JPH0729247B2 - Goods supply equipment - Google Patents

Description

Detailed Description of the Invention

[Field of Industrial Application] The present invention temporarily stores an accommodation box accommodating articles replenished from the outside in a temporary storage means, and then replenishes the accommodation means as needed, and then supplies from the accommodation means. The present invention relates to an article supply device configured to supply a unit. [Prior Art] Conventionally, the inventors of the present application have automatically supplied an article such as a component unit of a product to an assembly station so that the robot automatically assembles the product into a product. The article supply device was installed in Japanese Patent Application Nos. 61-200949 and 61-
It has already been proposed in 200950. In such a conventional article supply device, a non-line system is adopted, and by combining it with a multifunctional work mechanism such as a robot, it occupies a small area, can be used for many kinds of articles, and It is an easy-to-use device that allows mixed storage of items. [Problems to be Solved by the Invention] Here, in the conventional article supply apparatus as described above, the accommodation box in which the articles are accommodated is supplied to the assembly line or the assembly stage, and the robot is supplied with this. The article is taken out from the storage box and assembled. However, when the robots are supplied with articles and there are no more articles in the storage box, the robot assembly operation stops unless the empty storage box is replaced with a storage box full of articles. Will be done. In particular, when a large number of storage boxes for storing articles are stacked and transported to a temporary storage means by an unmanned vehicle or the like to be replenished and supplied to a robot as an automatic assembly mechanism through the storage means, it is required by the robot. In some cases, the stored articles may be lost in the storage means. In such a case, when the remaining number of the parts in the storage box reaches the predetermined number, the temporary storage means, from the storage box stored here, an article in which the remaining number reaches the predetermined number. A request is issued to take out the containing box containing the same article and execute the above-described replacement operation. It should be noted that there is no relation between which storage box in the storage means is emptied due to assembly of articles by the robot and the storage order of the plurality of spare storage boxes stored in the temporary storage means. It becomes impossible to replenish a large storage box. On the contrary, it is extremely inefficient to obtain empty storage boxes in advance and store a plurality of storage boxes in the temporary storage means in that order. The present invention has been made in view of the above problems,
The purpose is to replenish the articles that occur in the process of supplying a large number of articles of a plurality of types to the supply target section such as a robot.
From among a plurality of storage boxes arbitrarily stored, by selecting and supplying a specific storage box required for replenishment, avoiding interruptions and suspensions due to the non-supply of articles in the supplied portion such as the robot, and The object is to propose an article supply device capable of supplying goods quickly. [Means for Solving Problems] An article supply apparatus of the present invention for solving the above-mentioned problems and achieving an object is an article supply apparatus for supplying an article to a supply target portion such as a robot. A temporary storage means for receiving a replenishment of a storage box containing articles from the outside and temporarily storing a plurality of storage boxes in a stacked state; and the plurality of temporary storage means stored in the temporary storage means. Storage means for storing respective storage positions of the storage box in the temporary storage means, and for storing a plurality of storage boxes replenished from the temporary storage means for supplying articles to the supply target portion in a predetermined supply order. Storage means, moving means for moving the storage means in order to supply the storage box in the storage means to a predetermined position of the supply target portion according to the predetermined supply order, and the temporary storage means to the storage means Is a separate replenishing means for replenishing a new containing box, wherein in the temporary storage means, a new containing box containing an article to be supplied to the containing means is Separated from other storage boxes in the temporary storage means into a free state,
Separation and replenishment means for replenishing the separated storage box to the storage means, and control means for controlling the moving means and the separation and replenishment means, wherein the moving means moves the storage means to the predetermined position in the supply order. As a result, the shortage of articles is detected in the storage means as the articles are supplied to the supply target portion, and a storage position in the temporary storage means of a new storage box containing the shortage articles is searched from the storage means. However, the present invention is characterized by further comprising: control means for controlling the separate replenishment means to separate and replenish the new storage box at the searched position. [Embodiment] The configuration of an embodiment according to the present invention will be described in detail below with reference to the accompanying drawings. In the following description, the description will be given in the order shown in the following table of contents. Table of contents 《General configuration》 《Explanation of unmanned vehicle》 《Pallet description》 Pallet configuration Pallet dimensions 《Buffer description》 Buffer table configuration Separation mechanism configuration 《Buffer operation》 Basic separation operation Position correction operation 《Elevator description 》 Construction of elevator main body Structure of displacing mechanism Operation of displacing mechanism −Pulling operation from buffer − −Pulling in empty pallet − −Pushing out pallet − −Emptying out empty pallet − Structure of lid opening mechanism Operation of lid opening mechanism Operation of drawer <Explanation of robot> Robot configuration Robot operation <System operation><Control unit configuration><Assembly environment input><Part supply Factors that affect efficiency><Other display elements><Variables used for control><Each module Vertical movement range of><Detailed Description of Operation Summary><modules control the replacement pallet>

[Control of robot and stocker]

 When the remaining number becomes 1 When the remaining number becomes 1

[Pallet replacement]

 * Pallet separation by buffer * * Pallet extraction by elevator * * Elevator replacement standby position * * Move to standby position * * Detection of remaining number of 0 * * Pallet replacement * * Empty pallet stacking * * Last shelf replacement *

[Cueing for replacement preparation instructions] [Initial operating status setting]

