JPH0696213B2 - Automatic assembly equipment - Google Patents

Description

Description: TECHNICAL FIELD OF THE INVENTION The present invention relates to an automatic assembling apparatus used for an apparatus or the like for automatically assembling a small device or the like.

BACKGROUND OF THE INVENTION In recent years, various types of automation of electronic device manufacturing have been studied, and production efficiency has been increased.

However, at present, the parts on the pallet are picked up by the automatic assembly robot and directly mounted on the work on the conveyor.However, since the parts on the pallet are taken out at different positions, the distance to the conveyor is considered to be long. Some are close, and there is a difference in transfer time. Therefore, the transfer speed of the conveyor needs to be adjusted to the fastest one,
There was a problem that the assembly speed decreased.

[Object of the Invention] The present invention has been made in view of the above circumstances, and an object of the present invention is to be able to satisfactorily send out parts arranged at any position on a pallet. An object of the present invention is to provide an automatic assembling apparatus in which the assembling speed can be improved and the production can be efficiently performed.

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention sequentially picks out a large number of parts stored in a pallet by a part pick-up means and arranges the parts at a fixed position of a part assembling means. Is arranged at a constant position near the conveyor by the intermediate transfer means, and while the parts are assembled by the part assembling means, the parts to be next assembled by the part extracting means and the intermediate transfer means are arranged at the constant position. It is intended to carry out the work for placing it in.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram of an automatic assembly apparatus for small equipment,
The part surrounded by the dotted line is the main part of the automatic assembly apparatus 1. The automatic assembling apparatus 1 includes a host computer 2, an automatic rack stacker 3, main assembly lines A and B, sub-assembly lines C ₁ , C ₂ , D ₁ and D ₂ , a line control computer.
4A, 4B, 4C, 4D, an automated guided vehicle control computer 5, an automatic packing machine 6 and the like.

The host computer 2 manages the production of equipment manufactured based on long-term and short-term production plans and controls it, and comprises a production management computer 2a and a control computer 2b. The production management computer 2a manages the required quantity of parts based on the input production plan, and the control computer 2b controls the assembly lines A, B, C ₁ , C ₂ , D ₁ and D _{2 which} will be described later. It manages and controls parts replenishment.

The automatic rack stacker 3 stores the parts of the equipment to be manufactured so that it can be carried out, and has a large number of racks 3a ... Arranged in a matrix, and each part is stored in each rack 3a. The stored containers 7 ... Are stored in a stacked state of several stages (four stages in this embodiment). Further, the automatic rack stacker 3 is equipped with a stacker crane (not shown).
The containers 7 stacked in stages are stored in the racks 3a as they are, and are unloaded.
That is, the in-house parts and the outsourced parts manufactured based on the instruction from the host computer 2 are stored in the container 7 in a predetermined quantity for each part and stored, and then the container 7 in which the same parts are stored is transferred by the carrier vehicle. It is mounted in a four-tier stack (not shown) and is transferred to a predetermined position of the automatic rack stacker 3 by a carrier. At this time, the host computer 2 inputs the component codes of the components mounted on the transport vehicle and the quantity thereof into the host computer 2 from a terminal (not shown) and stores them in the empty rack 3a by the stacker crane. It The stored location is also stored in the host computer 2 corresponding to the part code. In addition, assembly lines A, B, C ₁ , C ₂ , which will be described later,
When there is a request from D ₁ or D ₂ for a component, the container 7 is unloaded from the rack 3a in which the relevant component is stored by a stacker crane while being stacked in four stages, mounted on the automated guided vehicle 8, and then assembled into each assembly. It is conveyed to the lines A, B, C ₁ , C ₂ , D ₁ and D ₂ . In this case, the traveling of the automatic guided vehicle 8 is controlled by a command from the host computer 2, and the unmanned guided vehicles 8 arranged on the main assembly lines A and B and the subassembly lines C ₁ , C ₂ , D ₁ and D ₂ will be described later. The container 7 containing the required parts is supplied to the standby station of the automatic assembly robot, and the empty container 7 is collected. In this case, the automated guided vehicle 8 is controlled to travel along the rail 8a embedded under the floor, and the low guided vehicle 8 transmitted from the automated guided vehicle control computer 5 connected to the host computer 2 to the rail 8a is controlled. It operates by an electromagnetic induction method based on a frequency signal. The automatic guided vehicle 8 has a function of performing operations such as starting and stopping as well as loading and unloading of containers, and a large number of rollers that rotate forward and backward by a motor are arranged in the mounting portion of the container 7.

The line control computers 4A, 4B, 4C and 4D give instructions to the main assembly lines A and B and the subassembly lines C ₁ , C ₂ , D ₁ and D ₂ based on the instruction from the host computer 2, and they are short-term. It has control means for controlling the production schedule and each line. The main assembly lines A and B start production based on commands from the line control computers 4A and 4B, as described later, and send finished products to the automatic packing machine 6. The automatic packing machine 6 packs the sent finished product, sends it to a product warehouse, and then ships it. The subassembly lines C ₁ , C ₂ and D ₁ , D ₂ are controlled by line control computers 4C and 4D, respectively, to manufacture in-house parts and mounted on the automatic guided vehicle 8. The internally produced parts are again stored in the automatic rack stacker 3 by the automatic guided vehicle and supplied as the parts to be used in the main assembly lines A and B.

Next, the assembly lines A, B, C ₁ , C ₂ , D ₁ and D ₂ will be described by taking the case of assembling a small electronic calculator as an example.
In this case, the small electronic computer to be produced has a circuit board, a liquid crystal display panel, a solar cell, a key button, etc. inside the upper case and the lower case.
I (large-scale integrated circuit) and electronic parts for power supply stabilization are attached, and a liquid crystal display panel and solar cell are connected.The key buttons are exposed from the upper case to the outside. The fixed contacts on the circuit board are electrically connected so that they can be contacted and separated.

Of the assembly lines for assembling such a small electronic calculator, the subassembly lines D ₁ and D ₂ are on the circuit board.
It is a line for automatically assembling LSI, and subassembly lines C ₁ and C ₂ are auxiliary circuit boards with liquid crystal display panel, solar cells and electronic components for power source stabilization mounted on the circuit board on which the above LSI is assembled. This is the assembly line. The main assembly lines A and B are lines for completing the small electronic calculator by incorporating the substrate assemblies, which have been assembled in the sub assembly lines C ₁ and C ₂ , into the upper and lower case members. In this case, the circuit board that has been assembled on the subassembly lines D ₁ and D ₂ is temporarily stored in the rack 3a by the automatic guided vehicle 8 and then mounted on the automatic guided vehicle 8 again by a command from the post computer 2. And is transported to the subassembly lines C ₁ and C ₂ . Similarly, the board assembly, which has been assembled in the sub-assembly lines C ₁ and C ₂ , is once stored in the rack 3 a by the automatic guided vehicle 8 and then mounted on the automatic guided vehicle 8 again to be installed in the main assembly line A, Transported to B.

Next, referring to FIG. 2 and FIG. 3, the main assembly line A will be described as an example of the assembly line.

Main assembly line A is line control computer 4A
The parts are assembled based on the command of the above, and the conveying section 10 conveys the assembling jig (platen) 9, the platen stacker 11 for storing a large number of the assembling jigs 9, and the parts for each process. Automatic assembling robots a, b ... h and standby stations 12 for the respective automatic assembling robots a, b ... h.
It consists of a, 12d ... 12h, etc.

The transport unit 10 continuously transfers the assembling jig 9 and circulates the assembling jig 9 between the automatic assembling robots a, b, ... Conveyor 13, recovery conveyor 14 and descending elevators 15, which are arranged on both sides thereof,
The assembling jig 9 which is composed of the ascending elevator 16 and is sent from the platen stacker 11 is conveyed from the left side to the right side by the upper feeding conveyor 13 and the automatic assembling robots a, b ...
・ The parts are assembled with h, and the empty jig 9 from which the parts have been assembled and the parts have been removed is sent to the lower recovery conveyor 14 by the lowering elevator 15 on the right side, and from this recovery conveyor 14 from the right side to the left side. It is adapted to be conveyed and sent again to the delivery conveyor 13 by the ascending elevator 16 on the left side. A counter 17 for counting the number of passages of the assembling jig 9 on the left end side of the recovery conveyor 14, and a model switching device for setting the set position and reset position of the model switching notification pin 21 of the assembling jig 9 described later. 19 are provided.

The platen stacker 11 is for accommodating a large number of various assembling jigs 9 ..., and storing parts 11a, 11b ... 9
11g for transporting the sheet to a predetermined storage section, and a conveyor section for loading the assembling jig 9 into the delivery conveyor 14
With 11h. This platen stacker 11 is arranged at the head of each automatic assembling robot, collects the assembling jig 9 of the currently assembled model based on a command from the line control computer 4A, and then carries out the assembling. The assembling jigs 9 of the attached model are sent to the sending conveyor 13 one by one at regular intervals.

The assembling jig 9 is for accurately positioning and placing the component (upper case) of the product to be manufactured (small electronic calculator), and as shown in FIG. A concave portion 9b for positioning and setting a base component 30a (upper case) is formed on the upper surface of the jig, and a model specifying portion 20 of the jig 9 is provided at the front corner of the jig body 9a. At the same time, a model switching notification pin 21, a defective product notification pin 22, and a positioning recess 23 are provided on the upper right side of the jig body 9a. In this case, assembling jigs 9 are prepared in many types according to the model of the product to be manufactured. The model identification unit 20 has a discrimination means corresponding to the model of the product to be manufactured, and is composed of a plurality of holes (four in this embodiment) penetrating vertically in the jig body 9a. The position is different for each model. Therefore, even when four holes are used as in this embodiment, it is possible to discriminate 16 types of product models (types of jigs 9) by combining the numbers and positions of the holes. The model identifying unit 20 provided on the assembling jig 9 is confirmed by the jig discriminator 27a provided at the head of the sending conveyor 13 (FIG. 3). As shown in FIG. 8, the jig determination 27a is for detecting whether the type of the assembling jig 9, that is, the assembling jig 9 according to the type of product to be manufactured, is used. Four light emitting elements 27a ₁ ... Are provided on the lower side of 13 and four light receiving elements 27a ₂ ... are provided above the delivery conveyor 13 so as to face the light emitting elements 27a _1. .. are transmitted through the respective holes of the model specifying portion 20 provided in the assembly jig 9, and the transmitted light is received by the light receiving elements 27a ₂ ... Determine the type of. The model switching notification pin 21 is for switching the model of the product manufactured in the entire main assembly line A, is slidably mounted on the mounting member 9c provided on the jig body 9a, and both ends thereof project from the mounting member 9c. Normally, as shown in FIG. 5 (A), one end is held at a reset position where it projects inside the jig body 9a, and when switching models, as shown in FIG. 5 (B), The end is held at a set position where it projects outside the jig body 9a. That is, the model switching notification pin 21 is displaced to one of the model switching instruction positions by the model switching device 19 of the collecting conveyor 14 from one of the assembling jigs 9 ... The assembly jig 9 in which the pin 21 is displaced is transported as a pilot jig 9p by the delivery conveyor 13 and each automatic assembly robot a,
A model switching signal (model switching timing signal) is sequentially given to b ... h. In this case, the model switching device 19 operates the model switching notification pin 21 based on the model switching command from the line control computer 4A. As shown in FIG. 6, the model switching notification pin 21 is set to the model switching instruction position. It consists of a set cylinder 19a to be set and a reset cylinder 19b that returns it to its original position.Press the inner end of the model change notification pin 21 with the set cylinder 19a to set it to the model change instruction position, and then use the reset cylinder 19b to notify the model change. The outer end of the pin 21 is pushed to return it to its original position. The model switching device 19 is a computer for line control as described later.
Unless a model switching signal from the host computer 2 is received via 4A, the reset cylinder 19b is operated to keep the model switching notification pin 21 at the reset position at all times. The defective product notification pin 22 is for notifying whether the product being manufactured is defective or not, and the model switching notification pin 21 described above is used.
When the product being manufactured is defective, the automatic assembly robots a, b, ... H are displaced each time. Although FIG. 6 shows only the defective product reset cylinder 22a with respect to the defective product notification pin 22, the set of the defective product notification pin 22 is exactly the same as the case of the model switching notification pin 21. Furthermore, the positioning recess
Reference numeral 23 is for positioning the assembling jig 9 conveyed by the delivery conveyor 13 with respect to the automatic assembling robots a, b ... H, and is formed on the mounting member 9c of the jig body 9a. It is adapted to be locked at a predetermined position by each locking projection (not shown) of the attached robots a, b ... H. It should be noted that cushions 24, 24 for cushioning impact are provided on the side surface of the jig body 9a.

On the other hand, the automatic assembling robots a, b, ... H are for sequentially incorporating predetermined parts into the conveyed assembling jig 9 to complete the product based on the command from the line control computer 4A. The work procedure corresponding to the model of the product is stored, and is arranged along the delivery conveyor 13 of the transport unit 10 as shown in FIGS. 2 and 3. Incidentally, the automatic assembling robots a, b, ... H are, in order from the left side, a robot which turns over the upper case and carries it into the assembling jig 9 and places it, a robot for assembling a key button, and a subassembly line C ₁ , Robot that assembles the board assembly that has been assembled with C ₂ ,
It is a robot that assembles the lower case, a robot that tightens screws, a robot that attaches a name plate, a robot that inspects functions, and a robot that takes out finished products.

Of the automatic assembling robots a, b ... H, the automatic assembling robot a will be described as an example with reference to FIG. The automatic assembling robot a includes an assembling robot section 25 for placing parts such as an upper case on the assembling jig 9 conveyed by the sending conveyor 13, and a waiting station described later.
It comprises a carry-in robot section 26 for carrying in parts from 12a. The built-in robot unit 25 is a Y provided on the machine base 25a.
A guide rail member 25b in the axial direction (direction orthogonal to the delivery conveyor 13), a guide rail member 25c in the X-axis direction which is guided by the guide rail member 25b and moves toward and away from the delivery conveyor 13, and this guide A work head portion 25d that is guided by the rail member 25c to move in the X-axis direction (direction parallel to the delivery conveyor 13) and a work head portion 25d that is vertically movably attached to the work head portion 25d and mounts a component on the assembling jig 9. In addition to the built-in vacuum suction unit 25e, the sensor 27 of the assembling jig 9, the intermediate transfer unit 28, the chuck switching device 29, and the like are provided. The sensor 27 is for detecting the assembly jig 9 and its mounted parts, and is a model switching detector for detecting that the model switching notification pin 21 of the assembly jig 9 is set at the model switching instruction position. 27b and a defective product confirmation detector 27c for detecting that the defective product notification pin 22 is set at the defective product indication position. As shown in FIG. 9, the model change detector 27b and the defective product recognition detector 27c are each composed of a proximity switch and the like, and the model change detector 27b detects the model change notification pin 21 and sets the model change notification pin 21. At the same time, a detection signal (model switching signal) is given to the automatic assembly robot a. When assembly preparation for the next different model is started based on this model switching signal, the automatic assembly robot a and its standby station perform replacement of chucks and discharge of parts of the current model. The defective product detector 27c detects the defective product notification pin 22 and gives a detection signal (defective product detection signal) to the automatic assembly robot a when the defective product notification pin 22 is set. When the defect detection signal is given, the automatic assembly robot a does not assemble the parts at that time, and takes out the defective product to the outside of the conveyor 13 together with the embodiment by a take-out device (not shown). In addition, the model change detector 27b
Is also provided at a location corresponding to the jig discriminator 27a.
Further, the intermediate transfer unit 28 is for temporarily receiving the components carried in from the standby station 12a and transferring the received components to the delivery conveyor 13 side, and as shown in FIG. 17, a mounting plate on the machine base 25a. The mounting table 28c is guided along the two guide rods 28b, 28b provided on the 28a and is reciprocated by the cylinder 28i. In this case, the positioning table 28d that moves in the X direction and the y direction is provided above the mounting table 28c.
And a component positioning member 28e is provided above the positioning table 28d. The positioning table 28d is for placing the components carried in from the standby station 12a, is provided with an X-axis direction cylinder 28f and a Y-axis direction cylinder 28g, and moves in the x-axis direction with the components placed. Together with the cylinder 28 in the Y-axis direction
It is designed to move in the y-axis direction by g. The positioning member 28e sets the placed component at a predetermined position of the positioning table 28d, is fixed to the placing table 28c, and when the positioning table 28d moves, a component on the positioning table 28d abuts the positioning table 28d. The component is moved in the X-axis direction and the Y-axis direction relative to the movement of, so that the component is set at a predetermined position. In addition, on both sides of the mounting plate 28a of the intermediate unit 28,
As shown in FIG. 3A, stopper detectors 28h, 28h and stopper pins (not shown) for restricting the movement of the mounting table 28c are provided. Further, the chuck switching device 29 includes various chucks according to the model of the product to be manufactured, and when the model switching signal is given as described above, the chuck of the vacuum suction unit 25e of the built-in robot unit 25 is replaced. In this case, the built-in robot unit 25 of the automatic assembly robot a moves the vacuum suction unit 25e to the chuck switching device 29 in response to the model switching signal, and stores the current suction unit 28e at a predetermined position of the chuck switching device 29. Although the storage of the chuck is not shown,
This is done by the chuck removing structure provided in the chuck switching device 29. Also, after the current chuck is removed, the next model will be installed. On the other hand, the loading robot section 26
Is a unit for carrying in parts from the standby station 12a to the built-in robot unit 25, and a pallet take-out device 26b, a part take-out device 26c and a pallet take-up device 26d are arranged on a transverse feed table 26a arranged on the back side of the machine base 25a. Is equipped with. The pallet take-out device 26b takes out the pallet 30 loaded with components from one of the containers 7 ... Brought into the standby station 12a and places it on the transverse feed table 26a.
When the pallet 30 on the transverse feed table 26a is set at a predetermined position, the component take-out device 26c takes out the component mounted on the pallet 30 and places it on the mounting base 28c of the intermediate transfer unit 28. A head portion 26c ₂ that is moved by being guided by the axial guide rail member 26c ₁ , and this head portion 26c ₂
And a vacuum suction unit 26c ₃ which is vertically movable. The pallet feeding device 26d is for storing the pallet 30 which has been emptied by the component unloading device 26c in the empty container 7 of the standby station 12a.

Then, the automatic assembling robot a incorporates the component 30a into the assembling jig 9 as shown in FIG. That is, when the pallet 30 is set on the transverse feed table 26a as shown in FIG. 10 (A), the component take-out device 26c of the carry-in robot section 26 operates and the component as shown in FIG. The vacuum suction part 26c ₃ of the take-out device 26c picks up one component 30a on the pallet 30 and pulls it up, and in this state, the head part 26c of the part take-out device 26c.
₂ is guided by the guide rail member 26c ₁ and moves as shown in FIG. 7C, and then the vacuum suction unit 26 as shown in FIG.
c ₃ on the mounting table 28c of the intermediate transfer unit 28 the part 30a adsorbed
Place on top. When the component 30a is placed on the placing table 28c in this manner, the placing table 28c is guided by the guide rod 28b of the intermediate transfer unit 28 as shown in FIG.
3 Move to the upper assembly jig 9 side. At this time, the head part 26c ₂ of the component take-out device 26c moves to move the vacuum suction part 26c ₃ above the pallet 30. Then, as shown in FIG. 7F, the vacuum suction unit 25e of the built-in robot unit 25 is mounted on the mounting table 28c.
Together pulled by adsorbing part 30a of the upper, component taking the device 26c vacuum suction portion 26c ₃ of pulled again picks up a component 30a on the pallet 30, FIG. (G) as shown in built robot 25 head portion 25d and the component pickup device 26c of the head portion 26c ₂ is simultaneously moved to each of the vacuum suction portion 25e of the respective parts 30a adsorbed to 26c _3, it moves the 30a, the mounting table 28c of the intermediate transfer unit 28 is Return to the original position. After that, as shown in FIG. 3H, the vacuum suction unit 25 of the built-in robot unit 25
Assemble the component 30a to which e has been absorbed into the assembly jig 9, and
Parts vacuum suction portion 26c ₃ of the take-out apparatus 26c is mounted on the mounting table 28c the parts 30a adsorbed. In this way the embedded robot part 25
When but incorporate components 30a to assembly jig 9, the head portion 25d, 26c _2, as shown in FIG. (I) returns to its original position, the next part 30a, 30a were adsorbed, respectively, described above By repeating the operation, the predetermined parts are sequentially assembled to the assembly jig 9. The component 30a placed on the mounting table 28c is brought into contact with the positioning member 28e and set at a predetermined position by the movement of the positioning table 28d, which is particularly effective for assembling the component 30a of the flexible substrate. .

