JPS6215034A - Automatic assembly device - Google Patents

Abstract

PURPOSE:To make it possible to properly feed components arranged on any position and to improve an assembly speed by arranging the next component to be assembled on a fixed position by a component take-out means and intermediate transferring means during assembling of components by a component assembling means. CONSTITUTION:A component 30a sucked by the vacuum sucking section 25e of an assembly robot 25 is assembled on an assembly jig 9 and also a component 30a sucked by the vacuum sucking section 26C3 of a component take-out device 26c is placed on a table 28c. When the assembly robot section 25 assembles the components 30a on an assembly jig 9, each of head sections 25d and 26c is returned to an original position and sucks the next components 30a and 30a. The repeat of these movements assembles specified components on the assembly jig 9 in order. The components on a pallet can, therefore, be fed properly improving an assembly speed and productionability.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention 1] The present invention relates to an automatic assembly device used for automatically assembling small devices and the like.

[Background of the Invention] In recent years, various studies have been made on the automation of electronic device manufacturing, and efforts are being made to increase production efficiency.

However, currently, the parts on the pallet) are picked up by an automatic assembly robot and placed directly on the workpiece on the conveyor.
However, since the parts on the pallet are taken out from different positions, some are far away from the conveyor while others are close, resulting in a difference in transfer time. Therefore, the transfer speed of the conveyor needs to be adjusted to the fastest speed, resulting in a problem that the assembly speed decreases.

[Purpose of IJI] This invention was made in consideration of the above circumstances, and its purpose is to
An object of the present invention is to provide an automatic assembly device that can efficiently send out parts even when the parts are arranged in a row, improve the assembly speed, and efficiently produce the parts.

[Summary of the Invention] In order to achieve the above-mentioned purpose, the present invention sequentially takes out a large number of parts stored on a pallet using the single part take-out stage F, and arranges the parts at a fixed position on the parts assembly stage.
This part is placed at a certain position near the conveyor in the four intermediate transfer stages, and while the part is being assembled by the part assembly stage f, it is next assembled by the component take-out stage f and the intermediate transport child. The apparatus is configured to perform work for arranging the parts at the fixed positions.

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

Figure 1 is a block diagram of an automatic assembly device for small equipment.
The part surrounded by the dotted line is the main part of the automatic assembly apparatus 1. The automatic assembly apparatus 1 has a host computer 2. Automatic 2. stacker 3, main assembly lines A, B, sub-assembly lines C1, C7, Dl, 02. It is comprised of line control computers 4A, 4B, 4C14D, an unmanned conveyance control computer 5, an automatic packaging machine 6, and the like.

The host computer 2 is used to manage and control the production of equipment manufactured based on long-term and short-term production plans, and is comprised of a production management computer 2a and a control computer 2b. The production control computer 2a manages the required quantity of parts based on the input production plan, and the control computer 2b controls the assembly lines A, B, C+, C2, Dl, D, which will be described later.
This is to manage and control the supply of parts to 2.

Automatic rack stacker 3 carries out parts of equipment to be manufactured 11
It has a large number of racks 3aΦ... arranged in a matrix, and each rack 3a...
・Container 7 in which each part is stored is placed in several tiers (
In this embodiment, they are stored in a stacked state (four levels). In addition, the automatic rack stuffing force 3 is equipped with a stacker crane (not shown), and this stacker crane stores the containers 7 stacked in four tiers as they are in each rack 3a, and also transports them. ing. That is, in-house manufactured parts and outsourced parts manufactured based on instructions from the host computer 2 are stored in a container 7 in a predetermined amount for each part, and then the containers 7 containing the same parts are transported. 4 in the middle (not shown)
The racks are stacked and transported to a predetermined position l on the automatic rack stacker 3 during transportation. At this time, the part codes and quantities of the parts mounted on the transport vehicle are input to the host computer 2 from a terminal (not shown), and the parts are stored in the vacant rack 3a by the stacker crane. Ru. This stored location is also stored in the host computer 2 in correspondence with the component coat. In addition, assembly lines A and B, which will be described later,
When there is a request for parts from CI, C2, Dl, D, l, the containers 7 are taken out from rank 3a where the corresponding parts are stored in four stacks by a stacker crane and loaded onto the automatic guided vehicle 8. each assembly line A
, B, C+, C2, Dl, D7. In this case, the automatic guided vehicle 8 is controlled in its running by instructions from the host computer 2, and runs on main assembly lines A and B and subassembly line CI.

Containers 7 containing requested parts are supplied to waiting stations of automatic assembly robots, which will be described later, arranged at C7, Dl, and Dp, and empty containers 7 are collected. In this case, the automatic guided vehicle 8 is controlled to travel along the rail 8a embedded under the floor, and the automatic guided vehicle 8 is controlled to travel along the rail 8a embedded under the floor. The automatic guided vehicle 8, which operates by electromagnetic induction based on frequency signals, has functions such as starting and stopping, as well as loading and unloading containers. The roller has a large number of rollers that are rotated in forward and reverse directions by a motor.

Line control computers 4A, 4B, 4C.

