JPS62124841A - Automatic assembly device - Google Patents

Abstract

PURPOSE:To minimize a burden due to the losses of parts and the maintenance thereof by taking out a defective part from an assembly conveyor and again delivering a remedied part to said conveyor. CONSTITUTION:An assembly jig 1 flowing on an assembly conveyor 5a is temporarily stopped by a plunger PM2 and the arrival of said jig 1 is inputted by a magnetic detecting sensor SM2. When the plunger PM2 has been reset, the jig 1 is again stopped by a plunger PM1 and the existence of the jig 1 at the stopped position is detected by a magnetic sensor SM1. In this state, the existence or non-existence of improper assembly in a process line due to the assembly jig 1 is judged on a defective part detecting sensor SO. When a part is judged to be good, the plunger PM1 is reset, thereby letting the assembly jig 1 to the next process line. Also, if the part is found defective, a defective part detecting signal is transmitted and the part is taken out toward a conveyor 5b.

Description

[Detailed description of the invention] [Technical field of invention] The present invention relates to an automatic assembly device for assembling small equipment.

[Prior art and its problems] In recent years, the automation of electronic device manufacturing has been increasingly studied, and the production rate has been increased. Defective products are handled using the method shown in the diagram.

That is, the system shown in FIG. 13, after assembling everything,
The system inspects all products downstream of the line, distinguishes between good and bad products, and discards defective products.

Furthermore, the system shown in FIG. 14 inspects each assembly process, attaches some sort of mark, and discharges all the parts downstream of the line.

However, in the case of the former (Fig. 13), although it is possible to determine whether the item is good or defective in the end, it is not known in which process the defective product occurred, and all defects that occur upstream of the line occur after assembly. Since the product is found to be defective during inspection, there are problems such as wasted work time and parts.

In the latter case (Fig. 14), since each assembly process is inspected and the defective items are marked, the process in which the defect occurred becomes clear, but the Parts are assembled during the manufacturing process, so conventional automatic assembly methods have the problem of wasting parts for defective products and making rework difficult. Moreover,
When re-feeding a repaired product to the line, it must be re-feeded to the location corresponding to the nature of the defect so as not to disrupt the flow of the entire line. This makes automated assembly work extremely complicated and troublesome. As a result, defective products must be discarded, or else they must be made into finished products by hand, further increasing the burden on workers.

[Purpose of the invention] This invention was made in consideration of the above-mentioned circumstances, and its purpose is to eliminate defective products immediately in the defect generation process in an automatic assembly line, and to eliminate defective products. An object of the present invention is to provide an automatic assembly device that can automatically and efficiently reinject parts into a line after rework, thereby minimizing the loss of parts and the burden of rework.

[Summary of the Invention] In order to achieve the above-mentioned object, this invention inspects for good and bad products in each process of the automatic assembly line, takes out the defective products from the assembly conveyor to the defective conveyor, and removes the defective products from the assembly conveyor. This is a system in which items are modified and automatically loaded onto the assembly conveyor again.

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

An automatic assembly device, for example, as shown in Fig. 1θ, controls a large number of main assembly lines and subassembly lines by a host computer HC, and automatically performs all assemblies from parts to finished products. .

The host computer HC incorporates long-term and short-term production plans, and each line control computer RC1
, RC2, the short-term production plan corresponding to that line is transmitted. Each line is equipped with an automatic guided vehicle control computer Q.
Parts stored in an automated warehouse (not shown) are supplied by an automated guided vehicle controlled by c. Each line is composed of a similar system; for example, to explain the control by the line control computer R, the line control computer RCI corresponds to the short-term production plan transmitted from the host computer Hc. A production program for the model to be used is set in advance, and each automatic assembly robot controller a, b...h and platen stacker controller C are controlled based on the above production plan and production program.
If the production model for which various production commands are issued to I is different from the models that have been produced up to that point, the commands are naturally also sent to the model switching control section 26.

Figures 2 and 3 are diagrams showing an overview of the main assembly line. If the small device to be assembled is, for example, a small electronic calculator, this calculator has a circuit inside an upper case and a lower case. It is equipped with a circuit board, a liquid crystal display panel, a solar cell, a key button, etc., and an LSI (large scale integrated circuit) and electronic parts for power stabilization are attached to the circuit board. A solar cell is connected to the key button, and each lead part of the key button is exposed to the outside from the upper case, so that the fixed contact on one circuit board is electrically connected to the connecting/disconnecting part. In addition, the subassembly line is a line that automatically assembles LSIs onto circuit boards, and a line that assembles auxiliary boards on which liquid crystal display panels, solar cells, and electronic components for power stabilization are attached to the circuit boards on which the LSIs are assembled. The circuit boards assembled on these lines are sent to an automated warehouse for storage, and then sent to the main assembly line again according to instructions from the automatic guided vehicle control computer Qc. ing.