 << Explanation of Modification >> Explanation of First Modification * Configuration of Step Disassembling Mechanism * * Operation of Step Disassembling Mechanism * Description of Second Modification * Elevator Description * Description of Third Modification * Replacement Mechanism Description * * Control * Description of the fourth modification * Configuration * * Control * [Other embodiment] * Configuration * * Control * Modification of other embodiment [Others] <Locking of pallet in stocker> < Replenishment of parts for FAC> * Replenishment by unmanned vehicle * * Replenishment by man * [Effects of Example] << Outline of Configuration >> First, the flexible assembly of this Example
・ About the outline of the center (hereinafter referred to as FAC) 10,
This will be described with reference to FIGS. 1 and 2. This FAC10 has multiple parts x₁， X₂， X₃… From a given product
Automatic assembly device for automatically assembling
Call it Tutt. ) 12 and this robot 12 depending on the assembly sequence.
Parts that will be needed x₁， X₂， X₃Unit that automatically supplies ...
The product supply system 14, the robot 12 and the parts supply system
Connected to the system 14 for efficient assembly operation in the robot 12.
Control unit for driving and controlling both
The unit 16 and the control unit 16 are connected to the operator.
Outline of the input / output device 18 to which the assembly information data is input
I have it. This parts supply system 14 is installed in an automated warehouse (not shown).
Various parts that were delivered x₁， X₂， X₃…, Multiple unmanned vehicles
Configured to receive transport via 20 (shown in FIG. 1)
Has been done. That is, this parts supply system 14 is an unmanned vehicle.
20 x parts x₁， X₂， X₃Receive… and store it
Adjacent to the buffer 22 and the robot 12 as temporary storage
The robot 12 is equipped with the necessary parts for assembly.
Stocker as a storage means that supplies sequentially according to the standing order
24, and is arranged between this buffer 22 and the stocker 24,
Parts that are in short supply at Stocker 24 x₁， X₂， X₃…
State of transfer means for transferring water from buffer 22 to stocker 24
Basically equipped with the elevator 26 as. << Explanation of unmanned vehicle >> This unmanned vehicle 20 is a large number of parts stored in an unmanned warehouse x₁，
x₂， X₃From among the ...
Parts x₁， X₂， X₃... is selectively transported to the buffer 22.
It is prepared for. That is, each unmanned vehicle 20 is shown in FIG.
As shown schematically, a casing 28 formed in a rectangular parallelepiped shape from the frame body
And the wheels 30 attached to the lower surface of the housing 28,
It is equipped with a pallet mounting table 32 mounted on the top surface of the housing 28.
I am. This wheel 30 is rotated by a drive mechanism (not shown).
It is configured to be rotationally driven. In addition, each unmanned vehicle 20 connects between the unmanned warehouse and the buffer 22,
Driving wheels 30 along a pre-established road on the road
The vehicle is driven via the
Optimally controlled by the production control computer
It Also, the parts x that are transported to the buffer 22₁， X₂， X₃…of
The selection and placement operation on each unmanned vehicle 20 are also controlled as described above.
It is optimally controlled by the unit 16. In addition, on the above-mentioned pallet mounting table 32, there is a pallet described later.
Tut p₁， P₂， P₃… But inside the part x₁， X₂， X₃Collect each ...
Multiple pieces are piled up in a filled state. On the other hand,
On the underside, empty p₁′, P₂′, P₃'…But
Empty pallets so that they can be placed in a stacked state
A mounting table 34 is provided. In addition, in the following explanation
When representing a pallet as a representative, do not add a subscript.
Is simply represented by "p", and an empty pallet is typically shown.
When you do this, simply use "p '" without adding a subscript.
To do. Here, the parts placed on the pallet mounting table 32 are
x₁， X₂， X₃... with pallet p₁， P₂， P₃I ’ll take out…
Therefore, the carry-out roller 32a is provided. In addition, empty Palais
An empty pallet p placed here is placed on the table 34.₁′,
p₂′, P₃′ ... is provided with a carry-in roller 34a for carrying in
Has been. These carry-out roller 32a and carry-in roller 34a
Is driven by a drive motor (not shown)
It is configured. << Explanation of pallet >> Composition of pallet Here, each part x₁， X₂， X₃... are the corresponding pallets
p₁， P₂， P₃… It is housed inside, and this p₁，
p₂， P₃… They are placed in the unmanned vehicle 20 while being housed inside.
Once stored in the buffer 22, via the elevator 26
Housed in Stotka 24, and provided to Robot 12
Is configured. That is, each pallet p₁， P₂， P₃…
Have the same type of parts x₁， X₂， X₃... are housed in each
The corresponding component x, as shown in FIG.₁，
x₂， X₃... is housed along the vertical direction so that it can be removed and inserted,
The pallet body 36 whose upper surface is open, and this pallet body
36 pallets p₁， P₂， P₃At least along the transport direction d
Flange that is bulged outward at both edges
The unit 38 and the unit 38 are integrally provided. It is clear from the shape shown
As you can see, this flange 38 has an actual shape
It is formed over the entire circumference of the pallet body 36.
It Also, the upper surface of each pallet body 36 can be opened.
A lid 40 is placed so that it can be effectively closed. Each flange portion 38 is located at both ends as shown.
In this state, the first and second notches 38a, 38b are
Also, in the state of being located in the center, the third notch 38c
Have been formed. Where the first and second cuts on both sides
The notches 38a and 38b are formed on the pallet p as described later.₁， P₂， P
₃To remove the ... from the buffer 22 to the elevator 26,
From the stocker 24 to the robot 12 or elevator 26.
It is provided for pulling out / in. On the other hand, the third in the center
The notch 38c of the
Place the pallet body 36 stored in the tray 24 on top of it.
With the robot open, take it out to the side of the robot 12 side.
So that the lifting body, which will be described later, can be inserted.
It has been burned. The first and second notches 38a, 38b are flat surfaces.
It is composed of a recess that is formed in a substantially isosceles trapezoidal shape.
The bottom side of one side is formed to define the bottom of the recess.
It That is, in the lid 40, the robot 12 is a component x₁， X₂， X₃…
The final stage of handling, in other words, pallets
p₁， P₂， P₃... is the waiting position for the drawer in stocker 24, which will be described later.
Until the corresponding palette p₁， P₂， P₃…of
Covered over the top opening, part x₁， X₂，
x₃... is prevented from being contaminated with dust etc.
It Size of pallet p₁， P₂， P₃… As shown in Fig. 4
And its thickness, depending on the size of the components it houses.
Is set to three types of 25 mm, 50 mm, and 100 mm. here
In the following explanation, the part x₁Is 25
pallet p with a thickness of mm₁The maximum number is set to 54
Parts x₂Pallet p with a thickness of 50 mm₂To
With the maximum number set to 38, the parts x₃Is
Pallet p with a thickness of 100 mm₃Set the maximum number to 13
It is assumed that they are housed in the respective state. Also, each pallet p₁， P₂， P₃In, the flange part
The thickness of 38 is set to a common 12 mm. In addition, each pare
As shown in FIG.
The pallet body 36 (shown by a broken line in the figure) stacked on the
The bottoms of the two are mated to prevent lateral displacement of each other
A concave portion 36a for forming is formed over the entire circumference. This
Here, the depth of the recess 36a is set to 7 mm. This
, For example, three types of pallets p₁， P₂， P₃…
When the stacks are stacked one by one, the height of this stack
The size will be set to 25 + 50 + 100-7 x 2 = 161 mm. Each pallet p₁， P₂， P₃On the side of the flange 38
Are the respective p-values, as shown in FIG.₁， P₂， P₃…
Parts x inside₁， X₂， X₃Information about the type and number of…
And a bar code B showing the height information of the pallet
Has been. << Explanation of buffer >> Next, the unmanned vehicle 20 having the above-described structure is mounted on a pallet.
Parts 32 from platform 32₁， X₂， X₃... with pallet p₁， P₂， P₃…
Upon receiving it, it is stored and empty pallet p₁′,
p₂′, P₃Buffer 22 for sending out '... to unmanned vehicle 20
Will be described with reference to FIG. Structure of buffer base This buffer 22 is a base fixed on a base not shown.
42 and the columns 44a, 44b, which are erected at the four corners of the base 42,
44c, 44d and pallet p₁， P₂， P₃Along the conveyance direction d of
Standing on the inner surface of each of the pair of columns 44a, 44b; 44c, 44d
The standing plates 46a and 46b that are suspended in the state are provided. each
The standing plates 46a, 46b are raised on the surfaces facing each other.
The guide member 48 is fixed along the side edge. That
Slide on each guide member 48 so that it can move up and down.
The moving member 50 is attached. To these four sliding members 50
Attach the buffer table 52 with each of the four corners supported.
Has been. This buffer table 52 is a part x from the aforementioned unmanned vehicle 20.₁，
x₂， X₃... with pallet p₁， P₂， P₃What is placed
And, on this buffer table 52, the parts placed here are
Product x₁， X₂， X₃... with pallet p₁， P₂， P₃... the unmanned car 20
A group of carry-in rollers 54 for receiving from
It is rotatably supported by 56. still,
These carry-in rollers 54 are driven by a drive motor (not shown).
It is configured to be rotationally driven. On the other hand, both guides of the standing plate 46b on the opposite side in FIG.
The part sandwiched by the door members 48 extends vertically.
Thus, the slit 58 is formed. In this slit 58
In the protruding state, the protruding piece 52 is
a is integrally formed. Here, this buffer table 52 is a pallet placed on this.
Group p₁， P₂， P₃From the inside, as will be described later,
24 pallet p with only one remaining odor component x
In order to replace it, replace it with the specified pallet.
It is configured to be movable up and down to separate p. That is, the pair of columns 44c, 4 to which the upright piece 46b on the opposite side is attached.
Between the upper ends of 4d, the above-mentioned buffer base 52 is a guide member.
Servo motor M for moving up and down along 48_BIs arranged
Has been. This servo motor M_BAlong the vertical direction
It is equipped with a rotating shaft that has come out.
It is rotatably arranged between 44d and extends vertically.
Connected to drive the ball screw 60
It On the other hand, the middle part of this ball screw 60 is
It is screwed to the piece 52a. In this way, the servomotor M
_BThe ball screw 60 is driven to rotate by the rotation of the rotating shaft of
As a result, the buffer table 52 is moved up and down. This servo motor M_BHas its rotational position, that is,
Encoder to detect the height position of buffer base 52
62 is attached. Separation mechanism configuration With the above configuration, the buffer base 52 can be
It can move up and down, but as mentioned above
And the pallet group p placed on this₁， P₂， P₃... inside
In order to isolate a specific p
Includes a separating mechanism 64. This separating mechanism 64 is provided at the upper end of each standing plate 46a, 46b.
A pair of first separating claws 66 and the first separating claws 66.
And a pair of second separation claws that are arranged a predetermined distance downward.
It has 68 and. In addition, the first of the two standing plates 46a, 46b
And the second separating claws 66, 68 are set at the same height position.
There is. Here, each of the first and second separation claws 66, 68 is a buffer.
A pallet group p stacked on the stand 52₁， P₂， P₃
It is provided on the flange 38 of ... so that it can be hooked from both sides.
It In other words, the first and second plates provided on the respective standing plates 46a and 46b.
And the second separating claws 66, 68 are stacked on the buffer table 52.
Raised pallet group p₁， P₂， P₃The flange 38 of… is below
From the protruding position that is hooked from one side and these flange parts 38
Reciprocable between the retracted position
ing. That is, the first separating claws 66 of each pair have the corresponding upright plates 46a, 46.
It is equipped with a support rod 70 that projects from b to the back side.
It Both support rods 70 are located on the back side of the standing plates 46a, 46b.
As shown in FIG.
ing. Then, the first separating claw 66 is provided on the connecting plate 72.
First air cylinder C for reciprocating drive_B1Is connected
Has been. In this way, this first air cylinder
C_B1In response to the driving of the first separation claw 66,
It will be reciprocally driven to and from the setting position. On the other hand, as for the second separating claw 68, the second
Air cylinder C_B2Except that the first separation claw 66 is provided.
Since the configuration is the same as that for driving, the description thereof is omitted.
To do. In addition, between the above-mentioned first separating claw 66 and the second separating claw 68.
The distance is pallet p₁， P₂， P₃Is the maximum height in ...
It is set to 110mm, which is slightly longer than 100mm. Further, the pallet in the state in which it is hooked on the above-mentioned first separating claw 66.
The bar code drawn on this palette p is on the side of the p
A bar code reader 74 for reading the barcode B is provided.
ing. The barcode reader 74 has a well-known configuration.
Therefore, the description thereof is omitted. Here, on the base 42, the lower position of the elevator 26 (immediately
Then, in the state of extending to the position adjacent to the stocker 24),
A carry-out mechanism 76 is provided. This unloading mechanism 76
Pallet p emptied at Tsuka 24₁′, P₂′, P₃’…
To the empty pallet mounting table 34 of the unmanned vehicle 20 described above.
It is provided for the purpose of being composed of a plurality of carry-out rollers 78.
Has been done. These carry-out rollers 78 are drive motors not shown.
It is configured to be rotationally driven by the motor. The height position of the carry-out mechanism 76 is set to the empty pallet of the unmanned vehicle 20.
It is set so that it will be flush with the platform 34.
In addition, the standby position of the buffer 52 is
The height is set to be the same as the height position of the table 32. (Operation of buffer) Basic separating operation In the structure of the buffer 22 having the separating mechanism 64 as described above,
And the pallet group p placed on the buffer table 52.₁， P₂，
p₃Based on the request from Robot 12, which will be described later,
The specified pallet p₂About the operation when separating
This will be described with reference to FIGS. 7A to 7D. First, as shown in FIG. 7A, a total of 12
The pallet from the bottom is p₁， P₂， P₃， P₁， P₂， P₃， P₁，
p₂， P₃， P₁， P₂， P₃Assumed to be placed in the order
To do. In addition, on the buffer table 52, a pallet with a height of 800 mm
Group p₁， P₂， P₃... is set to be placed
Therefore, in the above case, the group of 12 pallets has a height of (25 + 50 + 100) * 4-7 * 11 = 623 mm and 623 mm. And like this
The robot x, the part x₁Was housed
Pallet p₁When asked to separate the
A plurality of pallets p mounted on the buffer table 52₁Inside
The third from the top by applying the principle of first-in / first-out
Pallet p located at₁Instructions will be sent to separate
And In the following explanation, the third from the top
Pallet p₁To match p_aMarked with, and located just above
Pallet, that is, the second pallet from the top matches p_bWith
I will decide. As described above, the robot 12 to the palette p_aTo separate
If a request is made to
Let p_aPallet p placed directly above_bThe 7B
As shown in the figure, the position where it is locked by the first separating claw 66.
Servo motor M until_BTo drive
The buffer table 52 is moved (lowered in this case).
The first and second separating claws 66, 68 are in the initial state.
And both have been moved to the retracted position. In the state shown in FIG. 7B, the first air cylinder
C_B1Starts, and hooks the first separating claw 66 from the retracted position.
Push it to the stop position and push it out. This gives the pallet p_b
The flange portion 38 of can be hooked on the first separating claw 66 from below.
It will be in a state. After this, as shown in FIG._BIs the 7B
From the state shown in the figure, lower the buffer table 52 by 94 mm.
It drives to rotate. As a result, pallet p_aBut the second minute
When it comes to the position where it is hooked on the release claw 68,
And the pallet p_bIs to be hooked on the first separating claw 66.
Become. That is, pallet p_bPallet located higher
Will be hooked on the first separating claw 66. In the state shown in FIG. 7C, the second air cylinder
C_B2Is activated and the second separating claw 68 is hooked from the retracted position.
Push it to the stop position and push it out. This gives the pallet p_a
The flange portion 38 of can be hooked on the second separating claw 68 from below.
It will be in a state. After this, as shown in FIG._BIs the 7C
From the state shown in the figure, lower the buffer table 52 by 15 mm.
It drives to rotate. As a result, pallet p_aBut the second minute
This pallet p is hooked on the release claw 68._aLocated below
The pallet is the pallet p_aBrought to a position away from
Will be done. In this way, pallet p_aBut only
The second separating claw 68 is separated from the other pallets.
At the hooked position (hereinafter, simply referred to as a separation position),
It will be set so that it can be taken out independently. In addition, the pallet p separated in this way_aHowever,
After being taken out to Beta 24, what next
All pallets should be crossed so that they may be separated.
The operation to return to the initial state placed on the far stand 52
become. That is, in this return operation, first, the second air cylinder
C_B2Contrary to the previous time, is the second separation claw 68
It operates so as to be retracted to the retracted position. After this,
Robot motor M_BIs driven to rotate and the buffer table 52 is 134 mm
(That is, the stroke that the buffer stand 52 descends 94+
Pallet p taken out to 15 = 109mm_aThickness is 25mm
The value added. ) Only raise. Due to this rise,
The highest pallet among the pallets on the Hua stand 52.
Is the pallet p that is hooked on the first separating claw 66._bOn top
It will be placed and lifted. In this state, the first air cylinder C_B1Is the last time
On the contrary, move the first separating claw 66 from the hooked position to the retracted position.
It works like pulling in. As a result, the first separation claw 66
The pallet p that was suspended_bThe upper pallet group is
On the upper side of the pallet group placed on the buffer table 52.
After being placed, the entire pallet group is eventually placed on the buffer table 52.
Will be brought to the state of being placed on. And
At this position, it will be in the standby state and the next minute from the robot 12
I will wait for the separation instruction. Pallet position correction operation during separation operation The operation of the buffer 22 detailed above is a basic operation.
Therefore, the manufacturing error of each pallet is not taken into consideration.
It In other words, each pallet allows a manufacturing error of ± 0.3mm.
It is what has been. Therefore, a large number of pallets are
This manufacturing error accumulates when stacked on the stand 52.
Then, the palette p in the basic operation described above_bThe first of
There is an error in the movement of the separation claw 66 to the hooking position.
Pallet p_bHowever, the latching position by the first separating claw 66 is accurate.
Occasionally, it will not be moved to the storage. In detail, assuming the worst case, all mounted
Pallet p with pallet having a minimum thickness of 25 mm₁And
Since the maximum mounting height is 800 mm as described above, the maximum cumulative error amount is 800 ÷ (25-7) × 0.3 = 13.3 mm. With this maximum cumulative error amount, the height
If the position changes, the servo motor M_BBut as mentioned above
In accordance with the basic operation, the specified palette p_bThe first separating claw 66
As if it was driven to rotate so as to move to the
However, in reality, due to the above-mentioned error,
In some cases, it cannot be placed. Therefore, in this one embodiment, as shown in FIG.
In addition, the actual position of the first separation claw 66 at the hooking position (calculation)
Arranged adjacent to the side of the resulting pallet body 36
Sensor 80 is provided. This sensor 80 is well known
It consists of a reflective photo coupler, and its detailed
Although not described, it is composed of a pair of a light emitting element and a light receiving element.
Is formed, and when it is adjacent to the peripheral surface of the flange portion 38 of the pallet.
Is turned on by receiving light from the light emitting element, and the pallet body 36
When it is adjacent to the side surface, it may receive light from the light emitting element.
It is configured to turn off without being able to. The location of the sensor 80 is shown in detail in FIG. 8A.
As you can see, this is pallet p_aThe upper end surface of the flange 38 of
In the detected state, this p_aThe top mounted
Let p_bIs brought to the hooked position by the first separating claw 66.
It is set so that With the sensor 80 as described above provided,
The pallet p considering the manufacturing error of the pallet_bThe first
The movement control to the hooking position by the separation claw 66 of No. 1 is
This will be described with reference to FIGS. 8E. Here, the range where the side surface of the pallet body 36 appears is shown in FIG. 8A.
As shown in, the 25 mm high pallet p₁In case of
The lunge 38 has a thickness of 12 mm, and the pallets located on the lower side
Considering 7 mm which is the fitting margin into the recess 36a for fitting the main body 36
Then, 25-12-7 = 6mm. Therefore, consider the accumulation of the above-mentioned maximum manufacturing error.
Then, the servo motor M_BCalculated by
Tut p_a， P_bAnd the relative position between the sensor 80 and
As shown in Fig. 8, Fig. 8C, and Fig. 8D, there are three states.
Is assumed. That is, as shown in FIG._a
(In other words, the pallet to be hooked on the second separating claw 68.
p_aThe peripheral surface of the flange portion 38 of FIG.
As shown in FIG. 8C and the embodiment of FIG.
Pallet p to be done_bThe flange 38 of the
The second aspect opposite to, and as shown in FIG. 8D.
The pallet p to be hooked on the first separating claw 66._bThe Palais
A third mode in which the side surface of the main body 36 of the tool is opposed to the sensor 80.
Occurs. Here, the sensor 80 is attached to the flange portion 38 of the pallet.
It turns on when the peripheral surfaces are adjacent to each other.
8C and the first mode shown in FIG.
The second mode shown in FIG. For this reason,
As shown in FIG. 8E, the base 52 has the sensor 80 with the flange portion 38
Sensor 80 is turned off until the upper end surface of
It is lowered until it works. Then, when the sensor 80 is turned off in this way, the upper end surface
The bar code B drawn on the pallet where the
It is read via the reader 74. As a result, read Tsuta
From the barcode B, the pallet from which this pallet should be separated.
Tut p_aIf it is determined that, as described above,
This pallet to be separated p_aPallet p placed on top
_bIs brought to the hooking position of the first separating claw 66.
Therefore, according to the basic operation described above, the first air
ー Cylinder C_B1Is activated and the first separating claw 66 is in the hooked position.
Will be pushed to. On the other hand, the bar drawn on the top of the detected pallet
As a result of reading the code B, this pallet is separated.
Should be p_aIf it is determined that the
-The pallet whose code B is read automatically
P_aPallet p just above_bWill be determined to be
So this pallet p_bOnly the height of the
Servo motor M to move up_bIs driven to rotate. This
In this manner, the sensor 80 is
The upper end surface of the flange 38 will be detected.
The pallet having the flange portion 38 whose end face is detected is
Pallet p to be separated_aThis thing because it should be
After confirming with the bar code reader 74,
Following the basic operation, the first air cylinder C_B1Is launched
As a result, the first separating claw 66 is pushed out to the hooking position.
It In addition, read the bar code B of the pallet that was raised and detected.
As a result of picking up, p_aNot determined
If there is an error, a clear control error or requested
A pallet different from the one from the unmanned warehouse by an unmanned vehicle 20
Since it is the case where it is transported, control operation at that time
Is stopped and a predetermined warning operation is started. Further, the sensor 80 has a side surface of the pallet body 36 adjacent thereto.
The pallet moves according to the calculated value.
When it is operated, it turns off, but this off state
In the state, only the third aspect shown in FIG. 8C is considered.
Will be. For this reason, the buffer table 52 is shown in Figure 8E.
As described above, the sensor 80 detects the upper end surface of the flange portion 38.
Up, in other words, until sensor 80 turns on
To be done. Then, when the sensor 80 is turned on in this way, the upper end surface
The bar code B drawn on the pallet where the
It is read via the reader 74. As a result, read Tsuta
From the barcode B, the pallet from which this pallet should be separated.
Tut p_aIf it is confirmed that, as described above,
This pallet to be separated p_aPallet p placed on top
_bIs brought to the hooking position of the first separating claw 66.
Therefore, according to the basic operation described above, the first air
ー Cylinder C_B1Is activated and the first separating claw 66 is in the hooked position.
Will be pushed to. To execute the pallet position correction operation detailed above.
Therefore, if there is a manufacturing error on the pallet,
Irrespective of this manufacturing error, the separated p_aof
Pallet p placed on the upper side_bBut on the first separating claw 66
A more reliable state of being hooked will be achieved. << Explanation of Elevator >> Next, the elevator installed between the buffer 22 and the stocker 24
The part x fills the empty pallet p'at the tsuka 24.
An elevator to replace the p-pallet p stored in a cup
The configuration of the data 26 will be explained with reference to FIGS. 9 to 13G.
Reveal Configuration of Elevator Main Body As shown in FIG.
It is fixed on the base 142 common to Totka 24.
On the buffer 22 side of this base 142,
Next to the support columns 44a and 44c on the robot 12 side of the battery 22
Standing in contact with each other, the pair of columns 82a and 82b and the robot
One that is erected upright with a certain distance to the
A pair of columns 82c and 82d are provided. These four columns 8
The upper ends of 2a, 82b, 82c and 82d are connected to each other by a connecting member 84.
It is connected. In this way, the basics of elevator 26
A frame is configured. The connecting member 84 will also be described later.
It is configured in common with the stocker 24. Here, a pair of columns 82a and 82c along the transport direction d and a pair of columns
Elevator body 86 moves up and down between columns 82b and 82d of
It is arranged as possible. This elevator body 86 is₁， P₂， P₃Transport of…
Consists of a box body with a pair of surfaces orthogonal to the direction d open
Has been. This elevator body 86 is from the robot 12.
Request (when the remaining number of parts in a given pallet is "1")
The separation position, based on
Pallet p isolated_aReceived from the battery 22,
Hold it in the beta body 86 and then
Request from the customer (the remaining 1 part is used for assembly.
It is necessary to be issued when there is no part
In accordance with the request), this retained pallet p_aTo Stotka 24
It is configured to be transferred. Where pallet
p₁， P₂， P₃Pairs of columns 82a, 82c; 82 along the transport direction d of ...
b and 82d are arranged along the vertical direction on the surfaces facing each other.
The guide member 88 is fixed. And each guide
The member 88 can be moved up and down along with it, and
A pair of sliding members 90 are installed with a certain distance.
It Here, the four sliding members 90 in the upper horizontal plane
The upper four corners are respectively supported, and the lower horizontal
The lower four corners are respectively supported by the four sliding members 90 in the plane.
Installed, the elevator body 86 described above is installed.
ing. On the other hand, in the pair of columns 82b and 82d on the opposite side in FIG.
The space between the sandwiched parts extends vertically.
It is prescribed. In the state that it protrudes into this space,
The elevator body 86 is integrally formed with a protruding piece (not shown).
Is made. In addition, the upper ends of the pair of columns 82b and 82d on the opposite side are connected to each other.
In the portion of the connecting member 84 that is
Servo for moving body 86 up and down along guide member 88
Motor M_E1Is provided. This servo motor M_E1Is
It has a rotating shaft that extends vertically.
The rolling shaft is rotatably arranged between both columns 82b and 82d and
To drive the ball screw 92 extending along the direction
It is connected to the. On the other hand, the middle part of this ball screw 92
Is screwed into the above-mentioned protruding piece. In this way
Servo motor M_E1By rotating the rotating shaft of the ball screw 92
Is driven to rotate, and the elevator body 86 is moved up and down.
Will be done. This servo motor M_E1The rotation position of this
Then, to detect the height position of the elevator body 86,
The encoder 94 is attached. With the above configuration,
The elevator body 86 can move up and down to any height.
Can be done. Configuration of replacement mechanism Elevator body 86 that is vertically movable as described above
Is packed with parts separated from the buffer 22 in this
Pallet p_aAnd take this pallet p_aTo
From this, push it out to the stocker 24.
A replacement mechanism 96 for retracting the empty pallet p'from the
It is obtained. The replacement mechanism 96 is a servo motor M as a drive source.
_E2Fixed on the upper surface of the elevator body 86 via stay 98
It is prepared in the state of being. This servo motor M_E2Driving
One end of the swing arm 100 is fixed to the shaft,
It is designed to be rockably driven according to the rotation of the shaft.
In the middle of the swing arm 100, along the longitudinal axis of the swing arm 100,
Then, the long groove 100a is formed. Also, this long groove 100a
Of the range of the
The beta body 86 has an upper surface along the transport direction d described above.
Then, the guide groove 102 is formed. This guide groove 102
Is distributed over almost the entire length of the elevator body 86 along the transport direction d.
Is formed. Here, the upper and lower sides are common to the long groove 100a and the guide groove 102.
The guide pin 104 is not
Has been. The head of this guide pin 104 has a large diameter.
And prevent them from falling out of these grooves 100a, 102
Has been done. With this configuration, the servo motor M_E2
The swinging arm 100 swings when the
Driven, and thus the guide pin 104 follows the guide groove 102.
That is, that is, reciprocating drive along the transport direction d
Become. Also, as shown in FIGS. 10 to 12, the guide pin
Located at the bottom of 104, inside the elevator body 86
Thus, the slide plate 106 is fixed. This slide plate 1
06 extends along the direction orthogonal to the transport direction d.
It is attached to the guide pin 104. This slide plate 1
At the both ends of the side of the buffer 22 side of 06, the first hook 10
8 is a slide plate via the first hook slide member 110.
Along the longitudinal axis direction of 106, in other words, in the transport direction d.
Mounted slidably along orthogonal directions
It The pair of first hooks 108 correspond to the aforementioned pallets.
P₁， P₂， P₃Elevator formed on flange 38 of
A shape that can be engaged with the first cutout portion 38a on the 26 side from both sides.
It is formed into a shape. That is, the tip of the first hook 108
The ends complementarily match the notched isosceles trapezoid.
It is formed in a trapezoidal shape. On the other hand, both ends of the slide plate 106 are provided along the conveyance direction d.
The air cylinder support plates 112
It is worn. The buffer of this air cylinder support plate 112
Since the first hook 108 reciprocates at the end on the side of 22
First air cylinder C_E1Is attached. This
First air cylinder C_E1Of the first piston 114 of
The above-mentioned first hook 108 is connected to the section. This
The first air cylinder C_E1Depending on the drive of
The first hook 108 is the first notch of the flange portion 38.
It will be reciprocally driven to disengage from the portion 38a. In addition, both ends of the side of the slide plate 106 on the stocker 24 side
A second hook 116 is provided in the second hook slide member 1
Through the slide plate 106 along the longitudinal axis direction of the slide plate 106.
In other words, slide along the direction orthogonal to the transport direction d.
It is possible to install. This pair of second hooks 11
6 is each of the above-mentioned pallets p₁， P₂， P₃Flange part 38 of
The second notch 38b on the side of the unmanned vehicle 20 formed on the
It is formed in a shape that can be engaged from the side. On the other hand, air cylinders fixed to both ends of the slide plate 106
At the end of the supporter plate 112 on the stocker 24 side, the second hook 116 is
Second air cylinder C for reciprocating_E2Gatori
It is attached. This second air cylinder C_E2Second
The aforementioned second hook 116 is attached to the tip of the piston 120 of
It is connected. In this way, the second air cylinder
Da C_E2In response to the driving of the second hook 116, the second hook 116
It is reciprocally driven to engage with and disengage from the second notch 38b of the
Becomes Here, on the lower surface of the elevator body 86, the first or second
Engaged with the hooks 108 and 116 of the servo motor M_E2Turning drive
Sliding pallet p that is pulled in / pushed out according to movement
A pair of fixed slide guides 122 that support freely are installed.
Has been. That is, both fixed slide guides 122 are retracted.
Of flanges 38 on both sides of the pallet p to be extruded
It is set to be slidable on the bottom surface. The height of the upper edge of both fixed slide guides 122 is maximum.
Pallet p with a height of 100 mm₃Slidable
The height is set high enough to support the
Beta main body 86 standby position is both fixed slide guide 122
The upper end surface of the plate horizontally receives the pallet p in the separated position.
The height is set so that it can be moved. In addition, below the respective air cylinder support plates 112 described above.
Along the same direction as the extending direction of the slide plate 106.
The third hook mounting plate 124 is firmly fixed in the extended state.
Has been done. Here, the stocker 24 of this mounting plate 124
At both ends of the side surface, the third hook 126 has a third hook 126.
Through the slide member 128, the longitudinal direction of the slide plate 106
Along the direction, in other words, in the direction orthogonal to the transport direction d.
It is mounted so that it can slide along it. This pair of
The third hook 126 was emptied in Stocker 24
Each empty pallet p₁′, P₂′, P₃Formed on the flange part 38 of ′…
A shape capable of engaging the second cutout portion 38b formed from both sides
It is formed into a shape. On the other hand, air cylinders fixed to both ends of the slide plate 106
A third hook 126 is reciprocally driven at the lower end of the da support plate 112.
Third air cylinder C to move_E3Is attached
ing. This third air cylinder C_E3The third fixie
The third hook 126 described above is connected to the tip of the hook 130.
ing. In this way, the third air cylinder C_E3of
In response to driving, the third hook 126 is the second one of the flange portion 38.
It will be reciprocally driven to engage and disengage from the notch 38b.
It The third hooks 126 are the lower surface of the elevator body 86.
In the guide groove 132 (the ninth groove) formed along the transport direction d.
Shown in the figure. ) Via the lower part of the elevator main body 86
Has been issued. Here, under the lower surface of the elevator body 86
Is removed from the stocker 24 by this third hook 126.
For receiving slidably received pallet p '.
A moving slide guide 134 is provided. Here, both movable slide guides 134 are
The pallet p'is provided with a group of carry-out rollers 78 of the carry-out mechanism 76 described above.
In order to place it on top, it is placed along the direction orthogonal to the transport direction d.
In other words, leaving from the empty pallet p'received here
It is set to be slidable. That is, FIG.
And both movable slide guides 134 as shown in FIG.
The elevator main body 86 through the slide members 136, respectively.
It is slidably mounted under the lower surface of the. On the other hand, d
For air cylinders, on both sides under the lower surface of the elevator main body 86
The support plates 138 are fixed to each other. Each air cylinder support
A movable slide guide 134 is reciprocally driven on the holding plate 138.
4th air cylinder C for_E4Is attached.
This fourth air cylinder C_E44th piston 140 tip
The movable slide guide 134 described above is connected to the end.
There is. In this way, the fourth air cylinder C_E4Drive
In response to the movement, the movable slide guide 134 causes the empty pallet p '.
It will be reciprocally driven to disengage from the flange 38 of the
It Operation of the replacement mechanism In the replacement mechanism 96 configured as described above, the
Regarding the operation of exchanging the dots p and pallets p ′,
A description will be given with reference to FIGS. A to 13G. First, in the initial state, the elevator main body 86
The height position of the
The upper surface of the second separating claw 68 of the tuffer 22 has the same height.
Is set. In addition, in the replacement mechanism 96
As shown in FIG.
Set the initial state so that it is in the middle position of the id groove 102.
It is fixed. Also, each air cylinder C_E1， C_E2，
C_E3， C_E4High pressure air is not supplied to the
The hooks 108, 116, 126 and the movable slide guide 134 are respectively
It is set in the retracted position. -Capture operation from buffer-When such an initial state is set,
From the bot 12, as described above, the key from the bot 12
That is, at the predetermined pallet p in the stocker 24
If the remaining number of items x reaches 1, replace it
Based on the request for preparation, the buffer 22
Let p_aWhen the operation to separate the
Even in beta 26, the power separated in buffer 22
Let p_aIs taken into the elevator main body 86
Be done. That is, when the above-mentioned request is issued from the robot 12, this
In the elevator 26, first, the state shown in FIG. 13A
, Servo motor M_E2Is indicated by an arrow A in FIG.
Drive the rotating mechanism in the direction to move the replacement mechanism 96 to the buffer 22 side.
To move. As a result of this movement, as shown in Figure 13B, the
The first hook 108 on the buffer 22 side of the changing mechanism 96 is
Pallet to be separated at the separating position at the tuffer 22
p_aOf the elevator 26 side formed on the flange portion 38 of the
The notch 38a is set to be engageable from the side.
Will be. The first hook 108 can be engaged.
In the state, the first hook 108 is on the buffer 22.
It is set so that it does not hinder the separation operation in any way. In this state, the operation of the elevator 26 is
Until the separation operation is completed at buffer 22.
The waiting state continues. And to complete the separation operation
Therefore, when the separation complete signal is output from the buffer 22, this
In response to the output of the separation completion signal of
Pallet p released_aThe capture operation of is started. That is, first, the first air cylinder C_E1High pressure air
Pallet p which has been fed and the first hook 108 has been separated_aNo
Is it lateral to the first cutout portion 38a formed in the lunge portion 38?
To engage. After this, the servo motor M_E2But in Figure 9 the arrow
As shown by mark B, it is driven to rotate and the exchange mechanism 96 is conveyed.
It is taken into the elevator main body 86 along the direction d. That
Then, as shown in Fig. 13C, the pallet p_aThe elevator book
Servo motor in the state that it is completely taken into the body 86
M_E2Drive is stopped and after this, the first air cylinder C
_E1The first hook 108 is a p_aFirst notch
It operates to separate from the portion 38. In this way, the pallet p separated by the buffer 22 is
_aAre taken into the elevator 26. This capture state
In the replacement mechanism 96, a part of the replacement mechanism 96
It is brought to the state that it protrudes from the main body 86 to the stocker 24 side
There is. Therefore, servo motor M_E2In the direction indicated by arrow A
Rotate the drive and replace it as shown in Figure 13D.
Operates to completely house yard 96 within elevator body 86
To be done. -Pull-in operation of empty pallet-_E1Driven by the elevator
In the pallet p housed in the stocker 24,
A pallet that becomes empty when the parts x stored in it are lost
Lower p'to the retracted position, and pull it in
And replace the empty pallet p'from the stocker 24.
I will wait for the request. In addition, this retracted position is in the stocker 24 described later.
From the supply position of the pallet p to the robot 12, the robot 12
Specified at a position above one box of pallets that have finished supplying parts to
Has been done. Here, as described above, this palette p
There are 3 types of heights, so this pull-in position
There are three types of table, depending on the difference in height.
Become. In addition, the elevator main body 86 facing the retracted position
The standby position is the flank of the pallet p'in the retracted position.
The second cutout portion 38b of the jeep portion 38 is provided with a first portion of the replacement mechanism 96.
Set so that the hook 126 of 3 takes a height position that can be engaged.
Has been done. In this way, the sky in the elevator 26
The retracting standby position of the pallet p'is defined. On the other hand, the elevator brought to this retracted standby position
The replacement mechanism 96 in the main body 86 has been described above.
As you can see, the part x is full inside the elevator body 86.
Stored pallet p_aIs a pair of fixed slide guides 122
Is held on. At such a retracted standby position, the stocker 24 is
The empty pallet p'is moved to the retracted position.
And the servo motor is moved according to the completion of movement to this retracted position.
Data M_E2Is driven to rotate in the direction indicated by arrow B, and FIG.
As shown in, the third hook 126 of the replacement mechanism 96 is
It is formed on the flange 38 of the empty pallet p'at the retracted position.
Is moved to a position where it can be engaged with the second cutout portion 38b.
It After this, the third and fourth air cylinders C_E3， C_E4To
High pressure air is supplied to each, and the third hook 126 is empty.
At the same time as engaging the second cutout portion 38b of the top p '.
The moving slide guide 134 is pulled into the empty pallet p '.
The lower part of the elevator body 86 so that it can be supported.
Be spoiled. After this, the servo motor M_E2Rotates in the direction indicated by arrow A
Being moved, the empty pallet p ′ is moved to the lower side of the elevator main body 86.
Pull in. In this way, the empty pallet p'is
As shown in Figure 13F, supported by the ride guide 134.
The bottom of the elevator body 86,
The p'pull-in operation is completed. And the third air
Cylinder C_E3However, the third hook 126 is the first in the empty pallet p '.
It is operated so as to be separated from the second cutout portion 38b. -Pallet pushing-out operation-Here, in the retracted state of the empty pallet p ',
The second hook 116 of the exchange mechanism 96 is a fixed slide
Pallet p supported on id 122_aSecond notch 3
It is brought into a state in which it can be engaged with 8b. Therefore, this
From the state, the second cylinder C_E2Supply high pressure air to
The second hook 116 is pallet p_aIn the second notch 38b of
Operate to engage. On the other hand, in parallel with the engaging operation of the second hook described above,
Servo motor M_E1Is driven to rotate
Lower the elevator main body 86, and_a
To the position facing the drawer position of the stocker 24
Let me down. And the servo motor M_E2Is the direction indicated by arrow B
13G, as shown in Fig. 13G,
Pallet p from inside the body 86_aThe stoutka 24 made empty housing
Push it into position. After this, the second air cylinder C
_E2The second hook 116 is the second notch of the pallet p.
It is operated so as to be separated from the portion 38b. And the servo
Motor M_E2Is driven to rotate in the direction indicated by arrow A,
The changing mechanism 96 is pulled into the elevator body 86. like this
Then, the pushing operation of the pallet p to the stocker 24 is completed.
Finish. -Empty pallet unloading operation-As described above, the empty pallet p'and the part x are fully loaded.
Pallet p_aWhen the replacement operation with
Below the elevator body 86,
The let p'is supported. Therefore, this empty pallet
In order to place p ′ on the carry-out roller 78 of the carry-out mechanism 76,
Sumota M_E1Rotates to lower the elevator body 86.
Then, the empty pallet p ′ is emptied onto the carry-out roller 78.
If the boot p'is not placed, this carry-out roller
Already above the 78 and on the carry-out roller 78 is an empty pallet.
If p'is placed, this already placed
The empty pallet p '. . And this
And then the fourth air cylinder C_E4But movable slide guy
It operates to pull in the door 134 and supports it on the elevator main body 86.
The empty pallet p ′ that was held is stacked on the carry-out roller 78.
Will be raised. In this way, empty sheets stacked on the carry-out roller 78 are
When the number of sets of p'reaches a predetermined number, each discharge roller
78 is rotationally driven, and the stack of these empty pallets p'is
It is transported to the bottom of the buffer stand 52, and then the unmanned vehicle 20
It is carried out on the empty pallet mounting table 34. In this way
A series of empty pallet unloading operations is completed. On the other hand, after the empty pallet p'is released to the carry-out mechanism 76,
Servo motor M in Beta 26_E1Is driven to rotate
Then, the elevator main body 86 is raised and the above-mentioned initial position,
That is, to the position opposite to the separation position on the buffer 22.
Then, it will be moved and waited here. << Explanation of Stocker >> Next, the robot 12 provided adjacent to the robot 12
Parts required for assembly x₁， X₂， X₃... according to the assembly order
Regarding the structure of the stocker 24 to be supplied next, Figs. 14 to 16
It will be described with reference to the drawings. Structure of the stocker This stocker 24, as shown in FIG.
The base 14 that is fixed on the table and is common to the elevator 26 described above.
2 and the columns 144a, 144 which are erected at the four corners of the base 142, respectively.
b, 144c, 144d and the upper ends of these columns 144a, 144b, 144c, 144d
And a connecting frame 84 for connecting the two. Where d
Each pair of stanchions 144a, 144b on the side of the elevator 26 and the side of the robot 12;
The opposite surfaces of 144c and 144d are
The guide member 148 is firmly attached while extending along
It Then, each guide member 148 is vertically
A sliding member 150 is movably attached. These four
With the four corners supported by the sliding member 150, it has a substantially rectangular parallelepiped shape.
A structured elevating frame 152 is attached. The elevating frame 152 is pushed out from the elevator 26 described above.
And the robot 12 to be assembled later.
Collect the pallets p drawn out to the feeding section 154 in a plurality of stages.
Each one from the drawer standby position described later.
It can be pulled out. others
Therefore, on the inner surface of the elevating frame 152 along the transport direction d, the pallet
A plurality of shelf boards 156 to which the flange portion 38 of the shoe p is hooked
Approximately 30 along the vertical direction with each of them extending horizontally.
It is fixed in a state that it is arranged at equal intervals every mm. Here, each shelf 156 has a central portion as shown in the drawing.
(In other words, the flaps of the palette p placed on each shelf 156 are
In the third notch portion 38C formed in the center of the lunge portion 38
A notch portion 158 is formed in the facing portion).
That is, the cutout portion 158 is pulled out to the drawer portion 154.
Opening mechanism to be described later for opening the lid 40 of the pallet p
The lifting arm 160 of 170 (shown in FIG. 15) is inserted.
Is formed for. On the other hand, on the pair of columns 144b; 144d on the opposite side in FIG.
In the sandwiched part, with it extending along the vertical direction,
The space is defined. With it protruding into this space,
The projecting piece 162 is integrally formed on the elevating frame 152 described above.
There is. In addition, the upper ends of the pair of columns 144c and 144d on the opposite side are connected to each other.
The elevating frame 152 described above is attached to the connecting frame 84 portion.
Servo mode for moving up and down along the guide member 148.
Ta M_S1Is provided. This servo motor M_S1Up and down
It has a rotating shaft extending along the direction.
Is rotatably disposed between both columns 144c and 144d, and
To drive the ball screw 164 extending along the direction.
It is connected to the. On the other hand, the middle of this ball screw 164
The part is screwed to the above-mentioned protruding piece 162. in this way
Servo motor M_S1The rotation of the rotation axis of the
The screw 164 is driven to rotate, and the lifting frame 152 moves up and down.
Will be done. It should be noted that the vertical movement of the lifting platform 152 is as described above.
The feed amount is an integer multiple of 30 mm, which is the pitch where the shelf board 156 is installed.
Is set to be set. This servo motor M_S1The rotation position of this
The encoder for detecting the height position of the elevating frame
Da 94 is attached. With the above configuration, the lifting frame 15
2 is one that can move up and down to any height position
is there. Structure of Drawer Section Next, referring to FIG. 14, the structure of the above-mentioned drawer section 154 will be described.
Explain the success. This drawer portion 154 is used for assembly in the robot 12.
The pallet p containing the part x is received from the elevating frame 152.
It is provided for holding, and basically, soil not shown
A drawer base 168 fixed at a predetermined height from the base,
A lid opening mechanism 170 (first
Shown in Figure 15. ) Pallet p with the lid 40 removed by
And a loading / unloading mechanism 172 for loading / unloading the
ing. This drawer base 168 is a support rod 144 on the robot 12 side.
a pair of support stays 174 fixed to a and 144c, respectively.
It is fixed horizontally. This drawer 168
At the end of the robot 12 side,
Position of the pallet p when the tip of the
Is attached to the stopper 176 which defines Also this
Both sides of the drawer base 168 are along the conveyance direction d.
Thus, a pair of slide guides 178 are provided. still,
The upper end surface of these slide guides 178, that is, the slide support
The holding surface is the lifting frame 152 that is stopped during intermittent feeding.
Set to align horizontally with each shelf 156 of
Has been done. It should be noted that the slide guide 178 and the horizontal
A pallet supported by the shelf 156 in the directionally aligned state.
p is defined as a pallet in the drawer standby position.
It In addition, the above-mentioned loading / unloading mechanism 172 is provided on both sides of the drawer base 168.
The drawers 168 of the drawer base 168 are arranged symmetrically on each side.
Provided on the side edge so as to extend along the transport direction d.
Guide members 180 and slidably attached to each guide member 180.
Attached sliding member 182 and fixed to the upper surface of each sliding member 182
And a support plate 184 that is formed. On each support plate 184,
The flap of the p-pallet p at the pull-out standby position of the elevating frame 152.
Engageable with the first notch 38a formed in the flange 38
The hook 186 made in the direction is perpendicular to the conveying direction d.
It is provided so that it can move back and forth along the way. On the other hand, on the support plate 184, it is located outside the hook 186.
Air conditioner to drive the hook 186 back and forth
Linda C_S1Is attached. This air cylinder C
_S1Pistons are connected to the corresponding hooks 186.
Air cylinder C_S1By supplying high pressure air to
It will be pushed out to the position where it engages with the notch 38a.
It is set. Also, at the end of each side edge of the drawer base 168 on the robot 12 side.
The drive roller 188 is rotatably fixed to the shaft.
The idle roller 190 rotates at the end on the elevator 26 side.
The shaft is freely fixed. Drive roller 188 on each side edge
The endless belt 192 is wound around the idle roller 190 and the idle roller 190.
This is being rotated, and by the rotation drive of the drive roller 188,
The endless belt 192 is driven to run.
The drive rollers 188 on both side edges are connected via a connecting shaft 194.
Are connected to each other so as to rotate integrally. Here, the support plate 184 at each side edge has a corresponding end.
The endless belt 192 is attached to the endless belt 192.
Along the transport direction d along the drawer 168.
Will be reciprocated. In addition, the drive roller 188
A follower roller 196 coaxial with this is fixed. one
Direction, below the center of the side edge of the drawer 168,
Servo motor M via stay 198_S2Is attached
It This servo motor M_S2The drive shaft of the drive roller 202
Are fixed coaxially. And this drive roller 202
And the driven roller 196 described above, the endless belt 2
04 is wound. With the above configuration, this servo motor M_S2Is rotating
By driving, the drive rollers 188 and 202 are rotationally driven.
Accordingly, the endless belt 192 is driven to travel,
Therefore, the hook 186 is reciprocated along the transport direction d.
Becomes Structure of Lid Opening Mechanism Next, referring to FIGS. 15 and 16, the lid opening mechanism 170 will be described.
Will be described. This lid opening mechanism 170 includes a lifting frame 152.
Inside, the pallet p at the pull-out standby position
Movement that is pulled out to the feeding position via the loading / unloading mechanism 172
Prior to the work, the lid 40 covered on the pallet p is moved upward.
Lift and pull the drawer position on the drawer base 194
Only the let p, in other words, the inside of the robot 12
The pallet is set so that the stored parts x can be taken out.
The boot p is provided to allow it to be pulled out.
It Here, as shown in FIG. 15, this lid opening mechanism 170
Is the elevator of the pair of columns 144a, 144c on the robot 12 side.
Air cylinder C attached to the side of the_S2When,
This air cylinder C_S2Attached to the tip of piston 206 of
And a lifting arm 160. This Air Siri
C_S2Is the sliding direction of the piston 206,
In the plane orthogonal to d, only 45 degrees from the horizontal direction
Mounted with a tilt so that it rises toward the lifting frame 152
Has been. In addition, the lifter attached to the tip of this piston 206
The arm 160 is fixed to the piston 206, and the piston 206 extends.
A main body 160a extending along the exit direction, and the main body 160a
Is integrally formed at the tip of the
At the outer part of the upper surface 160b,
It is composed of 160c and. Where this air cylinder C_S2Two of high pressure air
It has input ends 208a and 208b, and one input end 208a has a high pressure
When air is supplied, the piston 206 is pulled in and driven.
The end of the lifting arm 160 away from the lid 40.
It is biased to the insertion position and the high voltage is applied to the other input end 208b.
Pushes the piston 206 out when air is supplied
Then, the tip of the lifting arm 160 engages with the lid 40.
It is configured to be biased to the projecting position. The air cylinder C configured in this way_S2Position of
Position, that is, the height position, is the lifting position in the pushing position.
The upper surface 160b at the end of the arm 160 is in the pull-out standby position.
Pass through the third cutout 38c of the flange 38 of the pallet p.
To engage with the lid 40 that covers this from below.
It is set to be able to. Operation of Lid Opening Mechanism In the lid opening mechanism 170 thus configured,
It is brought to the drawer standby position according to the vertical movement of the descending frame 152.
The pallet p that has been
When it is detected that the tool p has reached, the lid opening mechanism 17
The operation of 0 is started. That is, air cylinders C on both sides_S2
High pressure air is supplied to the second input end of the
206 is pushed out diagonally upward. As a result, the lifts connected to the tips of the pistons 206, respectively.
The tip of the bending arm 160 is
The third flange formed in the center of the corresponding flange portion 38 of the top p.
Pass through each of the notches 38c and
The top surface 160b of the tip has both side edges of the lid 40 from below.
Will be raised. In this way, as shown in FIG.
In addition, the lid 40 is a pallet p at the drawer standby position.
, They are biased to a state of being separated upwards.
The dot p is ready to be drawn to the drawing position. On the other hand, the smell of the pallet p pulled out to the pull-out position
Then, the operation of taking out the part x by the robot 12 is completed.
And this pallet p is again in this drawer standby position.
It will be returned, but at the time of this return, the air cylinder
C_S2The high pressure air is supplied to the first input end.
Be done. In this way, the lifting arm 160
It is pushed down to one side, and in the middle of this pushing down operation,
The lid 40 is placed on the pallet p returned to the drawer standby position.
The pallet p will be covered so as to cover the surface.
In this way, a series of lid opening operations is completed. Operation of drawer part As described above, the pallet with the lid 40 removed by the lid opening mechanism 170
Pull out the p from the pull-out standby position to the pull-out position.
Then pull it back to its original drawer standby position.
The operation of taking in and out in the bending portion 154 will be described below. First, in the initial state, the hook 186 is the servo mode.
Ta M_S2Is driven to move in the direction opposite to the transport direction d.
And the flange of the pallet p in the drawer standby position
Brought to a position engageable with the first cutout 38a of the portion 38
Has been done. In this state, air cylinder C_S1Is
The hook 186 is set in the retracted state. From such an initial state, the pushing-up operation of the lid 40 starts
At the same time, the air cylinder C_S1Is working,
186 is the first cut of the pallet p in the drawer standby position.
It engages with the recess 38a. After this, the lifting movement of the lid 40
Servo motor M as the work is completed_S2Is the opposite direction from the previous time
As a result, the hook 186 moves in the conveying direction d.
Move along. That is, this hook 186 is engaged
The pallet p in the pull-out standby position is moved from the lifting frame 152.
It will be pulled out on the drawer stand 168. Incidentally, this
The pallet p pulled out is a pair of slide guides 178.
Will slide on. While sliding on the slide guide 178 in this way,
The pallet p pulled out along the sending direction d is
Stops by contacting the stopper 176, and the servo motor M_S2
Is also stopped. In this way, the pallet p is
It is held in the pull-out position. After this, use the robot 12 described later to
Take out the part x from the pallet p brought to
When the receiving work is completed, the service is
BOMOTOR M_S2Is driven to rotate in the opposite direction again, and the hook 186
Is moved in the direction opposite to the transport direction d. Like this
Then, the pallet p is put back in again toward the elevating frame 152.
Will be done. And the pallet p is completely raised and lowered.
Servo motor M_S2Drive stops
The pallet p is held in the elevating frame 152.
Become. After this, the cover 40 of the cover opening mechanism 170 described above is covered.
The setting operation is executed, and a series of putting in and out operations are completed. << Explanation of Robot >> Next, referring to FIG. 1 and FIG.
Parts supply system equipped with 22, elevator 26, stocker 24
A part 14 is supplied from the system 14 to assemble a predetermined product.
The configuration of the bot 12 will be schematically described. Structure of Robot As shown in FIG. 2, this robot 12 is
With the part located below the drawer 154 included,
An assembly stage 210 arranged horizontally is provided. this
A pair of mounts 212 are erected on one side of the assembly stage 210.
The robot 12 has X-axis (transport
The X-axis robot that defines the axis extending in the direction d.
The arm 214 is bridged. Also, this X-axis robot
On the arm 214, the Y-axis of the robot 12 (in the transport direction d
Y-axis robot controller that defines the axis extending in the orthogonal direction)
One end of the arm 216 is movably supported along the X-axis direction.
Has been. In addition, the supply system side of the Y-axis robot arm 216
On the side, the robot 12 Z-axis (extends along the vertical direction
Equipped with a robot arm 218 that defines the
It The robot arm 218 moves vertically.
It is possible to move along the Y-axis and rotate.
It is configured to be transferable. That is, the Y-axis robot arm 214 is mounted on the X-axis robot arm 214.
Move the arm 216 along the X-axis direction (transport direction d).
Servo motor for M_R1Is provided. Also, the Y axis
On the robot arm 216, place the robot hand 218 in the Y-axis direction.
Direction (direction orthogonal to the transport direction d)
Servo motor M_R2And along the Z-axis direction (vertical direction)
Servo motor M for moving_R3And Robot Tore
Servomotor M for rotating the 218_R4And are arranged
ing. Here, on the lower surface of this robot hand 218,
Product x₁， X₂， X₃The finger 220 corresponding to the ...
It is attached. This finger 220 has corresponding parts
x is configured to grip x and the remaining parts x₁，
x₂， X₃The other finger 220 that supports ... is an X-axis robot
Installed in the fin gas station 222 provided on the arm 214.
It is housed freely. The above-mentioned assembly stage
The part x gripped by the finger 220 is assembled on the 210.
An assembling table 224 is provided. Also, the input described above
The device 18 is adjacent to the side of one of the mounts 212. Robot operation Use the part x in the robot 12 configured as above.
The assembling operation of the product will be described. First, in the initial state, the robot hand 218 is pulled
It is positioned above the projecting portion 154. This state
The required parts x according to the specified assembly sequence.
Pulled pallet p from stocker 24 to pulling position
As it is taken out, the pallet p is positioned at the pull-out position.
Servo motor M_R3
Is driven to rotate, lowers the robot hand 218, and
The gripping operation of the component x by the ganger 220 is executed. That
Then, when the gripping operation of the part x is completed, the servo motor M_R3
Drives the robot hand in the opposite direction to raise the robot hand 218.
Let the servo motor M_R1， M_R2Rotate and drive as needed to assemble
It is moved to the table 224. And again the servo motor M_R3To drive the robot
Lower the hand 218 and place it on the assembly stand 224.
Perform the assembly operation of x. When this assembly operation is completed,
The gripping state of the part x by the robot finger 220 is released.
Servo motor M_R3Rotates in the opposite direction,
Raise Tohand 218. After this, the servo motor M_R1，
M_R2Is driven to rotate, and the robot is moved to the initial position described above.
The hand 218 is moved back. In this way, one
A series of assembling operations are completed when attention is paid to the part x.
It In addition, while such a series of assembly operations are being executed,
The robot hand 218 grips the component x.
Finished supplying the pallet p, that is, the part x to the robot 12.
The robot hand 218 palletizes the completed pallet p.
From the upper position to the assembly position, and again, this pallet p
Before returning to the upper position of the
And a p-pallet containing the necessary parts x
The inserting operation is executed. Here, one part x in the robot 12 described above is assembled.
The time required to stand is 0 for the descent operation to the pallet p.
3 seconds, 0.2 seconds for gripping part x, rising from pallet p
0.3 seconds to move, 0.5 seconds to move to the top of the assembly stand 224
0.3 seconds to descend to stand 224, assembly operation on assembly table 224
For 0.2 seconds, 0.3 seconds for ascending motion from the assembly table 224, and
It takes 0.5 seconds to move the pallet p upward.
Therefore, it is set to 2.6 seconds in total. The operation of putting in and out the pallet p is performed by the robot 12 described above.
Robot hand 218 is pallet p
From above the pallet p after being lifted from
Must be done before it is returned to this upper position again
Absent. In other words, the robot hand 218 is the palette p.
Move down from the standby position above and place it on the pallet p.
Grip the part x and raise it to a position above the pallet p.
Until that time, the operation of putting in and out the pallet p is prohibited,
At times other than this, the pallet p should be put in and taken out.
I have to. Therefore, it is permissible for the pallet to be put in and taken out.
The maximum time allowed is 0.5 + 0.3 + 0.2 + 0.3 + 0.5 = 1.8 seconds. In other words, this
The operation of putting in and out the pallet p is completed within 1.8 seconds.
For example, without stopping the assembly operation in the robot 12,
The supply operation of the component x of 1 will be achieved. others
Therefore, the stocker 24 described above has a
The movement of the letter p is performed so that the movement of the letter p is executed.
The time is set. << System Operation >> How to Control the Operation of the FAC System of this Embodiment
Will be described. <Structure of control unit> Fig. 18 shows a control unit for controlling the FAC system of the embodiment.
Figure 16 shows the module configuration of Fig. 16 (Fig. 2). As mentioned above
In addition, this FAC system is equipped with robots, stockers and elevators.
And buffer are the main components. Above these configurations
The element is mechanically modularized as described above.
Along with that, it is also modularized in terms of control. That is,
The control unit 16 contains a micro controller that controls the robot.
Microprocessors that control the roseboard and stocker
Board for controlling the elevator and elevator
A microprocessor board that controls the controller and buffer
I have four microprocessor boards,
The icroprocessor board is a well-known multi-bus interface.
It is connected by the source. 4 microprocessor boards
Is a high-level management microprocessor board
By this, system management is performed. Management micro above
The input / output device 18 shown in FIG.
This common personal computer
From the input / output device 18 that uses the NAL computer,
System assembly environment (eg, parts contained within a pallet)
Enter the product specification, process order, etc.). As shown in Fig. 18, the inside of the control unit 16
The fact that each controlled object is modularized means that this FAC system
The system considers the conditions of its installation, such as the environment and restrictions.
Considering that you can choose the above module as an option.
In addition, the input / output device 18
You can freely change settings such as processes by inputting from
As the name implies, this FAC system is "flexible.
To reorganize a "rich" system environment
Is. This is the basic configuration of the FAC system described above.
Of the control unit program, and
Modifications of various device configurations that evolved from the main configuration,
It will be obvious from the explanation of the modified ram.
Will. <Input of assembly environment> The technical concept of this FAC system is not limited to manufacturing,
Ultimately, a group of multiple items prepared in advance
(From each item group includes only items of the same type)
According to the predetermined order that was decided on
Select one of the selected items and select a point
It is to "supply" toward. And above
One of the above from a group of multiple items prepared in advance
When the goods are supplied to
To do. So, how is the technical idea of this FAC system?
For this group of products, it is efficient and
"Supply" new goods without stopping supply for the first time
It is summarized in the point that The technical idea of this FAC system
The one applied to product assembly is the FA described in detail below.
It is an automatic assembly by a robot in the narrow sense of C,
In this narrowly defined FAC system, "supply of goods" is the ultimate
Corresponds to the "supply of goods" to robots by
Supply of vehicles, elevators (and even unmanned vehicles,
(Including unmanned warehouses, etc.)
Equivalent to supply. So, in this narrow sense, the FAC system
The "assembling environment" in the system will be described below. 19A to 19C show display screens of the input / output device 18.
This display screen allows the operator to use various keyboards.
It is a screen for entering and changing the assembly environment,
For displaying the current control status as the control transitions
It is also a screen. The assembly environment of this FAC system is, for example, pallet information.
That is, for a certain part, its part name, its part
The shelf position S in the stocker of the pallet for storing the goods,
The total number T of the parts that can be stored in the let, the pallet
Thickness H, the parts are assembled by Robot and finished into products
The program to carry on is designated as P, the designated place on the pallet.
Bar code B attached to the place
With the number F of the finger attached to the hand of the bot
is there. In this FAC system, the standards shown in Fig. 3 are used.
It uses size pallets. Therefore parts are decided
For example, the assembly program P for the part (for example, screw tightening
Etc.), the standard of the pallet that houses the parts has been decided.
I will The number of pallets that can be accommodated in the pallet
T, the thickness H of the pallet, etc. depending on the height of the parts are determined.
That is. The parts table shown in Fig. 19A is operated independently of the process order.
While the author looks at the CRT display screen of the I / O device 18,
And the total number T of pallets containing the parts,
Thickness H of the boot, bar code B of the part, and a set of the part
Robot finger number F and program required to stand
The ram number P is entered. Other, process order
The number G and the stocker shelf position S are entered in the process order table described later.
At the moment, the management module program (Fig. 18)
The input is automatically displayed instead of the operator, and the remaining number Z
Changes as the process progresses,
For Z, the above management module program replaces the operator.
The latest updated remaining number is displayed. Parts TE
The index number IDX is assigned to each part during the cable input process.
Assigned. Once assigned to IDX, this FAC system
In the process order input process (Fig. 19B),
Since it is possible to specify the item, it is easier than entering the part name directly
Become. In the specific example shown in FIG. 19A, the component index IDX is
For the "1" pallet, the part name is "Bis" and the pallet is
38 storages, pallet thickness 50mm, program number
Is entered as "100" and the part index IDX is "2"
For the pallet, the part name is "Nutto"
Delivered 13 pieces, pallet thickness 25 mm, program number "20"
"0" is entered and the part index IDX is "3".
The part name is "Washashia", and the storage item inside the pallet
Number 54, pallet thickness 100mm, program number is "300"
Input ... The parts of the assembly environment information entered by the operator above are determined.
If so, all will be decided uniquely. is there
The parts needed to assemble the product are usually pre-separated.
Therefore, it is, therefore, necessary to store the necessary parts.
Letts, programs, fingers, etc. are uniquely determined.
Therefore, this FAC system centrally manages multiple units at the same time.
From the computer system for production control of (Fig. 18),
These pieces of information may be given. To assemble parts into products, only information about parts
Not enough, it is important to assemble which parts in what order
It Therefore, the operator of this FAC system has various products.
When assembling, all parts necessary for each process are restored.
Entered in the process sequence table (Fig. 19B) on the CRT.
Ku. In the input process, the process order is 1,2,
3 ... is assigned, and the number is set as a variable G. each
The input to instruct which part to use in the process is the operation
By entering the part index IDX
It In addition, the process order table contains the parts that contain the parts.
Which shelf position S [G] of the stocker to place the let
Enter and enter. The need to enter this S [G] is
Required for points. That is, even if the process is different, the same parts can be
It may be used, and the same parts are the same
Since it is stored in the
This is because a letter may be requested. Like this
Figure 19B shows a concrete example of the process sequence table input by
You Figure 19B: Assembling a specific product from multiple parts
Input table to enter the parts and process order required for
Shown. The FAC system consists of 64 steps from 1 to 64.
System can be defined. The operator follows the process sequence
While looking at the display of the parts table in Fig. 19A, the parts IDX and shelf
The position S [G] is input one after another. In process order table
The program number P and the part name of
It is something that goes. In this process order table, process number G
When the component index IDX is associated with
Cable (Fig. 19A) for process number G and its process
The pallets that can be entered are associated. In addition, the input of S [G] of the process order table input is 1 part / 1
Process / one shelf, that is, different processes for the same type of parts
If you want to use it in different locations, make sure that the shelves on which the pallets are placed are different.
If it is called, the process order should be the palette shelf order S [G].
Once the parts are decided, the thickness H of the pallet is controlled.
Since the program is known from the parts table, the operator
Even if you do not enter [G], the management program will switch to the operator.
Then, calculate the shelf position S [G] and enter it in the table.
You can Even if the same part is intentionally used in different processes
A place where the process order is arranged so that it can be taken out from the pallet on the same shelf.
In this case, the operator considers the pallet thickness H and
It becomes necessary to input [G]. Parts table
As in the case of entering
Since it is decided in advance by the production plan,
The process sequence that has been decided beforehand is based on the central production management computer.
From the data system to the FAC system via a communication line.
You may put in force. <Fluctuating Factors in Efficiency of Parts Supply> In the FAC system, the order of “supply of goods”
The process order, which is the standing order, is the most efficient in "supplying goods"
Have a big impact. Before the assembly environment of this FAC system
The proposal is 1 part / 1 process. Supply of parts, supply of parts
Factors that affect efficiency are pallet thickness H [G] and
And which pallet to place on which shelf position S [G]
is there. The pallet thickness H is the total number of pallets in the stocker.
Let's limit whether or not the shoes can be stored. This FAC
Stem is the number of pallets that can be stored in the maximum number of shelves in the stocker.
Assemble the product from the parts within the range of. Therefore, Palais
Limit on the number of pallets depending on the thickness H
If you are assembling one product,
If parts are used, are the same parts the same pallet?
It is necessary to suppress the total number of pallets by taking them out.
The point is to be pressed. Parts in the same pallet in multiple different processes
When you take out the item, the vertical movement of the stocker
Becomes a dam, and slows down the supply rate of the stock robot to the robot
Line up. In this way, the process sequence G, the pallet thickness H,
The shelf position S [G] has a great relation to efficiency improvement.
Therefore, consider these requirements when creating the process order table.
It needs to be carefully planned. Also, the number T accommodated
[G] is also decided for each part, so according to the assembly,
The frequency and order of occurrence of empty pallets are also affected,
Replacement, that is, efficient operation of elevator and buffer
Because it also affects. Figures 17A to 17E assume the same pallet thickness H.
And how efficiently the total number T [G] of storage and the shelf position S [G] are
It will explain how it affects. Figure 17A shows
This is the simplest example, even if the parts are different, the pallet for each process
Have the same T [G], and
Placed on a shelf in process order (ie S [G]
It is the case). In this case, the pallet empties the parts.
It is the order of the process sequence and the movement of the stocker.
Kimo moves evenly upward. Next, A parts and B parts are required for assembly, and the assembly order is also
It is necessary to set AAB, and A parts are 100 in the pallet.
If it can store 50 pieces of B parts,
Suppose. FIG. 17B shows a step 123 in order from each pallet.
This is the case where the product AAB is taken out. In this case,
The movement of Totka moves orderly upward, and the pallet is exchanged.
Infrequently, the problem of requiring many pallets
Occurrence occurs. Figure 17C shows parts A on the same pallet in steps 1 and 2.
It is to use. In this case, move the stock
Tidy, palletized less frequently and needed
There is no waste of pallets. Assembling peculiarity, process order G, pallet
It is an ideal one that takes into consideration the component storage capacity T of the
It If the assembly order is ABA, set the process order and shelf position first.
If you do as shown in Figure 17D, the number of shelves will be wasted, but
The movement of Totka is tidy. When done as shown in Fig. 17E
There is no waste in the number of pallets, and pallets can be replaced continuously.
However, there is a strong vertical movement in the movement of the stocker.
It As mentioned above, specific examples are given to show the assembling order, the process order G, and the number of parts.
T [G] and shelf position S [G] are efficiency of supply and replenishment of parts
I explained how to affect. This FAC system
Analyzes the factors that affect the efficiency of these above factors.
In order to provide an optimal assembly order and parts supply plan,
There is no such assembly plan, the process sequence is once, the operator
Or, if it is decided by the production control computer,
It can be flexibly adapted to any process sequence and plan, and
Within the range of, the parts are most efficiently supplied to the robot, and
One is to supply parts to the stocker. Immediately
Then, the process sequence G, the shelf position S [G], etc. are as shown in FIG. 21A.
In addition, it is to make it variable and deal with it flexibly. For example, as shown in Fig. 17A, the
Enter the process order table so that the placement order is the process order.
The purpose of the FAC system is
And how to prevent the robot from assembling.
To ensure that parts are efficiently supplied to the robot.
This is because the focus is on it. That is, the pallets in the stocker
The mounting order of the trays does not have to be in the order of the steps, for example, in the pallet.
Even if they are arranged in the order in which the parts of
good. However, the robot operation that is the main focus of this system
Control for supplying parts to the robot without disturbing the robot
The number of storage parts in the pallet varies depending on the parts.
Therefore, it is not always necessary to replace the pallet.
It is difficult to predict without following the placement order in the robot.
Flexibly respond to changes in the number of remaining parts due to component picking errors.
And the process sequence as shown in Fig. 19B.
Considering that the input is ergonomically suitable, etc.
In the embodiment, the mounting order of the pallets is the process order.
Therefore, the mounting order of the pallets in the stocker is arranged in the order of process.
Even if it is not, robots, stockers, electric
Program to ensure proper control of beta, etc.
It is easy to modify the basic configuration example and its
It is apparent from the description of the control of the modified configuration embodiment of
Will The stocker shelf 156 shown in FIG. 14 of the FAC system is
In this example, 20 stages are prepared in total, and from the top
1st stage, 2nd stage ... 20th stage. Shown in Figures 14 and 20
As you can see, the shelves are evenly spaced (about 30 mm).
It Therefore, three kinds of thickness (25mm, 50mm, 100mm)
When storing the boots in a stocker, for example, a 100 mm thick
The pallet occupies four shelves. Shown in Figure 19A
In the specific example, "Bis", which is IDX "1" in the first process
The pallet containing the is placed on the first shelf,
Two-step IDX "3" "Washashia" containing pallets
Is placed on the third shelf, and the IDX of the third process
The 7th pallet with "2" is "Nutto".
Will be placed on the shelf board. Which pallet is
Mounted on the shelf (ie, stocker position number S in Fig. 19A)
As described above, the thickness of each pallet is set.
Management program to consider and determine
The person who made the decision in consideration of efficiency enters the table shown in FIG. 19A.
Display in sequence. In this way, the operator can
After entering the minimum required information, the management program
In the parts table, process order, stocker mounting number S, etc.
Since it calculates and displays, it creates a complicated and huge assembly environment.
It is extremely easy to set up, and you can change it
Since only input information is changed, process changes, parts
Can flexibly respond to changes. <Other display elements> Figure 19C shows icons (pictures) on the display screen of the input / output device.
Character key). "Continuous" means normal continuous assembly / parts
This key is used to instruct the supply operation mode.
Button is pressed, the management microprocessor (Fig. 18)
The SINGLE flag in the memory (not shown) is set to "0". Continuous
After setting the operation mode, press the "Start" key.
Then, the "stop" key is pressed or an error occurs.
The system will continuously operate until it stops.
Operate. "Single" is a single operation mode.
Button is pressed, the SINGLE flag is set to "1".
Each time you press the "Start" key, a single action (each
Depending on the gyr, the range of its single motion is different)
To be executed. <Variables used for control> Figure 21A shows the variables used by the microprocessor of each module.
Common variables commonly used (accessible) (global
Variables). These variables are arranged in a two-dimensional array.
They are listed and indexed by the argument G (process number).
The interchange flag I [G] indicates the process sequence G (that is, the stocker
That the G-th shelf from the top) was emptied
It is a flag that indicates. Many of the other common variables are 19A
The explanation is omitted because it is the same as that shown in Fig. 19B.
It Figure 21B shows the transfer from the robot to the elevator and buffer.
Instructions for replacement pallets to be exchanged (remaining number of pallets)
When the number of Z becomes one, go out to the elevator and the buffer.
To be queued)
Process number (E₁， E₂， D₁， D₂) Is the evacuation area. First
As can be seen from Fig. 21B, the number of queuing is 2.
Two modules are used for each module used in this embodiment.
Considering the machine speed (for example, motor speed) of
This is because even if it is evil, three or more queuing will not occur. Mochiro
The speed actually varies depending on the device used.
Therefore, the number of queuing may be increased to three or more. still,
How this queuing is used in this embodiment will be described later.
I will describe. <Up-and-down movement range of each module> The range in which each module can move up and down using Fig. 22A
Will be explained. For the buffer, load the unmanned vehicle at a position 900 mm above the floor.
The buffer platform 52 receives the raised pallet. First
The separating claw of the
The stop position (called "temporary storage position") is 1410m above the floor
m, the position where the second separation claw hooks the pallet to be separated
(Called "separation position") is 1300 mm above the floor. However,
The above temporary storage position and separation position are nominal positions,
As mentioned above, there is a tolerance in the thickness of the pallet.
The vertical movement amount control of the buffer considering the error of
(Fig. 25B). Down of the buffer stand 52
The maximum descent position is 500 mm above the floor.
It is the starting point of teaching for movement control. Buffer stand
The maximum number of pallets that can be loaded is multiple pallets.
With it raised, the buffer stand 52 is raised to the temporary storage position.
The uppermost pallet should not exceed 2225mm above the floor when it rises.
Therefore, it is set in consideration of the thickness of each pallet. The installation position of the carry-out mechanism 76 is 350 mm above the floor. I mentioned above
Sea turtle 52 is lowered to 500mm above the floor at the lowest position.
However, this buffer causes an empty pallet in the transport mechanism 76.
Does not hinder the transport of empty pallets when they are fully loaded
Thus, the buffer table rises during transportation. The vertical movement range of the elevator will be described. elevator
The highest rising position is the separation position and the second separation claw is the separation target.
The pallet full of parts and the slide guide 122
This is the matching position (“pallet take-out position”).
Set the pallet take-out position of the elevator
Set as the origin. With this setting, the stroke of the elevator
The range is 800 mm. The movement range of the stocker will be described. Stocks are mentioned above
As you can see, there are 20 shelves with 30mm intervals, so
The top and bottom width of the mosquito is 600 (= 30 x 20) mm. First stage
When the pallet on the shelf is pulled out to the drawer 154
The 20th shelf position is the lowest descent position.
As the starting point for teaching, set 300 mm above the floor. The origin of vertical movement of robot teaching is on the floor 1225.
(900 + 175 + 150) mm, robot hand fin
Gar picks one piece from the pallet on drawer 154.
Grasp and move upward, then move horizontally to the assembly position.
Move and descend. <Outline of pallet replacement operation> Here, referring to Fig. 22B, one pallet full of parts is loaded.
The boots are removed from the buffer by the elevator,
In addition, see how the empty pallet in the stocker is replaced.
explain. If the number of parts in the pallet is reduced to one, the robot will
A prepares the pallet and separation, and the elevator separates
Instruct them to move to the table. Then, according to Batuhua
Pallet separated at the separation position (this position is fixed)
The tut waits for it to be picked up by the elevator. Ele
Beta moves to the separation position (takeout position),
Take the pallet from the buffer into the elevator body
And this elevator has its slide guide 134
Will be empty in Totka (or already empty)
Pallet (usually on the drawer 154 to the robot)
It is located one above the pallet being pulled out) and
It descends to the aligning position and waits. This waiting position is
Depending on the process order and the shelf position S [G], the pallet is
This waiting position is the 22B
As shown, the position is represented by the solid line 230. Hiding
To complete the replacement of the empty elevator pallets.
It The pallet with the remaining number of parts is 1 is pulled again from the inside of the stocker.
This last one robot is pulled out to the discharge part 154
When the tray is gripped, the remaining number in the pallet becomes "0". You
Then, exchange the pallet between the stocker and the elevator.
It starts. That is, the elevator is in the standby position state 23
At 0, first the empty pallet is pulled into the lower part of the elevator.
After that, the elevator is lowered by one step and the pallet is full of parts.
Push the tray to the empty stocker shelf. This push state position
It is shown by the dashed line 232 in FIG. 22B. Then the elevator goes further down
Then, the empty pallets are piled up on the transport mechanism 76. like this
Then, the replacement of empty pallets is completed. <Detailed explanation of control of each module> Thus, the outline operation of each module of the FAC system is summarized.
Once you have grasped it, the detailed control operation of each module is shown below.
Will be explained with reference to FIG. 23A and the following figures. As mentioned above
In addition, this control program is used in the cases shown in Fig. 17A to Fig. 17E.
It has a structure that allows you to deal flexibly with
It's miscellaneous. Therefore, the explanation of each module operation described below
In general, the general configuration (assembly order, process order,
(The order in which the tools are placed)
Yule starts from a specific initial state and then
The process in which the state changes under the control of each module
Will be explained later. The initial state is: All the shelves in the stocker (that is, all 20 shelves) are the same.
The thickness of the pallet is placed on the pallet.
The numbers vary. : Processes also follow this shelf order, one process is one
Use only one part in the pallet. That is, the total number of processes
M is 20 steps, which is equal to the total number of shelves in Stocker. : In addition, there is a necessary spare pallet on the buffer stand 52.
It is also piled up in advance. For the sake of convenience, the configuration with such an initial state has been simplified.
Configuration example ”. Is this "simplified configuration example"?
The expected behavior of the module starting from is: Robot is a set of parts for each pallet
Attaching work: ： The stocker is in order from the 1st shelf to the 20th shelf.
While pulling up, pull out the pallet to the drawer section 154.
Then pull out the 20th pallet and the whole stock
Hangs down and pulls out the first shelf pallet again
You : For elevators and buffers,
The number of pallets is 1 or 0.
Therefore, it is not always necessary to put empty pallets in the stocker shelf order.
A request for replacement does not occur, and so on. Now, from the point where the robot starts the assembly work, I will explain
To start.