4D sends instructions to the main assembly lines A, B and sub-assembly lines C1, C2, D+, D;+ based on instructions from the host computer 2, and is used to control short-term production planning and each line. control means. The main assembly lines A and B are connected to line control computers 4A and 4 as described later.
Production is started based on instructions from B, and the finished product is sent to the automatic packaging machine 6. The automatic packaging machine 6 is configured to pack the finished product sent therein, send it to the product warehouse, and then ship it. The subassembly lines C1, C2 and D+, D2 are controlled by line control computers 4C and 4D, respectively, to manufacture in-house parts and mount them on the automatic guided vehicle 8. During unmanned transport, this in-house manufactured part is stored one more time in the automatic rack stacker 3 and transferred to the main assembly line A.

It is supplied as a used part of B.

Next, taking the case of assembling a small electronic calculator as an example, each assembly line A, B, CI, C7.

DI, 07 is 1 town. In this case, the small-sized 1' type calculator to be produced is equipped with a circuit board, a liquid crystal display panel, a solar cell, a key button, etc. inside a first case and a lower case, and the circuit board is equipped with an LSI (large scale integrated circuit). large-scale integrated circuits) and electrical components for stabilizing the power supply, etc., are installed.
The liquid crystal display panel and the solar cell are connected, and each chain part of the key button is exposed to the outside from the two-part case, and the fixed contacts of the circuit board &1- are made conductive so that they can be connected and separated. ing.

Among the assembly lines that assemble such small electronic calculators, sub-assembly lines D, D2 are lines for automatically assembling LSIs onto circuit boards, and sub-assembly lines C1 and C2 are lines for automatically assembling LSIs on circuit boards. This is a line for assembling auxiliary boards on which electronic components for liquid crystal display panels, solar cells, and power stabilization are attached to assembled circuit boards. The main assembly lines A and B are lines for completing the small electronic calculator by inserting the board assemblies that have been assembled in the sub-assembly lines C+ and C2 into the upper and lower case members. In this case, subassembly line/D1. The circuit board that has been assembled at D2 is temporarily stored in the rack 3a by the unmanned conveyance vehicle 8, and is again loaded onto the automatic guided vehicle 8 according to a command from the host computer 2, and transferred to the subassembly line C+ and C7. transported. Similarly, the board assemblies that have been assembled on the sub-assembly lines C, C2 are temporarily stored in the rack 3a by the automatic guided vehicle 8, and then loaded onto the automatic guided vehicle 8 again to the main assembly lines A, H. transported to.

Next, a main assembly line A will be described as an example of an assembly line with reference to FIGS. 2 and 3.

Main assembly line A is line control computer 4
The parts are assembled based on the instructions of A.
A transport section 10 that transports the assembly jig (platen) 9. A platen stacker 11 that stores a large number of assembly jigs 9, an automatic assembly robot (a), b...h that assembles parts for each process, and a standby station 12a for each automatic assembly robot a, bII...h , 12b...12h, etc.

The transport unit 10 continuously transports the assembly jig 9 and
1 robots a, b, φ, and 6, and the conveyor 9 for assembly is circulated between the robots a, b, φ, and 6.
It consists of a recovery conveyor 14, a double elevator 15, and a rising elevator 16 arranged on both sides thereof, and the ml attaching jig sent out from the platen stacker 11 is conveyed from the left side to the right side by the upper sending conveyor 13. , the automatic assembly robots a, b, . . . 14, conveyed from the right side to the left side by the collection conveyor 14, and sent again to the delivery conveyor 13 by the L-lift elevator 16 on the left side.On the left end side of the 0 collection conveyor 14, there is an assembly jig 9. Counter 17 for counting the number of passes. There is also provided a model switching device 19 that sets a model switching notification pin 21 of the assembly jig 9 to a set position and a reset position, which will be described later.

The platen stacker 11 stores a large number of various types of assembly jigs 9Φ, and has a storage section 11a that stores the assembly jigs 9 by model.

11b-.Φllf, a conveyor section 11g for transporting the jig 9 from the delivery conveyor 13 to a predetermined storage section, and a conveyor section 11h for transporting the assembly jig 9 to the delivery conveyor 14. This platen stacker 11 is placed at the head of each automatic assembly robot, and collects the assembly jig 9 of the model currently being assembled based on instructions from the line control computer 4A and performs the primary assembly. The assembly jigs 9 of the attached model are sent one by one to the delivery conveyor 13 at regular intervals.

