JPH074711B2 - How to switch models on automatic assembly line - Google Patents

Description

Detailed Description of the Invention

TECHNICAL FIELD OF THE INVENTION The present invention relates to a model switching method for an automatic assembly line. BACKGROUND OF THE INVENTION In recent years, various types of automation of electronic device manufacturing have been studied, and production efficiency has been increased. However, at present, each assembly line of the main assembly or the sub-assembly that performs continuous automatic assembly is
Generally, the assembly of the same model is automated, but
Automation when switching models is extremely time consuming. An example of such a model change is when the production of the current model is finished and the production of the next model is started, the parts of the next model are loaded and the assembly machine is assembled until all the assembly of the current model is completed. Although there is a method of waiting for the preparation of the current model and starting switching at the same time as the production of the current model is completed, this is too lossy, so the entire assembly line is divided into multiple blocks and the current A method is also known in which preparation for production of the next model is started for each block in which production of a model has been completed. However, even with this method, the preparation for the production of the next model cannot be started until the production of one block is completed, so that the efficiency of model switching is low. [Object of the Invention] The present invention has been made in view of the above circumstances.
It is an object of the invention to provide a model switching method capable of significantly improving the model switching efficiency of an automatic assembly line as compared with the conventional method. [Summary of the Invention] In order to achieve the above object, the present invention sets a model switching means provided in a rearmost assembly jig of a current model to a model switching state and transfers it by a conveyor. The assembling jig of the above model is made to stand by at a position before the assembling position of the first automatic assembly machine for at least a predetermined time until the model switching of the first automatic assembly machine is completed, and during this waiting time as well. The model switching means transfers the assembling jig in the model switching state by a conveyor, and the model switching detecting means arranged along the conveyor detects the model switching state of the assembling jig and outputs a detection signal. It is generated, and each automatic assembly machine is made to start model switching work sequentially based on this detection signal, and after the lapse of the predetermined time, transfer of the assembly jig of the next model from the standby position is started and each automatic assembly machine is started. Performing automatic assembly by an assembly machine After that, until the assembly jig for which the model switching notification means is set reaches the assembly position of the automatic assembly machine in the final process, the start instruction of model switching work for each automatic assembly machine and the assembly of the next model are performed. The attaching work is performed in parallel at a predetermined interval. [Operation] By doing this, since the model switching work is started as soon as the assembly of the current model of each automatic assembly machine is completed, the assembly of a plurality of automatic assembly machines, that is, the assembly of the entire block is not completed. The efficiency can be far improved compared to the conventional method in which the model switching work is not started. Moreover, the model switching work is started by the last assembly jig of the current model, and the model switching work is started in parallel with the completion of the assembly of the automatic assembly machine of the current model. In the case of an automatic assembly line in which automatic assembly machines that require a longer time than the assembly work are arranged, the efficiency is improved at each stage compared to the method of starting the model switching with the assembly jig of the next model. Can be achieved. [Embodiment] An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of an automatic assembly apparatus for small equipment,
The part surrounded by the dotted line is the main part of the automatic assembly apparatus 1. The automatic assembling apparatus 1 includes a host computer 2, an automatic rack stacker 3, main assembly lines A and B, sub-assembly lines C ₁ , C ₂ , D ₁ and D ₂ , a line control computer.
4A, 4B, 4C, 4D, an automated guided vehicle control computer 5, an automatic packing machine 6 and the like. The host computer 2 manages the production of equipment manufactured based on long-term and short-term production plans and controls it, and comprises a production management computer 2a and a control computer 2b. The production management computer 2a manages the required quantity of parts based on the input production plan, and the control computer 2b controls the assembly lines A, B, C ₁ , C ₂ , D ₁ and D _{2 which} will be described later. It manages and controls parts replenishment. The automatic rack stacker 3 stores the parts of the equipment to be manufactured so that it can be carried out, and has a large number of racks 3a ... Arranged in a matrix, and each part is stored in each rack 3a. The stored containers 7 ... Are stored in a stacked state of several stages (four stages in this embodiment). Further, the automatic rack stacker 3 is equipped with a stacker crane (not shown).
The containers 7 stacked in stages are stored in the racks 3a as they are, and are unloaded.
That is, the in-house parts and the outsourced parts manufactured based on the instruction from the host computer 2 are stored in the container 7 in a predetermined quantity for each part and stored, and then the container 7 in which the same parts are stored is transferred by the transport vehicle ( It is mounted in a four-tier stack (not shown) and is transferred to a predetermined position of the automatic rack stacker 3 by a transport vehicle. At this time, the host computer 2
At the same time, the part codes of the parts mounted on the carrier and the quantity thereof are input from the terminal (not shown) to the host computer 2 and stored in the empty rack 3a by the stacker crane. The stored location is also stored in the host computer 2 corresponding to the part code.
In addition, assembly lines A, B, C ₁ , C ₂ , D ₁ and
If the D ₂ had parts requirements, the corresponding parts are unloaded from the rack 3a stored by leaving the stacker crane of the container 7 is 4-stack, is mounted on the automatic guided vehicle 8 each acene pre line A , B, C ₁ , C ₂ , D ₁ , D ₂ . In this case, the traveling of the automatic guided vehicle 8 is controlled by a command from the host computer 2, and is arranged on the main assembly lines A and B and the subassembly lines C ₁ , C ₂ , D ₁ and D ₂ . The container 7 in which the required parts are stored is supplied to the standby station of the automatic assembly robot described later, and the empty container 7 is collected. In this case, the automated guided vehicle 8 is controlled to travel along the rail 8a embedded under the floor, and the low guided vehicle 8 transmitted from the automated guided vehicle control computer 5 connected to the host computer 2 to the rail 8a is controlled. It operates by an electromagnetic induction method based on a frequency signal.
The automatic guided vehicle 8 has a function of performing operations such as starting and stopping as well as loading and unloading of containers, and a large number of rollers that rotate forward and backward by a motor are arranged in the mounting portion of the container 7. The line control computers 4A, 4B, 4C and 4D are based on the command from the host computer 2 and are the main assembly line A,
It gives instructions to the B and sub-assembly lines C ₁ , C ₂ , D ₁ and D ₂ , and has a short-term production plan and control means for controlling the respective lines. The main assembly lines A and B start production based on commands from the line control computers 4A and 4B as described later, and send the finished products to the automatic packing machine 6. The automatic packing machine 6 packs the sent finished product, sends it to a product warehouse, and then ships it. In addition, sub assembly line
C ₁ , C ₂ and D ₁ , D ₂ are controlled by the line control computers 4C and 4D, respectively, to produce in-house parts and mounted on the automated guided vehicle 8. The in-house produced parts are again stored in the automatic rack stacker 3 by the automatic guided vehicle and supplied as the used parts of the main assembly lines A and B. Next, the assembly lines A, B, C ₁ , C ₂ , D ₁ and D ₂ will be described by taking the case of assembling a small electronic calculator as an example.
In this case, the small computer to be produced has a circuit board, a liquid crystal display panel, a solar cell, a key button, etc. inside the upper case and the lower case.
(Large-scale integrated circuit), electronic parts for power supply stabilization, etc. are attached, liquid crystal display panel and solar cell are connected, and each button part of the key button is exposed from the upper case to the outside, The individual contacts on the circuit board are made conductive so that they can be contacted and separated. Of the assembly lines for assembling such a small electronic calculator, the subassembly lines D ₁ and D ₂ are on the circuit board.
It is a line for automatically assembling LSI, and subassembly lines C ₁ and C ₂ are auxiliary circuit boards with liquid crystal display panel, solar cells and electronic components for power source stabilization mounted on the circuit board on which the above LSI is assembled. This is the assembly line. The main assembly lines A and B are lines for completing the small electronic calculator by incorporating the substrate assemblies, which have been assembled in the sub assembly lines C ₁ and C ₂ , into the upper and lower case members. In this case, the circuit board that has been assembled on the sub-assembly lines D ₁ and D ₂ is temporarily stored in the rack 3a by the unmanned transport vehicle 8 and then mounted on the unmanned transport vehicle 8 again by a command from the host computer 2. And is transported to the subassembly lines C ₁ and C ₂ . Similarly, the board assembly, which has been assembled in the sub-assembly lines C ₁ and C ₂ , is once stored in the rack 3 a by the automatic guided vehicle 8 and then mounted on the automatic guided vehicle 8 again to be installed in the main assembly line A, Transported to B. Next, referring to FIG. 2 and FIG. 3, the main assembly line A will be described as an example of the assembly line. Main assembly line A is line control computer 4A
The parts are assembled based on the command of the above, and the conveying section 10 conveys the assembling jig (platen) 9, the platen stacker 11 for storing a large number of the assembling jigs 9, and the parts for each process. Automatic assembling robots a, b ... h and standby stations 12 for the respective automatic assembling robots a, b ... h.
It consists of a, 12b ... 12h. The transport unit 10 continuously transfers the assembling jig 9 and circulates the assembling jig 9 between the automatic assembling robots a, b, ... Conveyor 13, recovery conveyor 14 and descending elevators 15, which are arranged on both sides thereof,
The assembling jig 9 which is composed of the ascending elevator 16 and is sent from the platen stacker 11 is conveyed from the left side to the right side by the upper feeding conveyor 13 and the automatic assembling robots a, b ...
・ The parts are assembled with h, and the empty jig 9 from which the parts are removed after the assembly is completed is sent to the lower recovery conveyor 14 by the lowering elevator 15 on the right side, and from this recovery conveyor 14 from the right side to the left side. Then, the ascending elevator 16 on the left side sends it to the delivery conveyor 13 again. A counter 17 for counting the number of passages of the assembling jig 9 on the left end side of the collecting conveyor 14, and a model switching device for setting a model switching informing pin 21 of the assembling jig 9 described later to a set position and a reset position. 19 are provided. The platen stacker 11 stores a large number of various assembling jigs 9 ..., and stores the assembling jigs 9 from the storage sections 11a, 11b, 11f and the delivery conveyor 13 for storing the assembling jigs 9 by model. Conveyor section 11g for carrying to a predetermined storage section, and conveyor section 11h for carrying in the assembly jig 9 to the delivery conveyor 14.
With. This platen stacker 11 is arranged at the head of each automatic assembly robot and is equipped with a line control computer.
Based on the command from 4A, the assembling jig 9 of the currently assembled model is collected, and the assembling jig 9 of the next model to be assembled is sent to the sending conveyor 13 one by one at regular intervals. . The assembling jig 9 is for accurately positioning and placing the component (upper case) of the product to be manufactured (small electronic calculator), and as shown in FIG. A concave portion 9b for positioning and setting a base component 30a (upper case) is formed on the upper surface of the jig, and a model specifying portion 20 of the jig 9 is provided at the front corner of the jig body 9a. At the same time, a model switching notification pin 21, a defective product notification pin 22, and a positioning recess 23 are provided on the upper right side of the jig body 9a. In this case, assembling jigs 9 are prepared in many types according to the model of the product to be manufactured. The model identification unit 20 has a discrimination means corresponding to the model of the product to be manufactured, and is composed of a plurality of holes (four in this embodiment) penetrating vertically in the jig body 9a. The position is different for each model. Therefore, even when four holes are used as in this embodiment, it is possible to discriminate 16 types of product models (types of jigs 9) by combining the numbers and positions of the holes. The model identifying unit 20 provided on the assembling jig 9 is confirmed by the jig discriminator 27a provided at the head of the sending conveyor 13 (FIG. 3). As shown in FIG. 8, the jig determination 27a is for detecting whether the type of the assembling jig 9, that is, the assembling jig 9 according to the type of product to be manufactured, is used. Four light-emitting elements 27a ₁ ... Are provided on the lower side of 13 and four light-receiving elements 27a ₂ ... are provided above the delivery conveyor 13 so as to face the light-emitting elements 27a ₁ . The light of ... Is transmitted through each hole of the model specifying portion 20 provided in the assembly jig 9, and the transmitted light is received by the light receiving element 27a ₂ . Determine the type. The model switching notification pin 21 is for switching the model of the product manufactured in the entire main assembly line A, is slidably mounted on the mounting member 9c provided on the jig body 9a, and both ends thereof project from the mounting member 9c. Normally, as shown in FIG. 5 (A), one end is held at a reset position where it projects inside the jig body 9a, and when switching models, as shown in FIG. 5 (B), The end is held at a set position where it projects outside the jig body 9a. That is, the model switching notification pin 21 is displaced to one of the model switching instruction positions by the model switching device 19 of the collecting conveyor 14 from one of the assembling jigs 9 ... The assembly jig 9 in which the pin 21 is displaced is fed as a pilot jig 9p by the delivery conveyor 13 to each automatic assembly robot a,
A model switching signal (model switching timing signal) is sequentially given to b ... h. In this case, the model switching device 19 operates the model switching notification pin 21 based on the model switching command from the line control computer 4A. As shown in FIG. 6, the model switching notification pin 21 is set to the model switching instruction position. It consists of a set cylinder 19a to be set and a rit cylinder 19b that returns it to the original position, and presses the inner end of the model switching notification pin 21 with the set cylinder 19a to set it to the function switching instruction position,
The reset cylinder 19b pushes the outer end of the model switching notification pin 21 to return it to its original position. As will be described later, the model switching device 19 keeps the model switching notification pin 21 at the reset position by operating the reset cylinder 19b unless a model switching signal from the host computer 2 is received via the line control computer 4A. Let Further, the defective product notification pin 22 is for notifying whether or not the product being manufactured is defective, and is configured similarly to the model switching notification pin 21 described above, and when a defect occurs in the product being manufactured, The automatic assembling robots a, b ... h are adapted to be displaced each time. In addition, Fig. 6 shows the defective product notification pin.
Regarding 22, only the defective product reset cylinder 22a is shown, but the set of this defective product notification pin 22 is the model switching notification pin.
It is exactly the same as the case of 21. Further, the positioning recess 23 is for positioning the assembling jig 9 conveyed by the delivery conveyor 13 with respect to the automatic assembling robots a, b ... H, and is formed on the attachment member 9c of the jig body 9a. The automatic assembling robots a, b, ... H are locked at predetermined positions by respective locking projections (not shown). The jig body 9a
Cushions 24, 24 are provided on the side of the cushion to cushion the impact. On the other hand, the automatic assembling robots a, b, ... H are for sequentially incorporating predetermined parts into the conveyed assembling jig 9 to complete the product based on the command from the line control computer 4A. The work procedure corresponding to the model of the product is stored, and is arranged along the delivery conveyor 13 of the transport unit 10 as shown in FIGS. 2 and 3. Incidentally, the automatic assembling robots a, b, ... H are, in order from the left side, a robot which turns over the upper case and carries it into the assembling jig 9 and places it, a robot for assembling a key button, and a subassembly line C ₁ , Robot that assembles the board assembly that has been assembled with C ₂ ,
It is a robot that assembles the lower case, a robot that tightens screws, a robot that attaches a name plate, a robot that inspects functions, and a robot that takes out finished products. Of the automatic assembling robots a, b ... H, the automatic assembling robot a will be described as an example with reference to FIG. The automatic assembling robot a includes an assembling robot section 25 for placing parts such as an upper case on the assembling jig 9 conveyed by the sending conveyor 13, and a waiting station described later.
It comprises a carry-in robot section 26 for carrying in parts from 12a. The built-in robot unit 25 is a Y provided on the machine base 25a.
A guide rail member 25b in the axial direction (direction orthogonal to the delivery conveyor 13), a guide rail member 25c in the X-axis direction which is guided by the guide rail member 25b and moves toward and away from the delivery conveyor 13, and this guide A work head portion 25d that is guided by the rail member 25c to move in the X-axis direction (direction parallel to the delivery conveyor 13) and a work head portion 25d that is vertically movably attached to the work head portion 25d and mounts the component on the assembly jig 9. In addition to the built-in vacuum suction unit 25e, the sensor 27 of the assembling jig 9, the intermediate transfer unit 28, the chuck switching device 29, and the like are provided. The sensor 27 is for detecting the assembly jig 9 and its mounted parts, and is a model switching detector for detecting that the model switching notification pin 21 of the assembly jig 9 is set at the model switching instruction position. 27b and a defective product confirmation detector 27c for detecting that the defective product notification pin 22 is set at the defective product indication position. As shown in FIG. 9, the model change detector 27b and the defective product recognition detector 27c are each composed of a proximity switch and the like, and the model change detector 27b detects the model change notification pin 21 and sets the model change notification pin 21. At the same time, a detection signal (model switching signal) is given to the automatic assembly robot a. When assembly preparation for the next different model is started based on this model switching signal, the automatic assembly robot a and its standby station perform replacement of chucks and discharge of parts of the current model. The defective product detector 27c detects the defective product notification pin 22 and gives a detection signal (defective product detection signal) to the automatic assembly robot a when the defective product notification pin 22 is set. When the defect detection signal is given, the automatic assembly robot a does not assemble the parts at that time, and takes out the defective product to the outside of the conveyor 13 together with the embodiment by a take-out device (not shown). In addition, the model change detector 27b
Is also provided at a location corresponding to the jig discriminator 27a.
Further, the intermediate transfer unit 28 temporarily receives the parts carried in from the standby station 12a and transfers the received parts to the delivery conveyor 13 side. The two intermediate parts are provided on the mounting plate 28a on the machine base 25a. The guide rods 28b and 28b guide the mounting table 28c to reciprocate. Further, the chuck switching device 29 includes various chucks according to the model of the product to be manufactured, and when the model switching signal is given as described above, the chuck of the vacuum suction unit 25e of the built-in robot unit 25 is replaced. In this case, the built-in robot unit 25 of the automatic assembly robot a moves the vacuum suction unit 25e to the chuck switching device 29 in response to the model switching signal, and stores the current suction unit 25e at a predetermined position of the chuck switching device 29. Although not shown, the chuck is stored by a chuck removing structure provided in the chuck switching device 29. Also, after the current chuck is removed, the next model will be installed. On the other hand, the carry-in robot unit 26 carries in parts from the standby station 12a to the built-in robot unit 25, and the pallet take-out device 26 is placed on the transverse feed table 26a arranged on the back side of the machine base 25a.
b, a parts unloading device 26c and a pallet feeding device 26d. The pallet take-out device 26b takes out the pallet 30 loaded with components from one of the containers 7 ... Brought into the standby station 12a and places it on the transverse feed table 26a. When the pallet 30 on the transverse feed table 26a is set in a predetermined position, the component take-out device 26c
Remove the components mounted to are those placed on the placing table 28c of the intermediate transfer unit 28, the head portion 26c ₂ that moves while being guided by the X-axis direction of the guide rail member 26c _1, the head portion 26c Vacuum suction unit attached to _{2 so that} it can move up and down
It consists of 26c ₃ . The pallet sending device 26d is an empty pallet 30 in which parts are taken out by the parts taking-out device 26c.
Is stored in the empty container 7 of the waiting station 12a. Then, the automatic assembling robot a incorporates the component 30a into the assembling jig 9 as shown in FIG. That is, when the pallet 30 is set on the transverse feed table 26a as shown in FIG. 10 (A), the component take-out device 26c of the carry-in robot section 26 operates and the component as shown in FIG. The vacuum suction part 26c ₃ of the take-out device 26c picks up one component 30a on the pallet 30 and pulls it up, and in this state, the head part 26c of the part take-out device 26c.
₂ is guided by the guide rail member 26c ₁ and moves as shown in FIG. 7C, and then the vacuum suction unit 26 as shown in FIG.
c ₃ on the mounting table 28c of the intermediate transfer unit 28 the part 30a adsorbed
Place on top. When the component 30a is placed on the placing table 28c in this manner, the placing table 28c is guided by the guide rod 28b of the intermediate transfer unit 28 as shown in FIG.
3 Move to the upper assembly jig 9 side. At this time, the head part 26c ₂ of the component take-out device 26c moves to move the vacuum suction part 26c ₃ above the pallet 30. Then, as shown in FIG. 7F, the vacuum suction unit 25e of the built-in robot unit 25 is mounted on the mounting table 28c.
Together pulled by adsorbing part 30a of the upper, component taking the device 26c vacuum suction portion 26c ₃ of pulled again picks up a component 30a on the pallet 30, FIG. (G) as shown in built robot 25 head portion 25d and the component pickup device 26c of the head portion 26c ₂ is simultaneously moved to each of the vacuum suction portion 25e of the respective parts 30a adsorbed to 26c _3, it moves the 30a, the mounting table 28c of the intermediate transfer unit 28 is Return to the original position. After that, as shown in FIG. 3H, the vacuum suction unit 25 of the built-in robot unit 25
e is the incorporation in the assembly jig 9 parts 30a adsorbed, vacuum suction portion 26c ₃ of the component take-out apparatus 26c is placed on the table 28c mounting parts 30a adsorbed. With such built robot unit 25 incorporates a part 30a in assembly jig 9, the head portion 25d as shown in FIG. (I), 26c ₂ returns to the original position, the next part 30a, By suctioning the respective 30a and repeating the above-mentioned operation, the predetermined parts are sequentially assembled to the assembly jig 9. On the other hand, the waiting station 12a waits for the four-tiered container 7 loaded by the automatic guided vehicle 8 from the automatic rack stacker 3 and the used container 7 as well as the container loading unit 31 and the container discharging unit. It consists of 32 and. The container carry-in section 31 is a roller conveyor 31a on which the carried-in four-tiered containers 7 are placed and sequentially moved.
And a container holding section 31b that holds four stacked containers 7 on the roller conveyor 31a and sends the largest containers 7 one by one to the automatic assembly robot a side, and the container discharge section 32 is empty. It comprises a container stacking section 32a for stacking the containers 7 in which the pallets 30 are stored in four stacks, and a roller conveyor 32b for sending out the containers 7 stacked in four stacks by the container stacking section 32a. Then, the waiting station 12 moves the container 7 and the pallet 30 as shown in FIG. That is, when the four-tiered container 7 is carried into the roller conveyor 31a of the container carry-in section 31 as shown in FIG. 11 (A), the container 7 is automatically moved as shown in FIG. 11 (B) and (C). Other container 7 which is sent to the container holding part 31b and is stacked in this container holding part 31b except the container 7 at the bottom.
Is held, and only one container 7 at the bottom is sent out to the automatic assembly robot a as shown in FIG. When one container 7 is sent out in this way, as shown in (E) and (F) of FIG.
They are taken out one by one on the transverse feed table 26a. And
When the pallet 30 taken out first is set at a predetermined position on the transverse feed table 26a, each part on the pallet 30 is taken out as described above by the part picking device 26c of the carry-in robot section 26, and all the parts on the pallet 30 are taken out. When the parts are taken out, the empty pallet 30 moves to the left side of the transverse feed table 26a as shown in FIG. 7G and is temporarily stacked as shown in FIG. When the pallet 30 is taken out from the container 7 and the container 7 is emptied in this way, the empty container 7 is sent to the roller conveyor 32b of the container discharge unit 32, and as shown in FIGS. The next container 7 is sent out from the container holding section 31b, and the pallet 30 is taken out from the sent container 7 onto the transverse feed table 26a in the same manner as described above. On the other hand, a predetermined number of pallets 30 stacked on the left side of the horizontal feeding table 26a are stored in the empty container 7 by the pallet feeding device 26d of the carry-in robot section 26, as shown in FIG. And
When a predetermined number of empty pallets 30 are stored in the container 7,
As shown in (L) of the figure, it is sent to the container holding section 32a of the container discharging section 32, stacked in four stages by this container holding section 32a, and then discharged by the roller conveyor 32b. The container 7 is a plastic box in which a large number of pallets 30 ... Are stacked and stored. As shown in FIG.
The bottom part is formed in a lattice shape, and the inner wall is formed with ribs 7a for preventing rattling of the stacked pallets 30 ..., When the pallet 30 is stored, the floor plate 33 is arranged on the bottom part. Then, the pallets 30 are stacked on top of it. In this case, the through hole 33 is provided at a predetermined position on the floorboard 33.
a is provided, and a push-up bar (not shown) is stacked from the bottom side of the container 7 through the through holes 33a of the floor plate 33 from the gap of the lattice formed at the bottom of the container 7. It is designed to push up the pallet 30. Further, the containers 7 are stacked in four stages as shown in FIG. Next, the operation of the main assembly line A will be described with reference to FIG. From the host computer 2 to the line control computer 4A,
When a production command is issued to 4B, 4C, 4D, the line control computers 4A, 4B, 4C, 4D produce the automatic assembling robots a, b ... h based on the short-term production plan stored in advance. At the same time as issuing the command, the platen stacker control unit 34 is instructed to operate the platen stacker 11. Then, the platen stacker 11 is based on the instruction from the platen stacker control unit 34 and the assembling jig 9 corresponding to the model of the product to be produced.
Are sequentially delivered to the delivery conveyor 13 of the transport unit 10 at regular intervals. The assembling jig 9 sent out is continuously conveyed in the order of the automatic assembling robots a, b, ... H by the sending conveyor 13, and at a predetermined position of each automatic assembling robot a, b. It is held in a stopped state by the stopper pin 36, and is positioned by the engaging projection engaged with the positioning recess 23.
At this time, the loading robot unit 26 of each of the automatic assembly robots a, b, ... H has loaded a pallet 30 on which predetermined components are loaded from each standby station, and one component from this pallet 30 is loaded by each loading robot. It is adsorbed by the vacuum adsorption section 26C ₃ of the section 26, and once placed on the mounting table 28c of the intermediate transfer unit 28
Placed on. This component is further transferred to the delivery conveyor 13 side by the mounting table 28c, and then sucked by the vacuum suction unit 25e of the assembling robot unit 25 to be mounted on the predetermined position of the assembling jig 9. At this time, when the automatic assembling robot a for assembling the first part into the assembling jig 9 is assembling the case of the small electronic calculator, the automatic assembling robots b, c, and
... h is for directly assembling each predetermined component not in the assembling jig 9 but in the case. Further, the parts to be assembled by the automatic assembly robot may be further assembled to the parts to be assembled in the case. Further, at the time of assembling each of the automatic assembling robots, it is confirmed whether or not the assembling work by the automatic assembling robot in the previous process is correctly executed. That is, the intervals between the automatic assembling robots in each process are such that several assembling jigs 9 can be arranged between them, and all the assembling jigs 9 during this time are arranged in the automatic assembling robots a, b. , H are positioned by the stopper pin 36 at predetermined work positions, and when the respective predetermined parts are assembled, the stopper pin 36 is released, and at the same time conveyed to the position of the assembly jig 9 on the right side. Although it is done,
Between each of the automatic assembly robots, for example, a defective product recognition device such as a TV camera is used to judge whether the assembly in the previous step is good or bad. It is displaced to the indicated position. The assembling jig 9 in which the defective product notification pin 22 is displaced is detected by the defective product detector 27c arranged on the right side, and is removed from the delivery conveyor 13 to the outside by a take-out device (not shown). Then, the product in which each component is correctly assembled up to the automatic assembly robot in the final step is taken out from the assembly jig and transferred to the assembly jig 9. The assembling jig 9 from which the finished product is taken out in this way is sent to the lower collecting conveyor 14 by the descending elevator 15.
It is recovered by the recovery conveyor 14 and sent again to the delivery conveyor 13 by the ascending elevator 16, and the above-described operation is repeated.
When the assembling jig 9 circulates in the transport section 10 in this manner, the counter 17 provided on the collecting conveyor 14 counts the assembling jig 9 of the finished product and inputs it to the line control computer 4A. The line control computer 4A stores the production plan quantity for each type of machine and for each model. The count number of the counter 17 is totaled and compared with the production plan quantity. Then, when the count number of the product reaches a predetermined quantity with respect to the planned production quantity, in other words, when the rest of the finished products of the model with respect to the planned production quantity reaches a predetermined value, the information is sent to the host computer 2. To send. Upon receipt of this information, the host computer 2 sends an instruction to the automatic guided vehicle control computer 5 to the automatic assembly robots a, b, ... H to carry in the parts of the next model into the standby stations 12. put out. That is, the host computer 2 gives the automatic guided vehicle control computer 5 information about the storage location of the automatic rack stacker unit 3 in which parts used for the next function are stored and the process position of the parts. In response to this, the automated guided vehicle control computer 5 sends a control signal for controlling the automated guided vehicle 8 to the rail 8a, and the automated guided vehicle 8 sets the container 7 in which the parts of the next model are stored. Automatic stacker stacker 3 with stacking
From a predetermined standby station 12 to the container loading unit 31. In addition, at this time, the host computer 2 confirms again with the line control computer 4A the following types of machines and the number of production plans. If this confirmation result is OK, each automatic assembly robot a, b, ...
h, the jig discriminator 27a and the platen stacker controller 34 are instructed to perform the following types of machines. When the count of the counter coincides with the planned production quantity stored in the line control computer 4A, a model switching signal is given from the line control computer 4A to the model switching control unit 35, the model switching device 19 operates, and at that time the transfer is performed. The first assembling jig 9 to come, and only one model switching informing pin 21 are displaced to the set model switching instructing position. The assembling jig 9 having the model switching notification pin 21 set in this way is transferred from the ascending elevator 16 to the left end portion of the delivery conveyor 13 as a pilot jig 9p. Here, the model switching detector 27b arranged corresponding to the jig discriminator 27a detects that the pilot jig 9p is set at the model switching instruction position and detects the jig discriminator 27a and the platen stacker. A model switching signal is sent to the control unit 34, and each is switched to information corresponding to the next model. Therefore, the current assembling jigs 9 following the pilot jigs 9p are sequentially judged by the jig discriminator 27a to be inconsistent, and are stored in a predetermined storage portion by the conveyor portion 11g of the platen stacker 11. In parallel with this, the assembling jig 9 of the next model is sequentially carried out from the predetermined storage section of the platen stacker 11 to the delivery conveyor 13 from the conveyor section 11h. Are sequentially stopped near the exit of the conveyor section 11h by stopper means (not shown). Further, the pilot jig 9p is sequentially sent to each of the automatic assembly robots a, b ... H to give a model switching signal to each of the automatic assembly robots a, b. Along with this, the automatic assembling robots a, b, ... H detect the model switching informing pin 21 of the pilot jig 9p by the model switching detector 27b, and immediately the vacuum suction unit 25e of the built-in robot unit 25e. The chuck is replaced with the chuck switching device 29, and the following model parts are prepared in the standby station 12a. That is, as described above, each standby station 12a, 12b ... 12h
A container containing the following types of parts is placed by the automatic guided vehicle 8 in the container loading section 31 of FIG.
The state is as shown in. In the figure, a container 7'and a pallet 30 'represent the following types of containers and pallets, respectively, and each standby station 12a, b ...
When the model switching signal is given to h, the pallets 30 are sequentially taken out from the container 7 on the container loading section 31 side, and the pallets 30 on the horizontal feeding re-table 26a are not taken out of the horizontal feeding table 26a. It is sent to the left side and stacked in sequence. Then, the pallets 30 stacked in a predetermined number are sequentially stored in the empty container 7 on the container discharge section 32 side as shown in FIGS. 7B and 7C, and then as shown in FIG. Container holding part of the container discharge part 32
It is sequentially sent to 32a and stacked in four stages. On the other hand, the container 7 sent out from the container holding part 31b of the container carry-in part 31 is sent to the container discharge part 32 side without being taken out of the pallet 30 and discharged by the roller conveyor 32b, as shown in FIG. It Then, the container 7 containing the parts of the next model is set as shown in FIGS. 8 (F) and (G), and the pallet 30 'containing the predetermined parts from inside the container 7 is placed on the transverse feed table. It is taken out on 26a and set at a predetermined take-out position. This completes the model switching preparation for the standby station 12. As for the assembling jig 9 of the next model detained near the exit of the conveyor section 11h of the platen stacker 11, the stopper means is released when the pilot jig 9p reaches the vicinity of the automatic assembling robot d. Then, the delivery to the delivery conveyor 13 is started, the details of which will be described with reference to FIG. In the figure, the assembling jig of the current model is indicated by the reference numeral 9, and in the figure (A), the pilot jig 9p is the delivery conveyor.
It shows a state in which the contents stored in the jig discriminator 27a and the platen stacker control unit 34 are transferred to the next model after being conveyed from the starting end of 13. In this case, since the jig discriminators 27a of the current model following the pilot jig 9a do not match, they are stored in the stacker 11. At the same time, the assembling jig 9'of the next model is taken out from a predetermined storage portion of the platen stacker 11 and is held by stopper means near the exit of the conveyor portion 11h. The pilot jig 9p is conveyed by the delivery conveyor 13 and sequentially instructs the automatic assembling robots a, b ... to change the model, and the automatic assembling robots a, b. Chuck replacement and assembly part replacement work will begin. Then, as shown in FIG. 6B, while the pilot jig 9p is conveyed to the position of the automatic assembly robot d, the automatic assembly robot a completes the chuck replacement and the parts replacement work. In accordance with this timing, the stopper means near the exit of the platen stacker 11 is opened, and as the next model, the first assembling jig 9 '.
When the robot reaches the automatic assembly robot b in the next process, the robot b in this process has also completed the model switching work, and immediately mounts the model to the leading assembly jig 9 '. The pilot jig 9p is located at the end of the assembling jig 9 of the model before switching, and the assembling jig 9'of the next model is the same as the pilot jig 9p. Since the conveyors 13 are carried in parallel by the delivery conveyor 13 while maintaining a constant interval S, when the pilot jig 9p reaches the end side of the delivery conveyor 13 as shown in FIG. The work of assembling the parts to the assembling jig 9'of the model is also carried out for a predetermined number of steps with a certain interval S from the pilot jig 9p. In general, in order to improve the production efficiency, if the transport speed of the delivery conveyor 13 is increased, there is a problem that the model switching work of each automatic assembly robot will not be in time for this transport speed. Although the production efficiency will be reduced due to the restrictions on the time used for the model switching work of the automatic assembly robot, based on this actual example, the transfer speed of the delivery conveyor 13 and the automatic assembly robot are as described above. Even if the time required for the model switching work does not match, it is possible to minimize the decrease in production efficiency due to this. 16 (B) and 16 (C), the pilot jig 9p is transported and the assembling jig 9'of the next model is carried in from the platen stacker 11 and the assembling jig of the model before switching is used. The work of collecting 9 into the platen stacker 11 is continued, and when the pilot jig 9p is circulated again to the starting end of the sending conveyor 13 via the collecting conveyor 14, the assembling jig 9 of the model before switching is All Platen Stacker
Recovered in 11. However, in the pilot jig 9p, the model switching notification pin 21 is returned to the reset position by the model switching device 19 provided at the end of the recovery conveyor 14, and therefore, the platen stacker 11 of this pilot 9p is used for jig recovery work. Will be final. After that, the assembling jig 9'of the next model is circulated, but since the assembling jig 9'is judged by the jig discriminator 27a to be coincident, it is collected in the platen stacker 11. Without being carried out, the assembly work by the automatic assembly robots a, b, ...
Judgment work by this jig discriminator 27a is immediately performed not only when changing models, but also when continuing production of the same model and when assembly jigs of different models are mixed on the conveyor by mistake. It is well understood that the loss in such a case can be made extremely small since the jig can be removed from the conveyor. Of course, the number of jig discriminators 27a installed may be increased in order to make this purpose more effective. It should be noted that, in the above-mentioned embodiment, it was explained that each assembling robot assembles predetermined parts with respect to the assembling jig, but the present invention only performs processing for this. It also includes the automatic processing robots. Further, although the parts supplied to the respective automatic assembly robots are carried in by the automatic guided vehicle, the carrying-in means is not limited to this. In particular, for common parts such as screws, a case where automatic assembly robots that are appropriately supplied or replaced are mixed in the line.

【The invention's effect】

As described above, according to the model switching method of the automatic assembly line according to the present invention, the model switching work is started as soon as the assembly of the current model of each automatic assembly machine is completed, so that the assembly of a plurality of automatic assembly machines is completed. That is, much higher efficiency can be achieved compared to the conventional method in which the model switching work is not started unless the assembly of the entire block is completed. Moreover, the model switching work is started by the last assembly jig of the current model, and the model switching work is started in parallel with the completion of the assembly of each automatic assembly machine of the current model. In the case of an automatic assembly line in which automatic assembly machines that require a longer time than assembly work are arranged, compared to the method of starting the model switching with the assembly jig of the next model, It is possible to improve efficiency.

[Brief description of drawings]

1 shows an embodiment of the present invention, FIG. 1 is a schematic block diagram of the entire automatic assembly apparatus, FIG. 2 is a plan block diagram of a main assembly line A, and FIG. 3 is a side block diagram thereof. FIG. 4 is an external perspective view of the assembling jig, FIG. 5 is a view showing the operation state of the model switching notification pin 21, and FIG. 6 is a diagram showing a model switching device 19 that displaces the model switching notification pin 21. ,
FIG. 7 shows an automatic assembly robot a and a waiting station 12
FIG. 8 is a perspective view showing the appearance of a, FIG. 8 is a diagram showing a determination state by a jig discriminator, FIG. 9 is a diagram showing the detection of a model switching notification pin and a defective product notification pin, and FIGS. ) Is a diagram for showing the operation of the automatic assembly robot a, FIG. 11 is a diagram showing a flow of the container 7 and the pallet 30 in the standby station 12a, and FIG. 12 is a diagram showing the container 7 and the pallet 30 stored therein. Fig. 13 and Fig. 13 are perspective views showing the appearance of the containers 7 stacked in four stages, Fig. 14 is a detailed block diagram of the automatic assembling device, and Fig. 15 is the container 7 when switching models.
FIG. 16 is a diagram showing a flow of the pallet 30 and FIG. 16, and FIG. 16 is a diagram showing a flow of the assembling jig 9 at the time of model switching. 1 ... Automatic assembly device, 2 ... Host computer, 3 ...
… Automatic rack stacker 4, 5 …… Line control computer, 7 …… Container, 9 …… Jig, 9p …… Pilot jig, 10 …… Transport section, 11 …… Platen stacker, 12a, 1
2b-12h …… Standby station, 17 …… Counter, 19…
… Model switching device, 20 …… Model discriminating unit, 21 …… Model switching notification pin, 22 …… Defective product notification pin, 27 …… Sensor, 27a, 2
7b, 27c ...... detector, A, B ...... main assembly _{line, C 1, C 2, D} 1, D 2 ...... sub answer Buri line, a, b
~ H ... Self-assessment robot

Claims (1)

[Claims] 1. A plurality of automatic assembling machines are arranged along a conveyor, parts are automatically assembled by each of the automatic assembling machines to an assembling jig transferred by the conveyor, and an electronic calculator is used. Is a model switching method of an automatic assembly line for automatically switching the assembly model according to the model switching signal of the model switching means provided in the assembly jig based on the model switching signal from the electronic computer. To the model changeover state, remove the assembly jigs of the current model after that from the conveyor and load them into the stacker, and set the assembly jig of the current model to the model changeover state. Transfer by the conveyor as the last, and carry out the assembly jig of the next model corresponding to the model signal from the electronic computer from the stacker and before the assembly position of the first automatic assembly machine. Wait for a predetermined time at least until the model switching of the first automatic assembly machine is completed at that position, and during this waiting time, the assembly jig whose model switching means is set to the model switching state is transferred by the conveyor. Then, the model switching detection means arranged along the conveyor detects the model switching state of the assembling jig to generate a detection signal, and based on this detection signal, the model switching work is sequentially performed on each automatic assembly machine. After the predetermined time has elapsed, the transfer of the assembly jig of the next model from the standby position is started, and automatic assembly is executed by each automatic assembly machine. Until the set assembly jig reaches the assembly position of the automatic assembly machine in the final process, the start instruction of model switching work for each automatic assembly machine and the assembly work of the next model are set at a predetermined interval. What to do in parallel Model switching method of automated assembly line, characterized.