[Control of robots and stockers]

The robot is controlled according to the program shown in the flow chart of FIGS. 23A and 23B until the remaining number becomes 1. The control of the stocker is performed according to the program shown in the flow chart of FIGS. 24A and 24B. These two modules will be explained together because the elevators, buffers, etc. do not operate until the remaining number Z of parts of any pallet in the stocker reaches "1". As described above, the management microprocessor program activates the program of each module when the "start" button of the input / output device 18 is pressed. The microprocessor of the robot module initializes the process number argument G to "1" at step S8. The fact that the process number G is "1" means that the robot requests the part of the process number 1, that is, the stocker's S [1] of the stocker is requested.
Means to request the second shelf pallet. At step S10, the state of the aforementioned SINGLE flag (Fig. 19C) is checked. If in SINGLE mode, step S10 to step S
Proceed to step 12 and execute the following control to perform a single operation only when the "start" key is pressed. In the following description, continuous operation will be mainly described. Start the stocker at step S14. Commands for such other modules are issued via the above-mentioned multi-bus. After activating the stocker, the robot waits at step S16 for the stocker with the number S [G] to pull out the pallet to the drawer portion 154 (that is, to complete the pallet preparation). On the other hand, in the stocker waiting for the activation from the robot at step S60, when this activation is performed, the process proceeds to step S62 to check whether any pallet has already been pulled out on the drawer portion 154. This confirmation is the drawer
It is confirmed by a sensor (not shown) on 154. Such confirmation is for confirmation when the stocker is restarted after being stopped for some reason, and for the case of the SINGLE mode. Therefore, if the pallet has already been pulled out to the pull-out portion 154, the process proceeds to step S64, where the pallet being pulled out (which pallet is known by the variable L) is required by the robot. G =
It is determined whether the pallet is 1. If it is the robot requesting pallet, it is not necessary to pull out the pallet, so the process proceeds to step S84, where the robot is
Sends a notification that the pallet is ready via multibus. At step S64, if the pallet that has already been pulled out is not the pallet of the robot request process G (shelf S [G] th), the pallet is returned to the stocker at step S66. Since how the air cylinder C _S4 and the motor M _S2 operate to return to the stocker has been described above, the description thereof will be omitted. It is determined in step S62 that the pallet has not been pulled out, or the pallet that has already been pulled out is in step S66.
If it is returned in step S68, the process proceeds to step S68, and the pallet which the robot requests is stored in the variable L. The variable G, which indicates the pallet requested by the robot, is stored in L by the stocker so that the robot and the stocker in this FAC system can operate in parallel independently, although they are sometimes synchronized. This is because. In step S70, the stocker is moved up and down to calculate the rotation amount of the motor M _S1 necessary for aligning the pallet requested by the robot with the drawer portion 154. The position from the origin of each stocker of the stocker (300 mm above the floor from Fig. 22A) is taught by the front as shown in Fig. 20. Therefore, the process G (= L =
Since the pallet of 1) is contained in the stocker shelf number S [L] indexed by the number of L, the variable S shown in FIG.
From [L], index S [L] with L = 1, find the teaching position TP [S [L]] with that value as an argument from the teaching point in FIG. 20, and find that value in the servo motor. The transfer amount is STP. That is, STP = TP [S [L]]. Then, in step S72, stocker movement is performed according to the movement amount. When the servo motor M _S1 is rotated to the STP position, the rack containing the pallet requested by the robot reaches the pull-out position. The CH flag in step S74 is a flag indicating that the replacement request from the robot has already been made. In the case of G = L = 1, it is reset because the replacement required state has not yet occurred. S78
Proceed to. At steps S78 and S80, the lid of the pallet is opened, and at step S82, the pallet with the lid opened is pulled out to the drawer portion 154 by the control described above. When the pallet comes into contact with the stopper 176 of the drawer section 154, the pallet is pulled out of the drawer section 154 with respect to the robot at step S84.
Notify you are ready above. Then, the stocker waits for a predetermined notification by the robot. Now, when the robot waiting for the completion of preparations from the stocker at step S16 (Fig. 23A) receives the completion notice, the robot proceeds to step S18 to pick up the parts in the pallet placed on the drawer 154. To move the part above
Then descend and try to pick the part. Next, in step S20, the remaining number Z [G] of the parts having the process number G is decreased by one. At step S22, it is checked whether the remaining number Z has become one. If the remaining quantity Z [G] is still 1 or more, in step S28, check whether the robot finger can pick the part. The case where the component cannot be normally picked includes the case where the finger fails to grip the component and the case where the component is not inserted into the relevant place in the pallet. In such a case, step S1 is performed until the component can be properly gripped or the remaining number is one.
At 8, try pick again. When it is confirmed that the parts are picked normally, in step S32, the stocker is notified of the completion of picking. When receiving notifications that the robot is operating and the pick is completed,
On the stocker side, step S86 → step S88 → step
Proceeding to S90, the pallet on the drawer 154 is returned to the stocker. Further, the CH flag is checked in step S92.
This flag is still resetting, so step
Proceed to S100. I [L] at step S100 is a flag indicating that the replacement request is issued from the robot because the remaining number Z of the L-th pallet detected by the robot as described above becomes zero. Has reset this flag. Therefore, the process proceeds to step S118 and L is incremented by 1, that is, L = L + 1. From step S118 to step S126, the stocker pulls out the next pallet (part) while the robot is assembling the part picked at step S18 (Fig. 23A).
This is because 4 is prepared. That is, step S120
Then, it is checked whether or not the current step is the final step. If it is not the final step (in the above-mentioned "simplified configuration example, the total number of steps is 20, when L = 20"), the process proceeds to step S126. Then, the robot calculates the amount by which the robot moves the rack of the next pallet (L has already been incremented at step S118) next to the pallet on which the parts are picked up to the position of the drawer portion 154. Steps S128 and S130 are controls for moving the stocker each time the "start key" is pressed in the SINGLE mode. From step S130, return to step S72 in FIG. 24A, and set STP calculated in step S126 to motor M
Send to _S1 to align the next shelf with the drawer 154 position. The following control repeats the control described above. The above control is repeated until the remaining number Z [G] of any pallet becomes one. The stocker control program shown in FIG. 24B is based on the assumption of assembly that requires parts in all steps. But in practice, for example,
There may be a process that does not require parts, such as a finger replacement, and in such a case, the stocker shelf position (step
S126) is not necessary. Therefore, the control variables in the description (21A
(Fig., Etc.), set a flag to determine whether or not the process requires a part (or make the part index an alphabet), check the value of this flag before step S126, and If the process does not require
Instead of proceeding to step S126, the process may be returned to step S118 to advance one step. When the remaining number becomes one, the remaining number Z [G] of pallets on the shelf S [G] becomes 1 in a certain process G. That is, if one part is picked at step S18 from a pallet having two remaining parts, the remaining number becomes one, so the process proceeds from step S22 to step S24, and the process number G is changed to elevator and Save them in the process number variables E and D so that they can be used in the buffer control program. And step S
At 26, the buffer and elevator are instructed to begin preparations for the replacement pallet, as it will soon be empty. This replacement preparation instruction is stored in the aforementioned queuing area, and if the elevator and buffer are busy in the previous replacement preparation operation, the elevator and buffer take out this queue and start the replacement preparation operation. Even after instructing the buffer and elevator to replace, the robot continues the picking operation as long as it is notified in step S16 that the palette has been pulled out from the stocker to the pull-out portion 154 position. On the other hand, in the control of this embodiment, the stocker stops its movement because the robot detects that the remaining number Z of pallets becomes zero in a certain process G (= L), and that (By [L]) Stotka is notified,
The pallet for the next step G + 1 (= L + 1) is pulled out 15
When the robot picks up the G + 1 pallet part and the robot picks up the G + 1 pallet part, and the pallet with the remaining number of zero found in the previous process G has not been replaced (step S9
4). That is, the stocker waits until the replacement operation is completed. This is because there are parts left in the pallet of the step G + 1 subsequent to the step G in which the remaining quantity Z [G] becomes zero. In that case, the assembly of parts in the step (G + 1) by the robot and the step L (= G This is because the empty pallets can be replaced in parallel.

[Pallet replacement]

