JPH08324796A - Part supply device - Google Patents

Abstract

PURPOSE: To discharge a nonconforming part by providing a discharge command means to discharge a nonconforming ID tray by transferring and placing it on a base module by rounding a tray changer at the time when an ID of an ID reading means and an ID of an ID recording means do not conform to each other. CONSTITUTION: When parts run out on a tray of a tray changer 4, stock modules 81 -83 to store the run-out parts are read out by an ID recording means, and trays to store in the stock modules 81 -83 are transferred and placed on the tray changer 4. An ID reading means reads IDs of the trays to transfer and place on the tray changer 4 by the stock modules 81 -83 . A judging means judges whether the ID read by the ID reading means and the ID to correspond with the parts to transfer and place recorded in the ID recording means conform to each other or not. When it is judged as ID nonconformity by the judging means, a discharge command means makes the trays round to a discharge position by commanding the tray changer 4 and discharges the trays by commanding a base module 7.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parts supply device for automatically supplying parts to a train changer for supplying parts to an assembly robot in the order of assembling.

[0002]

2. Description of the Related Art Conventionally, a component supply device has been designed to automatically supply components to an assembly robot quickly and without any idle time. An example of this type of component supply device is, for example, Japanese Patent Laid-Open No. Hei 1 There is one disclosed in Japanese Patent Publication No.-40236.

The component supply apparatus described in the above publication receives a plurality of storage boxes (or component trays) containing different components from an unmanned vehicle or the like in a buffer, and stores them by a separating mechanism provided at the position of the buffer. Separate the required storage box from the box and place it in the elevator. Then, in order to supply the required parts to the assembly robot, the storage box is stocked with various storage parts and the storage box is stocked with the elevator to the position of the storage stage of the storage box storing the required parts of the stocker. To move.

Subsequently, the assembling robot replaces the empty storage box with all the parts taken out and the storage box transported by the elevator by moving the stocker up and down. The storage box in which the replaced parts are stored is pulled out from the storage stage of this stocker and the parts are supplied to the assembly robot. Further, the empty storage box from which the parts have been taken out is further lowered by the elevator to be stacked on the already stacked empty storage box, and is stored in the storage position in the lower stage of the unmanned vehicle.

However, it is difficult to cope with the change in the number of parts when the parts supply device of the conventional example is integrally formed. That is, this means that even if the number of parts is reduced, the state corresponding to the maximum expected number of parts must be maintained.

From this point of view, the present inventors have developed and applied for a component supply device whose configuration can be easily changed according to the number of components. In the present invention, the component supply device is configured by a plurality of modules, and the stock module for accumulating the components can be changed according to the number of components.

A parts supply apparatus (Japanese Patent Application No. 5-351415) filed by the same applicant as the present invention is designed to stop the parts supply apparatus when an abnormality occurs during equipment startup. Further, when supplying a component tray in which necessary components are accommodated in the tray changer from the stock section, the component numbers are checked, and if they do not match, the component supply device is stopped.

[0008]

As described above, in the conventional parts supply device, when the parts required for the tray changer are supplied from the stock part, it is verified whether or not there is an error in the parts, and the verification result is obtained. If the values do not match, the parts supply device was stopped.

Therefore, in order to restart the component supply device, the component tray determined to be inconsistent is removed from the tray changer, and the components in the stock section in which the components determined to be inconsistent are stored are collated. It was necessary to remove the inconsistent parts, and to stop the equipment manually and for a long time. It is an object of the present invention to provide an improved component supply apparatus that automatically discharges a mismatched component when there is a mismatched component and can start component supply in a short time.

[0010]

Means adopted by the present invention for solving the above-mentioned problems will be described. The tray changer sequentially supplies the necessary parts to the assembly robot according to the assembly order.When there are no more parts in the tray, the base module ejects the tray, and the parts are stored from the stock module where the corresponding parts are stored. In the component supply device that transfers the trays that have been transferred to the tray changer,
ID recording means for recording the IDs corresponding to the parts to be supplied according to the assembly order, ID reading means for reading the part IDs from the tray transferred to the tray changer when there are no more parts in the tray, and the ID reading means. I read in
The determination means for determining whether or not the ID read from the corresponding ID recording means corresponds to D, and when the determination means determines that they do not match, the tray changer is rounded and transferred to the base module. And mismatch ID
Ejection instruction means for instructing ejection of the tray.

In the second aspect of the invention, when the determination means determines that the IDs do not match, the mismatched ID trays are ejected, and the trays from the corresponding stock modules are transferred to the tray changer until the IDs match. Repeat what you do. Further, in the third invention, when the determinations of the ID mismatches by the determination means are continuously determined, the trays stored in the corresponding stock modules are also discharged by using the empty tray receiver of the tray changer. Let

In the fourth invention, when the tray stored in the stock module is exhausted, the tray from another stock module storing the same parts is transferred to the tray changer. Also, the fifth
In the invention described above, when the determination of the ID mismatch by the determination unit is the number of times set consecutively or more, the tray from another stock module storing the same component is transferred to the tray changer.

Further, in the sixth invention, when the ID mismatch judgment by the judging means is more than the set number of times consecutively, the tray in which the mismatched parts are stored is changed to the tray changer. Use the empty tray tray of to eject. Further, in the seventh invention, when the determination means determines that the IDs do not match, the fact that there is an ID mismatch is output.

[0014]

When the tray of the tray changer runs out of parts, the stock module storing the lost parts is read from the ID recording means, and the tray stored in the read stock module is transferred to the tray changer. The ID reading means reads the ID of the tray transferred to the tray changer by the stock module.

The determining means determines whether or not the ID read by the ID reading means and the ID corresponding to the transferred component recorded in the ID recording means match. When the determination unit determines that the IDs do not match, the discharge instruction unit instructs the tray changer to round the transferred tray to the discharge position, and instructs the base module to discharge the transferred tray.

When the determination means determines that the IDs do not match, the mismatched ID trays are discharged, and the trays from the corresponding stock modules are repeatedly transferred to the tray changer until the IDs match. Further, when the determination unit determines that the IDs do not match in succession, the trays stored in the corresponding stock modules are also discharged using the empty tray receiver of the tray changer.

When the trays stored in the stock module are used up, the trays from another stock module in which the same parts are stored are transferred to the tray changer. Further, when the determination of the ID mismatch by the determination means is the number of times set consecutively or more, the tray from another stock module storing the same component is transferred to the tray changer.

Further, when the judgment of the ID mismatch by the judging means is more than the set number of times consecutively, the tray in which the mismatched parts are stored is utilized by using the empty tray receiver of the tray changer. Let it drain. Further, when the determination means determines that the IDs do not match, the fact that there is an ID mismatch is output.

As described above, when no parts are left in the tray mounted on the tray changer, the ID number is read when the tray is transferred from the stock module containing the same parts to the tray changer. If the ID numbers are different, round the tray changer,
Since the non-matching ID tray is ejected by operating the base module, the non-matching ID tray is automatically ejected and the parts supply can be restarted in a short time.

When the IDs do not match, the transfer of the tray from the corresponding stock module to the tray changer is repeated until the IDs match.
The trays with different ID numbers stored in the stock module can be automatically ejected.

Further, since the non-matching ID tray is discharged using the empty tray receiver of the tray changer, the non-matching ID tray can be discharged in a short time. Also, when the stock storage trays are exhausted, the trays from different stock modules containing the same parts are transferred to the tray changer, so the discrepancy ID tray is discharged and the parts are supplied. Can be restarted in a short time.

If the ID mismatches are continuously judged for the set number of times or more, it is assumed that the ID mismatches continue in the subsequent trays, and the tray from another stock module containing the same parts is used as the tray changer. Since the transfer is performed, the component supply can be restarted in a short time.