The JIDAN 9 for attaching Ml is used to precisely position and place the parts (and some cases) of the product to be manufactured (small electronic calculation a), and as shown in Figure 4, the upper plate shape is Eggplant jig body 9
Four parts 9b for positioning and setting the base part 30a (upper case) are formed on the E surface of the jig A9, and a model identification part 20 of the jig A9 is provided at the front corner of the jig body 9a. In this case, a model cutting notification pin 21, a defective product notification pin 22, and a positioning part 23 are provided on the upper right side of the jig main body 9a.In this case, the assembly jig 9 is The 0 model identification part 20, which is used in many types depending on the model of the product to be manufactured, has a discrimination means corresponding to the model of the product to be manufactured. It consists of a plurality of holes (four in this embodiment), and the holes and their positions differ depending on the model.Therefore, even when four holes are used as in this embodiment, the number of holes is 16 types of product models (types of jig 9) are determined by the combination of and position lf
It is Noh. Model identification part 2 provided on this assembly jig 9
0 is confirmed by a jig discriminator 27a provided at the head of the delivery conveyor 13 (Fig. 3). As shown in Fig. 8, the jig discriminator 27a indicates the type of assembly oil It detects whether the assembly jig 9 is suitable for the type of product, and is equipped with four light emitting elements 27al on the lower side of the delivery conveyor 13. Four light receiving elements 27a2 are placed above the sending conveyor 13.
・Enjoy life. The light of the light emitting element 27a1 ・Juu passes through the hole of the model identification part 20 provided in the assembly jig 9, and this transmitted light is received by the light receiving element 27a2... The 0 model switching notification bin 21, which determines the type of the assembly jig 9 by doing so, is used to switch the model of the product manufactured in the entire main assembly line A, and is a mounting member 9c provided on the jig body 9a. It is slidably attached to the mounting member 9c, and both ends thereof protrude and retract from the mounting member 9c.
Normally, one end is held at the reset position protruding inside the jig main body 9a as shown in FIG. 5(A), and when changing over one model, the other end is held at the jig main body 9a as shown in FIG. 5(B)a. is held in a set position protruding outwards. That is, the model status notification pin 21 is attached to the assembly jig 9 being transferred by the transfer unit 10.
Switch the model of collection conveyor 14 to one of Φ・! A 211
At step 9, the assembly jig 9 is displaced to the model switching instruction position, and the model switching notification pin 21 is displaced.The assembly jig 9 is transported as a pilot jig 9p by the delivery conveyor 13 to each automatic assembly robot).
The model 9JN signal (timing signal for model switching) is sequentially changed to a, b...h. In this case, the model switching device 19 switches the model switching command pin 21 based on the model switching command from the line control computer 4A. As shown in Fig. 6, it consists of a set cylinder 19a that sets the model change notification pin 21 to the model change instruction position, and a lift cylinder 19b that returns it to its original position. Push the inner end of the model switching command pin 21 to set it to the function switching command position, and press the reset cylinder 19b.
The outer end of the model switching command pin 21 is pushed to return it to its original position. As will be described later, unless a model switching signal is received from the host computer 2 via the line control computer 4A, the model switching device 19 operates the reset cylinder 19b to always maintain the model switching notification pin 21 at the reset position. let In addition, the defective product notification pin 22 is used to notify whether or not the product being manufactured is defective, and is configured in the same manner as the J double model switching notification pin 21. Then, each automatic assembly robot is displaced each time by a, b, . . . h. In addition, Fig. 6 shows the defective product notification pin 22.
Although only the defective product reset cylinder 22a is shown, the position of the defective product notification pin 22 is the same as that of the model changeover notification bin 21. Further, the positioning recess 23 is for positioning the assembly jig 9 conveyed by the delivery conveyor 13 with respect to each automatic assembly robot ()a, b...h, and is used to position the assembly jig 9 transported by the delivery conveyor 13 to the mounting member 9C of the jig main body 9a. and is configured to be locked at a predetermined position by locking protrusions (not shown) of the automatic assembly robots a, b*φ and h. Note that there is a cushion 2 on the side of the jig body 9a to soften the impact.
4.24 is provided.

・Automatic assembly robot) a, b... h is a machine that sequentially assembles specified parts into the conveyed assembly jig 9 to complete the product based on the commands from the line control/control computer 4A. The work order according to each product model is stored, and as shown in Figs. 2 and 3, the transport section l
They are arranged along the delivery conveyor 13 of O. Incidentally,
Automatic assembly robot) a, b, fist...h, turn over the upper case and carry it into the assembly jig 9 in order from the left side 4! robot that assembles the key button, sub-assembly line C+, robot that assembles the board assembly completed in C7, robot that assembles the lower case, robot that tightens screws, robot that attaches the name plate, JatF. robots that inspect products, robots that take out finished products, etc.

Among these automatic groups + 10 bots a, b*e*h,
Take automatic assembly robot) a as an example.

This will be explained with reference to FIG. This automatic assembly robot a includes an assembly robot section 25 that aδ parts such as an upper case into assembly oil H4g conveyed by a delivery conveyor 13;
0 built-in robot section 2 consisting of a carry-in robot section 26 that carries in parts from a standby station 12a, which will be described later.
5 is a guide rail member 25b in the Y-axis direction (direction orthogonal to the delivery conveyor 13) provided on the machine base 25a;
A guide rail member 25c in the X-axis direction that moves toward and away from the delivery conveyor 13 while being guided by the guide rail member 25b; ) and this working head section 25 d.
In addition to a vacuum suction section 25e that is vertically movably attached to the assembly jig 9 to assemble the components into the assembly jig 9, a sensor 27 of the assembly jig 9, an intermediate transfer unit 28. It is equipped with a chuck switching device 29 and the like. The sensor 27 is attached to the assembly jig 9
and its mounted parts, and a type FAM detection = 27b that detects that the model success notification pin 21 of the assembly jig 9 is set to the model switching instruction position, and a defective product notification pin 22 is set at the defective product indicating position. Model switching detector 27b and defective product recognition detector 27c
As shown in FIG. 9, each consists of a proximity switch, etc., and the model switching detector 27b detects the model switching notification bin 21 and automatically sends a detection signal (model switching signal) to the set of the model switching notification bin 21. Assembling process y) Works well for a. When preparations for assembling the next different model are started based on this model cut (+ signal), the automatic assembly robot a and its standby station replace the chuck and eject the parts of the current model. The good product detector 27c is the defective product notification pin 22
is detected, and when the defective product notification pin 22 is set, a detection signal (
Defective product detection signal) is sent to the robot with 1-movement assembly a.

When a defect detection signal is given, the 11-movement assembly robot a)
The parts are not assembled at that point, and the defective product is taken out of the conveyor 13 along with the working example by a take-out device 71C (not shown). They are also provided in corresponding locations. Further, the intermediate transfer unit 28 temporarily receives the parts carried in from the standby station 12a, and this receiver transfers the picked up parts to the delivery conoveer 13 side, as shown in FIG. Mounting plate 2
The mounting table 28c is guided along two guide rods 28b, 28b provided on the mounting table 8a, and is reciprocated by a cylinder 28i. In this case, a positioning table 28d that moves in the X direction and the y direction is provided at the J: part of the mounting table 28c.
A component positioning member 28e is provided on one side.
The positioning table 28d is used to place the parts carried in from the standby station 12a, and includes a cylinder 28f in the X-axis direction and a cylinder 28g in the Y-axis direction. The zero positioning member 28e, which is moved in the X-axis direction and also in the Y-axis direction by the cylinder 28g in the Y-axis direction, is used to set the placed parts at a predetermined position on the positioning table 28d. It is fixed to the mounting table 28c, and when the positioning table 28d moves, the parts on it come into contact with J'I, so that the parts are moved in the X-axis direction and the Y-axis direction relative to the movement of the positioning table 28d. The parts are then moved to set them in a predetermined position. In addition, as shown in FIG. 17(A), stopper detectors 28h, 28h and stopper pins (not shown) for regulating the movement of the mounting table 28c are provided on both sides of the mounting plate 28& of the intermediate unit 2B. There is. The chuck device 29 is equipped with various chucks depending on the model of the product to be manufactured, and when the model switching signal is received as described above, the chuck is attached to the vacuum suction section 25e of the built-in robot section 25. exchange.

In this case, the model switching signal automatically assembles the robot.
The built-in robot section 25 of a moves the vacuum suction section 25e to the chuck switching mold 7129, and stores the current suction section 25e at a predetermined location of the chuck switching device 29. Although not shown, the chuck is stored by a chuck removal structure provided in the chuck switching device 29. Additionally, after the current chuck is removed, the next model will be installed. On the other hand, the loading robot section 26 is at the standby station 12a.
The parts are carried from the robot unit 25 to the built-in robot section 25,
A transverse feed table 26a arranged on the back side of the machine stand 25a
A pallet take-out device 26b, a component take-out device 26c, and a pallet feeding die 2126d are provided on the top. The pallet unloader 2126b picks up a pallet 3 loaded with parts from one of the containers 7 carried into the waiting station 12a.
The 0 parts extractor 26c, which takes out 0's and places them on the cross-feeding table 26a, takes out the parts mounted on the pallet 30 when the pallets 30 on the cross-feeding table 26a are set at a predetermined position, and places them on the intermediate table 26a. Transfer unit 2
The head part 26c2 moves while being guided by the guide rail member 26c+ in the X-axis direction, and the vacuum suction part 26c3 is attached to the head part 26c2 so as to be movable up and down. It consists of The pallet 'feeding device 26d is the parts extraction device 26.
The empty pallet (30) from which the parts were taken out in step c is stored in the empty container 7 of the standby station 12a.

Then, the automatic assembly robot (a) assembles the component 30a into the assembly jig 9 as shown in FIG.

That is, the pallet 30 is placed on the traverse table 26a at the 1st θ
When set as shown in Figure (A), the component extraction device 126c of the carry-in robot section 26 operates, and as shown in Figure (B), the vacuum suction part 26C3 of the component extraction bag M26c.
picks up one component 30a on the pallet 307 and pulls it out, and in this state, the head portion 26c2 of the component extraction device 26c
is guided by the guide rail member 26c1 and moves as shown in FIG. 3C, and as shown in FIG.
・Place it on the Il mounting table 28cl. When the component 30a is placed #t on the mounting table 28c in this way, the same figure (E
), the mounting table 28c is guided by the guide rod 28b of the intermediate transfer unit 28 and moves toward the assembly jig 9 side of the delivery conveyor 131:. At this time, the parts extraction device 26
The head section 26c2 of c moves to move the vacuum suction section 26c3 above the pallet 30. And the same figure (F)
As shown in , the vacuum suction section 25e of the built-in robot section 25 suctions and pulls up the component 30a on the a placement table 28c, and the vacuum suction section 26c3 of the one-component pick-up device 26c suctions the component 30a on the pallet 30. When the head part 2 of the built-in robot part 25 is pulled, as shown in FIG.
5d and the part 26C2 of the component extractor 26c move simultaneously to move the parts 30a, 30a sucked by the vacuum suction parts 25e, 26c3, and the mounting table 28c of the intermediate transfer unit 28 returns to its original position. Return to l. After that, as shown in FIG. 2H, the part 30a that has been picked up by the vacuum suction part 25e of the built-in robot section 25 is assembled into the assembly jig 9, and the vacuum suction part 26c of the one-component extractor 26c is assembled.
3. Cut the parts 30aQ that were sucked and press it on the hill of the stand 28c.