On the other hand, the waiting station 12a waits for the four-tiered containers 7 loaded from the mobile rack stacker 3 by the unmanned transport vehicle 8 and also waits for the used containers 7. The container loading unit 31 and the container discharging unit It consists of 32 and. The container carry-in section 31 is a roller conveyor 31a on which the carried-in four-tiered containers 7 are placed and sequentially moved.
And a container holding section 31b that holds the four-tiered containers 7 on the roller conveyor 31a and sends the lowermost containers 7 one by one to the automatic assembly robot a side, and the container discharge section 32 is empty. It comprises a container stacking section 32a for stacking the containers 7 in which the pallets 30 are stored in four stacks, and a roller conveyor 32b for sending out the containers 7 stacked in four stacks by the container stacking section 32a.

Then, the waiting station 12 moves the container 7 and the pallet 30 as shown in FIG. That is, when the four-tiered container 7 is carried into the roller conveyor 31a of the container carry-in section 31 as shown in FIG. 11 (A), the container 7 is automatically moved as shown in FIG. 11 (B) and (C). Other container 7 which is sent to the container holding part 31b and is stacked in this container holding part 31b except the container 7 at the bottom.
Is held, and only one container 7 at the bottom is sent out to the automatic assembly robot a as shown in FIG. When one container 7 is sent out in this way, as shown in (E) and (F) of FIG.
They are taken out one by one on the transverse feed table 26a. And
When the pallet 30 taken out first is set at a predetermined position on the transverse feed table 26a, each part on the pallet 30 is taken out by the part take-out device 26c of the carry-in robot section 26 as described above, and all the parts on the pallet 30 are taken out. When the parts are taken out, the empty pallet 30 moves to the left side of the transverse feed table 26a as shown in FIG. 7G and is temporarily stacked as shown in FIG. When the pallet 30 is taken out from the container 7 and the container 7 is emptied in this way, the empty container 7 is sent to the roller conveyor 32b of the container discharge unit 32, and as shown in FIGS. The next container 7 is sent out from the container holding section 31b, and the pallet 30 is taken out from the sent container 7 onto the transverse feed table 26a in the same manner as described above. On the other hand, a predetermined number of pallets 30 stacked on the left side of the lateral feed table 26a are stored in the empty container 7 by the pallet feeding device 26d of the carry-in robot unit 26 as shown in FIG. And
When a predetermined number of empty pallets 30 are stored in the container 7,
As shown in (L) of the figure, it is sent to the container holding section 32a of the container discharging section 32, stacked in four stages by this container holding section 32a, and then discharged by the roller conveyor 32b.

The container 7 is a plastic box in which a large number of pallets 30 ... Are stacked and stored. As shown in FIG.
The bottom part is formed in a lattice shape, and the inner wall is formed with ribs 7a for preventing rattling of the stacked pallets 30 ..., When the pallet 30 is stored, the floor plate 33 is arranged on the bottom part. Then, the pallets 30 are stacked on top of it. In this case, the through hole 33 is provided at a predetermined position on the floorboard 33.
a is provided, and a push-up bar (not shown) is stacked from the bottom side of the container 7 through the through holes 33a of the floor plate 33 from the gap of the lattice formed at the bottom of the container 7. It is designed to push up the pallet 30. Further, the containers 7 can be stacked in four stages as shown in FIG.

Next, the operation of the main assembly line A will be described with reference to FIG.

From the host computer 2 to the line control computer 4A,
When a production command is issued to 4B, 4C, 4D, the line control computers 4A, 4B, 4C, 4D produce the automatic assembling robots a, b ... h based on the short-term production plan stored in advance. At the same time as issuing the command, the platen stacker control unit 34 is instructed to operate the platen stacker 11. Then, the platen stacker 11 is based on the instruction from the platen stacker control unit 34 and the assembling jig 9 corresponding to the model of the product to be produced.
Are sequentially delivered to the delivery conveyor 13 of the transport unit 10 at regular intervals. The assembling jig 9 sent out is continuously conveyed in the order of the automatic assembling robots a, b, ... H by the sending conveyor 13, and at a predetermined position of each automatic assembling robot a, b. It is held in a stopped state by the stopper pin 36, and is positioned by the engaging projection engaged with the positioning recess 23.
At this time, a pallet 30 carrying predetermined components is loaded from each standby station into the loading robot section 26 of each automatic assembly robot a, b ... H, and one component is loaded from this pallet 30. It is adsorbed by the vacuum adsorption section 26C ₃ of the robot section 26, and once placed on the mounting table 28 of the intermediate transfer unit 28.
placed on c. This component is further transferred to the delivery conveyor 13 side by the mounting table 28c, and then sucked by the vacuum suction unit 25e of the built-in robot unit 25 and mounted on a predetermined position of the assembly jig 9.

At this time, when the automatic assembling robot a for assembling the first part into the assembling jig 9 is assembling the case of the small electronic calculator, the automatic assembling robots b, c, and
... h is for directly assembling each predetermined component not in the assembling jig 9 but in the case. Further, the parts to be assembled by the automatic assembly robot may be further assembled to the parts to be assembled in the case.

Further, at the time of assembling each of the automatic assembling robots, it is confirmed whether or not the assembling work by the automatic assembling robot in the previous process is correctly executed. That is, the intervals between the automatic assembling robots in each process are such that several assembling jigs 9 can be arranged between them, and all the assembling jigs 9 during this time are arranged in the automatic assembling robots a, b. , H are positioned by the stopper pin 36 at predetermined work positions, and when the respective predetermined parts are assembled, the stopper pin 36 is released, and at the same time conveyed to the position of the assembly jig 9 on the right side. Although it is done,
Between each of the automatic assembly robots, for example, a defective product recognition device such as a TV camera is used to judge whether the assembly in the previous step is good or bad. It is displaced to the indicated position. The assembling jig 9 in which the defective product notification pin 22 is displaced is detected by the defective product detector 27c arranged on the right side, and is removed from the delivery conveyor 13 to the outside by a take-out device (not shown). Then, the product in which each component is correctly assembled up to the automatic assembly robot in the final step is taken out from the assembly jig and transferred to the assembly jig 9.

The assembly jig 9 from which the finished product is taken out in this way is
It is sent to the lower collection conveyor 14 by the descending elevator 15, is collected by this collection conveyor 14, and is raised by the ascending elevator 16
Is again sent to the delivery conveyor 13, and the above-described operation is repeated. When the assembling jig 9 circulates in the transport section 10 in this way,
A counter 17 provided on the collection conveyor 14 counts the finished product assembling jig 9 and inputs it to the line control computer 4A.

The line control computer 4A stores the production plan quantity for each type of machine and for each model. The count number of the counter 17 is totaled and compared with the production plan quantity. Then, when the counted number of the above-mentioned products reaches a predetermined quantity much larger than the production planned quantity, in other words, when the remaining of the finished products of the model with respect to the production planned quantity reaches a predetermined value, the information is sent to the host computer 2. Send. When the host computer 2 receives this information, it issues a command to the automatic guided vehicle control computer 5 to carry in the parts of the next model into each standby station 12 of each automatic assembly robot a, b, ... H. put out. That is, the host computer 2 provides the automatic guided vehicle control computer 5 with information about the storage location of the automatic rack stacker unit 3 in which parts used for the next function are stored and the process position of the parts. . In response to this, the automated guided vehicle control computer 5 sends a control signal for controlling the automated guided vehicle 8 to the rail 8a, and the automated guided vehicle 8 sets the container 7 in which the parts of the next model are stored. The products are loaded from the automatic rack stacker unit 3 into the container loading unit 31 of the predetermined standby station 12 as they are stacked.

In addition, at this time, the host computer 2 confirms again with the line control computer 4A the following types of machines and the number of production plans. If this confirmation result is OK, each automatic assembly robot a, b, ...
h, the jig discriminator 27a and the platen stacker controller 34 are instructed to perform the following types of machines.

When the count of the counter coincides with the planned production quantity stored in the line control computer 4A, a model switching signal is given from the line control computer 4A to the model switching control unit 35, the model switching device 19 operates, and at that time the transfer is performed. The first assembling jig 9, the model switching notification pin with only one
21 is displaced to the set model switching instruction position. The assembling jig 9 in which the model change notification pin 21 is set as described above is used as the pilot jig 9p from the ascending elevator 16 to the delivery conveyor 13
Is transferred to the left end of. Here, the model switching detector 27b arranged corresponding to the jig discriminator 27a is the pilot jig 9
When it is detected that p is set at the model switching instruction position, a model switching signal is sent to the jig discriminator 27a and the platen stacker control unit 34 to switch each to the information corresponding to the next model. For this reason, the current assembling jigs 9 following the pilot jigs 9p are sequentially judged by the jig discriminator 27a to be inconsistent, and the conveyer portion 11g of the platen stacker 11 is sequentially judged.
Is stored in a predetermined storage unit. In parallel with this,
The assembling jig 9 of the next model is sequentially carried out from the predetermined storage portion of the platen stacker 11 to the delivery conveyor 13 from the conveyor section 11h. The assembling jig 9 of this switching model is a stopper means (not shown). No.) are sequentially retained near the exit of the conveyor section 11h. Further, the pilot jig 9p is sequentially sent to each of the automatic assembling robots a, b ... H to give a model switching signal to each of the automatic assembling robots a, b.
Along with this, the automatic assembly robots a, b, ... H are equipped with a model switch detector pin 21 of the pilot jig 9p and a model switch detector.
Detected by 27b, the vacuum suction unit 2 of the embedded robot unit 25 immediately
While exchanging the chuck of 5e with the chuck switching device 29,
Prepare parts for the following models in the standby station 12a. That is, as described above, the standby stations 12a, 12b ...
In the container loading section 31 of 12h, a container in which parts of the following models are stored is placed by the automated guided vehicle 8 and is in a state as shown in FIG. 15 (A). In the figure, a container 7'and a pallet 30 'represent the following types of containers and pallets, respectively, and the standby stations 12a, 12b, ...
..When the model switching signal is given to h, the container loading section
The pallet 30 is sequentially taken out from the container 7 on the 31st side, and the pallet 30 on the horizontal feed table 26a is sent to the left side of the horizontal feed table 26a without being taken out, and is sequentially stacked. Then, the pallets 30 stacked in a predetermined number are sequentially stored in the empty container 7 on the container discharge part 32 side, as shown in FIGS.
As shown in FIG. 3D, the containers are sequentially sent to the container holding section 32a of the container discharge section 32 and stacked in four stages. on the other hand,
The container 7 sent out from the container holding part 31b of the container carry-in part 31 is sent to the container discharge part 32 side without the pallet 30 being taken out, as shown in FIG.
It is discharged by the roller conveyor 32b. Then, the container 7 containing the parts of the next model is set as shown in FIGS. 4 (F) and (G), and the pallet 30 'containing the predetermined parts from inside the container 7 is transferred to the transverse feed table 26a. It is taken out and set at a predetermined take-out position. This completes the model switching preparation for the standby station 12.

As for the assembling jig 9 of the next model detained near the exit of the conveyor section 11h of the platen stacker 11, the stopper means is released when the pilot jig 9p reaches the vicinity of the automatic assembling robot d. Then, the delivery to the delivery conveyor 13 is started, the details of which will be described with reference to FIG.

In the figure, the assembling jig of the current model is indicated by the reference numeral 9, and in the figure (A), the pilot jig 9p is the delivery conveyor.
It shows a state in which the contents stored in the jig discriminator 27a and the platen stacker control unit 34 are transferred to the next model after being conveyed from the starting end of 13. In this case, since the jig discriminators 27a of the current model following the pilot jig 9a do not match, they are stored in the stacker 11. At the same time, the assembling jig 9'of the next model is taken out from a predetermined storage portion of the platen stacker 11 and is held by stopper means near the exit of the platen stacker 11. The pilot jig 9p is conveyed by the delivery conveyor 13, and the automatic assembly robots a, b ...
, And the automatic assembling robots a, b, ... Start the above-mentioned chuck replacement and assembly part replacement work. Then, as shown in FIG. 7B, while the pilot jig 9p is being transported to the position of the automatic assembly robot d, the automatic assembly robot a
Complete chuck replacement and parts replacement work. At this timing, the stopper means near the exit of the platen stacker 11 is opened, and the assembling jig 9'of the next model starts to be delivered to the delivery conveyor 13. When the first assembling jig 9'as the next model reaches the automatic assembling robot b in the next process, the robot b in this process has also completed the model switching work. Immediately attach the model to the attachment jig 9 '. Then,
The pilot jig 9p is the assembly jig 9 of the model before switching.
Since the assembly jig 9'of the next model is located at the rear end of the pilot jig 9p and is kept parallel to the pilot jig 9p at a constant distance S by the delivery conveyor 13, the assembly jig 9'is carried by the pilot jig 9p. As shown in FIG. 9C, the tool 9p is a delivery conveyor 13
When it reaches the end side of, the assembling work for the assembling jig 9'of the next model is also carried out by a predetermined step with a certain interval S from the pilot jig 9p.

Generally, in order to improve the production efficiency, if the conveying speed of the delivery conveyor 13 is increased, there is a problem that the model switching work of each automatic assembly robot will not be in time for this conveying speed, and therefore the conveyor speed is increased. Will reduce the production efficiency due to the time required for the model change work of the automatic assembly robot, but according to the present embodiment, the transfer speed of the delivery conveyor 13 and the model of each automatic assembly robot are Even if the time required for the switching work does not match, the reduction in production efficiency due to this can be minimized.

16 (B) and 16 (C), the pilot jig 9p is transported and the next model assembling jig 9'is loaded from the platen stacker 11, and the assembling jig of the model before switching is also shown. The operation of collecting 9 into the platen stacker 11 is continued, and when the pilot jig 9a is circulated to the starting end of the sending conveyor 13 again via the collecting conveyor 14, the assembling jig 9 of the model before switching is All are collected by the platen stacker 11. However, the pilot shaft 9p is
The model switching device 19 provided at the end of the device resets the model switching notification pin 21 to the reset position. Therefore, the final operation for recovering the pilot jig 9p to the platen stacker 11 is the jig recovery work. After that, the assembling jig 9'of the next model is circulated, but since the assembling jig 9'is judged by the jig discriminator 27a to be coincident, it is collected in the platen stacker 11. Without being carried out, the assembly work is again carried out by the automatic assembly robots a, b, ...
The determination work by the jig discriminator 27a is not only performed when switching models, but also in the case of continuous production of the same model, even when assembly jigs of different models are mistakenly mixed on the conveyor, It is fully understood that the loss in such a case can be made extremely small since the jig can be immediately removed from the conveyor. Of course, in order to make this purpose more effective, the number of jig discriminators 27a may be increased.

It should be noted that, in the above embodiment, each assembly robot was described as assembling predetermined parts to the assembly jig, but the present invention only lowers the assembly jig. It includes an automatic processing robot. Further, although the parts supplied to the respective automatic assembly robots are carried in by the automatic guided vehicle, the carrying-in means is not limited to this.
In particular, it includes a case where automatic assembly robots, which are appropriately supplied or replaced manually, are mixed in the line for common parts such as screws.