 * Pallet separation by buffer * Figure 25A shows the variables used in the buffer control program.
Indicates. That is, these variables are listed on the current buffer platform.
The number of the highest-level pallet that is placed, the barcode
Read data storage area B by the memory, and the
The height information of the let, the name of the part, and the like. Top level
The number of the letter stage is such that these variables are
As the elevator is taken out of the
The information of the retrieved pallet will be deleted.
This is to show which part of the variable of is currently valid. this
As described later, this information is provided by the FAC without human intervention.
The system must be installed in an unmanned warehouse through the production control computer.
Request a required pallet, and the pallet will cross the unmanned vehicle.
If it is passed to Hua, the system (management My
Cloprocessor's program) to give to Batuhua
To do. On the other hand, when manually stacking on the buffer stand 52
If it is, the above information is input from the input / output device 18. Now, the robot is ready to go to step S26 (Fig. 23A).
To instruct the buffer to prepare for replacement.
It Process number corresponding to the pallet required for this replacement preparation
No. is saved to variable D in the queue at step S24.
It The buffer receives this replacement preparation instruction at step S150.
If so, go to step S152 to change the pattern
Enter the part name (or part index IDX) of the let,
According to the process number D notified from the robot,
Search from the variable table. And this part name (part
IDX) in the table of Figure 25A,
The pallet with the largest number of pallets to be replaced.
To know Then, in step S154, this pallet
Find the distance from the buffer table 52 (let's call it l). this
Is the thickness of all pallets up to this stage pallet (first
(Known from the table in Figure 25A)
Know the distance (m) from the floor at the bottom of the current position of platform 52
From these m and l, the pallet to be replaced is
The moving distance until it is moved to the separation position is determined by step S156.
Then, it is calculated from {1410- (m + 1)} mm. In Step S158, this is the calculated travel distance.
Move the vertical buffer base 52 up and down. This travel distance is shown in Figure 7A.
Refer to to replace the pallet with the third one from the top.
It is well understood. In step S160, the sense state of the sensor 80 is checked. SE
If the sensor 80 is off, use the sensor S80 in step S162.
Raise the buffer stand 52 until is turned on. Step
If S160 is on and sensor 80 is on, check step S164.
Lower the sensor until it turns off. Such control
The reason why this is done in relation to the pallet thickness tolerance is already known.
Since it has been described in detail in relation to FIGS. 8A to 8E,
Is omitted. When the desired pallet reaches the separation position, for confirmation
The bar code reader 74 attached to the pallet.
-Read the code. This read data is read in step S168.
Compare R with B [D] in the variable table (Fig. 21A).
It If this comparison does not match, move to the separation position and
The pallet that came is the one above the pallet to be replaced.
Since it is a step, go to step S170 and go up one step.
Obtain the thickness of the pallet from the table in Fig. 25A and
At step S172, raise the buffer stand 52 by that amount, and
Move the let to the separating position. Step S174, Step
Check the bar code read again in step S176. Su
From step S168 or step S176 to step S178
Proceed to urge the first separating pawl 66, and in step S180,
Predetermined distance L₁(Distance over the maximum thickness of the pallet, No. 22A
In the example shown in the figure, lower the buffer table by 94 mm) and
In the state shown, press the second separating claw 68 with step S182.
Then, at step S184, a further predetermined distance L₂Only 7D
Separate the buffer as shown. And step
The completion of the buffer separation for the elevator at S186
Notify me and at step S188 the elevator is separated
Wait until the pallet is pulled into the elevator body. * Pallet withdrawal by elevator * The elevator replaces the empty pallet inside the stocker.
You don't have to work when you don't need it. And this
The replacement operation is always performed with the parts separated by the buffer.
Take the pallet with a lot of stuff into the elevator frame.
Work is needed first. Therefore, the elevator frame
Align the normal standby position of the
Position (the origin position of the elevator, which is also shown in Fig. 22A).
Then, it's time for a robot to prepare a new pallet.
Instructed by the other party, and immediately the separating operation on the buffer side
When it is completed, you can immediately move without the time required to move.
It is said that the loading of pallets into the lifting frame can be started.
There is a merit. Therefore, the elevator control of this embodiment
As shown in step S200 of Figure 26A, the elevator
Match the lifting frame standby position of the
ing. Now, independently of the movement of the buffer, the robot
In S26 (Fig. 23A), the elevator is
(Fig. 21B) is used to instruct the replacement preparation. This
No. G corresponding to the pallet required for preparation for replacement
Is saved to the variable E in the queue at step S24.
There is. When the elevator receives this replacement preparation instruction,
Proceed from steps 204 and 206 to step 206 by minutes
Wait for notification of completion of pallet separation at the separated position. As mentioned above, on the buffer side, it is separated by step S186.
Send the completion notice to the elevator side, and
In step S188, the elevator takes in the pallet.
I'm waiting for you. Therefore, the elevator that receives this notification is called S208.
The pallet is pulled out with. This withdrawal action
First, as detailed in connection with FIGS. 13A-13D,
Elevator motor M_E2Rotate in the A direction to
Move the hook 108 to the hooking position with the pallet, then
Air cylinder C_E1The hook 108 on the pallet.
, Then the motor M_E2Rotate in the B direction,
Take the pallet into the elevator frame from the buffer side.
It is a waste. Completed withdrawing the pallet from the buffer.
Then, at step S210, a notification to that effect is returned to the buffer.
You Then, the process proceeds to step S212 and the subsequent steps. * Combining upper and lower pallets by buffer * The notified buffer is from step S188 to step S190
Release the second separating claw 68 with, and press S192, L₁＋ L₂Raise the buffer table 52 by + H [D] and separate it up and down.
Combine the let groups and attach the first separating claw 66 with step S196.
Return, return to step S150, the next pallet from the robot.
Wait for the instruction to prepare. The robot in this step S150
Command standby position from step S192 (L₁＋ L₂+
H [D]) is not the raised position, but the origin position (22nd
It may be 500 mm above the floor in Figure A). This is a book
As in the example, the number of parts in the pallet depends on the pallet.
If the number of remaining pieces is 1,
Is random (if possible). * Elevator replacement standby position * Before explaining the movement control to the replacement position, replace
Explain how the position should be determined. Book
How can I stop the robot from working with the FAC system?
To supply new parts and change the assembly procedure.
The focus is on how to deal with it easily. This
How to decide the replacement position from the viewpoint
It is a big factor to decide. Now, in the above-mentioned “Simplified configuration example”, the robot
The pallet in which the parts have been clicked moves upward.
Consider that the stocking of the stocker is always upward.
Then, while the robot is using another pallet,
Efficiency is improved by replacing the pallet with the remaining number Z of zero.
27A, the drawer portion 154 is
When it is pulled out, the remaining number is 1
I'm going to give a buffer replacement preparation instruction to
When the remaining 1 pallet becomes 0, the next
Since it was when it was pulled out to the dispensing unit 154,
The pallet is moved upward and the pallet below is moved.
While being pulled out to the drawer section 154,
The most efficient way is to replace the blank and the palette
Is. That is, in Fig. 27A, the number of remaining pallets is 0.
While in the position shown, the elevator will load the pallet.
Please exchange it. So the elevator
If you move and descend by a distance of
Consider whether to reach the place. In FIG. 27A, the second separating claw 68 on the buffer side and the
The height position is aligned with the slide 122 of Beta.
This enables smooth withdrawal. 134 is the sky
Remove the pallet from the stocker's shelf and slide it.
It is a plate for moving the slide plate, and the distance between both slide plates is fixed
Is. Therefore, the elevator will remove the separated pallets.
The position of the slide plate 134 when retracted in the frame is on the floor
A fixed distance from (see Figure 22A). There,
Place the empty pallet on the slide plate 134.
To move so that the
It is easy to know the number S of the shelf on which
The distance to the teaching position on the shelf is
It is a moving distance. It should be noted that in FIG.
The pallet that the data is about to pull out and the remaining number of 0
Draw as if the pallets were about to be swapped
This is left as it is for convenience of explanation
So, in the "Simplified configuration example", the palette is changed from the buffer.
When you are about to be pulled out to the rebate, the remaining number is 0
One pallet is usually the residue that caused the replacement preparation instruction.
It should be one pallet. What if the process order and the shelf position of the pallet are different?
Or? In such a case, the process G changes to 1, 2, 3 ...
Then, the stacker moves up and down according to S [G].
In FIG. 27B, in such a general example, the process L (=
The case where the palette of G) is Z [G] = 1 is shown. You
Then, the elevator starts preparations for replacement with the buffer.
Then, at the separation position from the buffer, a new pallet is received.
Take and try to move to the elevator standby position. Now
At this time, the robot is already in the next process (L + 1).
Because I am requesting a
, The pallet of the process L + 1 is drawn out. This and
Mushroom process L The pallet is moved to the position shown in Fig. 27C.
It is moving. It should be noted here that the step G is
If you cycle from 1 to its maximum value, it will be 1 again in the same order.
Start from the same and follow the same order and change. That is, a certain service
Pallet (S
Placed on [L]), but in the next step L + 1, S + [L +
1] When the pallet of [1] is pulled out to the drawer portion 154,
At that time, the existing position is the next cycle after the process completes one cycle.
Then, the process L was cycled again, and the remaining number was 1.
The number of remaining pallets becomes zero, and S in step L + 1
The [L + 1] pallet is pulled out to the drawer 154.
It is equal to the position of the pallet of the process L when it is present. Obey
The remaining number becomes 0 when the remaining number becomes 1.
Predicting the replacement standby position in case of
It does not shield. From this point of view, the calculation of the replacement standby position is shown in Fig. 27D.
Will be explained. The left side of Figure 27D shows the
Indicates the initial position, that is, the first shelf is in the drawer position.
The distance t from the floor of the 20th shelf when₀Figure 22A
It is also 300mm. Palette of shelf S [L] in a certain process L
The remaining number is one, and in the process L + 1, S [L +
1] When the pallet of [1] is pulled out to the drawer portion 154,
Today, the pallet on the shelf that is in process L is as shown in Fig. 27D.
Have moved to the place. See this from the elevator side
For example, as shown in FIG. 27D, the shelf of shelf S [E + 1] is pulled.
The position of the pallet on the shelf S [E] when it is in the extended position
It is equivalent to calculating. That is, from FIG. 27D,
At the replacement standby position, the distance between shelves is 30 mm and the total number of shelves is 20.
Considering that, 30 × {20 + S [E + 1] −S [E]} + t₀ Is. Thus, the standby position for replacement by the elevator
Is determined. Note that, in FIG. 27C, the pallet of the process L + 1 is the drawer portion 154.
And one remaining number Z [L + 1] is detected.
Then, the second replacement preparation instruction is the robot control status.
It is issued from the Tup S26, and this is never asked.
As described above. * Move to standby position * Now, step S212 of the elevator control program
Shelf in stocker of process E pallet that has become one
Position S [E] is loaded with pallets inside the stocker
Determine whether it is the last shelf. 20 shelves in this embodiment
If all of the stocker's shelves are loaded with pallets,
The final stage is the 20th stage. The need for this decision is
There are no shelves below, or if there are shelves,
Shelves that have not been incorporated into the process (hence no pallets)
Because it may be). That is, in this embodiment
Is the replacement position of the pallet depending on whether it is the last stage or not.
The placement algorithm has been changed. Whether this is the final stage
Whether or not the value of S [E] and the shelf in the variable table are determined.
Compare all values of the position information S (Fig. 21A), and
Not by judging whether [E] is the maximum
Be done. The explanation of the control when reaching the final stage will be given later,
If it is determined that S [E] is not in the final stage,
Proceeding to step S214, the above-mentioned exchange position, 30 × {20 + S [E + 1] −S [E]} + t₀ To calculate. The replacement position is determined as described above.
Then, the elevator is moved at step S216. And
At this replacement standby position, replace fingers from the stocker.
Wait for the indication. In other words, the robot detects the remaining one pallet,
According to the detection, switch to buffer and elevator.
The elevator issues a buffer instruction in response to the instruction.
A new pallet is received from A.
The elevator will move to the replacement standby position.
Has come. 《Detection of remaining number 0》 The robot side has 1 remaining number in the pallet of the continuous process.
If found consecutively, give up to two replacement preparation instructions
What you can do is as explained in connection with Figure 21B.
It That is, until then, robots were
Independent of the operation of the
Put it out and continue the assembly work. In other words, newly
By the time you find the third remaining 1-pallet,
At the very beginning, the first pallet to reach 1 is zero.
It is supposed to be. The finding of the remaining number 0 is performed in step S34 (Fig. 23A).
It If this is detected, the flag I is detected in step S36.
[G] is set to 1 and the next control is continued. That is, Robots
The pallet was emptied after one cycle of the entire process.
By the time the process requires the same parts as the
The lettuce can be replaced by the elevator in the stocker.
I am expecting. And at least replaced
If not, use Step S16 to complete the preparations from the stocker.
With the end, the robot will stop. * Replace the pallet * On the stocker side, check the robot set I [G] = 1.
It is when I come to Step S100 (Fig. 24B) that I know
It When this flag is detected, the above-mentioned "Simplified configuration"
In the case of "Example", what is the state of the stocker?
This will be described with reference to FIG. 24C. Fig. 24C shows that each of the five-stage pallets of the stocker
Initially, it was supposed to contain 3,2,3,4,5 parts from the top
It In this state, assembly by robot (all processes) completes one cycle.
And the number of parts is (2,1,2,3,5). 2 from the top
When pulling out the pallet from the first stage to the drawer section 154,
Sending a letter replacement preparation instruction to the elevator and buffer
It goes without saying that it is available. Now, in the next cycle,
If you take out the parts from the first-stage pallet,
There will only be one remaining pallet, so this pallet preparation instruction
Is queuing. Next, from the second pallet
When you take out the parts, it will be 0, so at this point, the second stage
The I [G] flag of the eye is set to 1. Explaining this point in detail, is it the second-stage pallet?
In order to take out the last part from
The step S82 (No. 24
(Figure A). Then, proceed with step S82 and step S84.
Then, notify the robot that the pallet has been withdrawn.
In the robot that received this notification, step S16
Step S18: Set the I [G] flag at step S36.
To On the stocker side, step S84 step S86 step
Go to S88 step S90 step S92 step S100
Then, I [L] = 1 is detected. In other words, the stocker side
However, pull out the pallet with only one remaining piece into the drawer 154.
The robot picks it up, and the stocker
When the remaining 0 number of pallets is returned to the inside, I [L]
= 1 is detected. When I [L] = 1 is detected in step S100, step S1
Go to 02 and set the CH flag to "1". Set CH flag
The reason why the replacement operation is not performed immediately is
At this point, the striker at the pullout position to the robot side
There is a pallet with a remaining quantity Z of zero on the rack.
Since there are parts in the pallet for the next process,
For the time being, the stocker will move to the next position at the robot drawer.
Proceed with process palleting and not hinder robot operation
And at that point you can issue a replacement request
Is. From step S102 to step S104,
For the same reason as elevator step S212, S [L]
Is the maximum value, that is, the pallet with zero remaining
Check if the stocker's shelf is the last shelf in the stocker
It If the last shelf is not available, proceed to step S106
Temporarily save the 0 process number L in the register P
deep. The reason for this is that the above-mentioned stocking robot
Pulling out to the robot so as not to interfere with the movement of the tool
In order to advance the next process (L + 1) pallet,
This is for holding the process number L which is zero. So
In step S118 to step S130,
No. forward, step S72, the shelf position of the next process
Move the stocker to. In step S74, CH
Since it has been set, step S76
Request to replace empty pallet with new pallet
send. If, at this point, the elevator already has a new pallet
If you have reached the replacement standby position by holding
Independent of control, elevator immediately
The replacement should be started. As mentioned earlier,
The preparation for replacing the shoes is started when the remaining number is 1.
Since it has been started, in step S76, put it in the elevator
When issuing a replacement request, the elevator is already in the replacement position.
It is highly hoped that you have arrived at.
See Figure 27E in this regard. After sending this replacement request to the elevator, the stocker
The control is performed in steps S78 to S82 with zero residual quantity.
Pull out the pallet for the next step of the tool onto the drawer section 154.
Then, in steps S84 to S92, step S94
Assemble the parts of the pallet for the next step of the tool
Then, in step S94, the exchange of the pallet is completed.
In this way, the shape of the robot should not be obstructed as much as possible.
Then, the empty pallets are replaced. Return to elevator control program. In Step S218,
An elevator that had a replacement request from Stocker
When the above request is received, the pallet is entered at step S220.
Perform a reshuffling operation. The specific control of Step S220 is
As shown in steps S240 to S256 in Figure 26B,
The operation sequence under the control of is according to FIGS. 13A to 13G.
Therefore, the description will not be repeated. 27E, 27F,
Associating the control of FIG. 26B, FIG. 27E shows step S240.
~ Corresponding to step S246, Figure 27F shows step S248 ~
Corresponds to step S256. Also, β is the parameter shown in FIG.
The thickness of the stud is 38, which is 12 mm in this embodiment. When the elevator has finished replacing the pallets,
A replacement completion notification is sent to the service side (step S222). this
Upon receiving the notification, the stocker side moves from step S94 to step S94.
Proceed to 96 and set the remaining number of pallets for process P to be replaced.
Put it back. Then, in step S98, the CH flag is reset.
And reset I [P] as well. And steps
Go to step S100 step S118, and go to the next process L = L + 1
Go to step S120 ... step S130 step S7
Return to 2 and repeat the above operation. * Stacking of empty pallets * On the other hand, on the elevator side, empty space held under the elevator
The operation of stacking the pallets on the transport mechanism 76 is controlled.
U That is, at step S226, the empty pallets are piled up until the last time.
From the height of the pallet, H [E], to the height of Q,
Add the value minus the edge β of the
Ask for a place. That is, the descending position is Q + H [E] -β. This is understood with reference to FIG. This
Move the elevator to the lower position of the air cylinder C_E4
Unlock and stack empty pallets. And pile up
If you pull it, the pallet will be as much as the accumulated cost α (= 7 mm).
Since it is below, the updated stacking position Q is Q = Q + H [E] −α. Next, in step S234, the stacked empty pallets are
However, a sensor that detects whether it will interfere with the movement of the elevator
S_FourReach the position (shown at the bottom of the elevator in Figure 1)
Find out If yes, transport with step S236
Drive the mechanism 76 to transport the empty pallet to the unmanned vehicle position.
It Thus, the replacement of empty pallets is completed, and the robot
Supplying parts to the robot without stopping operation,
Parts are continuously supplied to Stocker. The basic form of operation control of this FAC system has been described above.
However, this control program pursues efficiency improvement in various respects.
I have devised it. * Replacement of the last shelf * One way to improve efficiency is to replace the last shelf.
This is a change in the procedure. The stock of this FAC system is
There are 20 shelves. Therefore, from the top to the bottom in the process sequence
Is placed on the shelf, the pallet
There is no point. In addition, shelves all the pallets used in all processes.
Even if it is placed on the
There is no pallet under the shelf at the bottom. In this way,
When pallets are placed on shelves in order from top to bottom
Is the final shelf according to the above-mentioned determination of the replacement position.
If you replace it, there will be no pallets on the next shelf.
Despite that, the drawer without the pallet does not exist
Move it to the 154th position and empty it at the replacement position.
The pallets will be replaced. But with this,
The robot will wait until the pallet has been replaced.
Assemble the work while waiting for the completion of withdrawal at step S16.
I have to stop it. In order to eliminate this inconvenience, step S104 in FIG. 24B is used.
~ Step S116 and Step S212, Step S2 of FIG. 26A
There are 24. That is, it is necessary to change the pallet at the final stage.
In that case, change the replacement position to the stocking drawer position.
What to do at (position of slide plate 178 of drawer 154)
Is. The replacement standby position in this case is shown in Fig. 27G.
As you can see, 30 × S [E] + t₀ Is. Therefore, on the elevator side, step S212
Proceed to step S224 and play the standby position according to the above formula.
Calculate, move to the pull-out position, and press S218 to stop.
Wait for the replacement request from the mosquito. On the other hand, on the stocker side, step S100
When it detects that the I [L] is set, the step
In step S102, set the CH flag, and in step S104
Proceed to step S108 to issue a replacement request to the stocker.
You Subsequent control is the same as the normal shelf position replacement operation.
Therefore, the description thereof will be omitted. In this way, if the replacement pallet is final
At the position where the stocker is pulled out to the robot side,
The robots are swapped, so there is no unnecessary waiting for robots.
Resolve. Especially, the pallet is placed on the shelf from top to bottom in the order of the process.
It is effective when placed. * Queuing for replacement preparation instructions * Another way to improve efficiency is queuing. This key
Ewing is necessary from the following background. Immediately
However, the time and energy required for separating the pallet by the buffer
Beta replacement time, etc.
The total time required to prepare for replacement is one robot assembly process.
Each module should be shorter than the time required.
Set Yule's operating speed (eg motor speed)
If possible, from robots to buffers and elevators
Multiple replacement preparation instructions (step S26) are issued.
There is no such thing. However, the former case may be long
Be done. In such cases, multiple instructions should be issued.
Thought, and that finger to deal with such cases
You need to query the indication. For example,
If the total number in the pallet is the same in the two successive processes
If the parts are worn in the same way, replace them continuously.
There is a possibility that a preparatory instruction will be issued. Especially, the continuous 2
Steps (these two steps are stolen, L and L + 1)
If the shelf positions S [L] and S [L + 1] are not continuous
Causes the stocker to move up and down, changing the pallet.
Takes time. In such a case, Fig. 21B
Queue replacement preparation instructions as shown in
Therefore, the operation of the robot will not be stopped. Buffer
Then, in order to prepare one replacement,
Take off and pass the separated pallets to the elevator.
The next replacement that has been queued immediately after
Take the instruction from the queue and start the next pallet separation operation.
Because it can be done. In this example, the key
The number of you is two, but you can increase it if necessary
Good. * Initial operating state setting * In the above control, the pallet is placed on the stocker.
I explained on the assumption. Therefore, this stock
The initialization control for inserting the let will be explained with reference to FIG.
It Robots and stockers do not work in this initial setting.
Then, the buffer and elevator stop the stocker.
Insert the pallet into the shelf. First of all, at step S300, buffers are stacked from an unmanned vehicle.
Received the pallet. In step S302, set the counter n
Set to 1. At step S304, set the n-th pallet
Move to the separating position and divide the pallet with step S306.
Let go. In step S308, the elevator is informed of the completion of separation.
Know, in step S310, the elevator pallet
Wait for the drawer to complete. On the other hand, on the elevator side, at the same time as the program starts.
Then, in step S352, move to the separation position, and in step S3
At 54, we are waiting for the separation completion notification from Buffer. this
When notified, the counter set by Buffer will
Calculate the shelf position of Totka from STP = TP [n], move to that position, and at step S358,
Push this pallet into the shelf. And step S360
Notify the buffer that the transfer has been completed, and at step S352,
Wait for the pallet. Upon receiving this notification, Bathua will use the step S312
Update n. This update is an unmanned vehicle on the Step S300
Based on the thickness information of the pallet received from the
Calculate the required number of shelves for the pallets you placed, and then set the next pallet.
Be sure to calculate the shelf number to insert. In step S314
Judges whether there is a remaining pallet on the buffer stand,
If so, the step is taken to separate the next pallet.
Return to S300. In this way, the initial operating state setting is completed. << Explanation of Modifications >> The present invention is configured according to the above-described embodiment.
Without being limited to the above, the scope of the present invention is not deviated.
It goes without saying that various modifications can be made in the enclosure. Below, various modifications of the above-described embodiment will be described.
Will be described in detail. In the following explanation,
The same reference numerals are given to the same parts as those in the first embodiment.
The description is omitted. Description of First Modification First, in the buffer 22 of the above-described embodiment, a robot
The number of remaining parts x in the pallet p is 1 due to the dots 12.
It was recognized that this was done, and then this part x was assembled.
When the pallet used for movement is emptied,
Insert empty pallet p'with pallet p full of parts x.
To prevent the robot 12 from changing its operation.
In order to be able to execute without
At the time when it is recognized, it is the same as the part x with the remaining number of one.
The pallet p packed with one part x from the buffer 22
A separate mechanism 64 is used to capture
It is designed to be separated from other pallets p in the tufa 22.
Is made. However, the invention is limited to the configurations described above.
Without the buffer 22 having a separating mechanism 64.
As shown in FIGS. 31 to 34 as a first modification.
, A plurality of pallets p stacked on the buffer table 52₁，
p₂・ P₃The step-out mechanism 250 that collectively separates ...
You may comprise so that it may be equipped. * Structure of the step-out mechanism * That is, as shown in FIG. 31, the step-out mechanism 250 is
Above the buffer table 52, the standing plates 46a and 46b are mutually
On the inner surface facing each other along the transport direction d.
Multiple separation claw mounting plates 252 are arranged along the vertical direction.
Has been done. Here, a pair of separating claws that face each other
The plate 252 is vertically attached to the flange portion 38 of each pallet p.
It is configured so that it is not hooked. Incidentally, this
In the first modification, the buffer table 52 described above is
Unlike the case of the embodiment, with the pallet mounting table 32 of the unmanned vehicle 20,
It is fixed at the same height position. Here, all the separation claw mounting plates 2 in each standing plate 46a, 46b
52, so that both ends of each extend vertically
Guide shafts 254a, 254b fixed to the corresponding upright plates 46a, 46b
It is supported so as to be movable in the vertical direction. still,
The upper ends of the guide shafts 254a and 254b are fixed with fixtures 256a and 256b, respectively.
Fixed to the upper ends of the corresponding upright plates 46a, 46b via
The ends are fixed to a buffer table 52. Also, as shown in FIG. 32, the center of each separation claw mounting plate 252
Air cylinder C_D1Are attached together
This air cylinder C_D1The piston 258 of the
Is configured to extend. Of this piston 258
The lower end is attached to the separation claw mounting plate 252 located immediately below.
Air cylinder C_D1It is fixed to the upper end of. This
Here, each air cylinder C_D1Is two input terminals 260a, 260b
Is equipped with one input end 260a from the piston 258.
It communicates with the upper cylinder chamber, and the other input end 260b
It communicates with the cylinder chamber below the ton 258. Meanwhile, all air cylinders C_D1One input end 260a
Of the switching valve 264 via one of the introduction pipes 262a.
One output end 264a is connected to the other input end 260b
One of the switching valves 264 described above is introduced through the introduction pipe 262b.
Is connected to the other output terminal 264b. Where this cut
The input end 264c of the exchange valve 264 is connected via the introduction pipe 262c.
And is connected to a compressor (not shown). With the above configuration, for example, the switching valve 264
The high pressure air from one output end 264a.
If the switching valve 264 of is switched
The high-pressure air is supplied to each air via the one introduction pipe 262a.
Cylinder C_D1Introduced into the cylinder chamber above the piston 258
As a result, each piston 258 is biased downward.
In other words, this high pressure air is the air cylinder C._D1One side
The input terminal 260a of the
As shown in FIG.
Will be. On the other hand, in the switching valve 264, from the other output end 264b
This switching valve 264 switches so that pressured air is released.
If present, this high pressure air will
Each air cylinder C via_D1The piston 258
Is introduced into the cylinder chamber below, and each piston 258 is
Will be urged by. In other words, this high pressure air
Air cylinder C_D1Of the other input terminal 260b
As shown in Figure 33,
The space between the attachment plates 252 will be narrowed. Here, in the narrowed state shown in FIG. 33, for example,
For example, all the pallets p are 25 mm thick.₁And
If the separation claw mounting plate 252 has a pitch of 25-18
= 18mm is set. In addition, it is expanded as shown in Fig. 32.
In the closed state, it must be removed from the 7mm mating allowance.
Therefore, the arrangement pitch of the separation claw mounting plate 252 is as described above.
Longer than 25 mm, for example, 30 mm.
It In other words, each cylinder C from the state shown in FIG.
_D1By supplying high pressure air to one input end 260a of the
The piston 258 is pushed downward by 12 mm and separated.
The arrangement pitch of the claw mounting plate 252 is expanded. In addition, as shown in FIG.
One that is orthogonal to the transport direction d on the lower surface of each separation claw mounting plate 252
Equipped with separate claws 266 that can be moved back and forth along the direction
ing. That is, the pair of separation claws 266 facing each other are
A protrusion that is hooked from below to the flange portion 38 of each pallet p.
Between the extended position and the retracted position separated from the flange 38.
It is configured to move back and forth freely. In addition, each separation claw mounting plate
Located on the underside of the 252 and outside of the corresponding separating claw 266
The air to drive the separation claw 266
ー Cylinder C_D2Has been attached. This air cylinder C
_D2The piston 268 of is along the direction orthogonal to the transport direction d.
Is reciprocally driven, and the tip of this
It is connected to the separation claw 266. With the above configuration, the air cylinder C_D2High pressure sky
When no air is supplied, the piston 168 pulls.
The separation claws 266 are
Responding p₁Installed away from the flange 38 of the
It is fixed. Where air cylinder C_D2To high pressure air
Is supplied, the separation claw 266 moves to the retracted position.
To the protruding position, each separation claw 266 corresponds to
Pallet p₁The state that can be hooked from below to the flange part 38 of
Become. * Operation of the disassembling mechanism * In the disassembling mechanism 250 configured as described above,
The above-described collective disassembling operation will be described above. First, a plurality of pallets p are placed on the buffer table 52.₁Are stacked
When it is transported in the locked condition, the air
C_D2High pressure air is supplied to the separation claw 266,
Biased from the position to the protruding position, and the corresponding pallet p₁of
The flange portion 38 is set so that it can be hooked from below.
After this, air cylinder C_D1High pressure air at the first input end of
Is supplied, and each separation claw 266 spreads its arrangement pitch.
Is biased upward so that In this way, each minute
The release claw 266 is hooked on the flange portion 38 from below, and
Tut p₁Is the pallet p located directly below₁Pull sideways
It will be set in a separated state so that it can be taken out. As described in detail above, according to the first modification,
A plurality of pallets p mounted on the far stand 52₁Is this step
By using the live mechanism 250, all the
Let p₁Separated from each other and can be pulled out to the side
Can be set to. For this reason,
In this way, from the robot 12, the remaining number is reduced to 1.
A pallet containing the same parts as those recognized as being
P₁However, no matter what height position it is on the buffer stand 52,
Pallet p from that position₁Pulling out to elevator 26
And the operating time is one of the separating mechanism 64 of the embodiment.
Will be shortened better than the case using
It In addition, the control of the FAC system equipped with such a buffer
There is an elevator of pallets separated by a buffer.
The position of pulling out to the printer is also fixed on each pallet.
Has been. Therefore, preparations for replacing the elevator pallets
The stand-by position in which pulls the pallet from the buffer.
It depends on what you put out. For that, the elevator side
As with the buffer side, the information shown in Figure 25A
If you also have it, there will be a replacement preparation instruction from the robot.
What position does the stocker need?
Can be found from this information. Description of Second Modification Next, in the elevator 26 of the above-described embodiment,
The three hooks 108, 116, 126 of the changing mechanism 96 in the transport direction d
As a drive source for moving along
Data M_E2I explained that this invention is
35 to 39 without being limited to such a configuration.
As shown in the second modified example, the parts x are fully loaded.
In order to move the pallet p along the transport direction d
Drive motor for driving the cylinders 108 and 116 and an empty pallet.
In order to move p ′ along the transport direction d, the hook 126
Separate drive motor for driving
It may be configured. * Explanation of elevator * That is, as shown in FIG.
The elevator 300 has guide grooves 102, 132 on its upper and lower surfaces.
Except that they are not formed respectively.
It has an elevator body 86 similar to the beta body 86. Further, the replacement mechanism 96 includes the upper plate 86a of the elevator main body 86.
Pallet p full of parts x attached to the underside of the
For replacing the actual pallet replacement mechanism 96a and the elevator
Empty pallet attached to the lower surface of the lower plate 86b of the main body 86
Such as an empty pallet changing mechanism 96b for changing the top p '
It is composed of This actual pallet changing mechanism 96a is shown in FIGS. 36 and 37.
As shown in, on the lower surface of the upper plate 86a of the elevator body 86,
A pair of first guide members 302a, 302b are provided along the conveyance direction d.
Prepared in the extended state. And both first guides
The first slide plate 304 is attached to the members 302a and 302b in the transport direction d.
It is supported so that it can reciprocate along. Here, in the central portion of the first slide plate 304,
The projection 308 with which the first ball screw 306 is screwed is integrally formed.
Has been formed. This first ball screw 306
A pair of first rotations whose rear ends are fixed to the lower surface of the upper plate 86a.
It is rotatably supported via support members 319a and 310b.
It Also, this first ball screw 306 is
Motor M₁Is configured to be rotationally driven by. This
, The first servomotor M₁By rotating the rotation axis of
The first ball screw 306 is driven to rotate, and
The slide plate 304 of No. 1 is reciprocated along the conveyance direction d.
It will be. This first slide plate 304 is one that is orthogonal to the transport direction d.
It is formed to extend along the direction of
Both ends of the slide plate 304 are similar to the above-described embodiment.
First, attach the first hook 108 to the buffer 22 side with an air cylinder.
Da C_E1It is possible to move back and forth via the
Install the hook 116 of the air cylinder C_E2Freely move back and forth through
It is equipped with each. This pair of first and second flaps
The racks 108 and 11 are the palettes p described above.₁， P₂， P₃Hula
First notch on the elevator 26 side formed in the change section 38
In the portion 38a and the second cutout portion 38b on the unmanned vehicle 20 side, the husband
Each is formed in a shape that can be engaged from both sides. Here, on the lower surface of the upper plate 86a of the elevator body 86, the first
Alternatively, it is engaged with the second hooks 108, 116 and the first servo motor is engaged.
Data M₁The pallet is pulled in / pushed out according to the rotation drive of the
A pair of fixed slide guides that slidably support the foot p
316 is provided. That is, both fixed slide guides 316
Is a flan on both sides of the pallet p to be pulled in / pushed out.
It is set to be slidable on the lower surface of the groove 38. In addition, the elevator at the upper edge of both fixed slide guides 316
The height from the lower plate 86b of the main body 86 is 100 mm, which is the maximum height.
Pallet p with height₃High enough to support slidably
Is set to On the other hand, the empty pallet changing mechanism 96b described above is
A pair of second guide portions on the lower surface of the lower plate 86b of the main body 86 of the motor.
The materials 322a and 322b are provided in a state of extending along the conveyance direction d.
ing. And, in both of the second guide members 322a, 322b,
The second slide plate 324 can reciprocate along the transport direction d.
It is supported. Here, in the central portion of the second slide plate 324,
The projecting portion 328 with which the second ball screw 326 is screwed is integrally formed.
Has been formed. This second ball screw 326
A pair of second rotations whose rear ends are fixed to the lower surface of the lower plate 86b.
It is rotatably supported via support members 330a and 330b.
It Also, this second ball screw 326 is used for the second servo.
Motor M₂Is configured to be rotationally driven by. This
And the second servomotor M₂To rotate the rotation axis of
As a result, the second ball screw 326 is rotationally driven, and
The second slide plate 324 is reciprocated along the transport direction d.
Will be. This second slide plate 324 is one that is orthogonal to the transport direction d.
It is formed so as to extend along the
At both ends of the lower surface of the slide plate 324, the third plate on the side of the stocker 24 is provided.
The hook member 332 that integrally includes the hook 126 of the
Mounted slidably along the direction orthogonal to d
Has been. The third hook 126 is used for each of the parcels described above.
Tut p₁， P₂， P₃The unmanned vehicle 20 formed on the flange portion 38 of the ...
Shape capable of engaging with the second notch portion 38b on both sides from both sides
Is formed in. On the other hand, both ends of the slide plate 324 are orthogonal to the transport direction d.
The second air cylinder while extending along the direction
C₂Is attached. This second air cylinder C₂
At the tip of the second piston 334 of the hook member 3 described above.
32 is connected. In this way, the second air shield
Linda C₂In response to the drive of the third hook 126,
It is reciprocally driven to engage and disengage with the second notch 38b
Will be done. In addition, on the lower plate 86b of the elevator main body 86, this third
Empty pallet taken out of stocker 24 by hook 126
A pair of movable slide girders for slidably receiving the p '
Id 336 is provided. Here, both movable slide
Id 336 described above the empty pallet p'received here.
In order to place it on the group of carry-out rollers 78 of the carry-out mechanism 76,
Along the direction orthogonal to the direction d, in other words, here
It is slidable so that it can be removed from the empty pallet p '.
It is fixed. That is, as shown in FIGS. 38 and 39,
Both movable slide guides 336 have slide members 338 interposed respectively.
Then, it can slide on the lower surface of the lower plate 86b of the elevator body 86.
Is attached to. On the other hand, on both sides of the lower surface of the lower plate 86b
Is the third for reciprocating the movable slide guide 336.
Air cylinder C₃Is attached. This third
Air cylinder C₃To the tip of the third piston 340 of
The aforementioned movable slide guide 336 is connected. this
In this way, the third air cylinder C₃Depending on the drive of
The movable slide guide 336 is a flange portion 3 of the empty pallet p '.
It will be driven back and forth to engage and disengage. With the actual pallet exchange mechanism 96a configured as described above
Replacement mechanism 96 having empty pallet replacement mechanism 96b
At the operation of exchanging pallet p and pallet p'at
Drives the first and second hooks 108, 116 simultaneously.
Except for this, the replacement mechanism in the above-described embodiment
Since it is the same as the replacement operation of 96, its description is omitted.
It As described above in detail, in the second modification, the actual
Drive source when replacing the pallet p and empty pallet
The drive source for the replacement of p ′ should be a separate servo model.
Data M₁， M₂Even if it is configured from
The same effect as the configuration of the example can be obtained.