In this way, the built-in robot section 25 attaches the part 3 to the assembly jig 9.
0a, each head part 25d, 26c7 returns to its original position as shown in FIG. 3(I) and the primary parts 30a,
30a and repeating the above-described operations, the predetermined parts are sequentially assembled to the assembly jig 9. Note that the parts 30a placed a2i on the mounting table 28c are set in a predetermined position by coming into contact with the positioning member 28e by the movement of the positioning table 28d. This is effective for assembling the positive part 30a.

・On the other hand, the waiting station 12a is an automatic rack stacker 3
It is used to hold four stacked containers 7 brought in by an automatic guided vehicle 8 from a factory, and also to hold used containers 7 on standby. The container carrying-in section 31 includes a roller conveyor 31a on which the four-tiered containers 7 carried in are placed and moved sequentially, and a roller conveyor 31a that holds the four-tiered containers 7 on the roller conveyor 31a and transports the lowest container 7 into one. It consists of a container holding part 31b that sends out the container 7 to the a side (automatic assembly robot) one by one, and a container stacking part 32a that stacks containers 7 containing empty pallets 30 in four tiers, and a container stacking part 32a that stacks containers 7 containing empty pallets 30, It is separated from the roller conveyor 32b that sends out the containers 7 stacked in four stages at the stacking section 32a.

Thus, the waiting station 12 moves the container 7 and the pallet 30 as shown in FIG. That is, as shown in FIG. 11(A), when four stacked containers 7 are carried into the roller container 3La of the container carrying section 31,
As shown in FIGS. 3(B) and 3(C), the container 7 is automatically sent to the container holding section 31b.
1b, the stacked containers 7 except for the lowest container 7 are held, and as shown in FIG. 1B, only one container 7 in the lower part is sent to the automatic assembly robot a side. . When one container 7 is sent out in this way, as shown in FIGS.
The pallets 30 are taken out one by one from the container 7 to the transverse feed tables 26a, h by the pallet take-out device 26b. Then, when the first pallet 30 taken out is set at a predetermined position on the cross-feeding table 26a, the pallet 3
Each part on pallet 3 is taken out as described above and placed on pallet 3.
When all the parts are taken out from 0, the empty pallet 30 is moved to the left side of the cross-feeding table 26a as shown in FIG. 3(G), and is once stacked as shown in FIG. When the pallet 30 is taken out from the container 7 in this way and the container 7 becomes empty, the empty container 7 is sent to the roller conveyor 32b of the container discharge section 32,
As shown in (I) and (J) of the same figure, the next container 7 is sent out from the container holding part 31b, and the pallet 30 is taken out from this sent out container 7 onto the cross-feeding table 26a in the same manner as described above. On the other hand, the horizontal feed table 26
A predetermined number of pallets 30 stacked on the left side of a are shown in the same figure (
As shown in K), the pallet is stored in the empty container 7 by the pallet feeding device 2126d of the carrying robot section 26. When a predetermined number of empty pallets 30 are stored in the container 7, they are fed into the container holding section 32a of the container discharging section 32 and stacked in four stages as shown in FIG. After the roller conveyor 32
It is discharged at b.

The container 7 is a plastic box in which a large number of pallets (30) are stacked and stored, and as shown in Figure 12, the bottom is formed in a lattice shape, and the inner wall is stacked with balls. Ribs 7a are formed to prevent the pallets 30. . In this case, through-holes 33a are provided at predetermined locations on the bottom plate 33, and a push-up rod (not shown) is inserted from the bottom of the container 7 into the bottom plate through a gap in a grid formed at the bottom of the container 7. 33 through holes 33
The stacked pallets 30 are pushed up through a@Φ. Further, the containers 7 can be stacked in four stages as shown in FIG.

Next, referring to FIG. 14, the operation to the main assembly line will be explained.

From host computer 2 to line control computer 4A
, 4B, 4C, and 4D, the line control computers 4A, 4B, and 4C14D execute each automatic assembly robot based on the short-term production plan stored in memory.
, b...h, and also issues an instruction to the platen stacker control section 34 to operate the platen stacker 11. Then, the platen stacker 11 sequentially sends out the assembly jigs 9 according to the model of the product to be produced to the delivery conveyor 13 of the conveyance part 10 at regular intervals based on instructions from the platen stacker control g4 section 34. The assembly tools 5L and 9 are continuously conveyed by the delivery conveyor 13 in the order of automatic assembly robots) a, b...h, and are placed at predetermined positions of each automatic assembly robot) a, b...h. and stopper pin 3
6, the positioning section 23 is held in a stopped state.
The position is determined by an engaging protrusion that is engaged with. At this time, a pallet 30 loaded with predetermined parts is carried in from each standby station to the carrying robot section 26 of each automatic assembly robot a, b, fight, and h, and one part from this pallet 30 is carried into each carrying robot part 26. Vacuum suction section 26C3 of robot section 26
a of the intermediate transfer unit 28.
It's aha on the stand 28c. This component is roughly transferred to the delivery conveyor 13 side by the mounting table 28c, and is then suctioned by the vacuum suction part 25e of the built-in robot part 25 and mounted on a predetermined location of the assembly jig 9.

At this time, if the automatic assembly robot 7a that assembles the first part into the assembly oil Jt-9 is used to assemble the case of a small electronic calculator, the automatic assembly robot 7a from the next process onwards will b
, c, . . . -h, each predetermined part is assembled directly to the case instead of using the assembly oil A9. Moreover, the parts to be assembled by the automatic assembly robot may be assembled to the case, and then to the parts.