Further, when the ID mismatch occurs more than the set number of times and a tray from another stock module containing the same component is transferred to the tray changer, the tray stored in the previous stock module is replaced. Since the empty tray tray of the tray changer is used to eject the paper, it is automatically inconsistent while supplying parts.
D tray can be ejected.

Further, when the ID mismatch is determined, the fact that the ID mismatch has occurred is output, so that it is possible to know that there is a tray in which parts are stored among the discharged trays.

[0025]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram of an embodiment of the present invention. In FIG. 1, 101 is an ID reading unit that reads an ID corresponding to a storage component displayed on the tray, and 102 is a stock module that stores the ID and the tray corresponding to the component to be supplied according to the assembly order. ID recording unit, 103 determination unit, 104 discharge command unit, 105 control unit, 106
Is a base module controller, 107 is a tray changer controller, 108 is a stock module controller, 109 is an inlet lifter controller, 110 is an outlet lifter controller, 111
Reference numerals 112 and 112 are interfaces (I / O), and 113 is a processor (CPU) that performs processing.

First, the component supply device will be described with reference to FIGS. << Outline of Parts Supplying Device >> FIG. 2 shows the parts supplying device of the present invention together with peripheral devices such as an assembly robot, and the outlines of the inlet lifter 2, the outlet lifter 6 and some elements are also shown. ing.

In the figure, the receiving means and the discharging means of the tray changer 4, the base module 7, and three stacked stock modules 8 ₁ and 8 having the same size and configuration as each other are provided on the base module 7. ₂ and 8 ₃ , the stock modules 8 ₁ , 8 ₂ and 8 ₃ are provided with an input lifter 2 and an outlet lifter 6 for vertically moving the tray t in a suspended state.

The automatic assembling system shown in FIG. 2 has a structure in which parts trays for accommodating parts required for assembling are respectively stored.
Equipped with a stepped stock module, it is attached to a member based on three types of parts to automatically assemble a predetermined product. The parts required in the assembly sequence are selected and automatically supplied to the assembly robot 3. It is a component supply device adapted to do so.

In this embodiment, three types of parts X ₁ ,
Although X ₂ and X ₃ are shown as feeding the assembly robot, four or more stock modules can be stacked to feed more types of parts.

An appropriate number of trays t each containing the same type of parts are stacked to form one tray group T.
As an example, it is transported from an automated warehouse by an unmanned vehicle and transferred to the entrance lifter 2 at the height of the first-stage stock module 8 ₁ . The inlet lifter 2 rises to a position opposite to a stock module 8 ₂ assigned to a part of the type accommodated in this tray group, for example, X ₂ , and the tray group T is moved to the stock section of the stock module 8 ₂ . Transfer to and store once.

When the parts X ₂ stored in the stock module 8 ₂ are supplied to the assembly robot 3, if the tray group T remains in the separating mechanism of the stock module 8 ₂ , the separating operation is performed in this separating mechanism. After separating one tray t from this tray group T,
If only one tray t remains, the tray t is sent to the exit lifter 6.

In the embodiment of FIG. 2, the receiving mechanism of the tray changer 4 extends to the lower part of the exit lifter space of the stock module, so that the tray t sent out from the lowermost stock module 8 _{1 as} described above exits. It is delivered directly to the receiving mechanism of the tray changer 4 without going through the lifter 6.

The outlet lifter 6 is constructed so that the trays sent from the stock modules 8 ₂ , 8 ₃ , ... Other than the lowermost stage are moved downward in a suspended state, and the tray t is a tray changer. When it reaches the receiving mechanism of No. 4, the exit lifter 6 releases the conveyed tray and places this tray on this receiving mechanism.

The tray placed on the receiving mechanism is incorporated into the circulation path by the circulation mechanism of the tray changer 4 and circulates therethrough, and a required tray t is provided at a part supply position provided in a part of the circulation path. Assembly robot 3 at one time
Let the parts be taken out.

The assembling robot 3 attaches the parts taken out from the tray changer 4 to the object to be assembled on the assembling table 12, and when the attachment is completed, the product is placed on the platen 10 on the conveyor 11 to perform the next assembling work. It is transported to a predetermined place such as an assembly system or a warehouse where products are stored. In addition,
Reference numeral 13 is a control device for controlling the operation of this assembly system.

Each tray t circulates in the circulation path of the tray changer 4 until there are no more contained components, but when there are no more components in the tray t, they are removed from the circulation route and sent to the base module 7.

In the base module 7, empty trays are stacked by the stacking mechanism, and when the height of the stacked empty trays exceeds a certain value, the empty trays are transferred and sent out from the base module. Since this stacking is performed regardless of the thickness of the empty trays, as a result, trays having different thicknesses will also be stacked together.

The overall structure and operation of this embodiment have been described above, and each constituent element will be described below.

<< Tray >> An embodiment of a tray for housing components will be described with reference to FIG. It should be noted that only the same type of components are accommodated in this tray t, and
Since this part is taken out by the assembly robot 3, it is accommodated in the top-bottom direction so that it can be inserted and removed. However, the holding method of this part in the tray t differs depending on the shape and structure of the part. Are not shown.

FIG. 3A is a perspective view of the tray t.
The ray t has a box shape as a whole and is provided on the upper edge thereof.
When stacking multiple trays on the flange,
The tray bottoms of the
Recess t for preventing misalignment ₂Is provided to leave
This flange t₁Has a flat shape that is wide on the outer edge side.
First and second notches t formed in an isosceles trapezoid₃, T_Four
Are formed.

Further, at the bottom of the tray t, the bottom t5 of the tray t, which is the upper stage when the trays are stacked as described above, is fitted with the recess t ₂ provided at the upper edge of the lower tray. A step t6 is provided over the entire circumference of the bottom.

Further, a label 14 is provided on the bottom of this tray.
Is attached, and the label 14 is, as will be described later,
It is used to identify the contents of the tray, that is, the type of parts contained.

The planar size of the tray t is the same for all the trays to be used, but depending on the size of the parts accommodated in these trays, as shown in FIG. It is possible to use a plurality of types of trays having different depths such as only 45 mm, 85 mm, and 125 mm. In the following description, it is assumed that the trays having the three kinds of depths shown in this figure are used, and those having a depth of 45 mm are S trays, 85 mm are M trays, and 125 m.
The m tray is called the L tray.

<< Inlet Lifter >> The inlet lifter 2 shown in FIG.
Transports the component-containing tray group T placed on it to the position corresponding to a predetermined module in the stock module groups 8 ₁ , 8 ₂ , 8 ₃ in the upward direction, and stacking mechanism of the base module 7. This is for moving the empty trays stacked in step _{1 to} the height of the stock module 8 ₁ .

The inlet lifter 2 has guide rails 22 provided at the corners of the base body in the inlet lifter space of the stock module 8 and guide rollers 19 engaging with the guide rails provided in the base module 7 in the same manner as described above. Provided with these guide rails 2
A pinion (not shown) that engages with a rack 21 attached to at least one of the two and a vertical drive motor 18 that drives this pinion are provided, and by driving this motor 18, the inlet lifter moves up and down.

The lifter 2 is provided with a belt conveyer 15 for conveying the tray group placed thereon, and further, the kind of parts accommodated in the tray group T placed on the belt conveyor. Sensor 20 for reading the label 14 (FIG. 3) attached to the bottom surface of the tray t for identifying the tray t, the stopper 16 and the tray group which can be controlled by a drive mechanism such as a cylinder to determine the position of the tray. A guide plate 17 for limiting the lateral movement of T is provided.

In the initial state, the height of the inlet lifter 2 is set so that the upper surface of the belt conveyor 15 of the inlet lifter 2 and the upper surface of the conveyor 23 of the base module 7 are at the same height.

By issuing a delivery instruction to an automatic warehouse (not shown),
When the unmanned vehicle conveys the designated tray group and arrives at the component supply system, the belt conveyor 15 of the entrance lifter 2 rotates to carry the tray group T stacked from the unmanned vehicle onto this conveyor 15. At this time, the stopper 16 of the belt conveyor 15 is in the raised position and determines the position of the front end when the tray group is loaded.

When the tray group T arrives at the stopper 16, a photoelectric sensor (not shown) arranged adjacent to the stopper 16 detects the arrival and stops the belt conveyor 15.

Further, the label 14 on the bottom surface of the tray positioned by the stopper 16 and the guide plate 17 is detected by a plurality of photoelectric sensors 20 provided in the belt conveyor 15 to determine whether it is a designated tray group. Is recognized.

If the tray group is the designated tray group,
The inlet lifter 2 is a stock module designated as _{one of} the stock modules 8 ₁ , 8 ₂ , and 8 ₃ by meshing of a pinion that is rotated by the drive of a vertical drive motor 18 and a rack 21 provided on a guide rail. carry.

When the inlet lifter 2 reaches the predetermined height of the stock module, the stopper 16 is lowered and the belt conveyor 20 is rotated to send the tray group T to the buffer 23 constituted by the free flow conveyor of the stock module 8. .

Since the entrance lifter 2 carries out the operation of carrying out the empty tray group stocked in the base module 7 toward the unmanned vehicle or the like, as described above, the empty tray group carrying-out operation will be described below. explain.

<< Base Module >> As shown in FIG.
The empty tray group stocked on the conveyor 44 is pushed by a subsequent empty tray group, and the stopper 4
When a sensor (not shown) detects the empty tray group after moving to a position where it abuts on 5, the entrance lifter 2 detects the upper surface of the conveyor 44 and the belt conveyor 15 of the entrance lifter 2.
Descends until a sensor (not shown) detects that the upper surfaces of the two match.

Next, the stopper 45 is lowered and the conveyor 44 and the belt conveyor 15 of the entrance lifter 2 are rotated to convey the empty tray group onto the entrance lifter 2, and the empty tray group is provided outside the entrance lifter 2. When a sensor (not shown) detects that the tray group has been conveyed to the stopper 46, the conveyor 44 and the belt conveyer 15 of the entrance lifter 2 are stopped from rotating, and the entrance lifter 2 becomes the conveyance surface of the unmanned vehicle. Ascending to the same height, the belt conveyor 15 is rotated to load the tray group on this unmanned vehicle. When the sensor (not shown) of the unmanned vehicle confirms that the empty tray group has been carried in, the rotation of the belt conveyor 15 of the base module 7 is stopped by a signal from the unmanned vehicle indicating this carry-in confirmation.

When the empty tray group has been placed on the unmanned vehicle as described above and the sensor (not shown) does not detect the tray group stacked at the position of the stopper 45 of the conveyor 44, the inlet lifter 2 detects this tray lifter. The upper surface of the second belt conveyor 15 and the upper surface of the conveyor 23 of the base module 7 move to a position where they have the same height, and the initial state is restored.

<< Stock Module >> FIG. 5 is a conceptual view of one of the stock modules 8 ₁ , 8 ₂ , and 8 ₃ . This stock module receives a tray group T made up of a plurality of trays t containing the same type of components from the inlet lifter 2 and temporarily stores them, and at the same time stores a tray t containing the designated components. It is for separating and sending out to the tray changer 4.

The space surrounded by the guide rails 22 on the right side of the figure is an inlet lifter space in which the above-mentioned inlet lifter 2 moves up and down. At least one of the guide rails 22 has a pinion for raising and lowering the inlet lifter 2. Rack 2
1 is provided.

The tray group T sent out by the conveyor 15 of the inlet lifter 2 after being raised to the designated height of the stock module 8 on the inlet lifter 2 serves as a stock section for temporarily storing a plurality of tray groups. The tray group T is moved to the corresponding free flow conveyor 23, and the tray group T at the forefront among the plurality of tray groups stored on this conveyor moves to a position where it abuts on the inclinable stopper 24 and stops.

An instruction to supply the trays stored in the stock module 8 to the robot comes from the control device, and a sensor is provided immediately below the separating claw 26 of the separating mechanism to detect the tray group on the conveyor 25 (see FIG. When it is detected that there is no tray in the separation mechanism by not shown), the stopper 24 of the buffer is lowered and then the free flow conveyor 2
3 and the conveyer 25 immediately below the separating claw 26 are driven and rotated to move the tray group in the buffer to the separating mechanism.

When the leading end of the tray group reaches the conveyor 25 directly below the separation claw 26, the conveyor 2 immediately below the separation claw 26.
Since 5 has a higher rotation speed than the free flow conveyor 23, a gap is created between the leading tray group and the next tray group. Therefore, by raising the stopper 24 to this gap, the tray group transferred to the separating mechanism. Separation of T and the group of trays left in the stock section.

At the position of the conveyor 25, as shown in the perspective view of FIG. 5, the rack 27, the pinion 28, and the rotary actuator 29 are engaged with the flange portion of the tray t from below so as to project and the flange portion. Separation claw 26 that can reciprocate between the retracted state and the retracted state
Is provided.

The separating claws 26 can be moved in a pair to the left and right and up and down. In order to synchronize the vertical movements of the pair of separating claws 26, the motor 32 drives the left and right chains 31 via the shaft 33. The separating claw 26 is connected to the chain 31 so as to move up and down along the guide mechanism 30.

By raising the separating claw 26 in a protruding state from a height higher than the flange of the L tray and lower than the flange of the upper S tray when two S trays are stacked, The separation claw 26 engages with the flange portion of the tray located in the second stage from the bottom of the tray group T in the separation position.

When the separation claws 26 are further raised, the trays above the second tray can be lifted by continuing to raise by more than the height at which the upper and lower trays are meshed (5 mm in the tray shown in FIG. 3), for example, 10 mm. The tray at the lowermost stage is lifted and separated from the tray group, and only the tray at the lowermost stage remains on the conveyor 25. Therefore, by driving the conveyor 25, it is pushed out to the exit lifter 6.

After the lowermost tray is discharged to the exit lifter, the motor 32 is rotated to move the separating claw 26 downward, and the tray group remaining on the separating claw is lowered onto the conveyor. The rotary actuator 29 operates so that the separation claw 26 moves from the protruding position to the retracted position, contrary to the previous time, and maintains this tray group on the conveyor 25.

<< Exit Lifter >> The exit lifter 6 whose perspective view is shown in FIG. 7 (a) is the stock module group 8 ₁ , 8 described above.
₂ and 8 ₃ are for transferring the component-containing trays t separated by the separating devices to the tray changer 4, and the guide rollers 4 attached to the four corners of the substrate respectively.
9 is supported so as to be vertically movable along a guide rail 50, and this substrate can be vertically moved by rotationally driving a pinion meshing with a rack 52 provided on at least one guide rail by a motor 48. Is configured.

As shown in the sectional view of FIG. 7 (b) and the moving mechanism of the support claw 56 of FIG. 7 (c), the lower surface of the substrate of the outlet lifter 6 has a U-shaped cross section. So that the pair of support claws 56 provided with the belt cover 47 in the vertical portion thereof can be moved to a position for pressing the belt cover 47 inward and a position for releasing the pressing by the cylinders 53, 54 and the guide mechanism 55. It is provided.

After moving the height position of the lower edge of the support claw 56 of the outlet lifter 6 to a position facing the separating mechanism of the stock module in which the tray t to be transported to the tray changer 4 exists, When the conveyor 25 of the stock module No. 5 and the belt conveyor 47 are driven, the tray t is held by the support claws 56 of the outlet lifter 6 as shown in FIG. 7B. When the belt conveyor 47 is driven, it is desirable to press the belt conveyor 47 inward (toward the tray) so that the tray t can be pulled in easily.

After the exit lifter 6 holding the tray t is moved to a position corresponding to the receiving mechanism provided on the entrance side of the tray changer 4 in this way, the support claw 56 is pushed by the cylinders 53 and 54 to the pressing release position. The tray is moved to the receiving mechanism of the tray changer 4 by moving the belt conveyor 47 and the belt conveyor 47.

More specifically, in the initial state, the cylinder 53 of the outlet lifter 6 is located at the top of the stock module with the cylinder 53 retracted and the pawl 56 closed, and the stock module designated by the robot 3 is instructed. Until a proximity switch (not shown) detects that the upper end surface of the outlet lifter 6 and the upper end surface of the conveyor of the predetermined stock module are at the same height in order to carry the tray separated from the tray changer. , By moving the vertical motor 48.

When this position is reached, the tray pushed out by the conveyor of the stock module is guided by the claws 56 of the exit lifter 6 and drawn into the exit lifter by the belt conveyors 47 provided on both sides thereof.

Then, the outlet lifter descends, stops on the tray changer, advances the cylinder 53 while advancing the cylinder 54 in order to release the pressing of the belt conveyor 47, and moves the cylinder of the tray changer receiving mechanism conveyor. Lower the inlet lifter until the bottom of the tray is attached to the top edge.

Then, when the cylinder 54 is moved backward, the cylinder 53 is further advanced by the cam 55, the pawl 56 is opened, and the tray is released onto the conveyor of the tray changer receiving mechanism.

After that, the main body of the outlet lifter 6 is changed to the cylinder 5
4 moves forward, the cylinder 53 moves backward and the claw 56 is closed, and the cylinder moves to the initial position of the uppermost stock module.

<< Tray Changer >> In the tray changer shown in the perspective view of FIG. 8A, the tray t transferred from the stock module 8 by the exit lifter 6 is carried into the tray carrier 62 of the tray changer unit 4 as described above. It is equipped with a receiving mechanism. It should be noted that, for convenience, this figure is shown in a perspective view viewed from the opposite direction to that of FIG. 2, and therefore, the tray from the inlet lifter is transferred from left to right.

This receiving mechanism comprises a roller 6 for receiving the tray.
0, a stopper 61 that determines the stop position of the tray, an up / down pushing claw 65 for loading the tray, a loading cylinder 66, a tray receiving / opening / closing cylinder 64, and a tray type detection sensor 68.

The loading of the tray into the receiving mechanism is carried out by judging whether there is a tray in the receiving mechanism and carrying out the tray when there is no tray. Horizontally from the stock module 8 _1, and the stock modules 8 ₂ other than the bottom row,
From 8 ₃ , ..., it is conveyed from above by the exit lifter 6.

Stock module 8 ₁ coming from horizontal direction
The tray from is conveyed by the drive roller 60 in the receiving mechanism until it hits the stopper 61, and the tray coming from above from the stock modules 8 ₂ , 8 ₃ is placed on the receiving mechanism by the outlet lifter 6 and then driven by the drive roller. 60
Is conveyed until it hits the stopper 61. In any case, when the tray t hits the stopper 61, the tray detection means operates to stop the drive roller 60 and stop the tray t at a predetermined position of the receiving mechanism.

At this time, the sensor 6 for detecting the type of the tray, which is provided at a position slightly lower than the transport surface of the tray.
8 detects the mark 14 (FIG. 3) on the bottom of the tray to confirm that it matches the tray for the desired component.

When the tray inside the tray carrier (tray receiver) 62 is emptied and a signal indicating that the tray has been discharged is received, the tray carrier 6
No. 2 is stopped at the receiving position for receiving the tray, and as shown in FIG. 8 (b), the openable door 63 is pushed by the cylinder 64 and opened, and at the same time, the stopper 61 descends to convey the tray to the tray carrier. It will be possible.

After that, the push claws 6 at the two left and right positions which are located at the rear of the tray and are attached to the transfer cylinder 66.
5 is moved up, and when it is detected that the pushing claw 65 is ejected, the tray is conveyed and placed on the tray carrier 62 by the drive roller 60. The receiving mechanism CI and the tray carrier 6
The gap with 2 is filled with a rail in a state where the opening / closing door 63 is opened, and helps transfer of the tray t to the tray carrier 62.

When the tray is placed on the tray carrier 62, the transfer cylinder 66 returns to the fixed position, and the opening / closing door 6 is opened.
3 is closed and the spring pushes the tray t to a predetermined position on the tray carrier 62. When the tray is completely loaded into the tray carrier 62, the transport cylinder 66 returns to the original position and the push claw 65 descends, and the transport process of the tray t to the tray carrier 62 is completed.

As described above, when the tray t is placed on the tray carrier 62, the tray t is positioned. The tray positioning is performed by a positioning cylinder provided with a tapered top piece for positioning. 82 are attached to the left and right sides of one side of the tray carrier 62, and a tapered top is provided at the tip of the cylinder 82 through the escape hole of the tray changer.
The tray is positioned in the advancing direction of the tray carrier by inserting the tops into the tapered notches t ₃ and t ₄ at the edge of the tray t shown in (a).

It is desirable that a cylinder (not shown) is provided at a position facing the cylinder 82 and is driven simultaneously with the cylinder 82 so that the center line of the tray t is aligned with the center line of the tray carrier 62. .

The tray carrier 62 is one of a plurality of tray carriers incorporated in the circulation mechanism of the tray changer (four tray carriers are illustrated in FIG. 8). The tray held by 62 is circulated while keeping it horizontal, and the assembly robot 3 includes a take-out position for taking out the parts accommodated in the tray as part of its circulation path.

The tray carrier 62 is supported by a shaft 69, a link plate 72, a shaft pin 73, and a bearing 71 in order to keep it horizontal, and a pair for transporting the tray carrier 62 along the circulation path. The belt 70 ₁ ,
70 ₂ , pulley 77, drive belt 75, drive pulley 7
6, a drive shaft 78, and a drive motor 80.

As a means for discriminating the type of parts accommodated in each tray in the tray changer 4, for example, a reflection type photoelectric switch (not shown) for detecting a mark 74 attached to the side of the tray carrier 62 can be provided. .

More specifically, this tray carrier is
Under the center of the 62, the shapes of the travel routes are
Same pair of rotating belts 70₁, 70₂One belt
70 ₁Is held by a bearing 71 attached to
The shaft 69 is fixed, and the end of the shaft 69 on the front side in the figure is fixed.
A link plate 72 is fixed to the part, and this link plate 7
The pin provided at the end of 2 is the pair of rotating belts
The other belt 70₂The pin receiver 73 attached to
Is held.

One of the pair of rotary belts, the belt 7
0 ₁ is one driving pulley 76 and three driven pulleys 77
The driving pulley 76 is driven by a motor 80 via a belt 79 and a drive shaft 78, and the other belt 70 ₂ simultaneously rotates from the drive shaft 78 via a drive belt 75. To do.

However, since the belt 70 ₁ and the belt 70 ₂ are arranged at positions laterally displaced from each other by a distance corresponding to the distance between the bearing 71 and the pin provided at the end of the link plate 72. These pair of rotating belts 7
When 0 ₁ and 70 ₂ rotate at the same time, the tray carrier 62 fixed to the link plate 72 circulates along the path of the belt 70 while maintaining horizontal.

In FIG. 8, the rotary belt 70 is provided with four tray carriers 62 at equal pitch intervals, and these tray carriers 62 are provided with different marks 74. It is possible to determine what kind of component the tray t mounted on the tray carrier 62 accommodates by identifying the type.

As described above, while the tray circulates in the circulation path of the tray changer, the parts are sequentially taken out from the tray t by the assembling robot at the parts supply position, and finally the parts that are housed are lost and the tray is no longer contained. However, the empty empty tray is removed from the circulation path by the discharging mechanism and is carried out toward the base module 7 (FIG. 2).

This discharge mechanism comprises a cam follower 83 for automatically opening the tray carrier 62, a carry-out belt 85, a drive pulley 86, a driven pulley 87, a drive motor 88, a carry-out drive roller 89, and a stopper 90.

A tray carrier 62 on which an empty tray is placed
Is temporarily stopped at the carry-out position, and the opening / closing door 63 of the tray carrier 62 is automatically opened when stopped by the cam follower 83 provided at the bottom of the tray changer 4, and the empty tray becomes ready for carry-out. The empty tray is pushed out from the rear portion by the tray pusher 84 provided at the lower part of the empty tray and discharged from the tray carrier 62.

The tray pushing piece 84 is composed of a drive pulley 86 driven by a drive motor 88 and a driven pulley 8
It is attached to the carry-out belt 85 that is stretched around 7, and does not interfere with the tray carrier 62 when the tray carrier 62 is circulating in the circulation path. However, when the empty tray is carried out, the empty tray placed on the tray carrier 62 is slid on the surface of the tray carrier 62 while penetrating the tray pusher 84 through the opening from the bottom surface of the tray carrier 62 to the side plate. While sending it to the unloading section.

At this time, the gap between the tray carrier 62 and the carry-out portion serves as a rail with the opening / closing door 63 of the tray carrier being opened to help discharge the empty tray. Further, when the tray pushing piece 84 finishes pushing out the empty tray, the drive motor 88 reversely rotates and returns to the original position.

After that, the empty tray is conveyed toward the base module by the drive roller 89 provided at the carry-out section, and the stopper 9 provided in front of this roller 89.
At 0, the tray is stopped, the empty tray is carried out, and the operation in the tray changer is completed.

As shown in FIG. 6, a stacking mechanism for stacking empty trays discharged from the tray changer 4 includes a conveyor 34 and a flange portion of the empty trays provided on the conveyor 34 which can be moved up and down. At t ₁ , a claw 35 that can be hooked from both sides and a stopper 36 that determines the stacking position are provided.

That is, the pair of claws 35 has a guide mechanism on the back surface thereof, and the protruding positions at which the flanges of the trays stacked on the conveyor 34 are hooked from below and the retracted position separated from these flanges. A rack 37 for reciprocating between and, a pinion 38, and a rotary actuator 39 for driving.

Further, in order to move the pair of claws 35 up and down, the guide mechanism 40, the chain 41 and the drive / drive mechanism.
A motor 42 for stopping is provided, and in order to synchronize the vertical movement of the left and right claws 35, the motor 42 is provided with a shaft 43.
The pair of chains 41 are simultaneously driven via the.

The stacking operation by this stacking mechanism will be specifically described. In the tray changer 4, the thickness is 125 m.
m L tray, 85 mm thick M tray, 45 mm
It is assumed that the S tray and the S tray are mounted on a tray carrier and are circulating.

When the robot picks up a component from each tray, and the robot picks up the component from the predetermined final position of the position coordinate table for the tray, a take-out completion signal from the robot and the final component in the tray (the tray (Empty) signal, an empty tray is discharged from the discharge mechanism of the tray changer 4, this empty tray is transferred to the base module 7, and the stopper 34 is moved by the conveyor 34.
It is transported until it hits 6.

When the stacking mechanism has no tray, the pawl 35
Is open and stands by at a height position where it does not interfere with empty trays to be stacked. In this position, the maximum thickness of the tray is 125 mm of the L tray, so it is 1
The position is set to 30 mm.

When the empty tray arrives at the stopper 36, the claw 35 moves to a position lower than the flange of the tray having the minimum thickness while keeping the open state, and the minimum thickness of the tray is 4 at this position.
Since the thickness of the flange is 5 mm and the thickness of the flange is 10 mm, the position is 30 mm from the surface of the conveyor 34.

At this position, the rotary actuator 39
Is activated and the pawl 35 moves to the projecting position, so that the flange portion of the empty tray is hooked on the pawl 35 from below. After that, the pawl 35 is lifted by the motor 42 and lifted by the conveyor 34.
The empty tray is lifted up to a height of 130 mm from the surface and put in a standby state.

When the stacking mechanism already has an empty tray, the claw 35 is closed and the tray is moved 130 m from the conveyor surface.
When the tray arrives at the stopper 36, the pawl 35 detects the empty tray into which the photoelectric switch (not shown) provided in the moving means of the pawl 35 is newly loaded. However, this position is also the position for lowering the empty tray group that has been lifted above the empty tray.
9 is activated and the pawl 35 is moved to the retracted position, so that the empty tray (group) already in the stacking mechanism is unloaded and stacked on the newly loaded empty tray.

After that, with the pawl 35 retracted, the pawl 35 descends until the height of the upper surface of the pawl reaches 30 mm, and then the rotary actuator 39 is activated to move the pawl 35 to the projecting position. Since the part is hooked on the claw 35 from below, and the claw 35 is then raised by the motor 42, the empty tray group is 130 m from the conveyor surface.
It is lifted to the position of m and returns to the standby state.

As described above, when the stacking upper limit switch (not shown) is turned on when the empty tray group that has been lifted is lowered onto the newly loaded empty tray, that is, up to the planned height. When the empty trays are stacked, the rotary actuator 39 is activated and the pawl 35
Is moved to the retracted position, and the empty tray group is placed on the conveyor 34.

By lowering the stopper 36, the empty tray group is sent to the next free flow conveyor 44 by the conveyor 34 and is temporarily stocked. In addition, the claws 35 are used for the empty tray group as described above.
After being placed on the conveyor 4, the conveyor 34 is moved to a standby position having a height of 130 mm from the surface.

As described above, the empty tray group stocked on the conveyor 44 is pushed by the succeeding empty tray group to move to the position where it hits the stopper 45, and a sensor (not shown) detects this empty tray group. Then, the inlet lifter 2 descends until a sensor (not shown) detects that the upper surface of the conveyor 44 and the upper surface of the belt conveyor 15 of the inlet lifter 2 are aligned.

Next, the stopper 45 is lowered and the conveyor 44 and the belt conveyor 15 of the entrance lifter 2 are rotated to convey the empty tray group onto the entrance lifter 2, and the empty tray group is provided outside the entrance lifter 2. When a sensor (not shown) detects that the tray group has been conveyed to the stopper 46, the conveyor 44 and the belt conveyor 15 of the entrance lifter 2 are stopped from rotating, and the entrance lifter 2 becomes the conveyance surface of the unmanned vehicle 1 described above. Ascending to the same height, the belt conveyor 15 is rotated to load the tray group on this unmanned vehicle.

When the sensor (not shown) of the unmanned vehicle confirms that the empty tray group has been carried in, the rotation of the belt conveyor 15 of the base module 7 is stopped by a signal from the unmanned vehicle indicating this carrying-in confirmation.

When the empty tray group has been placed on the unmanned vehicle as described above and the sensor (not shown) does not detect the tray group stacked at the position of the stopper 45 of the conveyor 44, the inlet lifter 2 detects the tray of the inlet lifter 2. Belt conveyor 15
And the upper surface of the conveyor 44 of the base module 7 are moved to a position where they are at the same height, and the initial state is restored.

<< Assembly Robot >> An outline of the structure of the assembly robot 3 for assembling a predetermined product by receiving the supply of parts from the parts supply device according to the present invention will be described.

As shown in FIG. 2, this assembly robot 3
Is equipped with an arm capable of picking up and grasping a component from a tray located at a component supply position in the circulation path of the tray changer 4, and an assembling table for assembling the component grasped by the finger on a platform below the robot. Fingers corresponding to 12 and individual parts are detachably attached, and a table for supplying general-purpose fastening parts such as a finger stock, a screw and an E-shaped snap ring is also provided.

Further, the parts supply control device and the conveyor 11
Conveyors, which are shown as upper plates and which carry the platen on which the assembled members to which the parts are assembled and the assembled members are placed, are attached to the sides of the gantry, respectively.

An assembling operation for attaching the parts supplied by the parts supply apparatus of the present invention to the object to be assembled by the assembling robot constructed as described above will be described.

When the platen moving on the conveyor 11 arrives at a predetermined position, a sensor (not shown) detects the arrival of the platen, and the position of the platen is controlled by a positioning mechanism (not shown) under the control of the cell controller 13 that controls the entire system. Is positioned.

Next, the robot starts its operation by receiving a program number to be executed and a start signal from the cell controller for controlling the entire cell, but the program to be executed in response to the instruction by this program number is stored in the tray. Information necessary for the operation such as a coordinate table storing the parts position, the type of hand for chucking the parts, and the coordinate data for assembling the parts is described and stored in the memory of the assembly robot.

The position of the part to be taken out from the tray is such that there is a part in the tray for each tray (t ₁ , t ₂ , ...) In which the parts (X ₁ , X ₂ , ...) Are stored. The position coordinates of the positions are stored as a table in the internal memory, and the coordinate table for the tray designated by the cell controller is called from the internal memory to execute the parts removal.

Each time the component is taken out from the tray once, the data in the position coordinate table of the tray is shifted by one, and the coordinate data of the position of the component to be taken out next is advanced.
By repeating this processing (operation), the parts are sequentially taken out from the tray and the parts are assembled to the assembly target (work).

The assembly object assigned to this assembly robot, for which assembly work has been completed, is placed on the platen on the conveyor 11 by the arm of this robot, and the positioning of this platen is released by the cell controller. Another assembly system for carrying out subsequent assembling work is carried by 11 and the next assembling work is carried out, or it is carried as a finished product to a storage place or the like.

<< Control System of Parts Supplying Device >> FIG. 9 shows the structure of the control system of the parts supplying system according to the present invention. The control system shown in FIG. 9 is one set of main controller (cell controller). Is shown as controlling two systems of component supply devices in parallel. The two-system component supply devices are connected to the same serial link, and the two-system component supply devices are accessed by changing the address added to the transmission signal.
This address is automatically set by selecting the number of the component supply device. Further, the control system of each component supply device is configured as shown in FIG.

The main control unit of this control system is a control system independent of the control unit of the equipment such as the assembly robot and the component supply unit, and supplies the components using the sequence controller while monitoring the operating state. It controls devices and other peripherals. Further, the main control device includes a storage device.

That is, the operation control of equipment such as an assembly table, a parts aligner, and a conveyor which does not have its own control section is performed by the serial control input / output device by the main control device of this control system, but each of them operates independently. For the two sets of parts feeders and assembly robots that have a control unit, only the overall operation flow is controlled by operation commands by commands via the serial link and operation confirmation by status signals. The operation itself of each device is controlled by the control unit provided in each device.

As described above, the component supply apparatus of the present invention is roughly divided into a base module, a plurality of stock modules for storing trays, and a tray changer module for supplying components to the assembly robot. These modules are connected to the input / output device (I / O) of the serial transmission system and the control unit of the component supply device via the serial transmission line, and exchange operation instruction signals and status signals.

The above modules are mechanically designed so that they can be easily separated and combined. For example,
As described above, the number of stock modules is changed according to the number of parts to be supplied, and the control system also supports the rearrangement of these modules. All connections, including control signals, power supplies, and control power supplies, are connected in series using connectors. Sockets are attached to the outgoing side of the control unit and the side far from the control unit of each module, and a plug is attached to the tip of the cable on the control unit side of each module.

In order to facilitate the attachment / detachment of the control line between the modules, all the signals to be transmitted are converted from parallel signals to serial signals in each module, and the signals are passed between the control section and the serial transmission. ing.

When the component supply device is manually operated, the manual operation device is connected to the control section of the component supply device through the connector. This manual operation device is a serial device as shown in FIG. Since it is also connected to the control unit of the other component supply device via a link, manual operation for both component supply devices can be performed without changing the connection of the manual operator by selecting the switch and manually operating it. Is possible.

Next, the outline of the control for the assembling work by the above control system will be described. The component supply device of the present invention changes the number of stock modules in response to the change in the number of parts, so that the modules can be easily attached and detached, and the operation control is switched based on the change in the number of modules. In addition, the control program corresponds to all expected module numbers and connection patterns,
At the beginning of the program, the operation corresponding to this module pattern can be switched by performing setting or selection according to this pattern.

The states of the assembling robot and the tray changer are stored in the main control unit, and in accordance with this, operation instructions by commands are sequentially output to the assembling robot and the component supplying unit, and the operating states of the respective units based on the commands are monitored. While proceeding with the assembly work.

One basic component supply cycle is as follows. -The controller instructs the tray changer to set the tray carrier on which the tray containing the component to be used is placed in the component supply position. -The tray changer sets the tray containing the specified parts to the parts supply position, and returns a set completion signal when setting is completed.

The control device confirms the types of parts accommodated in the tray set by the tray changer, and then
A command specifying a program corresponding to the work content is issued to the assembly robot. -The assembling robot executes the process according to this program and returns a process completion signal when this process is completed.

The controller sends a signal to the tray changer indicating that the parts have been removed. -The tray changer releases the positioning of the tray and shifts the tray in the circulation path. The above process is repeated according to the number of parts to be assembled, and the assembly process in this parts assembly system is completed.

The above processing will be described in detail below. After the power is turned on, the parts supply device and the robot are set to the automatic synchronous operation state, and the origin return button is pressed to cause all the components to perform the origin return operation.
That is, the robot arm is returned to the origin, all the cylinders are returned to the retracted end, and the tray changer moves the tray carrier to the tray receiving position and stops it.

If there is no actual tray (tray containing components) of the tray carrier at the tray receiving position,
One tray to be placed on the tray carrier is separated from the tray group of the stock module, transferred to the receiving mechanism of the tray changer, and supplied to the tray carrier after the product type verification. Similarly, the component tray supply operation is automatically performed on the tray carrier on which all the trays should be placed, and the operation is stopped at the original state. This state is the initial operating state.

When the control device confirms the arrival of the work, the preparation for starting the peripheral equipment, etc., and when the assembly conditions are satisfied, the control device sends a signal to the tray changer to instruct the type of the component to be used and the component supply to this component. A command signal to set the position is issued.

This tray changer collates the kind of parts received from the control device with the kind of parts of the tray currently set, and if they match, the tray positioning mechanism is operated to check the set parts. The signal indicating the type is answered and the set completion signal is returned to the control device.

If they do not coincide with each other, the collation-mismatched component tray is discharged and the tray exchange operation is performed. When comparing the component type signal with the component tray, it is not possible to directly read the component type signal label on the bottom of the tray inside the tray changer, so it is indicated by the bit mark attached to the side of the tray carrier on which the tray is placed. The address is read by the photoelectric sensor at the actual tray supply position and compared / inspected.

Data about the types of parts to be placed is registered in advance in each tray carrier of the tray changer, and when the actual tray is placed on the tray carrier of the tray changer, the type of parts can be read from the label attached to the bottom of the tray. The signal is read and collated with the registered component type (component ID) to confirm the correlation between the address of the tray carrier and the component type placed on it.

If the data registered in the storage device for the tray carrier is "1", the component tray is placed on the tray carrier and the tray carrier on which the component tray is placed is circulated to the component supply position. , Assembly robot 4
Will chuck the parts and assemble them. When it is "0", the tray is empty without mounting the component tray.

Further, since the plurality of tray carriers are connected to each other by the belt, the order of these tray carriers is not exchanged. Therefore, the above-mentioned address of the tray carrier is read at one position of the actual tray receiving mechanism and the other positions are read. Confirm the address of the tray carrier of when shifting to this position.

Upon receiving the signal from the tray changer, the control device verifies whether or not the output component type signal and the returned answerback signal match, and if they match, sets the components to the robot. The program number signal and the start signal for the attaching operation are output, and the robot takes out the parts.

The robot having received the part take-out execution command first checks whether or not the tray is empty. If the tray is empty, a tray empty signal is sent. If the tray is empty, an operation completion signal is sent to the controller. Send to.

The control device receiving this operation completion signal sends a start command to the robot by designating the program number, and the robot receiving this command reads the corresponding program from its memory and starts by the start signal. .

In this program, a coordinate table in which the positions of the parts to be used in the tray are stored, the types of hands to be used, the assembly position coordinates, and all other information necessary for operation are described.

After taking out the parts, the robot advances (shifts) one coordinate in the coordinate table showing the position of the parts in the tray, and then outputs a parts taking-out completion signal to the control device.
The controller relays this signal to the tray changer. In order to use multiple parts of the same type continuously,
When multiple consecutive parts are taken out from the same tray, the control unit manages the number of parts to be taken out, and the same program command is repeatedly output to the robot until the set number of parts is taken out. When the removal is completed, a component removal completion signal is output to the tray changer.

The tray changer which has received the component take-out completion signal releases the positioning of the tray at the component supply position of the component tray, shifts the tray, and brings the next tray to the component supply position. That is, the component tray is placed on the tray carrier of the tray changer connected by the timing belt, and the timing belt is rotated by the motor whose rotation speed is controlled by the inverter, so that the position of the tray carrier and hence the position of the tray are sequentially changed. shift.

In the tray shift operation, the timing belt is first driven at a high speed, and when the deceleration sensor detects the tray carrier before the component supply position, the timing belt speed is decelerated, and the tray carrier moves and stops. When the position sensor detects the tray carrier, the motor is instantaneously stopped and the mechanical brake is also actuated to fix the tray carrier at this stop position. The positioning of the tray in the tray carrier is performed by four cylinders attached to the frame of the tray changer body.

The trays are set on the tray carrier basically in the order of the parts to be used so that the trays at the parts supply position can be replaced in the shortest operation time by the shortest shift. I have to. Further, after the article is taken out, the tray at the next address is set so that the parts to be used next can be taken out immediately to shorten the tact time.

The above is the flow of control for the robot to take out one type of component. By repeating such control and operation for each different type of component, a plurality of types of components can be automatically assembled. Assemble the product.

During operation of both the robot and the tray changer, an interlock signal is output to prevent their operations from interfering with each other.

As described above, the robot takes out parts from the tray while referring to the internal part position coordinate table for the tray for each kind of parts in the tray changer stored in the memory (storage device). When the part is taken out from the predetermined final position in the tray internal part position coordinate table that has been taken out, the robot outputs a tray empty signal indicating that the tray is empty together with the part take-out completion signal. Is output.

That is, when the robot picks up a part and picks up the part from the final position in the tray part position coordinate table stored in the robot, the robot sends a part pick-up completion signal and a tray end part (tray empty) signal. Output.

When this signal is received by the component supply system, the stock module storing the same component tray as the component positioned at that time starts the operation of transporting the separated tray to the tray changer inlet. In the stock module that has supplied this tray, the tray is separated in preparation for the supply of the next tray.

It is also possible to prepare the actual tray supply (convey to the tray changer inlet) in advance by outputting an empty tray preparation signal one or two before the final component in the tray.

When the tray changer receives the above-mentioned empty signal via the control device, it stores that the tray is empty together with the address of the tray carrier, and at the same time, the tray module is separated by the separating mechanism of the stock module storing the corresponding component tray. Transport of another tray is started toward the tray changer receiving mechanism.

The allocation of each tray carrier of the tray changer and the stock module for stocking the component trays to be supplied thereto is fixed, for example, to the tray carrier 1 such as the lower stock module and the tray carrier 2 to the middle stock module. It is desirable to keep it.

Next, referring to FIG. 16 and FIG.
The supply operation of the actual tray according to the present invention will be described. In step S1, the control unit 105 checks the presence or absence of a tray on the tray carrier by the tray detection sensor at the actual tray receiving position of the tray changer, and if there is a tray at this position, it is of course left unchanged. If there is no tray, it is checked by the component type setting data of the tray changer whether the tray carrier is an empty setting (a setting that the component tray is not placed) or an empty tray carrier that has ejected the empty tray (process S2). In the latter case, the actual tray supply process is performed (process S3).

The above-mentioned empty setting of the tray carrier (no component is placed) is set by not registering the component type to be placed on the tray carrier to be registered for each tray (data: 0). At the time of supply, it is possible to determine whether the tray is a tray changer to which the actual tray should be supplied by looking at this data.

Also, this data is checked when the tray is shifted after the parts are completely taken out, and when the empty tray is set, the tray carrier is skipped and the next tray carrier is set. To pass.

In step S4, the determination unit 103 determines the component type signal (ID) attached to the bottom surface of the component tray conveyed from the stock module to the tray changer receiving mechanism.
Is read from the ID reading unit 104, and the component ID to be mounted registered for each tray carrier of the product type is ID.
The data is read out from the recording unit 102, collated, and if they match, the process proceeds to step S5 to perform the actual tray supply operation.

At step S5, the exit lifter control section 110
After confirming that the tray and the tray carrier on which this tray is placed contain the necessary parts, open the tray carrier inlet with the cylinder, and then use the tray pushing claw to insert the actual tray into the tray carrier. It is pushed in (process S6).

In step S7, the tray changer control unit 1
After confirming that pushing into the tray carrier is completed, 07 returns the receiving mechanism to the original state, closes the inlet of the tray carrier, and completes the operation of supplying the actual tray (process S8).
It should be noted that this processing (operation) is also performed concurrently in parallel during the operation of taking out parts from other trays of the robot.

If it is determined in step S4 that the IDs do not match, the process proceeds to step S10. In step S10, the discharge command unit 1
04 issues an instruction to the exit lifter control unit 110 to control the transfer of the ID mismatch tray to the tray changer 4.
In process S11, the ejection command unit 104 commands the tray changer control unit 107 to make the tray changer 4 round and move the non-matching ID tray to the ejection position and transfer it to the exit lifter 6 (process S12).

In step S13, the discharge command unit 104 commands the base module control unit 106 to discharge the mismatched ID tray transferred to the exit lifter 6 by operating the base module 7. In step S14, the discharge command unit 104
Determines whether the number of times the ID mismatch tray is discharged repeatedly is larger than the set value, and if the determination is YES, the process S16.
If the determination is NO, the process proceeds to step S15, and trays are re-supplied from the same stock module.

In step S16, the ejection command unit 104 determines that the IDs of the remaining trays stored in the stock module are likely to be inconsistent with each other when the number of repetitions of ejection of the inconsistent IDs is greater than a certain number. It is checked whether or not there is another stock module in which the parts are stored, and if there is another stock module, the process proceeds to step S17 to supply the tray from another stock module. If there is no other stock module, the process proceeds to step S18 and abnormally stops.

In the embodiment, the tray is supplied from another stock module when the number of repetitions exceeds a certain number. However, the tray module is supplied from another stock module to the stock module currently supplied. It may be performed after the trays to be supplied run out.

Further, it is also possible to discharge a plurality of trays at the same time by utilizing the empty tray receiver of the tray changer for discharging the mismatched ID trays. If the tray is supplied from another stock module and the ID mismatch tray is discharged using the empty tray, the ID mismatch tray can be discharged in parallel with the component supply. Further, by outputting that the mismatch occurs when the ID mismatch occurs, it is possible to know that there is a tray containing a component in the discharged empty trays.

On the other hand, when the tray carrier arrives at the empty tray ejecting mechanism of the tray changer, it is checked whether the tray on which the tray carrier is placed is empty. In the case of a tray, the above-described series of empty tray discharge operations are executed, and the empty tray is discharged from the tray changer to the stacking mechanism of the base module.

When the tray carrier moves to the position of the discharge mechanism for discharging the empty tray, the mechanism of the tray changer opens the tray carrier inlet, and then the tray discharge bar is driven. The empty tray is pushed out from the tray carrier to the stacking mechanism of the base module. The entrance of the tray carrier is automatically closed when it is removed from the position of the ejection mechanism in the next shift of the tray.

The empty tray pushed out from this tray carrier is conveyed by the motor roller of the transfer mechanism which is driven at the same time, is carried to the tip of the stacking section, and the sensor for detecting the arrival of the empty tray is turned on. The discharge bar returns to its original position, the motor roller stops, and the discharge operation is completed.

This processing / operation is usually performed at the same time as the operation of taking out parts from another tray of the robot.

FIGS. 10 to 22 are flowcharts showing the operations and processes described above. FIG. 10 is a diagram showing an operation for starting preparation, and FIGS. 11 to 13 are diagrams showing one cycle of an assembling operation. FIG. 14 is a flowchart showing a tray replacement process, FIG. 15 is a flowchart showing an empty tray discharging process, FIGS. 16 and 17 are flowcharts showing a process of supplying an actual tray containing components to a tray carrier, and FIG. 19 is a flowchart showing the processing of the inlet lifter, FIG. 20 is a flowchart showing the processing of the outlet lifter, FIG. 21 is a flowchart showing the processing of the separating mechanism of the stock module, and FIG. 22 is a flowchart showing the processing of the stacking mechanism of the base module. Is.

The processes and operations shown in these flowcharts have already been described,
A description of the contents of these flowcharts will be omitted.

[0177]

According to the present invention, the following effects can be obtained. When there are no more parts in the tray mounted on the tray changer, when transferring the tray from the stock module containing the same parts to the tray changer, I
If the ID number is read and the ID numbers are different, the tray changer is rounded and the base module is operated to eject the mismatched ID tray.
The D tray is automatically ejected, and the parts supply can be restarted in a short time.

When the IDs do not match, the transfer of the tray from the corresponding stock module to the tray changer is repeated until the IDs match.
The trays with different ID numbers stored in the stock module can be automatically ejected.

Further, since the non-matching ID tray is discharged also by using the empty tray receiver of the tray changer, the non-matching ID tray can be discharged in a short time. Also, when the stock storage trays are exhausted, the trays from different stock modules containing the same parts are transferred to the tray changer, so the discrepancy ID tray is discharged and the parts are supplied. Can be restarted in a short time.

Further, when the ID mismatches are continuously judged for the set number of times or more, the trays from the other stock modules in which the same parts are stored as the continuous ID mismatches in the subsequent trays are set as the tray changer. Since the transfer is performed, the component supply can be restarted in a short time.

When the ID mismatch occurs more than the set number of times and a tray from another stock module containing the same component is transferred to the tray changer, the tray stored in the previous stock module is replaced. Since the empty tray tray of the tray changer is used to eject the paper, it is automatically inconsistent while supplying parts.
D tray can be ejected.

Further, when the ID mismatch is determined, the fact that the ID mismatch has occurred is output, so that it is possible to know that there is a tray in which parts are stored among the discharged trays.

[Brief description of drawings]

FIG. 1 is a configuration diagram of an embodiment of the present invention.

FIG. 2 is a diagram conceptually showing an embodiment of a component supply device to which the present invention is applied.

FIG. 3 is a diagram illustrating a tray used in the embodiment of FIG.

FIG. 4 is a conceptual diagram showing the structure of an inlet lifter.

FIG. 5 is a conceptual diagram showing the structure of a stock module.

FIG. 6 is a conceptual diagram showing the structure of a base module.

FIG. 7 is a conceptual diagram showing a structure of an outlet lifter.

FIG. 8 is a conceptual diagram showing the structure of a tray changer.

FIG. 9 is a diagram showing a configuration of a control system.

FIG. 10 is a diagram showing an operation of boot preparation.

FIG. 11 is a diagram showing a part of one cycle of an assembling operation.

FIG. 12 is a diagram showing a part of one cycle of an assembling operation.

FIG. 13 is a view showing the remainder of one cycle of the assembling operation.

FIG. 14 is a flowchart showing a tray replacement process.

FIG. 15 is a flow chart showing empty tray discharge processing.

FIG. 16 is a flowchart showing a process of supplying an actual tray containing components to a tray carrier.

FIG. 17 is a flowchart showing a process of supplying an actual tray containing components to a tray carrier.

FIG. 18 is a part of a flowchart showing the processing of the entrance lifter.

FIG. 19 is the rest of the flowchart showing the processing of the entrance lifter.

FIG. 20 is a flowchart showing processing of an exit lifter.

FIG. 21 is a flowchart showing processing of a stock module.

FIG. 22 is a flowchart showing the processing of the base module.

[Explanation of Codes] 2 Inlet Lifter 3 Assembly Robot 4 Tray Changer 6 Outlet Lifter 7 Base Module 8, 8 ₁ to 8 ₃ Stock Module 101 ID Reader 102 ID Recorder 103 Judgment Unit 104 Ejection Command Unit 105 Control Unit 106 Base Module Control unit 107 Tray changer control unit 108 Stock module control unit 109 Entrance lifter control unit 110 Exit lifter control unit 111, 112 Interface (I / O) 113 Processor (CPU)

Claims (7)

[Claims] 1. A stock in which parts required for an assembling robot are sequentially supplied by a tray changer according to an assembling order, and when there are no more parts in the tray, the base module ejects the tray and the corresponding parts are stored. In a component supply device for transferring a tray accommodating components from a module to a tray changer, an ID recording means for recording IDs corresponding to components to be supplied according to an assembly order, and the tray changer when there are no components in the tray. ID reading means for reading the component ID from the tray transferred to the tray, and the ID corresponding to the ID read by the ID reading means
When the determination means determines whether or not the ID read from the recording means matches, and when the determination means determines that the IDs do not match, the tray changer is rounded, transferred to the base module, and transferred to the mismatched ID tray. A parts supply device, comprising: a discharge command means for commanding discharge. 2. When the determination unit determines that the IDs do not match, the mismatched ID tray is discharged, and the trays from the corresponding stock modules are repeatedly transferred to the tray changer until the IDs match. The component supply device according to claim 1, wherein 3. When the determination unit determines that the IDs do not match in succession, the trays stored in the corresponding stock modules are discharged using the empty tray receiver of the tray changer. The component supply device according to claim 1 or 2, characterized in that. 4. When the tray stored in the stock module is used up, the tray from another stock module storing the same component is transferred to the tray changer. 1,2
Alternatively, the component supply device according to item 3. 5. When the determination of the ID mismatch by the determination means is the number of times set consecutively or more, a tray from another stock module storing the same component is transferred to the tray changer. The component supply device according to claim 1 or 2, wherein 6. When the ID mismatch determination by the determining means is equal to or more than the set number of times consecutively, the tray storing the mismatched components is used as an empty tray receiver of the tray changer. The component supply device according to claim 5, wherein the component supply device is configured to discharge the component. 7. The component according to claim 1, wherein when the determining means determines that the IDs do not match, the fact that the IDs do not match is output. Supply device.