and controlling the first elevating means for separation. A control means is provided for moving the object storage box to above the shutter member until it abuts against the abutment, then closing the shutter member, and further lowering the first elevating means. The article supply apparatus according to claim 1, wherein: