JPS5924980A - Working machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] The present invention relates to a working machine used in a factory automation system, and particularly to a working machine used in a factory automation system. This invention relates to a working machine that can increase lr+J efficiency.

The demand for factory automation has been remarkable in recent years, and some of this is being realized in the fields of machining and assembly.

In such a factory automation system, as shown in FIG.
0 and stacker clay/41 and each processing cell 2a, 2b, 2C... are connected by unmanned transport JP-5, and parts shelves 40 of automatic warehouse H, 4 are connected.
The unprocessed parts are placed on the automatic guided vehicle 3 by the stacker crane 41, the parts are transported by the automatic guided vehicle 3, the transported parts are set on the machine tool 20a by the industrial robot 21a of the desired processing cell, and the machine tool 20a, and then the processed parts are transferred to an industrial robot) :Ha
The processed parts are removed from the machine 20a, placed on the automatic guided vehicle 3, transported by the automatic guided vehicle 3 to the automated warehouse 4, and then stored in the parts shelf 40 by the stacker crane 41.

In such a system, the automatic guided vehicle 3 is in charge of multiple processing cells, so each processing cell 2a,
2b, 2c..., the automatic guided vehicle 3 and the working machines 1a, 113. After the automatic guided vehicle 3 loads the unprocessed parts onto the working machine with the desired force of 11 cells, the automatic guided vehicle 3 is configured so that it can meet the transportation costs for other processing cells. ing.

When using such conventional work machines, automatic guided vehicles 3
The industrial robot 21a takes out the parts placed on it,
After being attached to the machine tool 20a and processed by the machine tool 20a, it is removed from the machine tool 20a and placed on the working machine. Then, the automatic guided vehicle 3 is called, the processed parts are carried into the automatic guided vehicle 5, the processed parts are carried into the automated warehouse 4, and the next unprocessed part is taken out from the automated warehouse 4, placed on the automated guided vehicle 3, and transported to the working machine'. It was to be transported and placed on a working machine. For this reason, after the removal work of the robot is completed, the Caloecell cannot work until the next unprocessed part arrives at the working machine, and during this time it is idle, which has the disadvantage of reducing operating efficiency. .

Therefore, an object of the present invention is to provide a working machine that can improve the operating efficiency of a processing (work) cell.

Hereinafter, the present invention will be explained in detail based on Examples.

FIG. 2 is a block diagram of an actual Mlj example of the present invention. In the figure, the same thing as in FIG. A waiting station 10a where a plurality of parts are arranged and unworked pallets are placed, and a processing (work) station 1 where a working pallet 1d sent from the waiting station 10a is removed.
0b, and a 11-worked (worked) station 10c where the worked pallets sent from the processing station 101) are placed. Waiting station 1
At 0a, the first feeding mechanism for pulling the pallet from the automatic guided vehicle 1 in the direction A is at the processed station 10c, and at the second feeding mechanism for feeding the pallet into the automatic guided vehicle 3 in the direction D. , waiting station 1
A third feeding mechanism is provided for transporting the pallets from the machine 0a to the station 10b and from the machine 10b to the finished station 10c. , 21 is an industrial robot main body, which has a gripping hand for parts at its tip, and a processing station 1o b 17. ) Grasp the parts from the pallet, carry them to the chuck of the machine tool 20, and attach them.
Components are removed from the stationary controller 10b and placed on a pallet. 22 is a robot type fill device which controls the movement of the industrial robot 21 in accordance with the teachings of the robot stored in the built-in memory, and controls the feed mechanism of the work machine 1; 50° 51Vi position detection; Each automatic guided vehicle 5 is a waiting station 10a,
This is to detect the arrival at the processed station 10C.

Next, the operation of the embodiment shown in FIG. 2 will be explained. First, it is assumed that an unprocessed bullet containing unprocessed products i' to b has already been placed at the waiting station 10a. Before starting the robot control device 221-Ill machining,
Third feed mechanism metal IIf# of work machine 1 (2nd,
Still waiting for IJI+Everett Stage 9n10a to Caroni 1 Nisti John 10 b K, I:! 5ru. −
f', the robot control device 422 is the industrial robot 2.
Operate 1.1. Then, the unprocessed parts accommodated in the pallets on the processing station 10b are gripped by the hands, carried to the chuck of the machine tool 20, and mounted. After the inspection is completed, the robot control device 22 sends an operation end signal to the machine tool 20, starts the machine tool 20, and starts the machine tool 2.
0 processes parts according to the processing data of the built-in numerical control device. When the machine tool 20 finishes machining the part, it sends a machining completion signal to the robot control f11 port 22. This will cause a drop) 1111. Control device N/, 22h Industrial robot 21f, operates and transfers the processed parts to machine tool 2
0, transported to the processing station 10b, and stored on a pallet on the processing station 10b. Then, the next unprocessed part is picked up from the pallet and the above operation is repeated. The robot control device 22 is provided with a counter that counts the number of operations by 11 degrees, and is configured to send a completion signal when operations for a preset number of parts on one pallet are completed.

On the other hand, while the industrial robot 21 is repeating this operation, the automatic guided vehicle 3 brings the next unprocessed valet from the automated warehouse 4 (FIG. 1). When the unmanned transport IIL 5 arrives at the timing station 10a of the work machine 1, the detector 5
1 issues an arrival signal and notifies the robot controller 22, the robot lli controller i<t22 drives and closes the first feed mechanism of the working machine 1.

At the same time, as will be described later, the unmanned conveyance unit 11t3 also detects the arrival of the above-mentioned timing station 10a [7], and stops, and at the same time operates the feeding means provided on the main body for loading pallets. This Jl causes the pallet on the automatic guided vehicle 6 to be moved to the timing station 10a of the work machine 1.

As mentioned above, the robot system) 11il device 22 is completed (M
When the signal is issued, the ln3 feed mechanism of the working machine 1 is driven, and the pallet in the timing station 10a is sent to the processing station 10b, and the pallet in the processing station 10b is sent to the processed station controller 10c. Work on the next unprocessed part can now begin. Therefore, based on the detection signal that the automatic guided vehicle 3 has reached the timing station 10a, the pallet is pulled from the automatic guided vehicle 6 to the timing station 10a. Due to the presence of this number 111 and a completion signal indicating the completion of work by the industrial robot 21 to the processing station 10bK, the pallet is sent from the processing station 10a to the processing station 10b, and from the processing station 10b to the processed station 10c. It turns out.

Furthermore, when the automatic guided vehicle 3 arrives at the processed station 10c, an arrival signal is emitted from the detector 50, and the robot
jl++ control device 22 is notified, and robot control device 22 operates the second feed mechanism of work machine 1. On the other hand, similarly to the above, the automatic guided vehicle 3 is also at the processed station 1.
Detection of arrival of metal at 0c [7] At the same time as stopping, the above-mentioned feeding means on the main body is operated and closed, so that the processed station 10C is sent to the automatic guided vehicle 6. Thereafter, the automatic guided vehicle 6 carries the pallet containing the processed parts to an automatic warehouse (4) and stores it in the automatic warehouse (4).

In the above description, the robot fill device 22 performs flt control over the working machine 1. However, in another embodiment, a cell controller is separately provided on the processing cell 2 side, and the cell controller includes the detectors 50, 51, robot l
The l++ control device 1i 22 , the machine tool 4 precepts 20, and the working machine 1 may be connected to perform such control.

Next, Fig. 3 shows the 11° 11 configuration of work machine 1/IV 1 and unmanned conveyance JV 3 (111 configuration) of the actual example configuration in Figure 2, Figure 6 (
~ is its top view; Figure 3 (B) r, t is its front view; Figure 4 is a configuration diagram of the automatic guided vehicle 3; Figure 4 (
A) A top view of H, FIG. 4 (Bl is a front view thereof. 11 in FIG. 3) is the aforementioned first feed mechanism, the structure shown, and is driven by the motor 12a! It consists of a conveyor that moves to
It is located above the top surface of the feed roller of the feed mechanism 11 of X1, and when driven, it is lifted up by the lift mechanism 12b so that it is positioned above the top surface of the feed roller of the first feed mechanism 11. It is something.

Reference numeral 15 designates a second feed mechanism, which, like the first feed mechanism 11, is composed of six feed rollers rotated by a motor (not shown) or the like; 14t-, i-pallet detector; The feeding mechanism 11 of f51 contacts the pallet sent by the feeding mechanism 11 and detects this;
15a, j5b, and 15c are guide rollers, and 16 is a pallet detector. When the pallets and sotos sent to the automatic guided vehicle 3 by the second feeding mechanism 15 come out of contact, this 17 is a pallet detector that comes into contact with the pallet sent to the processed station 10c by the third feeding mechanism 12 and detects this, something for stopping the driving of the fifth feeding mechanism 12; 50.
51Vi are position detectors, each of which is provided according to the timing station 10a and processed station 1ocK7J, and receives light from the light emitting unit of the unmanned conveyance floor 3, which will be described later. y part and
Light is emitted to the light receiving unit of the automatic guided vehicle 6, and the automatic guided vehicle R3
and a light emitting unit portion for detecting the arrival of M at the stage 7d.

Next, in FIG. 4, 30 is the main body, and 61 is a drive wheel, which is provided on the main body 30 and moves the main body 30. 32 is a feeding mechanism which is rotated by a drive source (not shown) and is made up of six feeding mechanisms, which selectively feeds the entire pallet in the 5 directions of A and the D direction; 33 is a caster roller. There is a pair of II < II mountain shaft wheels 31 on both sides, 54Vi proximity switch, installed on the factory floor l', 7 Also detects the taxiway and moves the conveyance vehicle 3 along the taxiway 1j 35 is a position detector and 4
Riri, period, processed station 10a, 10C corresponding to the position detector 50.51, C2 each equipped with a light emitting unit and a light receiving unit, 36 is l (Nnoku- and 1. + = body 30σ) Those provided at the front and rear, 67
is a nodelet detector that comes into contact with the ballet and outputs a detection signal.

Next, the BllII operation of the embodiment configuration shown in FIGS. 3 and 4 will be explained.

First, a knotlet is mounted on the feed mechanism 62 of the automatic guided vehicle 3, and the automatic guided vehicle 3 approaches the working machine 1. When the automatic guided vehicle flL5 arrives at the timing station 10a, the arrival is detected by the position Im detector 35 of the automatic guided vehicle 6 and the position detector 50 of the timing station 10a, and the automated guided vehicle 3
makes it stop. Along with this, the automatic guided vehicle 3 feed mechanism 3
2 is activated, and at the same time, the first feed mechanism 11 of the work machine 1 is driven in response to the arrival signal. Therefore, unmanned 417
The pallets from the stores 5t and 3 are sent onto the first feeding mechanism 11 on the working machine 1, that is, to the timing station 10a-hi, and when the pallets come into contact with the pallet detector 14, the driving of the first feeding mechanism 11 is stopped. and is positioned.

Next, when the work on the parts on the pallet on the ILD station 10b is completed, a completion signal is issued, and this causes the lift mechanisms 1 and 2b to operate to lift the chain conveyor of the third feed mechanism 12. The pallets on processing stations 10a and 10b are then placed on a conveyor. Furthermore, when the chain conveyor is driven by the motor 12aK, the pallet is transferred from the processing station 10b to the processing station 10b and to the processing stage g/10c. When the pallet detector 15c detects that the pallet has arrived at the processed stage run 10C, the drive of the motor 12a is stopped 2, and the transfer of the pallet is also stopped and the positioning f'L
Ru. Next, the lift mechanism 12b lowers the chain conveyor to the original <rr position. Therefore, processing station 1
0b, each pallet of processed station 10c has a force It
-I station 10I) upper surface part, second feeding mechanism 1
It will be located at 3-1:. With this step, the work of the factory robot 21 is started.

Furthermore, the automatic guided vehicle 3 moves and reaches the processed station 10.
When arriving at point c, the position detector 65 of the automatic guided vehicle 3 and the force 1
An arrival signal is issued from the 1K11 detector 51 of the 1st completed stage 10c, the automatic guided vehicle 3 is stopped, and the second feed mechanism 15 is driven.

Since the feed mechanism 62 of the automatic guided vehicle 3 is also driven in the D direction, the knotlet on the processed station 10c is transferred onto the feed mechanism 32 of the automated guided vehicle 5, and the knotlet contacts the pallet detector 57. Then, the driving of the feeding mechanism 32 is stopped and the pallet is positioned. After that, automated guided vehicle 3
moves and is driven to own 1+ib warehouse 4.

In addition to the above-mentioned embodiment, the processing station 10I) is provided with a fourth feeding mechanism that sends the pallet in the direction A and a guide roller, and the pallet that has reached the processing station 10b is moved by the fourth feeding mechanism. direction (Fig. 6 (above AJ)
The pallet may be accurately positioned by feeding the pallet until it reaches the guide roller. Also, divide the third feeding mechanism into two if! l L may also be used, position detectors 50, 51.5
5 may be an optical type, a contact type, or a sonic ring type. 8 Furthermore, the industrial robot may be used as an assembly robot to assemble the assembled parts in the pallet. In this case, the assembly after assembly is completed. The finished product may be stored on a pallet, or may be transported separately to a conveyor or the like without being stored on a pallet.

As explained above, according to the present invention, at least a timing station for unworked pallets, a work station for working pallets, and a worked station for worked pallets are provided, and between these stations there is an unmanned The pallet receiver is equipped with a feeding mechanism that transfers the pallet to and from the guided vehicle, and a detector that detects when the automatic guided vehicle reaches the timing station.The pallet receiver controls the transfer, making it suitable for industrial use. Before the robot finishes cutting the parts in the second work station, the unworked pallet on which the next work is to be done, l-, is carried to the work station, so the next work is carried out immediately after the work is completed. pallet) f
In addition to being able to send the worked pallet to the work station, it is also possible to remove the worked pallet from the work station and send it to the work station immediately after the work is completed. is almost X
The next work can be executed within the waiting time of 1 to 7 seconds, resulting in the effect that work efficiency is greatly improved. In addition, the automatic guided vehicle can send in the next pallet and take in the completed pallet without affecting the work of the industrial robot, and the automatic guided vehicle can handle an even larger number of work cells. Being able to provide services also has the same effect.

Although the present invention has been described with reference to one embodiment, the present invention is not limited to the above-described embodiment, and various modifications can be made in accordance with the spirit of the present invention, and these are excluded from the scope of the present invention. It's not a thing.

[Brief explanation of the drawing]

Fig. 1 is a configuration diagram of an automated system showing a form of use of the present invention, Fig. 2 is a block diagram of an embodiment of the present invention, and Fig. 5 is a block diagram of an embodiment of the present invention.
Figure 2 shows the working machine configuration diagram of the embodiment, and Figure 4 shows the working machine configuration diagram of the embodiment.
The figure shows a schematic diagram of the automatic guided vehicle 11 of the embodiment.In the figure, 1...
Working machine, 2... Processing cell, 3... Automatic guided vehicle, 4
...Automated warehouse, 10a...Time Sudeshikun, 10
b...Work station, 1oc...Made ff<M
Step 1, 11...first feed mechanism, 12...
Third feeding mechanism, 13... Second feeding mechanism, 20...
・Machine tools, 21...Industrial robots, 50.51・
...rib: liM detector. Patent applicant FANUC Corporation

Claims (1)

[Claims] (When the pallet containing the parts is transported from the transport vehicle to the transporter, the industrial robot transports the pallet.
In a working machine for performing work on parts on a pallet that has been worked, at least a waiting station for unworked pallets, a work station for working pallets, and a work station for worked pallets]. At the same time, an illumination is provided from the transport claw to the waiting J station.
a first transport mechanism for transporting the pallet; a first transport mechanism for transporting the pallet from the assembled station controller to the transport vehicle;
a third feeding mechanism for loading the pallet from the waiting stage machine to the work station and from the work station to the worked station;
A working machine further comprising a detector for detecting that the transport j1 has arrived at the waiting station, and sending the pallet from the transport vehicle to the waiting station based on the output of the detector. . (2) Drive the third feed mechanism based on the output of the detector and the work completion signal of the industrial robot to move the pallet in the waiting station to the work stage tongue. A working machine according to the scope of the patent if'l, characterized in that the pallet is transferred to the worked station. (3) Detecting that the carrier vehicle has arrived at the worked station. Claim 1 further comprising: a detector, and the second feeding mechanism is driven based on the output of the detector to feed the pallet t to the conveyance +B of the finished station. Jl to the working machine described in paragraph (2).