The main assembly line is line control computer Re.
It assembles parts based on the instructions of , and includes a transport section 2 that transports assembly jigs (platens), a platen stacker 3 that stores a large number of assembly jigs, and parts that are assembled in each process. Standby station 4 for automatic assembly robots a, b...h and each automatic assembly robot) a, bΦ...h
It consists of a, 4b...4h, etc.

The conveyance section 2 continuously transports the assembly jig 1 and circulates the assembly jig 1 between each automatic assembly robot (a), b... Consisting of a conveyor 5, a collection conveyor 6, and a descending elevator 7 and an ascending elevator 8 arranged on both sides thereof, the assembly jig 1 sent out from the platen stacker 3 is moved along the line on the left side in the figure by the upper delivery conveyor 5. The parts are transported from the start end to the end of the line on the right side, and each automatic assembly robot a, b...h assembles the parts, and the empty assembly jig from which the parts have been removed after assembly is completed. A descending elevator 7 on the terminal side sends the ingredients to a collection conveyor 6 on the lower side, the collection conveyor 6 transports them from the line terminal side to the line starting side, and an ascending elevator 8 on the line starting side sends them again to the sending conveyor 5. It has become. In this case, the delivery conveyor 5 is as shown in FIG.

The assembly conveyor 5a is composed of an assembly conveyor 5a and a defective conveyor 5b, which will be described later.One assembly conveyor 5a conveys an assembly jig l in which parts are assembled in sequence, and the defective conveyor 5b transports an assembly jig l in which parts determined to be defective are assembled. It is designed to transport ingredients. In addition, on the left end side of the collection conveyor 6, there is a counter 9 for counting the number of passing assembly jigs 1, and a model switching notification pin 10 for the assembly jigs 1, which will be described later, is set to the set position and the reset position. A switching device 11 is provided.

The platen stacker 3 stores a large number of various types of assembly jigs 1, and includes storage sections 3a, 3b, . Conveyor section 3 for conveying the jig l to a predetermined storage section
g, and a conveyor section 3h for carrying the assembly jig l to the delivery conveyor 5. This platen stacker 3
is placed at the head of the automatic assembly robot a, and based on instructions from the line control computer RC, it collects the assembly jig l for the model currently being assembled and sets it for the next model to be assembled. The assembly jigs l are delivered one by one to the delivery conveyor 5 at regular intervals.

The assembly jig l is used to accurately position and place the parts (upper case) of the product to be manufactured (small electronic calculator), and as shown in Fig. 4, the jig body 1a has a flat plate shape. A recess tb for positioning and setting a base component 12 (for example, the upper case of a small electronic calculator) is formed on the top surface, and a model identification section of the jig 1 is provided at the front corner of the jig body 1a. In addition, a model switching notification pin 101, a defective product notification pin 14, and a positioning four-part IC are provided on the upper right side of the jig main body 1a. Many types of assembly jigs l are available depending on the type of product to be manufactured. Also, 1 model identification section 1d
has a discrimination means corresponding to the model of the product to be manufactured, and consists of a plurality of holes (four in this example) penetrating the top and bottom of the jig main body 1a, and the number of holes varies depending on the model. It is said that Therefore, even when four holes are used as in this embodiment, 16 types of product models (types of jig l) can be identified by combinations of the presence or absence of the four holes. The model identifying part 1d provided on the assembly jig l is confirmed by the jig discriminator 16 provided at the head of the delivery conveyor 5 (Fig. 3).As shown in Fig. 7, the jig The discriminator 16 detects the type of the assembly jig l, that is, whether or not the assembly jig l corresponds to the type of product to be manufactured. element 16al
In addition to being equipped with a hood, four light receiving elements 16a2 . In this embodiment, the type of the assembly jig 1 is determined by transmitting the light through the hole in the model identification part 1d and receiving the transmitted light with the light receiving element 16a2. The case where four holes are drilled in the jig l is shown, but the position and number of these holes naturally differ depending on the model, and the 0 model switching notification that allows each model to be specified is used. The pin 10 is used to switch the model of the product manufactured throughout the main assembly line, and is slidably attached to the jig body 1a via an O-ring (not shown), and its both ends are connected to the jig body 1a. Usually, one end is attached to the jig main body 1a as shown in Fig. 5(A).
It is held at a reset position where it protrudes inward from the jig body 1a, and at the time of model switching, it is held at a set position where the other end protrudes to the outside of the jig main body 1a, as shown in FIG. 5(B). In other words, is the model switching notification pin 10 the conveyance section? Assembly jig 1a being transported by
llll is displaced to the model switching instruction position by the model switching device 11 of the collection conveyor 6, and this model switching signal pin 1
The assembly oil JL 1 in which 0 has been displaced is transferred as a pilot jig by the delivery conveyor 5 to each automatic assembly robot) a, b
- Sequentially give a model switching signal (Ia, timing signal for model switching) to φ and h. In this case, the model switching device 11 operates the model switching notification pin lO based on a model switching command from the line control computer RC, and moves the model switching notification pin 10 to the model switching instruction position as shown in FIG. It consists of a motor cylinder lla to set the motor, and a reset cylinder 11b to return it to its original position.The set cylinder lla pushes the inner end of the model switching notification pin lO to set it to the machine run switching command position, and the reset cylinder llb sets the model to the machine switching command position. The outer end of the switching notification pin IO is pushed to return it to its original position. As will be described later, unless the one-model switching device 11 receives a model switching signal from the host computer Ha via the line control computer Rc, the one-model switching device 11 operates the reset cylinder llb and always switches to the A-type switching notification pin 10.
is held in the reset position. In addition, defective product notification pin 1
Numeral 4 indicates whether or not the product being manufactured is defective, and is constructed in the same manner as the model switching notification pin 10 described above. , b...h each time. That is, the defective product notification pin 14 is set in the setting cylinder 19 in exactly the same way as the model changeover notification pin 10. As for the defective tweezers mechanism, since it is reset by the operator after repair, a reset mechanism is basically not required, unlike in the case of the model switching device.

In addition, FIG. 6 shows the set of the model switching notification pin 10 and the defective product notification pin 14 and the principle of the folding mechanism.The actual arrangement on the conveyor is as follows: A defective tweezers cylinder 19 is provided at only one location on the left end side of the collection conveyor 6 shown in FIG. 3, and each automatic assembly robot is provided with a defective tweezers cylinder 19. Further, the positioning recess 1c is for positioning the assembly jig 1 conveyed by the model specifying section 1d with respect to each automatic assembly robot ha, b...h, and is shaped into the jig body 1a. It is configured to be locked at a predetermined position by each locking protrusion (not shown) of each automatic assembly robot a, b, . . . h. In addition, the jig main body 1a
Cushions 20.20 are provided on the sides to cushion the impact.

On the other hand, each automatic assembly robot a, b...h completes a product by sequentially assembling predetermined parts into the conveyed assembly jig 1 based on instructions from the line control computer. It memorizes work procedures according to the product model. Incidentally, each automatic assembly robot a, b...h is placed in order from the left side.

A robot that turns over the upper case and carries it into the assembly jig 9 and positions it, a robot that assembles the key button, a robot that assembles the board assembly that has been assembled on the sub-assembly line, a robot that assembles the lower case. , a robot that tightens screws, a robot that attaches name plates, a robot that inspects machine running, and a robot that takes out finished products.Roy-2
etc. Each automatic assembly robot a, b...h
The model change detection sensor SE detects that the model change notification pin 10 of the assembly jig l arranged along the conveyor is set to the model change instruction position, and the defective product notification pin 14 detects the failure. It has a defective product detection sensor SO that detects that the defective product is set at the non-defective product indicating position. As shown in FIG. 8, the model changeover detection sensor SE and the defective product detection sensor SO each consist of a neighboring switch, etc., and the am changeover detection sensor SE detects the model changeover notification pin 10, and when the model changeover notification pin 10 is set, A detection signal (model switching signal) is given to the automatic assembly robot a and the standby station 4a.
Preparation begins for assembly of the next different models. The defective product detection sensor SO detects the defective product notification pin 14, and provides a detection signal (defective product detection signal) to the automatic assembly robot (a) when the defective product notification pin 14 is set. Then, when the defect detection signal is given, the automatic assembly robot a does not assemble the parts at that point, but directly transfers them to the next part on the delivery conveyor 5. Note that FIG. 8 shows the detection principle of the model changeover notification pin 10 and the defective product notification pin 14, and the actual placement positions of the model changeover detection sensor SE and the defective product detection sensor SO are separated by a distance, as will be described later. It is provided.

Standby stations 4a, 4b---4h (7) Among them, the standby station 4a waits for four-tiered containers brought in by automatic guided vehicles from the automated warehouse, and supplies the parts inside the containers to each automatic assembly robot a. At the same time, the used container is placed on standby, and as shown in FIG. 2, it consists of a container loading section 22 and a container discharging section 23. The container loading section 22 places the four-tiered containers carried in a on a roller conveyor and moves them one by one, holds the four-tiered containers with a container holding section, and automatically assembles the lowest containers one by one. The container discharging section 23 stacks containers containing two empty valets in four tiers in a container stacking section, and the containers stacked in four tiers are transferred to a roller conveyor. It is set to be sent out. Note that the container 7 is a plastic box that is stacked in four stages and stores a large number of stacked pallets inside, and each pallet stores a large number of parts for assembly.

On the other hand, as shown in FIGS. 1 and 9, above the delivery conveyor 5 between each automatic assembly robot l-a, b...・・・・
is provided. This assembly jig transfer device 25・Φ・
The defective product notification pin 14 of the assembly jig l is detected by the defective product detection sensor SO, and the assembly jig Al determined to be defective is transferred from the assembly conveyor 5a of the delivery conveyor 5 to the defective conveyor 5b. A guide shaft 25b is provided inside each frame body 25a, and this guide shaft 2
5b, a carrier 25c is attached to the sliding part, and the carrier 25c is provided with, for example, a vacuum suction head 25d for sucking the assembly jig 1, and the frame 25a is equipped with a defect detection device. Senna SO is provided. In addition, below the assembly conveyor 5a of the delivery conveyor 5 below each assembly jig transfer device 25..., there is a plunger S that appears on the upper and lower surfaces of the assembly conveyor 5a.
Plungers SSI and SS2 are provided below the defective conveyor 5b so as to be retractable.

Moreover, as shown in FIG. 8, on the bottom of each assembly jig 1,
A magnet M is attached near the assembly conveyor 5a and defective conveyor 5b.

Magnetic detection sensors SM+ and 3M that detect magnetism using the Hall effect are installed between the plungers P M l and PM2 and between the plungers PS+ and PS2, respectively.
2, and magnetic detection sensors SM2 and SMl are respectively arranged on the left side of the plungers PM2 and PS2, so that a detection signal can be taken out when the assembly jig l is stopped at each location. That's how it is.

FIG. 11 shows a block circuit diagram of each automatic assembly robot described above.

To explain the automatic assembly robot/)b as an example, the robot)b has an assembly part b1 and a defective product detection device b2 such as a TV camera device. The mounting jig l provides a defect detection signal to determine whether or not the parts assembled in step a are correctly assembled.If the assembly is good, the assembly part b1 performs assembly in this process. If it is found to be defective, this step of assembly is not performed and the defective tweezers cylinder 19 is operated to set the defective product notification pin 14.

The assembly jig 1 flowing on the assembly conveyor 5a is temporarily stopped by the plunger PM2, and the arrival of the assembly jig 1 is inputted by the magnetic detection sensor SM2. Plunger PM
2 is reset (hereinafter, the state in which the plunger protrudes above the conveyor is referred to as the set state, and the state in which the plunger is recessed in the lower side of the conveyor is referred to as the reset state), the assembly jig l resets the plunger. It is stopped at PM, and the magnetic detection sensor SM+ detects that it is at that position. In this state, the assembly jig l is connected to the defective product detection sensor S.
O determines whether or not the defective product notification pin 14 is set, that is, whether the assembly in this process was good or bad. If it is good, the assembly jig l is sent to the next process by resetting the plunger P M +, and if it is defective, a defective product detection signal is sent to the robot control unit bQ. , Based on this, the defective products are taken out to the defective product conveyor 5b side. In this case, the ladder 25d lowers to the suction of the assembly jig transfer device 25, attracts and pulls up the assembly jig l, and in this state, the carrier 25c moves along the guide shaft 25b and moves onto the defective conveyor 5b. Place the assembly jig l at position a. Since this state is detected by the magnetic detection sensor SSI, the plunger P
Reset S1 and replace the assembly jig 1 with the defective conveyor 5.
Transport by b. This assembly jig l is used for the defective conveyor 5b.
A plunger PS is provided approximately in the middle of the next process.

Stop at. Below, assembly jig l with defective assembly in step b
are stopped by plunger PSO and arranged one after another.

After repairing this defective assembly product, the worker resets the defective product notification pin 14 and places the assembly jig l on the upstream side of the plunger PS2 of the defective conveyor 5b. When the flow is not obstructed, the assembly jig transfer device 25 automatically transfers the assembly to the assembly conveyor 5a, and the next robot c executes the assembly.

FIG. 12 is a diagram showing a processing flow of the assembly jig transfer device 25, and this operation will be explained below.

The automatic assembly robot control unit bo first performs step STI.
Then, it is determined whether the carrier 25c of the assembly jig transfer device 725 holds the assembly jig l. Although not shown, this can be easily confirmed by providing a sensor on the carrier 25c. If the carrier 25c does not hold the assembly jig l, it is checked in step ST2 whether there is a detection signal from the magnetic detection sensor S51 or SMI. If the carrier 25c is holding the assembly jig 1 or there is a signal from the magnetic detection sensor SS1 or SM, the operation is stopped and a notification means (not shown) detects an abnormality as shown in step ST3. Notify that this is the case. When this abnormality notification is received, the operator should remove the assembly jig l held by the carrier 25c,
The cause of the abnormality is eliminated by removing the assembly jig 1 that is stopped by the plunger PM1 or PS.

If there is no problem in step ST2, plungers PM+, PM2, PS+ t-3 and PS
2 are set and protrude onto conveyors 5a and 5b.

In this state, if the elii attaching jig 1 arrives, which will wait for the assembly jig 1 to arrive from the robot) a side, it is stopped by the plunger P M 2 and the step S
As shown by T5, a detection signal from the magnetic detection sensor SM2 is obtained. In the standby state of the assembly jig l, that is, when there is no detection signal from the magnetic detection sensor SM2, the process proceeds to step ST6, where plunger PS2
Then, it is determined whether or not the assembly tool Al is stopped.

That is, if the assembly jig l after modification is stopped by the plunger PS2, a detection signal is obtained by the magnetic detection sensor SS2. If there is no signal from the magnetic detection sensor S52, the process returns to step ST5, and if there is no signal from the magnetic sensor SM2, the process proceeds to step ST6 again, and steps ST5 and ST are repeated until any detection signal is obtained.
6 is repeated. In step ST6, the magnetic detection sensor S
If the signal S2 is detected, the carrier 25C is moved to the assembly jig loading position on the defective conveyor 5b side, as shown in step ST7. +Whether or not Yariaku 5C has reached the assembly jig intake position can be detected by a sensor (not shown), or can be confirmed by the robot control unit bo using an appropriate means such as measuring time or distance. . When the carrier 25c reaches the assembly jig intake position.

In step ST8, it is checked once again whether there is a detection signal from the magnetic detection sensor SM2, and if the magnetic detection sensor S
If the detection signal is output from M2, as shown in step ST9, the carrier 25c is returned to the assembly jig removal position of the assembly conveyor 25a. This is a process to give priority to smooth flow of the assembly conveyor 5a over the installation of assembly jigs after rework, and to speed up the work of taking out defective products onto the defective conveyor 5b. In step ST8, if there is no detection signal from the magnetic detection sensor SM2, a work is carried out to introduce the reworked assembly jig onto the assembly conveyor 5a, which will be described later.

Then, in step ST5, whether the detection signal of the magnetic detection sensor SM2 is obtained or the carrier 25c is obtained in step ST9.
After moving to the assembly jig removal position, proceed to step 5T.
Use IO to reset plunger PM2 and install assembly jig l.
When the assembly jig 1, which transports the 0 to the position where it can be picked up by the transfer device 25, is stopped by the plunger PMI, a detection signal is obtained from the magnetic detection sensor SMI as shown in STEP 2 STI 1, and the robot controller BO saves the plunger PM2 based on this detection signal (step 5T12). In this way, the assembly jig 1 is transferred to the transfer device 2.
Step 5.
At T13, the defective product detection sensor SO determines whether the defective product notification pin 14 is set or not, in other words, whether the assembly in this step is good or bad. As described above, if the automatic assembly robot b determines that the defective product is defective by the defective product detection device b2, the automatic assembly robot b sets the defective product notification pin 14 using the defective tweezers cylinder 19 without assembling it in this step, that is, performs repair. Make the tool stick out. If no detection signal is obtained from the defective product detection sensor SO, it means that one set is good, so proceed to step 5T14.
After resetting the plunger PM+ and confirming in step 5T15 that the assembly jig 1 with good assembly has passed, setting the plunger PM+ again in step 5T16 and returning to step ST5.0 assembly jig The first passage is.

This can be easily confirmed by installing a sensor on the right side of the plunger PMI (Fig. 1).

In step 5T13, if there is a detection signal from the magnetic detection sensor SO, that is, if the assembly is defective, the process proceeds to step 5T17, and this assembly jig 1
The rad 25d is lowered to the suction of the transfer device 25, and it is picked up again, and the defective conveyor 25 is picked up by the carrier 25c.
Move to side b. When the suction rod 25d is lowered and the assembly jig 1 is placed on the defective conveyor 5b, it is stopped by the plunger PSl and the magnetic detection sensor S31
Detected in However, while taking out the assembly jig l in step 5T17, it is determined whether there is a detection signal from the magnetic detection sensor SM2 shown in step 5TI8, and if there is this detection signal, the plunger PM2 in step STI 9 is reset. The work to be performed is performed, and step 5T
After waiting for the detection of the magnetic detection sensor S M + in step 20, the plunger PM2 is set in step 5T21.

This is done to improve processing efficiency by transporting the assembly jig l stopped by the plunger PM2 on the 5 assembly conveyor 5b to a position where it can be confirmed by the defective product detection sensor SO. It is.

In step 5T18, if there is no signal from the magnetic detection sensor SM2, or after steps 5T19 to 5T21 are executed in response to the detection signal of SM2, the process proceeds to step 5T22, where the assembly jig J41 is transferred from the transfer device 25 to the defective conveyor. 5b is released. Tj
If the signal from the 1st breath detection sensor SS1 is obtained, the plunger PS+ is reset (step 5T23).

Next, in step 5T24, the presence or absence of a detection signal from the defective product detection sensor SO is checked, and if this signal is present, the process returns to step 5T17. This operation is performed when one assembly defect continues, and the assembly jig is transferred to the defective conveyor 5b one after another.
This is to speed up processing.

If there is no signal from the defective product detection sensor SO in step 5T24, wait for the assembly jig 1 to pass the plunger PS+ (step 5T26), and perform the process of resetting the plunger PS in step 5T27.Step 5T26 Although the passage of the assembly jig in is not shown in Figure 1,
This can be detected by placing a sensor on the right side of the plunger PS1 (FIG. 1).

In the next step 5T28, the carrier 25 of the transfer device 25
c is on the defective conveyor 25b side, it is determined whether there is an assembly jig 1 stopped by the plunger PM2 on the assembly conveyor 5a side, and if there is a detection signal from the magnetic detection sensor SM2. , reset the plunger PM2 (Step 5T29), move the carrier 25c to the assembly conveyor 5a side, and return to Step 5TII.

If there is no detection signal from the magnetic detection sensor SM2 in step 5T28, as shown in step 5T30, it is checked whether there is a repaired assembly jig on the defective conveyor 5b side that is stopped by the plunger PS2. If there is none, the carrier 25c is moved to the assembly conveyor 5a side (step ST31), and the process returns to step ST5.

In the case of NO in step ST8 and in the case of YES in step 5T30, when the carrier 25C is being moved to the defective conveyor 5b side, the assembly jig stopped by the plunger PM2 is on the assembly conveyor 5a side. In addition, there is an assembly jig that is stopped by the plunger PS2 on the defective conveyor 5b side, and the process in this state is to take the repaired assembly jig to the assembly conveyor 5a side. That's true.

To install the assembly jig l, first reset the plunger PS2 in step 5T32, wait for the assembly jig l to be stopped by the plunger PS+, and obtain the detection signal from the magnetic detection sensor S81 in step 5T33. Wait, set the plunger PS2 (step 5T34),
The transfer device 25 transfers it to the assembly conveyor 5a side (step 5T35).

When the assembly jig 1 is placed on the assembly conveyor 5a, a detection signal from the magnetic detection sensor SM1 shown in step 5T36 is obtained, and the plunger PM is activated in response to this signal.
, step 5T37), step STI
5, wait until the assembly jig l passes the plunger PM (step 5T38), and then move the plunger P.
M+ is set (step 5T39).

After this, the process returns to step ST5, and hereafter, step ST
5 to step 5T at the age of 39, fJ<tin number 1'&, and the work of sending good products to the next process, the work of taking out defective products to the defective conveyor side, and the work of taking reworked products to the assembly conveyor side are automatically repeated.

The assembly oil Al from which the finished product was taken out in this way was
It is sent to the lower collecting conveyor 6 by the descending elevator 7, collected by this collecting conveyor 6, sent again to the sending conveyor 5 by the ascending elevator 8, and repeats the above-mentioned operation. At this time, it is circulated to the conveying section 2. The assembly jig 1 is counted by a counter 9 provided on the collection conveyor 6 and input to the line control computer.

The line control computer Rc stores production planned quantities for each type of machine, and the counts of the counter 9 are totaled and compared with the planned production quantities. Then, when the counted number of the above-mentioned products reaches a predetermined amount a with respect to the production plan quantity, in other words, when the remaining number of finished products of the model in question with respect to the production plan quantity reaches a predetermined value, the host computer HC Submit information. host computer H
When C receives this information, it causes the automatic guided vehicle control computer QC to carry out parts for the next model to each waiting station 4a, 4b---4h of each automatic assembly robot a, b, fist, and h. issue a command. That is, the host computer HC provides the automatic guided vehicle control computer Qc with information regarding the storage location in the automated warehouse where the parts to be used in the next machine moat are stored and the process location for the parts. In response to this, the automatic guided vehicle control computer Qc controls the automatic guided vehicle to move containers containing parts for the next model, stacked four-tier, from the automated warehouse to predetermined waiting stations 4a, 4b, ...It will be delivered in 4 hours.

Also, at this time, the host computer Hc reconfirms the following model types and production planned numbers with the line control computer RC. If the confirmation result is OK, each automatic assembly robot) a, b is sent from the line control computer Rc.
...-h, the following model classification is instructed to the jig discriminator 16 and the platen stacker control unit C1.

When the count of the counter 9 matches the production plan number stored in the line control computer, a model switching signal is given from the line control computer RC to the model switching control unit 26, the model switching device 11 is operated, and at that time The model change notification bin 10 of only the first assembly jig l to be installed is moved to the model change instruction position. The assembly jig l in which the model changeover notification bin lO is set in this way is used as a pilot jig 1p (the assembly jig in the state shown in Fig. 6).
It is transferred from the ascending elevator 8 to the line starting end of the delivery conveyor 5. Here, the jig discriminator 16 disposed corresponding to the model identifying section 1d provided in the assembly jig l detects that the pilot jig tp is set to the model switching instruction position. A model switching signal is sent to the jig discriminator 16 and the platen stacker control unit C1 to switch each to information corresponding to the next model. Therefore, the current assembly jig l following the pilot jig tp is sequentially determined to be inconsistent by the jig discriminator 16, and the assembly jig loading/unloading device N27 (Fig. 1θ) 3 and stored in a predetermined storage section. In parallel with this, the assembly jig l for the next model is sequentially carried out from the predetermined storage section of the platen stuff force 3 to the delivery conveyor 5 from the conveyor section 3h, but the assembly jig l for this switching model is l is sequentially controlled by stopper means (not shown).
It is held near the exit of the conveyor section 3h. In addition, the pilot jig tp is sequentially installed on each automatic assembly robot a, b...II.
h, and gives a model switching signal to each automatic assembly robot a, b, . . . -h. Along with this, each automatic assembly robot) a, b...h detects the model switching notification bin 10 of the pilot jig 1p with the model switching detection sensor SE, and promptly starts the automatic assembly robot) a, b. ...-h and the standby stations 4a to 4h are made to prepare for the start of production for the next ms. Then, the pilot jig tp is transported by the delivery conveyor 5, and the automatic assembly robots a, b, etc. are instructed to change the model in sequence, and along with this, the automatic assembly robot a)
, b*, and h begin preparatory work such as chuck replacement and assembly parts replacement work. While the pilot jig 1p is being transported to, for example, the position of the automatic assembly robot (a) d, the automatic assembly robot a completes preparatory work such as chuck replacement and parts replacement work. At this timing, the stopper means near the outlet of the platen stacker 3 is opened, and the assembly jig l' of the next model starts to be delivered to the delivery conveyor 5 by the assembly jig loading/unloading device N27.

In this case as well, the assembly jig l of the current model following the pilot jig tp is determined to be inconsistent by the jig discriminator 16 and the operation of storing it in the platen stacker 3 continues, and at the same time, the assembly jig l of the current model continues to be stored in the platen stacker 3. The assembly jig 1' is taken out from a predetermined storage section of the platen stacker 3. Here, the assembly jig loading/unloading device fi27 is equipped with a suction head and a carrier like the transfer device 25. It can be composed of but,
In this case, two sets of suction heads and carriers are required, one for carrying in and one for carrying out. Then, as the next model, the first assembly jig 1' is assembled with parts by the first automatic assembly robot a, and then transferred to the next process. When the robot reaches the next process (automatic assembly robot) b, the robot bba type switching work in this process has been completed, and the corresponding model is immediately assembled into the first assembly jig 1'. Then, pilot jig t
p is located at the end of the assembly jig l for the model before switching, and the assembly jig l' for the next model is placed on the delivery conveyor while maintaining a constant distance from this pilot jig IP. 5, the pilot jig 1p
When the part has reached the terminal end of the delivery conveyor 5, the parts assembly work for the assembly jig 1' of the next model has also progressed by a predetermined step at a fixed interval from the pilot jig 1p. .