It The control according to the second modified example is the same as that of the above-described one embodiment.
Drive three hooks with one elevator motor
The thing that was moving was being driven by two motors
Since it is nothing but a description, its explanation is omitted. Description of Third Modification In the elevator 26 of the above-described embodiment,
The replacement mechanism 96 is provided with three hooks 108, 116, 126, and
For taking in and pushing out the dots p, the first and second
The hooks 108 and 116 are arranged on the upper stage, and the empty pallet p'is pulled.
The third hook 126 should be placed in the lower section as a plug
However, the present invention is not limited to such a configuration.
Without modification, it is shown as a third modification in Figs. 40 and 41.
As described above, the exchange mechanism 350 removes the third hook.
Only the first and second hooks 108 and 116 are installed in the removed state.
You may comprise so that it may be obtained. * Explanation of replacement mechanism * That is, as shown in FIG.
In the main body 86 of the data, the central portion of the lower plate 86b is in the transport direction d.
A cutout portion 86c is formed along the
The pallet P passes along the conveying direction via the ridge 86c.
It is formed in a possible state. Here, at both ends of the slide plate 106 described above,
Air cylinder support plate 112 in a state of extending along d.
Are fixed respectively. This air cylinder support plate 112
At the end of the buffer 22 side of the
First air cylinder C for_E1Is attached
It This first air cylinder C_E1The first piston 114
The first hook 108 described above is connected to the tip of the
It In this way, the first air cylinder C_E1Driving
The first hook 108 corresponds to the first cut of the flange portion 38.
It is reciprocally driven to engage and disengage with the recess 38a. In addition, both ends of the side of the slide plate 106 on the stocker 24 side
A second hook 116 is provided in the second hook slide member 1
18, along the longitudinal direction of the slide plate 106,
By doing so, it is possible to slide along the direction orthogonal to the transport direction d.
It is attached to Noh. This pair of second hooks 116
Is the p₁， P₂， P₃On the flange 38 of
In the second notch 38b formed on the side of the unmanned vehicle 20,
It is formed in a shape that can be engaged with. On the other hand, air cylinders fixed to both ends of the slide plate 106
At the end of the supporter plate 112 on the stocker 24 side, the second hook 116 is
Second air cylinder C for reciprocating_E2Gatori
It is attached. This second air cylinder C_E2Second
The aforementioned second hook 116 is attached to the tip of the piston 120 of
It is connected. In this way, the second air silin
Da C_E2In response to the driving of the second hook 116, the second hook 116
It is reciprocally driven to engage with and disengage from the second notch 38b of the
Becomes Here, on the lower plate 86b of the elevator body 86, the first flap
Actual pallet taken from buffer 22 by Tsuku 108
p and the second hook 116 of pulling from the stocker 24.
One for slidably receiving the empty pallet p '
A pair of movable slide guides 352 are arranged. Here, both movable slide guides 352 are
The pallet p ′ is transferred to the above-mentioned carrying-out rollers 78 of the carrying mechanism 76.
In order to place it on top, it is placed along the direction orthogonal to the transport direction d.
In other words, leaving from the empty pallet p'received here
It is set to be slidable. That is,
On the lower plate 86b of the main body 86 of the machine, the direction orthogonal to the transport direction d.
For slidingly supporting the movable slide guide 352 along the direction.
A slide member 354 is attached to the. Further, on the lower plate 86b, the cutout portion 86c is provided along the conveyance direction d.
The movable slide guides should be
Fourth air cylinder C for reciprocating the drive 352_E4But
It is installed. This fourth air cylinder C_E4of
The movable slide described above is attached to the tip of the fourth piston 256.
Guide 352 is connected. In this way, the fourth
Air cylinder C_E4Depending on the drive of the
The door 352 moves forward to disengage from the flange portion 38 of the empty pallet p '.
It will be driven again. As described above, the replacement mechanism 350 according to the third modified example.
This movable slide guide 352
After pulling the empty pallet p'from the stocker 24,
At this time, this empty pallet p ′ is once placed on the carry-out mechanism 76.
Place it on the bottom and remove it from the replacement mechanism 350.
Give up. And, like this, this replacement mechanism 350
Away from the empty pallet p'and the inside of the elevator main body 86
This time it was emptied and now separated at Buffer 22
To receive the real pallet p,
Move to a height position adjacent to the position. This separation position
At this point, the actual pallet p was received from the buffer 22, and
Pull in the real pallet p, this time the empty pallet p '.
To push out to the predetermined position of the stocker 24 that became empty with
Become. In this way, a series of pallet replacement operations are completed.
To do. * Control * By referring to FIGS. 42A to 42H, the control according to the third modification will be described.
The operation of the reta will be described together with the movement of the stocker. this
About the control of the modified example, robot, stocker, buffer
For the robot, step S26
Since the example control does not require modification, the robot is shown in Figure 23A,
See Figure 23B, and Stocker shows Figures 24A and 24B.
Figures 25B and 25C are incorporated by reference. And to the elevator
See Fig. 42A to Fig. 42H for the sequence of control operation.
Explanation. The elevator of this modification is the basic implementation
The lower empty pallet pull-out mechanism as in the example was removed
Therefore, for that purpose, empty pallets from Stotka first
Stacking of empty pallets Inserting new pallets
Sequence. In Figure 42A, process number L₀Pallet (shelf S [L₀]
Is placed on) and the remaining number is Z [L₀] = 1, then Robo
At this point, Tutt ran out against Bahua and the elevator.
Instruct to prepare the replacement. I received this preparation instruction
The buffer follows the buffer control of the basic embodiment described above.
Process L₀(= D₀), The supply pallet
Find out which step of the Tuhua stand 52 (see Figure 25A)
), Separate the pallet at the separation position. one
However, the deformed elevator that received the replacement preparation instruction,
Move to the replacement standby position. The standby position is
L₀STOKKA S [L₀] Position. This wait
When the elevator arrives at the location, it is as shown in Figure 42B.
First, the stocker process has moved to another process L '.
Let's do it. The process is completed and the shelf S [L₀] 'S pallet
When it comes to the bot drawer position 154, the remaining quantity Z [L
₀] Is zero. Then, here, empty pallet
From the stocker side to the elevator side
(Figs. 42C to 42D). Elevator to empty pallet
Once captured, the elevator will descend and onto the transport mechanism 76.
Stack empty pallets (Fig. 42E). In this state,
The elevator does not hold any pallets. After that, the elevator rises to the separation position of the buffer,
Take in new separated pallet. This capture
After finishing, only the elevator
Send a notification of completion of capturing, stop motion further and wait.
S [L₀] To the position (No.
(Figure 42F). The elevator that descends to the standby position of this stocker
The player pushes the new pallet into the stocker (42nd
(Fig. G, AH diagram), send the replacement completion notification to the stocker
It Upon receiving this notification, the stocker will supply parts to the robot side.
Resume salary. As described above, in the third modification, the empty tray is
The above-mentioned operation for exchanging the project p'and the actual pallet p is described above.
Although it takes some time compared to the case of one embodiment,
The structure of the replacement mechanism 350 is simplified and the cost is reduced.
It is possible to plan. Description of Fourth Modification Example * Structure * In addition, in the carry-out mechanism 76 of the above-described embodiment,
Stacked empty pallets p'away from elevator 26
It is held in the state of
When this happens, the carry-out mechanism 76 is driven to
Below the base 52, that is, adjacent to the empty pallet mounting base of the unmanned vehicle 20.
It is designed to be carried out to the position,
The output mechanism 76 is fixed at the bottom (movable up and down).
Although it has been described that it is set,
Without being limited to the configuration, the fourth embodiment shown in FIGS.
As shown as a variant, it is located below the elevator 26.
The part of the unloading mechanism 76 that is configured to move up and down
The shift mechanism may be provided. That is, as shown in FIG. 43, according to the fourth modification.
The carry-out mechanism 76 is located below the buffer table 52 and has a fixed carrying function.
Mechanism 400 and lift mechanism 4 located below elevator 26
It has 02 and. Here, the fixed transport mechanism 400 is
It has the same configuration as the transport mechanism 76 described in the embodiment.
Therefore, the description thereof is omitted. On the other hand, the lift mechanism 402, as shown in FIG.
Guides attached to columns 82a, 82b, 82c, 82d that make up 6
The material 88 is a sliding member 90 to which the elevator body 86 is attached.
The other sliding member 404 can slide freely while it is positioned below
Is attached to. These four sliding members 404 have four corners
The lift base 406 is arranged so that it can move up and down while it is attached.
Has been. This lift base 406 also has this at the bottom position
Unloading provided in the fixed transport mechanism 400 in the unloaded state
The carry-out roller is arranged so as to be aligned horizontally with the group of rollers 78a.
There is a group 78b. Also, in the figure, enter the space between the columns 82b and 82d on the opposite side.
In this state, the protruding piece 408 is provided on the side surface of the lift base 406.
It is attached to one. And hang it on both columns 82b and 82d
The air cylinder mounting member 410 is
It is provided by extending horizontally. This air cylinder
The piston 412 is projected downward on the upper surface of the mounting member 410.
Air cylinder C_LIs attached.
The lower end of this piston 412 is on the upper surface of the above-mentioned protruding piece 408.
It is fixed. In addition, this air cylinder C_LIs the piston 412 butt of this
Equipped with a break mechanism (not shown) so that the output can be set arbitrarily
It is what you have. Also, this air cylinder C_LIs
In the normal state, the piston 412 should be maximally protruded.
Are held and supplied with high pressure air.
To raise the piston 412, in other words,
Reduce the output and drive the lift platform 406 upward.
Is made. On the other hand, on the lower surface of the cylinder mounting member 410 described above,
The sensor mounting member 41 is extended downward from here.
4 is attached. In this sensor mounting member 414,
With the lift table 406 that can be moved up and down facing each other,
Sensor S₁, S₂， S₃Are installed side by side in the vertical direction.
It These sensors S₁, S₂， S₃Placed on this lift base 406
Lift position of the empty pallet group p ′
The machine position) is controlled by changing only three types for the following reasons.
In other words, in other words, the elevator book is placed on the lift platform 406.
When releasing the empty pallet p ′ from the body 86, this lift base 406
Change the position of standing up in advance to 3 types
It is provided for. That is, as shown in FIG. 44, the elevator at the lowest position
Empty pallet p held at the bottom of body 86₁′, P₂′, P₃′
Depending on the height of this empty p₁′, P₂′,
p₃The height to the bottom of ′ will change. others
The empty pallet held at the bottom of the elevator body 86.
p₁′, P₂′, P₃′ Is a group of empty pallets on the lift platform 406
Lowering of the elevator body 86 as it is released onto p '
The control becomes complicated and the lift table 406 is moved up.
It will be difficult to decide whether to raise it. In other words, the empty pallet p in the elevator 26₁′,
p₂′, P₃While the ′ pull-in operation is
If the platform 406 is raised to a predetermined raising standby position,
The descent time of the elevator body 86 is set to the shortest,
The descending operation will be performed quickly. in this way
Then, these sensors S₁, S₂， S₃Of the elevator body 86
Simplify the descent control and shorten the descent time
The lift platform 406 on the lift platform 406 for the purpose of
Stacked empty pallets p₁′, P₂′, P₃According to the height of
It is provided to keep it in the ascending standby position as much as possible.
ing. Therefore, the sensor S₁The elevator body 86
Is at the bottom of the elevator body 86.
Smell when the height of the held empty pallet p'is 25 mm
This empty pallet p₁From the height position of the underside of
The distance L is set so as to be located below. In addition, the sensor S at the second height position₂Is the sensor S₁Yo
It is set to be located 25 mm below. Immediately
The second sensor S₂Elevator body 86 is the lowest
The empty space held at the bottom of the elevator body 86
If the height of the pallet p'is 50 mm, this empty space
Pallet p₂From the height position of the lower surface of ′, the above-mentioned predetermined distance
It is set so as to be located below by L. Further, the sensor S at the third height position₃Is the sensor S₂Yo
It is set to be located 50 mm below. Immediately
The third sensor S₃Elevator body 86 is the lowest
The empty space held at the bottom of the elevator body 86
If the height of the pallet p'is 100 mm, this
Empty pallet p₃From the height position of the lower surface of
The distance L is set so as to be located below. Here, this predetermined distance L is, in the state where this interval is present,
Empty pallet p from elevator body 86₁′, P₂′, P₃′ Is
Released on an empty pallet p'mounted on the platform 406.
In case, well, this released empty pallet p₁′,
p₂′, P₃′ Is overlaid on the empty pallet p ′ on the lift platform 406.
The distance is set to be small enough to be used. In this way, the elevator main body 86 is
Let p₁′, P₂′, P₃′ Is placed on the lift platform 406.
When moving to the empty pallet p ′,
However, in advance, the top of the empty pallet p'placed on it
Was held at the lowest position of the elevator body 86 and this
Empty pallet p₁′, P₂′, P₃Standby waiting corresponding to the height of ′
Has been brought to a position. As a result, the elevator body 86
Should simply descend to this lowest position.
This simplifies the descent control and minimizes the descent time.
Will be done. * Control * In the fourth modified example configured as described above,
The outline of the operation control will be described below with reference to FIG.
The control of this modification is performed by the steps S226 to S226 in FIG. 26A.
236 is to be changed. That is, the stock control
In step S76 or step S108, empty pallet
When a request to replace p'is issued to the elevator,
Beta main body performs the above-mentioned predetermined operation and
Empty pallet p'and a new pallet on the S220 (Fig. 26A)
Replace with top p. On the other hand, the lift mechanism side also makes a step S420 for the replacement request.
Waiting in (Fig. 45), if there is this request, step
The thickness of the empty pallet held in the elevator by S422
know. If you know the type of this thickness, in step S424,
Accylinder C_LDrive the above-mentioned 3 corresponding to the thickness.
Two sensors S₁~ S₃Lift platform 406 to any of the positions
To raise. Then, at step S426, the standby position arrival notice is sent.
While sending intelligence to the elevator side, empty space from the elevator side
Wait for let p'release notification. On the other hand, the elevator that has completed the pallet replacement is
You can send this notification to Stocker with Tup S222 (Fig. 26A),
Step S400 (Fig. 45) to the position shown in Fig. 43.
Lower the elevator body. And at this position, the riff
Wait for the arrival notification of the standby position from the mechanism. Is it the lift mechanism side?
At the time of notification from the
Empty pallet p'and the top empty pallet on the lift platform 406.
The distance to the point p'is close to about L.
It is Ri. Therefore, in step S404, keep it under the elevator.
Release the empty pallet that you have and use Step S406 to
Send a release notification to the mechanism side. Upon receipt of the release notification, the lift mechanism side scans from step S428.
Proceed to step S430 and lower the lift platform 406 to the floor position.
Let At this point, the empty pallet p'which has just been stacked
Check if the maximum height sensor position is reached. Maximum position height
Reaching the limit will hinder the vertical movement of the elevator?
Then, in step S434, drive the fixed transport mechanism 400 to
Unload the empty pallets. By controlling the elevator and lift mechanism as described above,
The elevator body 86 simply moves down to its lowest position.
It will be better if you make it, the lowering control becomes easier and the lowering
The time will be minimized. In the elevator control of the basic embodiment described above,
The thickness of the pallet is given as H [L].
However, if you make a mistake in this thickness, the elevator body may be damaged.
In order to check the empty pallet thickness,
You may provide such an attachment mechanism. That is, the elevator body
Empty pallet p pulled into the bottom of 86₁′, P₂′, P₃'of
Although not shown, the height of each
At the bottom of the beta body 86, an empty pallet pulled in here
p₁′, P₂′, P₃Set up a sensor group to detect the height of
On the other hand, for the detection of the above H [L] and these unillustrated sensors.
It is confirmed by collating with the discrimination of the thickness type. In addition, the three sensors S₁~ S₃Can be omitted as one
It is possible, and in such a case, the maximum height sensor S_Four
It may be combined with. However, in this case, the elevator book
Empty pallets held under the body and stacked pallets
There are three different distances depending on the thickness of the pallet.
For this reason, the elevator body is lowered further and this distance is
Even if the elevator body releases the pallet, there is no problem
Need to be shortened to. [Other Embodiments] * Structure * In the above description of one embodiment, the robot 12 is required.
The component supply system 14 for supplying various components x is roughly classified
And receive the parts from the unmanned vehicle 20 and store them once.
It is provided adjacent to the buffer 22 and the robot 12,
Supply the parts required for assembly to the bot 12 in order according to the assembly sequence.
Between the stocker 24 and the stocker 22 and the stocker 24
The part that is placed between the two and is in shortage in the stocker 24.
Elevator 26 that transfers goods from the buffer 22 to the stocker 24
And so on. Particularly, in this one embodiment, in the stocker 24,
A pallet p ′ that has become empty because there are no remaining parts
Replace the actual pallet p with the corresponding parts.
The replacement position is for pulling to the robot 12 in process L.
Position of empty pallet in process L + 1 at the starting position
Is. In other words, the replacement position is the process order L.
Depending on the shelf position S [L] of the pallet corresponding to the process
It is stipulated that this replacement position and the buffer 22
In many cases, the height is different from that of the separation position. Obey
Then, during this period, the actual pallet p is stoked from the buffer 22.
Elevator 26 is required to transfer to 24. However, the present invention is not limited to this embodiment.
Without being limited to FIG. 46 to FIG.
It may be configured as shown. That is, in another embodiment, separation at buffer 22
Set the position and the replacement position on the stocker 24 at the same height.
Position and the separation position at the buffer 22
Is set just above the buffer table 52,
Eliminates the elevator 26 required in one embodiment
Is what you can do. The configuration of the FAC10 according to another embodiment will be described in detail below.
To do. In the following description, the structure of the above-described embodiment will be described.
The same members as those used in the
However, the same reference numerals are given and the description thereof is omitted. That is, as shown in FIG. 46, the parts required for the robot 12 are
The parts supply system 14 to be supplied is roughly classified into an unmanned vehicle 20.
A buffer 450 that receives the parts from the
Is provided between the buffer 450 and the robot 12,
Depending on the assembly order, the parts necessary for assembly to this robot 12
It is equipped with a stocker 24 that is sequentially supplied. In addition, this buffer 450 is the buffer 2 of the above-described embodiment.
Unlike 2, it receives an empty pallet p'from the stocker 24 once.
Take the pallet p separated here and replace the stocker 24.
It has a function to push it to
52 is the order in which the number of parts in stocker 22 becomes zero.
And the pallets p are piled up from the bottom. Also, this
The buffer stand 52 is mounted with the upper and lower positions fixed.
It has been burned. In detail, this buffer 450, as shown in FIG.
While sandwiched between both upright plates 46a and 46b, the spacer block 4
Place the buffer stand 52 on the pallet of the unmanned vehicle 20 via the 52.
It is fixedly installed at the same height as the stand 32. In other words,
Since the space block 452 is provided, the buffer table 52
The side surface of each is separated from the corresponding upright plates 46a and 46b. With the buffer located above the buffer base 52,
From the pallet p directly mounted on the stand 52,
For independent separation from the upper pallet group
A separation mechanism 454 is provided. The separating mechanism 454 is fixed to the upper ends of both the standing plates 46a and 46b, respectively.
Equipped with the attached mounting members 456,
Guide shafts 458 are parallel to each other at both ends along the feeding direction d.
It is attached in the state that it has fallen down. And carry
Separation claws are provided at the lower ends of the pair of guide shafts 458 along the feeding direction D.
The mounting plate 460 is attached. Bottom surface of each separation claw mounting plate 460
Can be hooked onto the flange 38 of the pallet p from below.
In addition, the pair of separation claws 462 are orthogonal to the transport direction D, respectively.
It is attached so that it can move back and forth along the direction. On the other hand, in the center of each mounting member 456,
The ball screw 464 is rotatably supported
Has been done. The lower end of this ball screw 464 is
A support plate 466 fixed to the standing plates 46a and 46b is rotatably supported by a shaft.
Has been. Here, the central portion of the separation claw mounting plate 460 described above.
The ball into which the middle part of this ball screw 464 is screwed.
A screw receiving portion 468 is provided. Also, on the upper surface of the mounting member 456 on the opposite side in the figure,
Servo motor M via B470_TIs attached
It This servo motor M_TThe drive shaft of the ball
The upper end of 464 is connected, and according to the rotation of this,
Ball screw 464 is configured to be driven to rotate.
It Here, the drive pulley 472 is coaxially attached to the drive shaft.
Has been done. On the other hand, the upper end of the ball screw 464 on the front side in the figure
A driven pulley 474 is coaxially attached to the. That
Between the drive pulley 472 and the driven pulley 474.
The ming belt 476 is wound. In this way
The pair of ball screws 464 are driven to rotate in synchronization with each other.
Will be. That is, both separation claw mounting plates 460, and therefore both
The separation claws 462 have the same height and are moved up and down.
It will be. Then, attach each separation claw 462 described above to the corresponding separation claw attachment.
In order to drive the plate 460 back and forth,
Air cylinder C on the rear_T1Are provided respectively.
This air cylinder C_T1Not shown piston tip
Are connected to the corresponding separating claws 462. Where each
The separation claw 462 can be moved back and forth via a pair of guide pins 478.
It is supported. Each air cylinder C_T1Is supplied with high pressure air
The corresponding separating claw 462 in the
Biased to the retracted position away from
A protrusion that can be hooked on the flange portion 38 when supplied.
It is configured to be biased to the exit position. Since the separating mechanism 454 is configured as described above,
Is it a group of multiple pallets p stacked on the far stand 52?
, The bottom pallet p_a, That is, directly on the buffer table 52
It has been placed in close proximity and will be transferred to the stocker 24 next time.
Made pallet p_aWhen separating the
With the release claw 462 biased to the retracted position, the separation claw 4
62 to the second pallet p from the bottom_bDirectly below the flange 38 of
Up to the position adjacent to_TMove through
To do. After this, air cylinder C_T1Supply high pressure air to
The release claw 462 is biased to the protruding position. This allows each separation claw 4
62 is the pallet p located second from the buffer platform 52_bof
The flange portion 38 can be locked from below. This state
State, servo motor M_TIs activated, the separation claw mounting plate 46
0, that is, the separating claw 462 is moved upward. In this way, the second pallet p from the bottom_bOn this
To be lifted together with the p-groups of pallets stacked on
become. In other words, the pallet p at the bottom position_aX
The second or more pallet from the bottom with it left on the Hua stand 52.
Group p is lifted, and the pallet p is at the lowest position._aMinutes from
Will be separated. Therefore, the separated bottom position
Let p_aIn other words, it should be transferred to the stocker 24 next.
Pallet p_aIs pulled out independently along the transport direction d.
It is set to a possible state. On the other hand, this buffer 450 is located around the buffer table 52.
Equipped with a pallet p replacement mechanism 480
It This replacement mechanism 480 is also shown in FIGS. 48 and 49.
A pair of guides below the buffer table 52.
Reciprocable along the transport direction d via the shafts 482a and 482b
It has a horizontal slide plate 484 provided in the. Above
As shown in Fig. 48, the center of the bottom surface of the buffer table 52 is
The ball screw 486 turns both ends along the transport direction d.
Rotatably supported via the rolling support members 488a and 488b.
It is arranged in the state. Here, this slide plate 484 is
On the bottom surface of the buffer 52 via the pair of rollers 484a and 484b.
It is configured to transfer. This ball screw 486 is integrated in the center of the slide plate 484.
It is screwed into the formed screwing portion 484c. In addition, it is shown
However, this ball screw 486 can be turned by a servomotor.
As a result, the ball screw 486 and the threaded portion 484c are
Slide plate 484 along the conveyance direction d through the screwing of
It is configured to be reciprocally driven. The bottom surface of this slide plate 484 is empty from the stocker 24.
Pull in the boot p'and support it at the bottom of the buffer table 52.
A pair of first hooks 490a, 490b for
It is attached so that it can move back and forth along the orthogonal direction.
In addition, the first hooks 490a and 490b are moved to the lower surface, respectively.
Air cylinder C for returning drive_T2Has been attached
It Each air cylinder C_T2The piston 492 is
It is connected to one hook 490a, 490b. Where this air cylinder C_T2Is the high pressure air
Corresponding first hook when not supplied
490a, 490b, which is the side from the flange 38 of the pallet p
It works to bias to a position away from
When high pressure air is supplied, the corresponding first flap
Put the tabs 490a and 490b on the flange part 38 of the pallet p.
Move to move to engage the second cutout 38b
To make. On the other hand, the replacement mechanism 480 is attached to both the first hooks 490a and 490b.
The empty pallet p ′ drawn from the stocker 24
Movable slide guides 494a, 494b for receiving
It Both movable slide guides 494a and 494b are
Transfer direction to the plates 46a, 46b via the guide pins 496a, 496b
It is provided so as to be able to move back and forth along a direction orthogonal to d.
Each movable slide guide 494a, 494b has a corresponding upright plate 46.
Air cylinder C fixed to a and 46b_T3Of the piston 498
It is attached to the tip. Where this air cylinder C_T3Is the high pressure air
Corresponding movable slide when not supplied
Install guides 494a and 494b into the empty pallet p '
It is biased to the protruding position where it latches on the lunge part 38 from below.
When high pressure air is supplied to the
Empty pallets with ride guides 494a and 494b pulled in
At the retracted position, which is separated laterally from the flange 38 of p '
It is configured to be biased. In addition, the replacement mechanism 480 described above is mounted on the buffer table 52.
Put the actual pallet p on the stocker 24 while it is located on the side of the section.
With a pair of second hooks 500a, 500b for pushing in
There is. The second hooks 500a and 500b on both sides are real pallets from both sides.
Can be engaged with the second cutout portion 38b of the flange portion 38 of the top p.
It is provided in. Here, both second hooks 500a, 500b
Is a support stay 502a, which is integrally connected to the slide plate 484,
Air cylinder C fixed to the upper surface of 502b_T4The piston 5
Each is attached to the tip of 04. This air cylinder C_T4Is supplied with high pressure air to this
The corresponding second hooks 500a, 500 in the unloaded state
b to the retracted position, which is laterally spaced from the flange 38.
In the state that it is biased and is supplied with high pressure air,
The corresponding second hooks 500a, 500b to the second flange 38
It is designed so that it is biased to the protruding position that engages with the notch 38b of
Is made. As described above, the buffer 450 as described above is provided.
The stocker 24 in another embodiment is the same as the one described above.
The configuration is similar, but there are some differences in the operation.
Of. That is, the stocker 24 in one embodiment moves up and down.
The drawing position of each pallet p in the frame 152 is
Operates so that it can move up and down within the range where it can face the platform 168.
However, the stocker 24 in this other embodiment is
While performing the above-mentioned operation, the separation position of the buffer 450 is further
At the pulling position of each pallet p on the elevating frame 152.
However, they operate so that they can face each other. Here, in such an alternative embodiment, a buffer table
The empty pallet p'received at the bottom of 52 is placed on the carry-out mechanism 76.
In order to allow this, the carry-out mechanism 76 is the same as that of the above-described embodiment.
It has the same structure as the lift mechanism described in the fourth modification.
A lift mechanism 402 is provided below the buffer table 52.
It is something. * Control * Stocker 24 according to another embodiment configured as described above
And the control operation of the buffer 450 will be described below with reference to FIGS. 50A and 50A.
Description will be given based on FIG. 50B. The control on the robot side is
In its outline, the program shown in Figs. 24A and 24B is used.
Use The characteristics of these controls are the same as those of the one embodiment.
Because there is no elevator like this
Even if the request comes from the robot, only the buffer will prepare for it.
The number of parts in the pallet on the stocker 24 side is
Robot informed that it was zero (replacement required)
Supply of parts to the robot at the time of request flag I [L] = 1)
Pause (that is, do not proceed to the next step)
To the position where the pallet is separated by the
The elevating frame 152 is moved. Then, at this separation position,
Swap the lettlets with the real ones. Then re
And the pallet at the shelf position of the process according to the original process order.
So that the dots align with the drawer position of the drawer 154.
Until it is ready to restart parts supply to the robot.
Of. FIG. 50A shows a control program for a stocker according to another embodiment.
It is a gram flow chart. Step S600 Step
Up to S608, the process number G (= L) received from the robot
The pallet on the shelf position corresponding to
Move the stocker 24 up and down to the drawer position of the drawer base 154.
Move the frame 152 up and down, and at the position of the drawer portion 154,
The control until the desired pallet is pulled out is shown.
For robot, step S610, prepare for pallet drawer
Notify completion, and in step S611, the parts from the robot
Wait for the pick to complete. When the picking is completed, step S611
To step S612, the pallet on the drawer 154
Back in the lifting frame 152, and at step S614, use the robot to
Replacement request flag I [L] is set to "1".
Check for any. If this flag is not set, step S628
~ Execute step S634, then return to step S606,
In step S614, the above-mentioned control is performed by the replacement request flag I.
Repeat until [L] becomes "1". If the above process is repeated, the robot will
A pallet with only one remaining part was discovered (No. 1).
If step S22 in Figure 23A), then step S26 (Figure 23A)
At this time, the buffer side is instructed to perform the replacement preparation operation.
It should be. That is, if there is such a replacement preparation instruction, FIG.
From the control program step S650 of
Proceed to step S652 to enter process number D (step S24 in FIG. 23A).
And D = G), the pressure H of the new pallet
[D], on searching the variable table (Fig. 21A)
Find more, the pallet at this lowest position in step S654
To separate. That is, motor M up to H [D]_TRotate
Rises the separating claw 462 and at that point tries to separate
If the pallet is one step above the actual pallet, the separating claw 46
Air cylinder C to lock with 2_T1To drive.
After this engagement, the motor M_T1Rotate and separate
Raise the pallet above the target pallet by one step or more,
The pallet to be separated is separated. Thus, the real pallet
Separated from other pallets and then stopped with step S655.
A separation completion notification is sent to Tsuka, and in step S656,
Wait for the replacement request instruction from Stocker. On the other hand, the robot has confirmed that the flag I [L] is set to "1".
And when STOTKA discovers in STEP S614, STEP
Proceed to S616, and empty pallet for process L on the S [L] shelf
Raised to the empty drawer position as shown in Fig. 50C.
Let That is, the floor of the shelf with empty pallets at the time of rising
The position from the top matches the slide guide 494a (494b).
Position. Then, with step S618, it is countered to buffer.
Then, the empty pallet replacement request is notified. And
On the S620, the pull-out mechanism at the bottom of the buffer is empty.
Wait until you pull out. On the buffer side receiving this replacement request, step S6
At 58, the empty pallet is pulled in. That is, air
Cylinder C_T3Drive the slide guide 494a
Let Then, by rotating a motor (not shown), the first foot
With the hooks 490a and 490b not biased,
Slide it into the stocker. And the air cylinder C_T2To
By driving, the hooks 490a and 490b are biased and the empty pallet is moved.
Lock the hook on this hook and reverse the motor not shown.
And pull the empty pallet to the bottom of the buffer. Step
Proceed to S660 and pull out empty pallets for the stocker.
Is notified, and the actual pallet pushing position
Encourage the stocker to move to. At this point, the buffer control has become two parallel controls.
It That is, in step S662a, the push from the stocker is pushed.
Waiting for notification of completion of move-out position, and step S662b
So, even if the lift mechanism releases the empty pallet,
Waiting for the climb to a safe position
It Here, the control on the lift mechanism 402 side will be described. This
The lift mechanism 402 of the above is a structure equivalent to the above-mentioned fourth modification.
Have a success. This is the empty pad of the buffer of other embodiments.
Because the let-out mechanism is fixed,
As shown in Fig. 44, accurate lift position detection is necessary.
This is because that. Therefore, the lift mechanism side shown in FIG. 50B
The control of is almost equal to that of FIG. That is, strike
The notification that the replacement request notification from Tsuka was received at step S700.
The shift mechanism 402 proceeds to step S702 and is currently in the stocker.
Check the thickness of the empty pallet and check the thickness in step S704.
Depending on the sensor position (S in Fig. 43₁， S₂， S₃) To
Raise the platform 406. When you arrive at this standby position,
In step S706, notify the buffer to that effect, and in step S7
At 08, wait for the empty pallet release notification from the buffer. Arrival of the lift mechanism 402 to the standby position and the stock pallet of the stocker
The arrival of the push-in position of the
It doesn't matter if they happen at the same time. Now, suppose that the lift mechanism 402 arrives at the standby position first.
Then, the buffer goes from step S662b to step S662c.
Releases empty pallets. That is, air cylinder C_T3To
Restore it and unlock the empty pallet. Step S662d
Then, the fact is notified to the lift mechanism 402. Receive this notification
Lift mechanism 402 proceeds to step S710, lift platform 406
Lower to the floor position and press step S712, step S714
Empty pallets on the lift table to the maximum height.
Perform an operation to check whether it has been raised. On the other hand, in step S620, pull out the empty pallet from the buffer.
The stocker who was waiting for the notification,
As shown in Figure 50D, push the empty shelf into the actual pallet.
Raise to the position. And arrive at this position
Then, at step S624, a notification of movement completion is sent to the buffer,
Pushing the new pallet from the buffer into the stocker
Wait for notification. The buffer that received the move completion notification in step S662a
The operation of pushing the actual pallet into the stocker with step S664
Start. That is, air cylinder C_T4Bias the foot
Engage the 500a and 500b with the flange of the pallet.
Then, rotate the motor (not shown) to spray the actual pallet.
Push it into the Totka shelf (Fig. 50D). In addition,
Linda C_T4The motor, reverse the motor and push
Put the entry mechanism back in the buffer. In Step S666,
Send a replacement completion notification to Ka. In addition, step S6
68, motor M_TIn reverse and hold with guides 460 and 462.
Return the lifted pallet to the roller 54 and
Linda C_TTo release the engagement with the separation claw 462. In this way, the empty pallet drawer at the fixed position,
Push-in control of the actual pallet at the fixed separation position is completed. In addition, in the control program of FIG.
The ascending start was a replacement request (zero remaining), but
Do this when the remaining number of items in the tray reaches 1.
May be. Modifications of Other Embodiments In the configuration of the other embodiments described above, on the buffer table 52.
The pallet p group placed on the
It is set so that the replacement order can be sequentially stacked from the bottom up.
Has been. In this way, the screen on the buffer table 52 is
The pallets separated for transport to Totka 24 are buffers.
The pallet p placed directly on the table 52, that is, the lowest
It is always specified in the pallet p in the storage. this
Therefore, the elevator 26 as described in one embodiment is required.
The separation mechanism 454 and the separation mechanism 454 are provided near the buffer table 52.
What should be configured to have a replacement mechanism 480
Become. However, the present invention is based on the configuration of the other embodiments described above.
Without being limited to FIG. 51, a modification of another embodiment and
As shown, the seeds are placed on the buffer stand 52 in any order.
You may comprise so that each pallet p may be mounted. That is, as shown in FIG. 51, in the modification of the other embodiment,
Of the same configuration as described in the above-described embodiment.
It has a buffer 22. Therefore, in this modified example
Are multiple pallets stacked arbitrarily on the buffer base 52.
At the second separating claw 68 of the buffer 22,
Will be separated. On the other hand, in this modification, the separation position of the buffer 22 is
Separated at this buffer 22 adjacent to the
The pallet p has been raised to the same height as the separating position.
Other aspect of the transfer means for transferring to the stocker 24
As a transfer 550 is equipped. Here, this transfer 550 is the same as the above-mentioned one embodiment.
In the elevator mechanism in the configuration, the elevator body
86 in a state of being adjacent to the separation position of the buffer 22, and
It is equipped with its position fixed and in the same state. That is,
In this transfer 550, the elevator body 86
The transfer main body 552 is fixed to the four columns 82a to 82d.
It is provided in a fixed condition. Also, this transfer
The main body 552 has a replacement machine according to the above-described embodiment.
A replacement mechanism 96 having the same structure as the structure is provided. In other words, in this modification, the other implementations described above are used.
In the example, the buffer 450 has a replacement mechanism 480.
Unlike that, independent of the buffer 22, the transformer
A structure in which the replacement mechanism 96 is provided on the forer 550
Can be said to be As described above, by configuring this modification,
On the far stand 52, the pallets p are placed in any order.
According to the request of Stocker 24, the
After separating the required pellet p from the
Raised to the same height as the separation position via 550
At the designated replacement position on the stocker 24,
It becomes possible to replenish the let p. In addition, pull it from the stocker 24 at the bottom of this transfer 550.
The empty pallet p'that has been loaded is placed on the unloading mechanism 76.
To this end, the carry-out mechanism 76 is the fourth modification of the above-described embodiment.
It is equipped with the lift mechanism 402 described in the example.
It Here, the replacement mechanism 96 described above is the same as in the embodiment.
Although it has been explained that the same structure as the replacement mechanism is adopted,
Without being limited to this, for example, the second
The actual pallet replacement mechanism described in the modification
96a and empty pallet changing mechanism 96b are independently provided
It goes without saying that you may adopt. The control according to the modification of the other embodiment is performed by inputting an empty pallet.
The replacement position is fixed, and movement to that position is
What is done by the stocker because there is no beta
Therefore, the basic operation is shown in FIG. 50A described above.
Similar to control. The buffer is shown in Fig. 6.
Because it is the same as the
For operation control, use the control program shown in Figs. 25A to 25C.
Can be used. [Others] <Lock of pallet in stocker> In the above-mentioned two embodiments and various modifications,
Inside the stocker 24, the pallets that are hooked on each shelf 156
The stud p simply has its flange 38 from below on the shelf 156.
It is set in a state supported by. This
Therefore, the stocker 24 must supply the pallet p to the robot 12.
When moved up and down, the pallets supported by these shelf boards 156
The support position of p may be displaced. Where like this
If the support position of the pallet p is displaced,
The hook 186 of the loading / unloading mechanism 172 in the
The first cutout 38a of the pallet p supported by the shelf 156.
There is a possibility that a situation in which it cannot be engaged with. Therefore, Fig. 52
As shown in FIG. 54, each pallet is placed in the stocker 24.
to have a locking mechanism 600 that locks p to the support position
It is more effective when set to. In addition, this locking mechanism 600
As shown in Figure 52, each
The rear end of the lower surface of each flange 38 of the boot p (that is, the transportation method)
A second notch 38b is formed on the opposite side with respect to direction d.
The locking mechanism 600 is used to lock the
A hole 38d is formed. On the other hand, the locking mechanism 600 described above is shown in FIGS. 53 and 54.
As shown, that is, this locking mechanism 600 is
Is attached to the lifting frame 152 in
At the rear of the elevating frame 152, extend along the vertical direction.
It is equipped with a lock rod 602 in a closed state. This lock
The rod 602 has its upper and lower ends on the upper and lower sides of the rear part of the elevating frame 152.
Through the guide members 604a and 604b attached to both ends,
It is arranged so as to be able to reciprocate along the moving direction. The lock rod 602 can be reciprocated along the vertical direction.
For the air cylinder C_RBut the air cylinder mounting plate 606
It is fixed to the lower end of the rear part of the elevating frame 152 via.
This air cylinder C_RThe upper end of the piston 608 of
It is connected to the lower end of the lock rod 602. here,
This air cylinder C_RIs supplied with high pressure air
The piston 608 in the retracted position
When it is biased and high pressure air is supplied,
It is configured to be biased to the open position. The lock rod 602 that is moved up and down in this way is described above.
With the same arrangement pitch as the shelf board 156,
The lock member 610 is attached in a corresponding state. each
The lock member 610 is a mounting piece fixed to the lock rod 602.
610a and the shape of the mounting piece 610a protruding upward from the upper surface of the tip.
The lock pin 610b is formed integrally with the
There is. Here, this lock pin 610b is the pallet described above.
Locking hole formed on the lower surface of the rear end of the flange portion 38
It is formed so that it can be inserted into and removed from 38d. In addition, each lock pin 610b is connected to the air cylinder C._RBut the fixie
608 is biased to the retracted position,
As shown in Fig. 4, separate from each pallet p downward.
Air cylinder C_RBut
Stone 608 is not biased to the protruding position
However, insert from the bottom into the locking holes 38d of each pallet p.
It will be restricted to the lock position to be inserted. Where this air cylinder C_RIs the lifting frame of the stocker 24
The pallet p is drawn out from 152 onto the drawer 168.
Prior to that, the supply of high pressure air was stopped.
So that it is biased from the lock position to the unlock position.
It is configured. The lock mechanism 600 is configured as described above.
The elevator frame 152 moves up and down inside the stocker 24.
In between, the air cylinder C of the locking mechanism 600_RHigh pressure air
It has been supplied. Therefore, the lock mechanism
Each lock pin 610b of 600 is for locking each pallet p
As a result, all the pallets p are inserted into the holes 38d,
The state in which it is supported on the shelf 156 by this locking mechanism 600.
Will be locked. Therefore, by providing this locking mechanism 600,
Even if the elevating frame 152 moves up and down, the support of the pallet p is
The holding position is well fixed. That is, pallets
When p is pulled out, it is securely engaged by the hook.
Will be done. On the other hand, the lifting frame 152 stops at the barrel where the pallet p is pulled out.
Air cylinder C when stopped_ROf high pressure air to
The supply will be stopped. In this way, each lot
Pull out the pin 610b from the corresponding locking hole 38d.
Each pallet p is placed on the shelf 156 along the transport direction d.
It will be set in a slidable state. Thus, by providing this locking mechanism 600,
The supporting position of the pallet p based on the vertical movement of the elevating frame 152.
The misalignment does not occur,
The hook 186 of the insertion mechanism 172 is attached to the shelf 156 at the drawer position.
Always fit into the first notch 38a of the supported pallet p.
It will be really engaged. In addition, the control of the stocker by adding this locking mechanism is
The following points can be newly added. In other words, the goal is
Moved the shelf to the drawer position of drawer section 154.
If the pallet has a lid 40, open the lid.
Accylinder C_S2(Fig. 16) to open the lid and
Accylinder C_RDrive and pull out the lock pin 610. Ste
Pull the S82 (Fig. 24A) pallet into the drawer section 154.
Try to start feeding. Also, the vertical movement of the stocker lifting work can
Air cylinder C_S2Return (Fig. 16)
Lid to close the air cylinder C_RReturn to
It starts when the 610 has returned to the locked state.
To change. <Replenishment of parts to FAC> The FAC system of the above basic embodiment is a robot
Efficient supply of parts from mosquitoes and from buffers to stockers
It achieves the task of efficient replenishment of parts.
However, since the FAC system is also simplified, it will eventually become a robot.
It is no longer possible to supply parts to stockers or stockers
In some way, external parts are supplemented to the FAC system.
Charge is needed. Parts replenishment for FAC system
As mentioned, by unmanned vehicles and production management computers
Automatic replenishment and manual replenishment are available. Which
It is not possible to conclusively decide whether or not to take away from each other, and each has advantages and disadvantages.
It It may be a trigger for external parts replenishment compatible with the FAC system.
The possible things are: Because of the supply of new pallets to the stocker, other
There is a pallet for a part, but only one pallet for that part
If all of them are gone: The empty pallet loaded on the transport mechanism 76
When the number reaches such a degree that the vertical movement of the data is obstructed. These conditions occur at least immediately
When the above conditions occur in order to lead to the suspension of the plant
Must immediately replenish the pallet to the buffer.
Absent. In addition, as a condition to replenish the buffer with pallets
,: Whenever an empty pallet occurs in Stotka,
There is a replenishment with an unmanned car. However, this is unmanned
Frequent round trips between the FAC and the warehouse, or manually
It is necessary to replace the complicated empty pallets. It is the robot control that the robot detects zero remaining number.
(Step S36 or S30 in Fig. 23A)
It Therefore, at the same time as this detection, a new pallet is replenished.
Make sure the robot issues a replenishment request that tells you to do
It Now, the destination of this replenishment request is one mode.
Central production control to encourage unmanned vehicles to be replenished
For the computer. In another aspect, the operation
Warning light to alert people to the occurrence of empty pallets.
It The former is automatic replenishment, and the latter is manual replenishment.
It By the way, it is necessary to replenish the new pallet to the buffer.
Add a new pallet to an existing pallet on the platform
The buffer stop operation for loading and loading on the unloading mechanism 76
Includes an operation to move the empty pallet to the buffer side.
It Therefore, the preparation for the supplement of this pallet and the actual pallet
When to replenish the shoes to the buffer,
It is important in terms of efficient operation of the robot. * Replenishment with an unmanned vehicle * A new pallet with an unmanned vehicle using Figures 55A and 55B
Explain the replenishment of. Figure 55A shows the central production management computer and unmanned vehicles.
The outline of the pallet supply system including is shown below. FAC
Production management in the process of assembling with the Tape S770
The above replenishment request is sent to the computer. production
If there is no replenishment preparation instruction from the management computer,
Proceed from step S77 to step S776 to the elevator in the FAC.
The emptying mechanism 76 has not started emptying the empty pallet.
Find out how. If not, go to Step S770
Return to continue assembly. At step S750, the above-mentioned request for replenishment from the robot is counted.
As we continue to record, we will record the request. this
The production control computer knows the production control plan.
In order to eliminate parts in one stocker pallet
However, the same parts are accommodated in other pallets on the buffer.
This may be due to the production management computer
This is because the data is recognized and managed. Therefore, is it a robot?
Even if there is a request for replenishment from them, the unmanned vehicle will immediately respond to the request.
Will not be replenished. Instead,
With the S752, the advantages of the production management computer
Track record information about the pallets loaded on the far
Investigate and, if necessary, against unmanned vehicles with Step S754
And issue a departure instruction. It should be noted that at step S750, a replenishment request from the robot is received.
I will not immediately start the unmanned car, but the unmanned car
On top of that is loaded the requested pallets wholesale from the warehouse.
Be prepared to leave at any time. Also this
Whenever a pallet is loaded onto an unmanned vehicle, the warehouse
And give information about the pallet (Fig. 25A). In step S752, another element for the occurrence of a predetermined state is
For example, the robot may fail to pick parts,
The parts in the printer are consumed more than planned
Empty the transport mechanism 76 earlier than the computer predicted.
The lettuce is so loaded that it interferes with the vertical movement of the elevator.
This is the case. When such a predetermined state occurs, in step S754
Departure instructions for unmanned vehicles and step S755
In step S756, the progress of a certain period of time is monitored. This one
Fixed time is the time required for an unmanned vehicle to reach the FAC.
It's a little shorter time. After this time,
Preparations for pallet replenishment in response to FAC on the S758
Instruct to start. Production even if multiple FACs are installed
The management computer is required to move unmanned vehicles to these FACs.
I know the time in advance. So the FAC of that unmanned car
Shortly before arrival, the FAC has finished replenishment preparations.
For example, as soon as an unmanned vehicle arrives, replenishment from the unmanned vehicle begins
Because you can do it. That is, during this fixed time
Is to avoid replenishment preparations within the FAC.
Therefore, it is said that the robot assembly can be continued.
This is because there is a merits. On the other hand, is the unmanned vehicle a production management computer at Step S762?
After receiving the departure instruction from them, start traveling to the FAC
There is. In addition, the FAC system is Step S772,
Upon receiving the instruction to start the preparation for replenishment from Utah, step S7
At 74, the preparatory operation is started. Details of this preparation operation
Is shown in FIG. 55B. On the other hand, if the FAC system
If you find yourself needing a replenishment preparation operation, step
Proceed to S776 step S778 to start the preparatory operation.
It When this preparation operation is completed, unattended with Step S780.
Wait for the car to arrive. For this reason, this waiting time is
It should be a minimum time. When the driverless car arrives, step S7
At 82, we will replenish the actual pallet from the unmanned vehicle to the buffer.
No, in step S784, the newly added palette is
Information to be updated in the memory area shown in Figure 25A.
It The replenishment preparation will be described with reference to FIG. 55B. This 55B
The figure shows the FAC system management microprocessor and
An elevator microprocessor that controls mechanism 76;
A control program for a microprocessor that controls the buffer.
This figure shows the part related to the supplement of pallets. The control microprocessor is the Step S800,
Upon receiving a supplement preparation instruction from the computer, step S802
Stop the operation of the elevator. In step S804,
Instructed Bathua to start climbing the Bathua platform,
At step S806, wait for notification of completion of climb from the buffer. After receiving this rising instruction at step S840, the buffer
Use the S842 to raise the buffer stand. Above the buffer stand
If you lift it, and if it is separated at that point
If is hooked on the separating claw 68, release the hook
Then, the separated buffers are combined, and at step S846,
Hang the lowest pallet on the tour table with the separating claw 68.
Stop it. After this suspension, use the step S848 to move down the buffer stand.
The pallet is retained by the separating claw 68 even when it is lowered.
Therefore, there is no pallet on the buffer stand. That
Then, in step S850, prepare the buffer for the transport mechanism 76.
Notify completion. When the transport mechanism 76 receives this notification at step S822,
In S824, rotate the roller to remove the empty pallet buffer.
Start moving to the side, and in step S826, notify the notification.
Send to the Hua side. After receiving this notification, the
Proceed to S854 and wait for the unmanned vehicle to arrive. As mentioned above,
The trolley should arrive soon. When an unmanned vehicle arrives, hand over the empty pallet to the unmanned vehicle.
To receive new pallets from an unmanned vehicle
Are simultaneously driven by driving the respective rollers. Step S8
In the 75, the buffer stand with the newly loaded pallet
The existing pallets that had been lifted and hooked on the separating claw 68.
United with To. In step S858, the newly added
Receive information about the let from the unmanned vehicle, step S8
At 60, the memory contents shown in 25A are updated. In this way, unmanned vehicles should arrive as much as possible to prepare for the replenishment of new pallets.
By doing this just before you arrive, you can stop unmanned vehicles as much as possible.
The downtime can be kept to a minimum. * Manual replenishment * Manual replenishment of pallets is done from the robot described above.
Turn on the warning light for each replenishment request and see the display of the warning, etc.
The operated vehicle manually discharges empty pallets and
Stacking and inputting of pallet information from the input / output device 18
This action is the gist. FIG. 56A shows an input display screen on the input / output device 18 described above.
The layout of the input keys is shown in Fig. 56B, and the supplementary operation sequence is shown in Fig. 56C.
The outline of the can is shown. Input keys are as shown in Figure 56B
There is a "pallet replenishment key" and a "ready key".
It The outline of the refilling operation will be described with reference to FIG. 56C. If there is a replenishment request from the aforementioned robot, the step S900
The warning lights up. The operator who saw this, step S9
Confirm the required pallet in 02, and in Step S904
Turn on the "Replenishment key". In this way, the buffer side will be replaced by step S906.
Move the far stand to the replacement position (position of separation claw 68).
And hang the existing pallet on this claw. Unloading mechanism side 76
Discharges the empty pallet above it at step S908. At this point, the operator sets the empty pallet at step S910.
Take out, step S912, remove the requested pallet.
Place on the Hua stand. Step S916 inputs and outputs the information shown in Fig. 56A.
Input from device 18. Each time you make these inputs,
The data in Fig. 25A was updated by the UPS S918, and the updated
The order of the letters is displayed on the CRT screen of the I / O device.
Steps S916 to S918 routines are needed
Repeat for the number of pallets. At step S922, the operator turns on the "ready key".
It Then, on the buffer side, in step S924, the separation claw is
From the 68th position, select the topmost stage on the buffer table.
Calculate the stroke to the let, and then use step S926 to
The strokes of the
Combine with the lett. And this FAC system works
Resume the work. Thus, manual replenishment of pallets is completed. In addition, the above-mentioned 25 embodiments and various modifications (hereinafter,
Referred to as an example. ), It can be moved up and down.
Elevator body 86 and lift frame 152 can slide at four corners
Supported, in other words, supported from both sides
In the state, it has been described that it is slidably arranged. But
However, the present invention is not limited to such a configuration.
For example, the elevator main body 86 and the elevating frame 152
A pair of corresponding columns are slidably supported, in other words, so-called
It may be configured so that it is slidably supported by one-sided support.
Needless to say, no. In addition, in the above-described embodiment and the like, one pallet p
, The common parts x are explained to be housed in plural.
However, the present invention is not limited to such a configuration.
For example, for one pallet p, multiple types of parts x₁，
x₂May be configured to accommodate a plurality of each
Needless to say. Furthermore, in the above-described embodiment, the buffer 22
Plural pallets p are stacked on the buffer table 52.
Although described as being retained, the present invention is
The configuration is not limited, and, for example, each pallet p is generated.
In the standing state, it is configured to hold multiple side by side
It goes without saying that you can do it. Further, in the above-described embodiment, etc.,
Separate the stacked pallets with a separating claw
Adjustment of the separation position to absorb manufacturing errors.
When aligning, fix the position of the separation claw and
Although it has been described that the far stand 52 is moved up and down, the present invention
Without being limited to such a configuration, for example, a buffer
The base 52 may be fixed and the separation claw may be moved up and down.
Needless to say. Also, on the buffer, the same section
If there are multiple pallets containing the items,
The pallet loaded first (or higher)
You may preferentially separate the
Yes. <Effects of Embodiment> The following effects can be obtained by the embodiment described above.
It A: The effect obtained in the FAC system. This FAC10 is a pallet that accommodates multiple parts x in a horizontal plane.
Store a plurality of trays p in the shape of a shelf,
From the desired one to the fixed drawer position.
Stocker 24 that moves up and down to bring it out and pulling position
Remove the part x from the pallet 24 that has been pulled out to
The robot 12 that is assembled from the part x to the product
Basically equipped. For this reason, the Robot 12 is always
From the pallet p pulled out to a certain pull-out position,
You will be able to receive the supply of parts quickly. That is, specifically, in order to supply the parts to the robot 12,
(1) Pull out the pallet p to the pull-out portion. This pull
At the pick-up section, the robot performs the parts picking operation.
Now; (2) Pull back the pallet to the stocker 24; (3)
The parts to be supplied next to the hoisting frame of the stocker 24 are stored.
Move the pallet storage position up until it corresponds to the drawer position.
Move it down: Only three actions are required. This
In this way, it is necessary to assemble one part of the robot 12.
Assembly operation time is shortened and assembly operation control is easy
The effect to be realized is achieved. On the other hand, Japanese Patent Application Nos. 61-200949 and 61-
In the article supply device related to 200905, the stocker
It is fixed and the drawer is arranged so that it can move up and down.
There is. For this reason, pallets are provided from the stocker to the robot.
To supply, (1) Pull the pallet p into the drawer.
put out. (2) Take out parts by robot from the drawer
Move up and down to the position;
And take out the parts by the robot;
(3) Move the drawer part up to the position where the pallet is pulled out.
Move back down; (4) Pull back the pallet to the stocker 24
(5) The parts to be supplied next are accommodated in the drawer.
5 movements up and down to the storage position of the stored pallet;
It is necessary. It should be noted that, by further including the following configuration, storage
It is possible to efficiently supply parts from the car 24 to the robot 12.
It A-1: Efficient supply of parts to the robot A-1-: Pallet p with 3 different thicknesses₁， P₂， P
₃Can be stored in any combination as long as the capacity of the Stocker 24 allows.
It can be delivered. In this way, the size of each component x can be adjusted.
You can select the same palette p.
For example, let's store only one short part in the let.
However, an inefficient accommodation state is avoided. Also, this pallet p has a flange portion 38 on the upper side edge.
Are integrally formed. This flange 38 is originally
Set itself inside the stocker 24 to hook onto the shelf.
It is something that has been scrapped. However, this flange
The part 38 does not have such a single function.
Has a cutout portion for moving the sheet along the conveying direction d.
It is something. And in the movement of this pallet p
To engage the hook with the notch, thus
To be run through a mechanically engaged state
become. Therefore, the movement of this pallet p is surely executed.
And its stop position is accurately specified.
The effect will be produced. Particularly in the configuration of one embodiment, the first and second notches
Relationship between the parts 38a, 38b and the corresponding hooks 108, 116, 126
Are formed into a substantially isosceles trapezoidal shape that complementarily engages each other.
Has been. In this way, the position of the pallet p is slightly
The hook engages with the cutout without fail
It will be. In addition, this engagement state is a trapezoidal shape of the hook
Is the trapezoidal shape of the notch.
It will be held in the abutting state. That is, the hook
The hook and cutout are engaged in the cutout.
There is no gap between the parts. This
In this way, the hook moves along the transport direction d.
Therefore, when carrying out the pallet, the movement of the hook
It is transmitted to the pallet as it is, and the pallet is shocked.
Without being able to get it, the pallets will be transported smoothly.
It A-1-: Parts required for product assembly, required for assembly
The order of the process to be performed, and for each process
You can select or change the one accommodated in
It is possible to change, for example, parts from the top according to the process order.
In order, it can be stored in the form of 1 pallet / 1 part,
Also, for example, in a plurality of different steps from the same pallet p,
The same part x can be set to be taken out. like this
In addition, you can flexibly set the factor related to assembly.
It is effective. A-1-: The order of steps is manual
Since it can be set automatically from the computer, for example, in the factory
It will be possible to respond in various ways according to the scale of such things. Well
In addition, even in the field such as factories,
It can be changed and is easy to use. A-1-: In each pallet stored in the stocker
The robot manages the remaining part count Z of
The opportunity to start the preparatory operation for exchanging the lettuce
The robot itself can manage the trigger of the replacement operation.
That is, the robot, which is the main assembly person, triggers the above operation.
Manage the machine so that it does not interfere with assembly.
The robot can choose the optimal start timing.
It A-2: Efficient replenishment of parts As a basic configuration, in addition to the stocker 24 described above, this stock
A buffer 22 for replenishing parts is provided for the Tsuka 24.
I am. And then you need from Stocka 22 to Stocka 24
When replenishing the part x, first set the stocker 24
Pull the pallet that was emptied by supplying parts to
This drawer pulls it out and carries it out.
Remove the actual pallet from the buffer into the storage position
By replacing the parts, the parts are always
We have realized a state that does not disappear. In particular, when the component x is used up in a given pallet p,
The need to replace empty pallets (1 remaining)
When you make a prediction decision and decide that it will be necessary
Now, prepare a new pallet instead of an empty pallet.
(Preparing for replacement) improves the efficiency of parts supply
Has been planned. Basically, to improve efficiency, prepare multiple spare pallets.
It should be noted that the same parts as the used parts x are
A buffer having a function of selectively separating the pallet p to be accommodated
A22. Where this buffer
When A is instructed to prepare for the replacement, the above-mentioned pallet p
It is achieved by performing selective separation of. in this way
Then, even if the remaining number of pallets p becomes zero,
At this point, the replacement preparation is completed, so
Then, the replacement operation is performed, and the total palette p
The replacement time is shortened and the robot 12 is prevented from stopping,
Or, even if you stop, the effect that the time can be minimized
It is something that can be played. The effects are as follows.
It will be more clarified. A-2-: Regarding the separation position in the buffer 22,
The effect of is achieved. That is, A-2--1: The separation position is fixed at a predetermined position.
In this case, only the pallet p to be separated is its separation position.
Will be separated by. For this reason, after separation
Then, by removing this separation, the remaining pallets
Can be set to stacking state, and then
The pallet at the height position can be separated. Two types of separation positions are set at this predetermined position.
It is what is done. That is, A-2--1-a: This separation position is from the buffer stand 52.
If it is set at any height above,
Arbitrary from among the pallets p stacked on the far stand 52
Will be selected and separated. The pallets stacked on the buffer table 52 are
Since it has a manufacturing error, keep it in the separation position.
The height of the pallet to be separated is accurately specified.
There will be no. Therefore, in this embodiment, separation
It has a sensor 80 to precisely define the position
So, even if this manufacturing error is accumulated,
The desired pallet p will be separated. A-2--1-b: This separation position is on the buffer stand 52.
It is stipulated to separate the directly mounted pallets.
If it is, the buffer mounted on the buffer table 52
Replace the letter p at the stocker 24 in order from the bottom.
They are stacked in the required order. Configure like this
This will replace the buffer 22 itself, as will be described later.
Elevator can now be equipped with
It is possible to play Haga because it can realize a configuration that does not require 26
Of. A-2--2: The separation position is stacked on the buffer table 52.
When set for all pallets p
In addition, all the pallets are collectively
Will be separated. In this way, any pallets
It is possible to pull out the tray and replace it with an empty pallet.
Therefore, simplification of the replacement operation is achieved. A-2-: A buffer and a strut having the separating function of A-2
When the replacement preparation operation is performed with the Tsuka 24,
Separation position of pallet in buffer 22 and stocker 24
It is necessary to align with the shelf position of the empty pallet inside. This
There are the following modes of matching. A-2--1: Stocker 24 has a moving (up and down) function
However, the separating position of the pallet p is fixed at the buffer 22.
In some cases, the separation position and storage
Match the shelf position of empty pallet p'at 24
The stocker 24 itself moves to a position adjacent to the separation position.
To do. In this way, the stocker 24 itself creates the actual pallet.
As I go to the reception, the replacement time of empty pallets is
The effect that is set short will be achieved. A-2--2: Equipped with the separation function described in A-2 above
22 and the
Between the separation position of the fur 22 and the replacement position of the stocker 24
Up and down, and move the separated pallet to the stocker 24.
Prepare for replacement in combination with the carrying elevator 26
You can In this case, I explained in A-2--1
Sea otter 24 receives the actual pallet by itself and operates.
I will not do it, so I will go to Robot 12 in Stock 24
No longer impairs the operation of pulling out the pallet
The effect will be achieved. A-2-: Has the separation function described in A-2-
In the state where it is adjacent to this buffer 22 and this buffer 22,
A tiger with a replacement function that is fixedly located at the separation position
Up to the position adjacent to Transfer 550 and Transfer 550
By including the stocker 24 that moves downward,
Similar effects can be achieved. A-2-: Regarding the pallets loaded on the buffer table
By storing the identification information to be stored in the memory,
It is easy and reliable to replenish the air from the stocker. That is, X
The order in which you need a new pallet from the
Because it has nothing to do with the order in which they are loaded on the table.
It Therefore, when replenishing the pallet with the buffer,
It gives the buffer an identification of the individual pallets to be replenished.
It is necessary to be aware of the loading order of replenishing pallets.
There is an effect of disappearing. As a result, in an unmanned warehouse
The loading order of the replacement pallet on the unmanned vehicle, manually,
There is no need to consider the order of replenishment and loading on the buffer table.
And work efficiency can be improved. On the contrary, even without such memory information,
In the order of occurrence of empty pallets, which is known in advance
As long as the actual pallets are loaded, there is no problem. A-3: Efficiency of replacement operation between empty pallet and actual pallet
After preparing for replacement, empty pallet p'and a new
Due to the structure for performing the actual replacement operation with the pallet p
Therefore, the efficiency of the replacement operation is achieved. This
The following three modes are available as modes for performing the replacement operation of
Has. A-3-: Stocker 24 and elevator 26 moving up and down
And the separation function of the pallets p stacked in any order
Equipped with a buffer 22 to replace the elevator 26
The effect described above is achieved by the configuration including the mechanism 96.
It is something. A-3-: Stocker 24 and stacker stacked in any order
A separating mechanism for separating the let p at a fixed separating position is provided.
Provided with a buffer 22 having a fixed separation position.
Equipped with a transfer 550, this transfer 550
With the configuration including the replacement mechanism 96, the above-mentioned effects can be obtained.
Is achieved. A-3-: Stacking with stocker 24 in a predetermined take-out order
The pallet p which is seen is separated at a fixed separation position
It is equipped with a buffer 22 and a replacement mechanism is provided for this buffer 22.
The effect described above is achieved by the configuration including 480.
It is a thing. A-3-: This replacement mechanism 96 is provided with hooks 108, 116, 12
6 is used to mechanically cut out the cutouts 38a, 38b of the pallet p.
It is configured to move the pallet p in the engaged state.
Has been. In this way, in the replacement operation,
The pallet p will be reliably moved and
The stop position of the
The effect that will be performed is achieved. Here, there are two modes depending on the number of hooks. Immediately
A-3--1: Attached to the first cutout portion 38a of the pallet p.
The first to combine and take out the pallet p from the buffer 22.
The hook 108 and the second notch 38a of the pallet p.
2nd for pushing out the pallet p to the stocker 24
Pull the hook 116 and the empty pallet p'from the stocker 24.
Provided with 3 hooks, with a 3rd hook 126 for locking
In the configuration described above, the third hook 126 is connected to the second hook 116.
Positioned just below the structure and configured to move integrally
The moving stroke of the first hook 108 and the second
Set the same distance as the moving stroke of the hook 116.
It is possible to simplify the structure of the replacement mechanism 96 and replace it.
The effect of simplifying the control of the motion is even achieved. The hook drive source has the following two modes.
That is, A-3--1-a: Three hooks are used as a common slide plate 106.
This slide plate 106 is attached to one drive.
3 hooks by reciprocating with a dynamic motor
Is driven by one drive source, simplifying control
The effect to be achieved is achieved. A-3--1-b: First and second hooks 108 and 116
The two hooks are driven by the first drive motor back and forth,
The hook 126 of this is reciprocally driven by the second drive motor.
Accordingly, the number of drive motors is A-3--1-a described above.
Although it is more than in the case of, the configuration for each drive is simple
The effect that is realized is obtained. A-3--2: It is attached to the first cutout portion 38a of the pallet p.
The first to combine and take out the pallet p from the buffer 22.
The hook 108 and the second notch 38a of the pallet p.
Together, push out the pallet p to the stocker 24, and
A second flap for retracting the pallet p'from the stocker 24.
Even in a configuration including two hooks with the hook 116,
This replacement mechanism 96 is functional. However, this
In this case, the second hook 116 has performed two actions.
Therefore, the operating time is
It will be longer than the case. However, it is easy
With a simple structure, the effect of being manufactured at low cost is achieved.
is there. A-4: Efficient unloading operation of empty pallet: Pull out empty pallet p ′ from the stocker 24 and put it here.
It is necessary to push in the pallet p and execute the exchange operation.
First, an empty pallet p'occurs in the FAC system 10.
become. Here, in this embodiment, this empty pallet
Since it has a carry-out mechanism 76 for the p ',
If the number p'is less than a predetermined number, it will be carried out well.
Stacks more than a specified number, preventing the next swapping operation.
An unharmed effect will be achieved. In this unloading operation, the empty pallet p'is carried out by the unloading mechanism 76.
When stacking on top of each other, various states as described below
There is a state. A-4-: The elevator main body 86 of the elevator 24 carries itself.
Already stacked under the output mechanism 76 or on the output mechanism 76
Descend to the position just below the empty pallet p ',
The empty pallet p'supported at the bottom of the main body 86 is carried out.
Stack on top 76. With this configuration, the original
As a rule, do not block the switching operation of the pallet.
The empty pallets p'are stacked in the carry-out mechanism 76.
Will be done. A-4-: The carry-out mechanism 76 includes the lift mechanism 402.
This lift mechanism 402 moves up and the replacement mechanism 96
The supported empty pallet p ′ is attached to the lift mechanism 402.
Works like stacking on. In this way, A-4-
Compared with the case of, it is possible to further hinder the replacement operation.
The effect is reduced. In addition, in the configuration including this lift mechanism 402,
There are two types of aspects mentioned. A-4--1: This lift mechanism 402 is the elevator main body 8
If installed below 6, the elevator body 86
Before the empty pallet p'is drawn into the
The mechanism 402 will move up to the specified position and wait.
Since it will come, set the lowering time of the elevator main body 86 to be short
You will be able to. In this way, empty pallets
The time required for the operation to carry out p'is shortened.
This avoids delaying the next swap operation.
The desired effect is achieved. A-4-2: This lift mechanism 402 is the elevator main body 8
If not installed below 6,
There are two aspects. That is, A-4--2-a: the state adjacent to the separation position of the buffer 22.
Below the transferer 550 installed in a fixed position
If this lift mechanism 402 is installed, empty pallets
Of the transfer 550, to which the p'is pulled out and supported.
Because the transfer body 552 is fixed in position, this empty
This lift is used to stack the let p'on the unloading mechanism 76.
The mechanism 402 is an essential component. A-4--2-b: Buffer 22 has a replacement mechanism
In this state, the lift mechanism 40 is provided below the buffer table 52.
If 2 is installed, empty pallet p'is pulled out.
The buffer table 52 that is supported and supported is fixed in position.
In order to stack this empty pallet p'on the carry-out mechanism 76,
In addition, the lift mechanism 402 is an indispensable constituent element. A-4-: As described in A-4- above.
In addition, when the lift mechanism 402 is provided, the sensor S₁， S
₂， S₃The following two effects can be achieved by providing
Will be done. That is, A-4--1: This sensor S₁， S₂， S₃But the lift mechanism 40
2 When used to define raised position
This raised position is the empty position on the lift mechanism 402.
It changes according to the height of the pallet p '. Immediately
The maximum height of the pallet is irrespective of the height of the pallet p '.
P₃If you specify the predetermined rising position so that
Pallet p with minimum height₁When stacking
Pallet p with minimum height of₁Bottom of the lift mechanism 40
2 or a pallet mounted on this lift mechanism 402
A very large gap between the top position of
Become. Therefore, empty pallet p₁’
If you try, this empty pallet p₁′ 'S posture collapsed, good
There is a possibility that a situation will occur where it will not be piled up well
It However, the sensor S₁， S₂， S₃Therefore, for each pallet
Since the optimum rising position is specified according to the height,
Make sure this empty pallet does not cause the problems described above.
p ′ has the effect of being superposed on the lift mechanism 402.
Will be. A-4--2: This sensor S₁， S₂， S₃But the lift mechanism 40
2 When used to define raised position
Furthermore, the lift mechanism 40 is provided below the elevator main body 86.
If 2 is installed, this sensor S₁， S₂， S
₃At the bottom of the elevator body 86,
The lift position of the lift mechanism 402 in order to receive
The elevator main body 86 can be
Elevator body 86 required to move p ′ to the unloading mechanism 76
Will be set to the minimum. in this way
And when it is necessary to move the empty pallet p ′ to the carry-out mechanism 76.
This can shorten the time and delay the next swapping operation.
A decreasing effect will be achieved. A-5: Effect of covering the pallet with the lid 40: The upper surface is open to take out the component x housed inside.
When transferring the part x using the pallet p
The stored parts are
And during storage in the stocker 24, dirt from dust etc.
A lid 40 is provided on each pallet p to protect it from
This lid 40 closes the upper opening so that it can be opened.
It is something. In this way, the lid 40 is attached to each pallet p.
Since it is attached, the part x housed inside is dusty or the like.
The effect of being surely protected from dirt from
is there. A-5: Here, this lid 40 smells in the stocker 24.
Then, the pallet p is brought to the position where the robot 12 is pulled out.
During all periods except during
It is what is covered. In this way, the palette p
While the top surface is open, the part x
To withdraw, which is the required opening period
Since it is limited to, the intrusion of dust etc. into the pallet p.
Is kept to a minimum, and dirt on the part x due to dust, etc.
The effect of being able to prevent power is obtained. A-5: The lid 40 is removed from the pallet p.
In the case, the lifting arm 160 with the lid opening 170
Moves straight from diagonally downward to diagonally upward and
To the side edge of the lid 40 through the third cutout 38c of the top p.
Engage from one side and lift the lid 40 upward
There is. Such a linear movement of the lifting arm 160
Allows one drive source for this
And, while achieving shortening of the lifting operation time,
This has the effect of achieving cost reduction. In this way, the third cutout 38c of the pallet p is passed through in this manner.
The lifted arm 160 that you have held the lid 40 in this way.
Movement of the pallet p along the transport direction in the raised state
It is said that it is configured not to hinder
But not. A-6: Lock of pallet in stocker In stocker 24, each pallet p is driven up and down.
Supported on the corresponding shelf 156 of the lifting frame 152
It is set to. Here on this shelf 156
In the state of being supported by the
The movement mechanism 600 enables movement along the transport direction on the shelf 156.
It is locked. In this way, for example, the lifting frame 152
The vertical movement of each pallet p
Even if the device receives a moving force along the transport direction, the locking mechanism 60
Since it is locked by 0, each pallet p corresponds to
To be securely locked in place on the shelf 156
Become. As a result, when the lifting frame 152 is stopped,
In the state where the lock by the hook mechanism 600 is released,
Always each pallet p is brought into position,
Pulling out each pallet to the robot 12 or emptying it
The pull-in operation in the case of
The effect will be achieved. B: Effect of easy process change The effect of the FAC embodiment described in the above item is
Various combinations of Tsuka, elevator, buffer, lift mechanism, etc.
When combined, it mainly consists of the hardware and the control program that controls it.
This is the effect seen from the composition with the program. Control program
Software should be characterized by its ease of modification.
Therefore, there is a control program used in this FAC.
How ram is flexible to change
See the effects from a perspective. That is, in the embodiment, by the variable G of the process,
It associates the parts used in the process. Pallet and pallet
The shelf position for storing the dots is related by the variable S,
The shelf position variable S of S is arrayed (S
[G]) Thus, the process shelf position pallet
The relationship of parts is clarified. Therefore, this arrangement
The process changes and the process changes only by converting the columns.
However, there is no need to change the position of the shelves where the pallets are stored. Well
In addition, there is no need to change the control program.
It In addition, the above array is displayed on the CRT screen of the input device.
Therefore, it is very easy to change the process etc.
There is also a fruit. C: Effective efficiency of replenishment to the FAC from the outside This FAC system has a fixed position from the stocker to the robot.
Parts supply from the buffer to the stocker
A book is used and the unit of supply and replenishment is a pallet. Obey
If there are no more parts in the FAC system, then
It is necessary to replenish with new pallets full of. This FAC system consists of parts supply process and parts
Independent of the process of replenishment via the shoes
It By making these two processes independent,
Immediately after being unable to replenish the
Supply from mosquitoes to robots will not stop. That
The parts replenishment process on the FAC side (on the buffer table).
The process of locking all existing pallets to information and the elevator
The process of unloading empty pallets loaded below) and FA
C and the outside (unmanned vehicle) that supplies parts to this FAC jointly
The above parts replenishment and
The process was matched with the above-mentioned preparation process for pallet replenishment.
As a result, the total time for replenishing parts can be shortened, and as a result,
It has the effect of shortening the time the unmanned vehicle stops.
It Also, it takes time to replenish manually.
However, in consideration of the effect described in B above, a new power is added.
To the pallets on the buffer table increased by refilling the lettuce
It becomes easy to update related information. As described above, according to the article supply device of the present invention,
The storage inside the storage means that supplies the goods to the supplied parts such as robots.
Items in the container are gone, and new storage for the storage means
When it becomes necessary to replenish the box,
Search the location of the storage box to be supplied from the storage means and
The target storage box is separated from the temporary storage means by the separate supply means.
Separated from the storage box of the
can do. That is, the temporary storage means and the storage means
And the separate supply means
In the supplied part due to the occurrence of an empty storage box
It is possible to eliminate the stoppage of operation due to non-supply of goods
Wear. In addition, temporary storage means is provided to replenish the storage means.
Storage position of the storage box in the temporary storage means
Storage means and the specific storage box
Separation replenishing means capable of performing an operation for separating
By including the
Multiple types of storage boxes are randomly stored in temporary storage means
Even if it has been, the storage box for any purpose can be
You can surely replenish the storage means from within the temporary storage means.
It Thus, the supply of the articles from the storage means to the supply target portion,
Replenishment of goods from storage means to storage means is efficient and
It runs without stopping.

[Brief description of drawings]

1 is a front view schematically showing the overall configuration of an FAC system according to an embodiment of the present invention; FIG. 2 is a perspective view schematically showing the overall configuration of the FAC system shown in FIG. 1; Is a perspective view showing the structure of a pallet in which parts are stored; FIG. 4 is a front view showing the shape of a pallet having three types of heights; FIG. 5 is a cross-sectional view showing the stacking state of pallets; FIG. 7 is a perspective view showing the structure of the buffer; FIGS. 7 to 7D show a predetermined pallet in the buffer.
p _a front view sequentially showing the separation operation of the; Fig. 8, second 8E figure, front view sequentially showing the position correction operation in the separation operation of the buffer; Figure 9 is a perspective view showing the structure of an elevator; FIG. 10 FIG. 11 is a side view showing the elevator main body in the elevator together with the replacement mechanism; FIG. 11 is a front view showing the configuration of the replacement mechanism with the elevator main body partially broken away; FIG. 12 is a perspective view showing the replacement mechanism taken out. 13A to 13G are front views sequentially showing the replacement operation in the elevator; FIG. 14 is a perspective view showing the structure of the stocker; FIG. 15 is a side view showing the structure of the lid opening mechanism; FIG. 17A is a side view showing a state in which the lid is lifted in the opening mechanism; FIGS. 17A to 17E are diagrams for explaining that the movement of the stocker or the like changes depending on the order of steps and the order of placing shelves; Is the example control 19A to 19C are diagrams showing an input menu to the input device and a display state thereof; and FIG. 20 is a diagram showing each stocker stocker. FIG. 21A is a diagram illustrating variables commonly used in each control module; FIG. 21B is a diagram illustrating the configuration of a cue; FIGS. 22A and 22B are diagrams illustrating teaching of shelf positions. FAC system FIG. 23A and FIG. 23B are flow charts of a robot control program; FIG. 24A and FIG. 24B are flow charts of a stocker control program; The figure shows the process number transition in stocker control. Fig. 25A shows the configuration of variables used for buffer control. Figs. 25B and 25C show buffer control. 26A and 26B are flow charts of the elevator control program; FIGS. 27A to 27G are diagrams for sequentially explaining the pallet changing operation centering on the elevator; FIG. 28 is an unloading process. FIG. 29 is a diagram illustrating stacking of empty pallets on the mechanism; FIG. 29 is a control flow chart for setting the system to an initial operating state; FIG. 30 is a control program flow chart according to the first modification; FIG. 32 is a perspective view schematically showing the configuration of the buffer according to the first modification; FIG. 32 is a front view showing a state in which the disposition claws of the separation claws in the step-out mechanism shown in FIG. 31 are set to the maximum. FIG. 33 is a front view showing a state in which the arrangement pitch of the separation claws in the step-out mechanism shown in FIG. 31 is set to a minimum; FIG. 34 is a side view showing the configuration of the step-out mechanism; Is the second modification 36 is a bottom view showing the construction of the actual pallet changing mechanism in the elevator shown in FIG. 35; FIG. 37 is the bottom view showing the structure of the actual pallet changing mechanism shown in FIG. 38 is a side view showing the structure; FIG. 38 is a bottom view showing the structure of the empty pallet changing mechanism shown in FIG. 35; FIG. 39 is a side view showing the structure of the empty pallet changing mechanism shown in FIG. 38; FIG. 41 is a side view showing the configuration of the replacement mechanism in the third modified example; FIG. 41 is a partially cutaway front view showing the replacement mechanism shown in FIG. 40; FIG. 43 is a perspective view showing a buffer provided with a lift mechanism according to a fourth modification; FIG. 44 is an arrangement of the sensors shown in FIG. 43. FIG. 45 is a side view showing the position; FIG. 45 is an elevator and a fourth modification. 46 and a control flow chart of the lift mechanism; FIG. 46 is a perspective view showing a schematic configuration of another embodiment according to the present invention; FIG. 47 is a perspective view showing a configuration around the buffer base in the buffer shown in FIG. 47; FIG. 48 is a bottom view showing the state of the bottom surface of the buffer table shown in FIG. 48; FIG. 49 is a side view showing the configuration of the exchange mechanism provided on the buffer table; FIG. 50A and FIG. 50B are both other 50C and 50D are diagrams showing the sequence of the operation of exchanging the pallets in another embodiment; and FIG. 51 is a configuration of a modification of the other embodiment. 52 is a perspective view showing a case where a locking hole is formed on the lower surface of the flange portion of the pallet; FIG. 53 is a lock for locking the pallet supporting position in the stocker. Front view showing the structure of the mechanism; 55A and 55B are respectively a flow chart showing a control program relating to a replenishing operation of a pallet to a buffer via an unmanned vehicle; FIGS. 56A and 56B are respectively. , FIG. 56C is a diagram showing an input display in an operation related to manual replenishment of a palette into a buffer; and FIG. 56C is a diagram showing a sequence of operations related to manual replenishment of a palette into a buffer. In the figure, 10 ... Flexible Assembling Center (FAC system), 12 ... Robot, 14 ... Parts supply system, 16 ... Control unit, 18 ... Input device, 20 ...
Unmanned vehicle, 22 …… buffer, 24 …… stocker, 26 …… elevator, d …… conveyance direction, unmanned vehicle 20 relation 28 …… casing, 30 …… wheel, 32 …… pallet mounting table, 32a
...... Carry-out roller, 34 …… Empty pallet mounting table, 34a …… Carry-in roller, pallet p (p ₁ , p ₂ , p ₃ …) relation 36 …… Pallet body, 38 …… Flange part, 38a …… 1st
Notch part, 38b ... second notch part, 38c ... third
Notch part, 40 ... Lid, x (x ₁ , x ₂ , x ₃ …) parts,
B: Bar code, buffer 22 related 42: Base, 44a to 44d: Posts, 46a; 46b: Standing plate, 4
8 ... Guide member, 50 ... Sliding member, 52 ... Buffer base, 52a ... Projecting piece, 54 ... Loading roller group, 56 ... Roller guide, 58 ... Slit, 60 ... Ball screw, 62 ......
Encoder, 64 ... Separation mechanism, 66 ... First separation claw, 68
...... Second separation claw, 70 …… Support rod, 72 …… Connection plate,
74 …… bar code reader, 76 …… delivery mechanism, 78 …… delivery roller, 80 …… sensor, B …… bar code, C _B1 ； C _B2 …
… Air cylinder, M _B …… Servo motor, Elevator 26 related 82a to 82d …… Posts, 84 …… Connecting member, 86 …… Elevator body, 88 …… Guide member, 90 …… Sliding member, 92 …… Ball Screw, 94 ... Encoder, 96 ... Swap mechanism, 98 ...
… Stay, 100 …… swing arm, 100a …… long groove, 102 ……
Guide groove, 104 …… Guide pin, 106 …… Slide plate, 10
8 ... First hook, 110 ... First hook slide member, 112 ... Air cylinder support plate, 114 ... First piston, 116 ... Second hook, 118 ... Second hook Slide member, 120 ... Second piston, 122 ... Fixed slide guide, 124 ... Mounting plate, 126 ... Third hook, 128 ... Third hook slide member, 130 ... Third piston, 132 ... Guide groove, 134 ... Movable slide guide, 136 ... Sliding member, 138 ... Air cylinder support plate, 140 ... Fourth piston, 230 ... Elevator body in empty pallet pulling position, 232 ... … Elevator body in actual pallet pushing position, A; B …… Servomotor rotation direction, C _E1 ； C _E2 ； C _E3 C _E4 …… Air cylinder,
M _E1 …… Servo motor, M _E2 …… Servo motor, Stocker 24 related 142 …… Base, 144a to 144d …… Posts, 146 …… Coupling frame, 14
8 …… Guide member, 150 …… Sliding member, 152 …… Lifting frame, 1
54 …… Drawer, 156 …… Shelf, 158 …… Notch,
160 ... Lifting arm, 160a ... Main body, 160b ... Top surface, 160c ... Projection, 162 ... Projection piece, 164 ... Ball screw, 166 ... Encoder, 168 ... Drawer, 170 ...
Lid opening mechanism, 172 …… Removal mechanism, 174 …… Support stay, 176 …… Stopper, 178 …… Slide guide, 180…
... Guide member, 182 ... Sliding member, 184 ... Support plate, 186
…… Foot, 188 …… Drive roller, 190 …… Idle roller, 192 …… Endless belt, 194 …… Coupling shaft, 196…
... Driven roller, 198 ... Stay, 200 ... Drive shaft, 202 ...
… Drive roller, 204 …… Endless belt, 206 …… Piston, 208a; 208b …… Input end, Robot 12 related 210 …… Assembly stage, 212 …… Stand, 214 …… X axis robot arm, 216 …… Y axis Robot arm, 218 …… Robot hand, 220 …… Finger, 222 …… Fing station, 224 …… Assembly base, C _S1 ； C _S2 …… Air cylinder, M _S1 …… Servomotor, M _S2 …… Servomotor , Relation of the first modified example 250 ... step disassembly mechanism, 252 ... separation claw mounting plate, 254a; 254
b …… Guide shaft, 256a; 256b …… Fixing tool, 258 …… Piston, 260a; 260b …… Input end, 262a; 262b; 262c …… Introduction pipe, 264a; 264b …… Output end, 264c …… Input end , 266 ……
Separation claw, 268 ... Piston, C _D1 ; C _D2 ...... Air cylinder, second modified relation 86a …… Elevator body 86 top plate, 86b …… Elevator body 86 bottom plate, 96a …… Actual pellet replacement Mechanism, 96b ...
Empty pallet changing mechanism, 300 ... elevator, 302a; 30
2b ... first guide member, 304 ... first slide plate, 3
06 …… first ball shaft, 308 …… projection, 310a; 310b ……
First rotary support member, 316 ... Fixed slide guide, 322
a; 322b ... second guide member, 324 ... second slide plate, 326 ... second ball shaft, 328, projection, 330a; 330
b ... second rotation support member, 332 ... hook member, 334 ...
… Second piston, 336 …… Movable slide guide, 338…
… Sliding member, 340 …… Third piston, C ₁ ; C ₂ ; C ₃
...... Air cylinder, M ₁ ； M ₂ …… Servomotor, third modified example relation 350 …… Replacement mechanism, 352 …… Movable slide guide, 35
4 …… Slide guide, 356 …… Fourth piston, Fourth modification relationship 400 …… Fixed transfer mechanism, 402 …… Lift mechanism, 404 …… Sliding member, 406 …… Lift base, 408 …… Projection One piece, 410 …… Air cylinder mounting member, 412 …… Piston, 414 ……
Sensor mounting member, S ₁ ; S ₂ ; S ₃ …… Sensor, other examples Related 450 …… Buffer, 452 …… Spacer block, 454 ……
Separation mechanism, 456 ... Mounting member, 458 ... Guide shaft, 46
0 …… Separation pawl mounting plate, 462 Separation pawl, 464 …… Ball screw, 4
68 …… Ball screw receiving part, 470 …… Stay, 472 …… Drive pulley, 474 …… Drive pulley, 476 …… Timing belt, 480 …… Replacement mechanism, 482a; 482b …… Guide shaft, 48
4 …… Slide plate, 484a; 484b …… Roller, 484c …… Screwed part, 486 …… Ball screw, 488a; 488b …… Rotation support member,
490a; 490b ... first hook, 492 ... piston, 494a; 4
94b ... guide pin, 496a; 496b ... guide pin, 498 ...
... Pistons, 500a; 500b ... Second hooks, 502a; 502b ...
... Support stay, 504 ... Piston, modification of other embodiments 550 ... Transfer, 552 ... Transfer body, other relationships 38d ... Locking hole formed on the lower surface of the flange 38 of the pallet Part, 600 ... Lock mechanism, 602 ... Lock mechanism,
604a; 604b ...... guide member, 606 ...... air cylinder mounting plate, 608 ...... piston, 610 ...... locking member, 610a ...... mounting piece, 610b ...... Rotsukupin a C _R ...... air cylinder.