Furthermore, during assembly by each automatic assembly robot, it is checked whether the assembly work by the automatic assembly robot in the previous process has been correctly executed. That is, the intervals between the automatic assembly robots in each process are such that several assembly jigs 9 can be arranged between them, and during this period, all the Ml attachment jigs 9 are connected to each automatic assembly robot a, b. ,・1lllK is positioned at a predetermined working position by the hub 36, and when the respective predetermined parts are assembled, the stopper pin 36 is released, and at the same time it is transported to the position of the assembly oil A9 on the right side. However, between each automatic assembly robot, a defective product recognition device such as a TV camera determines whether the assembly in the previous process is good or bad, and if it is found to be defective, a defective product notification is sent at this position. The pin 22 is displaced to the defective product detector t.

The assembly jig 9 with the defective product notification pin 22 displaced is detected by a defective product detector 27c disposed on the right side, and the delivery conveyor 13 is also removed to the outside by a takeout device (not shown). Then, the product whose parts have been correctly assembled up to the final automatic assembly robot is taken out from the assembly jig and transferred to the assembly jig 9.

The assembly jig 9 from which the finished product has been taken out in this way is sent to the lower collection conveyor 14 by the lowering elevator 15, is collected by this collection conveyor 14, and is returned to the delivery conveyor 13 by the ascending elevator 16. As the assembly jigs 9 circulate in the transport section 10 in this way, the counter 17 provided on the 1-recovery conveyor 14 counts the number of assembly jigs 9 for finished products. Input to line control computer 4A.

The line control computer 4A stores each model and the production planned quantity for each model, and the counts of the counter 17 are totaled and compared with the production planned quantity. Then, when the counted number of the above-mentioned products reaches a predetermined quantity that is much larger than the production plan quantity, in other words, when the remaining finished products of the model in question with respect to the production plan quantity a reaches a predetermined value, the host computer 2 Submit information. When the host computer 2 receives this information, it issues a command to the automatic guided vehicle control computer 5 to carry the parts of the next model into each standby station 12 of each automatic assembly robot a, b, . . . h. In other words, the host computer 2
The computer 5 for controlling the automatic guided vehicle is provided with information regarding the storage location of the automatic rack stacker section 3 where the parts to be used for the next Ia residue are stored and the process position where the parts are to be stored, and in response to this information. Then, the automatic guided vehicle control computer 5 sends a control signal for controlling the automatic guided vehicle 8 to the rail 8.
a, and the automatic guided vehicle 8 transports the containers 7 containing the parts of the next model, stacked in four tiers, from the automatic rack stacker section 3 to the container loading section 31 of the predetermined waiting station 12. .

At this time, the host computer 2 again confirms the following model types and production planned numbers with the line control computer 4A. If the confirmation result is OK, each automatic assembly robot a, b,
・H, the following model types are instructed to the jig discriminator 27a and the platen stacker control unit 34.

The line control computer 4A
When the number of pieces matches the production plan stored in the production plan, a model switching signal is given from the line control computer 4A to the model switching control unit 35, and the type A switching device 19 operates, and the first assembly jig transferred at that time is Tool 9. Move only one model change notification bin 21 to the position indicating the set model. The assembly jig 9 in which the model change notification bin 21 is set in this way is transferred from the elevator 16 to the left end of the delivery conveyor 13 as a pilot jig 9p. Here, the model switching detector 2 disposed corresponding to the jig discriminator 27a
7b detects that the pilot jig 9p is set to the model switching instruction position and sends a model switching signal to the jig discriminator 27a and the platen stacker control unit 34, so that each corresponds to the next model. Switch to information. For this reason, the current assembly jig 9 following the pilot jig 9p
are sequentially determined to be inconsistent by the jig discriminator 27a, and stored in a predetermined storage section by the conveyor section 11g of the platen stacker 11. In parallel with this, the assembly jig 9 for the next model is sequentially carried out from a predetermined storage section of the platen stacker 11 to the delivery conveyor 13 from the conveyor section 11h. The jig 9 is a stopper means (
(not shown) are sequentially held near the exit of the conveyor section 11h. In addition, the pilot jig 9p is sequentially sent to each automatic assembly robot a, b...h, and is sent to each automatic assembly robot a, b...h. , give JN signal and go.
Along with this, the automatic assembly robots a, b...h detect the model ticket notification bin 21 of the pilot jig 9p with the model switching detector 27b, and immediately move the vacuum suction part 25e of the assembly robot part 25. The chuck is replaced by the chuck switching device 2129, and parts for the next model are prepared at the standby station 12a. In other words, as already explained, the containers at each waiting station y12a, 12b@fist*12h are brought in? B
31, a container containing the following types of parts is placed a by the automatic guided vehicle 8, and the state is as shown in FIG. 15(A). In the same figure, container 7° and pallet 30' respectively represent the following types of containers and pallets, and each waiting station 12a, b...h has a machine H.
When the AJJB signal is given, the pallets 30 are sequentially taken out from the container 7 on the container loading section 31 side, and the pallets 30 on the cross-feeding table 26a are sent to the left side of the cross-feeding table 26a without any parts being taken out. are stacked one after another. A predetermined number of pallets 30 are stacked, as shown in FIGS.
After being sequentially stored in the empty container 7 on the side of the container discharge section 32, the containers are sequentially sent to the container holding section 32a of the container discharge section 32 and stacked in four tiers as shown in FIG. On the other hand, the container holding section 31b of the container loading section 31
The container 7 sent out from the container 7 is sent to the container discharge section 32 side without the pallet 30 being taken out, and is discharged by the cola conveyor 32b, as shown in FIG. Then, the container 7 containing the parts of the next model is set as shown in FIGS.
' is taken out onto the traverse table 26a and set at a predetermined take-out position. As a result, the standby station 12 prepares for model switching ``z1''.