Further, in the above-described embodiment, the head portion 26c ₂ of the component take-out device 26c of the carry-in robot portion 26 reciprocates only in the X-axis direction, but the present invention is not limited to this, and is, for example, the 18th embodiment.
As shown in the figure, a guide rail member 40 in the X-axis direction is provided on the transverse feed table 26a, a guide rail member 41 in the Y-axis direction guided by the guide rail member 40 is provided, and the guide rail member 41 is provided. Guided head 26c ₂
The vacuum suction part 26c ₃ attached to the head part 26c _{2 so as} to be vertically movable is provided above the pallet 30 by X.
The parts 30a stored in the pallet 30 may be taken out without moving the pallet 30 by moving in the axial direction and the y-axis direction. Further, in the above-mentioned embodiment, the positioning table 28d on the mounting table 28c is moved and set at a predetermined position of the component 30a, but the present invention is not limited to this, and the positioning table 28d is fixed and the positioning member 28e.
To move the component 30a to the positioning table 28d
It may be set at a predetermined position above.

Further, although the intermediate unit 28 of the above-described embodiment is configured to move the set components by the positioning table 28d and the positioning member 28e to a fixed position of the mounting table 28c and set them, the present invention is not limited to this. Alternatively, positioning means such as a recess for positioning may be provided on the upper surface of the mounting table 28c, and the transfer means of the mounting table 28c may be the guide rod 2
The mechanism is not limited to a mechanism for moving the cylinder 28i along the 8b and 28b, and may be a rotating mechanism such as a rotary table or a link mechanism. Further, it goes without saying that the taking out and leaving of the parts are not limited to vacuum suction, and may be other things.

[Advantages of the Invention] As described above, according to the component mounting apparatus of the present invention,
A large number of parts stored in the pallet are sequentially taken out by the part take-out means, the parts are arranged at a fixed position of the part attaching means, and while the parts are being assembled, the parts take-out means and the intermediate transfer means are used to assemble them next. Since the work for arranging the parts to be attached to the fixed position is executed, even if the parts are arranged at any position on the pallet,
Not only can it be sent out satisfactorily, but also the assembling speed can be improved, and efficient production can be achieved.

[Brief description of drawings]

1 shows an embodiment of the present invention, FIG. 1 is a schematic block diagram of the entire automatic assembly apparatus, FIG. 2 is a plan block diagram of a main assembly line A, and FIG. 3 is a side block diagram thereof. FIG. 4 is an external perspective view of the assembling jig, FIG. 5 is a view showing the operation state of the model switching notification pin 21, and FIG. 6 is a diagram showing a model switching device 19 that displaces the model switching notification pin 21. ,
FIG. 7 shows an automatic assembly robot a and a waiting station 12
FIG. 8 is a perspective view showing the appearance of a, FIG. 8 is a diagram showing a determination state by a jig discriminator, FIG. 9 is a diagram showing the detection of a model switching notification pin and a defective product notification pin, and FIGS. ) Is a diagram for showing the operation of the automatic assembly robot a, FIG. 11 is a diagram showing a flow of the container 7 and the pallet 30 in the standby station 12a, and FIG. 12 is a diagram showing the container 7 and the pallet 30 stored therein. Fig. 13 and Fig. 13 are perspective views showing the appearance of the containers 7 stacked in four stages, Fig. 14 is a detailed block diagram of the automatic assembling device, and Fig. 15 is the container 7 when switching models.
And FIG. 16 are diagrams showing the flow of the pallet 30, FIG. 16 is a diagram showing the flow of the assembling jig 9 at the time of model change, FIG. 17 is a diagram showing the intermediate unit 28, and FIG. 18 is a modification of the automatic assembly robot a. It is a perspective view which shows an example. 1 ... Automatic assembly device, 2 ... Host computer part, 3
...... Automatic rack stacker unit, 4A, 4B, 4, 4D, 5 ...... Automated guided vehicle control computer, 7 ...... Container, 9 ...... Assembling jig, 10 ...... Conveying unit, 11 ...... Platen stacker , 12a, 12b to 12h …… Standby station, 17 …… Counter, 19 …… Model switching device,
20 …… Model identification unit, 21 …… Model switching notification pin, 22 …… Defective product notification pin, 25 …… Embedded robot unit, 26 …… Incoming robot unit, 27 …… Sensor, 28 …… Intermediate unit, 28a …
… Mounting plate, 28b …… Guide rod, 28c …… Mounting table, 28d ……
Positioning table, 28e ... Positioning member, 28i ... Cylinder, 30 ... Pallet, 30a ... Parts, A, B ... Main assembly line, C ₁ , C ₂ , D ₁ , D ₂ ... Sub-assembly line, a, b to h ... Automatic assembly robot.

Claims (1)

[Claims] 1. A parts take-out means for taking out a large number of predetermined parts stored in a pallet in sequence and transferring them to a predetermined position at an intermediate point between the pallet and the conveyor, and a part taken out by the parts take-out means further near the conveyor. An intermediate transfer unit arranged at a fixed position, and a component assembling unit that conveys the component arranged at the fixed position onto a conveyor and assembles the component at a predetermined position of the assembly body. An automatic assembling apparatus, characterized in that, while assembling parts, a work for arranging a part to be assembled next by the part take-out means and the intermediate transfer means in the fixed position is performed.