In addition, along with the transportation of the pilot jig tp and the loading of the assembly jig 1' for the next model from the platen stacker 3,
Place the assembly jig l of the model before switching on the platen stacker 3.
Work is continuing to recover the pilot jig 1p.
When the machine passes through the collection conveyor 6 and returns to the starting end of the delivery conveyor 5, the assembly jig l of the model before switching is used.
are all collected into the platen stacker 3. however.

The pilot jig 1p is connected to a model switching notification pin 10 by a model switching device 11 provided at the end of the 1-collection conveyor 6.
is returned to the reset position, and therefore, this is the final jig recovery work of this pilot jig IP to the platen stacker 3. After that, the assembly jig l' of the next model is circulated, but this assembly jig 1' is used by the jig discriminator 1.
6, it is determined that there is a match, so platen stacker 3
The automatic assembly robots a, b, and
...Assembling by h will be put into work.

This discrimination work by the jig discriminator 16 is performed not only when changing models, but also when the same model is being produced continuously, or when assembly jigs of different models are mistakenly mixed on the conveyor.
The jig can be immediately removed from the conveyor.

Further, in the above embodiment, each assembly robot assembles a predetermined part into an assembly jig, but the present invention is capable of simply processing the parts. This also includes automatic processing robots.

[Effects of the Invention] As explained above, according to the automatic assembly apparatus according to the present invention, in each process of the automatic assembly line, the defective products are inspected for good and defective and are taken out from the assembly conveyor to the defective conveyor each time. Since items that cannot be assembled are reworked and automatically fed back into the assembly conveyor, defective items can be immediately eliminated in the process where defects occur, and furthermore, after the defective items are reworked, the waste rate is automatically improved. Since the parts are re-introduced to the line, the loss of parts and the burden of rework can be minimized.

[Brief explanation of drawings]

The figures show an embodiment of the present invention, in which Fig. 1 is a plan view of the main parts of the delivery conveyor, Fig. 2 is a planar block diagram of the main assembly line, Fig. 3 is a side block diagram thereof, and Fig. 4 is a plan view of the main assembly line.
The figure is an external perspective view of the assembly jig, Figure 5 (A) CB) is a diagram showing the operating state of the defective product notification pin, and Figure 6 shows the device for displacing each notification pin of the assembly jig. Figure 7 is a cross-sectional view showing the bar separation state of the model identification part, Figures 8 (A) and (B) are diagrams showing the detection state of each notification pin of the assembly jig, and Figure 9 is the delivery A side view of the main parts of the conveyor, Fig. 10 is a block diagram of the entire system, Fig. 11 is a block circuit diagram of each automatic assembly robot, Fig. 12 is a diagram showing the processing flow of the assembly jig conveyance device, 13 and 14 show conventional examples. l...Assembling jig, 2...Transportation section, 3
...Platen stacker, 5... Delivery conveyor, 5a... Assembly conveyor, 5b...
... Defective conveyor, 10 ... Model vJ8 notification pin, 12a ... Parts, 13 ... Model identification section, 14 ... Defective product notification pin, 16・・・・・・
...Jig discriminator, 18a...Set cylinder,
18b...Reset cylinder, 19...
・Defective tweezers cylinder, 25... Assembly jig transport device, a, b-h... Automatic assembly robot, bl... Assembly section, bl... ... Defective product detection device, M ... Magnet, P M + , P
M2, PS+, PS2... Plunger, S
O: Defective product detection sensor, SE: Model switching sensor. SM+, 3M2, SS+, SS2...Magnetic detection sensor. Patent Applicant: Casio Computer Co., Ltd.] Figure 6 ゛T27M Device Shows the Specification Part of the Specification Part of the Specification Section, Shiba Show T System Figure 40 External Appearance of the Mount for Assembling　&Diagram Fig. 5 Figure σ Figure 8 Figure 7

Claims (2)

[Claims] (1) The inspection means inspects whether the assembly in the prescribed automatic assembly process was successful or not. If the inspection result is acceptable, the assembly is passed directly on the assembly conveyor, and if it is not, it is automatically carried out by the transfer means. In order to prevent the unassembled parts from being mixed with the unassembled parts in the next process, the unassembled parts are stopped by a stopper and temporarily held on the defective conveyor, and the unassembled parts are temporarily stored on the defective conveyor. An automatic assembly apparatus characterized in that when a defective item is repaired and reinjected onto the assembly conveyor, the transfer means automatically takes it into the assembly conveyor. (2) The assembled product is mounted on an assembly jig, and the assembly jig has a defect setting means, and when the inspection result is unacceptable, the defect setting means is set. The automatic assembly apparatus according to claim 1, wherein the transfer means is driven by detecting the setting of the defective setting means.