Therefore, the assembly use jig 9 of the next model that is detained near 11 item 1 of the conveyor section 11h of the platen stun force 11
The pilot Wr A 9 p is an automatic assembly robot) d
When it reaches the vicinity, the stopper means is released and delivery to the delivery conveyor 13 is started, the details of which will be explained with reference to FIG.

In the same figure, the assembly jig of the current model is indicated by reference number 9, and in the same figure (A), the pilot jig 9p is conveyed from the starting end of the delivery conveyor 13 and the jig r (separate container 27a and This indicates a state in which the stored contents of the platen stacker control unit 34 have been applied to the next model.In this case, the jig discriminator 27a of the current model following the pilot jig 9a determines that they do not match, so the contents stored in the platen stacker control unit 34 are transferred to the stacker 11. Along with this, the assembly jig 9 for the next model is stored on the platen stacker 11.
platen stacker 1.
He was detained by stopper means near exit 1.

The pilot jig 9p is conveyed by the delivery conveyor 13,
The automatic assembly robots a, b, etc. are instructed to change the model sequentially, and accordingly, the automatic assembly robots a, b, etc.
・ starts the above-mentioned chuck replacement and assembly parts replacement work, and as shown in the same figure (B), the pilot jig 9p is in sight! ? While being transported to position d, the automatic assembly robot a completes chuck replacement and parts replacement work. In line with this timing,
The stopper means near the outlet 1 of the platen stacker 11 is opened, and the assembly jig 9 for the primary model is moved to the delivery conveyor 13.
begins to be sent. When the first assembly jig 9 for the next model reaches the automatic assembly robot (b) in the next process, the robot b in this process has also completed the model switching work, and this first assembly Immediately assemble the model to the mounting jig 9. However, the pilot jig 9
p is located at the rear of the assembly jig 9 of the model before switching, and the assembly jig 9° of the next model is sent out while maintaining a constant distance S from this pilot jig 9p. conveyor 13
Since the pilot jig 9p reaches the terminal end of the delivery conveyor 13 as shown in FIG. , is advanced by a predetermined process distance from the pilot jig 9p by a fixed interval S.

-Generally, in order to improve production efficiency, the conveyance speed of the delivery conveyor 13 is set to 1? If the transfer speed is exceeded, there will be a problem that the automatic assembly robots will not be able to change the model in time for this transfer speed, and for this reason, the speed of the conveyor will be limited by the time required to change the automatic assembly robot model. Although this will reduce production efficiency, based on this embodiment, even if the conveyance speed of the delivery conveyor 13 and the time required for the model switching work of each automatic assembly robot do not match,
The reduction in production efficiency caused by this can be minimized.

In FIGS. 16(B) and (C), at the same time as the pilot jig 9P is transported and the assembly jig 9° of the next model is brought in from the platen stacker 11, the assembly jig of the model before vJ change is transferred. When the operation of collecting the tools 9 to the platen stacker 11 continues, and when the pilot jig J49p passes through the collection conveyor 14 and returns to the starting end of the delivery conveyor 13, all the delivery jigs 9 of the model before switching are removed. It is collected in the platen stacker 11. However, in the pilot shaft 9P, the 5 model FjJ8 notification pin 21 is returned to the reset position by the model initialization device 19 provided at the end of the 5 recovery conveyor 14, and therefore, the jig recovery of this pilot jig A9p to the platen stacker 11 is This is the final work. After that, the assembly jig 9' of the next model is circulated, but this assembly Wt jig 9' is used by the jig discriminator 27.
Since it is determined that there is a match based on a, platen stacker 1
Automatically assemble the robot again without being recovered in step 1) a, b
...The assembly by h is put into work.

This jig discriminator 27a can be used not only when switching models, but also when continuing production of the same model, or when different type A assembly jigs are mixed on the conveyor by mistake. Since the jig can be immediately removed from the conveyor, it is well understood that the loss in such a case can be minimized.Of course, in order to make this purpose even more effective, the jig discriminator 27a can be The number of installations 21a may be increased.

In addition, in the above embodiment, each assembly rotor.

Although the above description has been made on the assumption that predetermined parts are assembled to the Ml attaching jig, the present invention also includes an automatic processing robot that only adds to the Ml attaching jig. Also,
Although the parts supplied to each automatic assembly robot are carried in by an automatic guided vehicle, the carrying stage is not limited thereto either. In particular, for common parts such as screws, this also includes cases where automatic assembly robots are mixed in the line, which are supplied or replaced manually as appropriate.