Front Page Continuation (72) Inventor Yusaku Wazuma 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc. (72) Inventor Ryohei Inaba 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc. (56) References JP-A-59-110524 (JP, A) JP-A-62-157735 (JP, A)

Claims (2)

[Claims] 1. An article supply apparatus for supplying an article to a supply section such as a robot, wherein a plurality of accommodation boxes are stacked by receiving a replenishment of an accommodation box containing articles from the outside. Temporary storage means for temporarily storing, storage means for storing respective storage positions in the temporary storage means of the plurality of storage boxes stored in the temporary storage means, and predetermined supply to the supply target portion. A storage means for storing a plurality of storage boxes replenished from the temporary storage means for supplying articles in order, and a target storage box in the storage means in a predetermined position of the supply target portion according to the predetermined supply order. Moving means for moving the storage means back and forth together with the plurality of storage boxes stored therein, and a separate supply for supplying a new storage box from the temporary storage means to the storage means. In the temporary storage means, a new storage box containing articles to be supplied to the storage means is free from other storage boxes in the temporary storage means other than the new storage box. Separated into
Separation and replenishment means for replenishing the separated storage box to the storage means, and control means for controlling the moving means and the separation and replenishment means, wherein the moving means moves the storage means to the predetermined position in the supply order. As a result, the shortage of articles is detected in the storage means as the articles are supplied to the supply target portion, and a storage position in the temporary storage means of a new storage box containing the shortage articles is searched from the storage means. And a control means for controlling the separate replenishment means to separate and replenish the new container at the searched position. 2. The control means includes update means for updating information about storage positions of the remaining plurality of storage boxes in the temporary storage means when the searched storage boxes are separated and replenished. The article supply apparatus according to claim 1, which is characterized.