In addition, in the embodiment described in , the parts extraction device 2J 28 C ノ"□-y do m 26 C2 of the loading robot section 26 is
Although it reciprocates only in the axial direction, the present invention is not limited to this. For example, as shown in FIG. 18, a guide rail member 40 in the A guide rail member 41 in the Y-axis direction is provided, which is guided by the guide rail member 41, and a head m 26 c 2 is also provided which is guided by the guide rail member 41. This allows the head portion 26c2 to move vertically or to move the vacuum suction unit attached to the 26c3 may be moved above the pallet 30 in the X-axis direction and the y-axis direction, and the parts 30a... stored on the pallet 30 may be taken out without moving the pallet 30. In this embodiment, the positioning table 28 on the JIi stand 28c
d moves to set the component 30a at a predetermined position, but the present invention is not limited to this, and the positioning table 2
8d may be fixed and the positioning member 28e may be moved, thereby setting the component 30a at a predetermined position on the positioning table 28d.

Further, the intermediate unit 28 of the above-mentioned embodiment moves the mounted components to the positioning table 28d and the positioning member 28.
Although the present invention is not limited to this and is set by moving it to a certain position on the mounting table 28c with
A positioning means such as four parts for positioning may be provided on the upper surface of the mounting table 28c, and the transporting means of the mounting table 28c is moved along the guides g28b, 28b to the cylinder 28i.
It is not limited to those with a mechanism for moving by hand, but may also be those with a rotating mechanism such as a rotary table, or one with a link mechanism.Furthermore, the removal and leaving of one part is not limited to vacuum suction, but can also be done with other mechanisms. Needless to say, it's a good thing.

[Effect of the invention 1 As explained above, according to the component mounting device of the present invention,
A large number of parts stored on a pallet are sequentially taken out by the seven stages of parts taking out, and the parts are placed at a fixed position on the parts assembling means.While the parts are being assembled, the parts taking out means and the intermediate transfer means Since the work for arranging the parts to be assembled in the above-mentioned fixed positions is executed, no matter how far δ the parts are placed on the pallet h,
Not only can it be delivered well, but it also improves assembly speed.
L, and can be produced efficiently.

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, in which Fig. 1 is a schematic block diagram of the entire automatic assembly device, Fig. 2 is a planar block diagram of the main assembly line A, and Fig. 3 is a side block diagram thereof. FIG. 4 is an external perspective view of the assembly jig, FIG. 5 is a diagram showing the operating state of the model switching notification pin 21, and FIG. 6 is a model switching device 19 that displaces the model vJ switching notification pin 21. 7 is an external perspective view showing the automatic assembly robot a and the standby station 12a, FIG. 8 is a diagram showing the judgment state by jig judgment, and FIG. 9 is a diagram showing the model change notification pin and defective product notification pin. Diagram showing detection, Figure 10 (^)~(
This is a diagram showing the operation of automatic assembly robot a, No. 11.
The figure shows the flow of containers 7 and pallets 30 at the waiting station 12a, Figure 12 shows the containers 7 and pallets 30 stored therein, and Figure 13 shows the appearance of containers 7 stacked in four stages. A perspective view, FIG. 14 is a detailed block diagram of the automatic assembly device, FIG. 15 is a diagram showing the flow of the container 7 and pallet 30 when changing the model, and FIG. 16 is a diagram showing the assembly jig 9 when changing the machine.
FIG. 17 is a diagram showing the intermediate unit 28, and FIG. 18 is a perspective view showing a modification of the automatic assembly robot (a). lφ...Automatic assembly equipment, 2 fists...Host computer section, 3...O automatic rack stacker section, 4A, 4B
, 4.4D, 5...Automated guided vehicle control computer,
7...Container. No. 9・@Assembling oil tool, 10-・Transportation part, 11・・
・Platen stacker, 12a, 12b N12
h-fist/standby station, 17/φ/counter,
19...Model switching device, 20...Model discrimination unit, 21...Model merit notification pin, 22Φ...Defective product notification pin, 25. Kushiken embedded robot part, 26.
・・Carry-in robot part, 27・・e sensor, 28・
...Intermediate unit, 28a...Mounting plate, 28
b...Guide rod, 28c...a stand, 28d@.
・Positioning table, No. 28e・Positioning member,
28i...Cylinder. 30-...Pallet, 30a...Parts, A, B...
1I11 Main assembly line, C+. C2, D+, 02... Conflict subassembly line, a
, b-h... automatic assembly robot. Patent applicant: Casio Computer Co., Ltd. Agent Patent Attorney Machi 1) Toshi□' Tadashi. , :,,;,. +! -% --・27Q Figure 8: 2nd hand a separate it', 3rd hand Jff: 14th. ε
Fig. 9 Fig. 6 Sung't; nl, 7I% device 1 Hosu 1 Model Kirisho Takumi's Tomari Ten no Maru case ) @, 12il No. 13
figure

Claims (1)

[Scope of Claims] Parts removal means for sequentially taking out a large number of predetermined parts stored on a pallet and transporting them to a predetermined position at a midpoint between the pallet and the conveyor; an intermediate transfer means for disposing the parts at a certain position; and a parts assembly means for transferring the parts arranged at the certain position onto a conveyor and assembling them at a predetermined location of the assembly main body, the equipment assembly means An automatic assembly apparatus characterized in that, while assembling the parts, the parts take-out means and the intermediate transfer means carry out work for arranging the next part to be assembled at the fixed position.