JPH0459094B2 - - Google Patents

Description

[Detailed description of the invention]

[Industrial Application Field] This invention temporarily stores a storage box containing goods replenished from the outside in a storage means, replenishes the storage means as needed, and stores the supplies from this storage means. The present invention relates to an article supply device configured to supply a storage unit, and more particularly to an improvement for accurately separating specific storage boxes on this temporary storage means. [Prior Art] A storage box such as a pallet or a tray containing a plurality of items is stored in a separated state, and each storage box is taken out by a robot or the like to a supplied part. As a conventional device for supplying articles from a storage box to a robot etc., for example,
There is a ``Tray delivery device'' published in Japanese Patent Application Laid-Open No. 61-206709.
This device is equipped with a tray storage section for separately storing multiple trays containing multiple items and storing them one above the other in a layered manner, a mechanism for taking out a desired tray from this storage section, and an elevating function. A lifting device (for convenience, referred to as a "retrieval lifting device") that has both a lifting function and a function to store new trays in the shelves of the storage section in order to replenish empty trays with new trays. It is equipped with a lifting device (for convenience, referred to as a replenishment lifting device) that has both.
To take out a tray in the direction of the assembly device, the take-out lifting device takes out the tray toward the front of the storage section (towards the side of the assembly device), and once the assembly device has grasped the parts inside the tray, the tray is stored in the original shelf. I have to. When a component in another tray is required, the ejector lifting device moves along the vertical direction of the tray storage section, takes out the desired tray, and then returns to the component gripping position of the assembly device. It's summery. When all the parts of a certain tray are used up, the tray is taken out and the lifting/lowering device pulls it out to the front, lowers it to the lowest position of the storage section while holding it, and releases the holding of the tray here. The trays that have been released from the hold fall onto a predetermined stacking table and are stacked there. When the empty tray is pulled out in this way,
The supply lift device is activated to replenish this shelf position with a new tray. A plurality of new trays are stacked directly below the replenishment lifting device at the rear of the tray storage section. When this lifting device is activated, it moves to the top of a new stack of trays, grasps the top tray, rises again until it reaches an empty shelf position, and moves that tray to the shelf. The idea is to put it in. However, in this Japanese Patent Application Laid-Open No. 61-206709, as described above, only the highest tray among stacked trays can be supplied to the storage device. On the other hand, as a conventional example of a device for stacking and storing a plurality of items in storage boxes such as pallets or trays in a non-separated state, there is, for example, the "tray delivery device" of JP-A-61-206709, Tokukai 1986
-171927, ``Container Conveying Device'', 1988-26391, ``Pallet and Conveyed Object Separation Device'', JP-A-60-112504, ``Method for Vertically Separating Stacked Items'' and equipment.” ``Tray delivery device'' of JP-A No. 61-206709, ``Container conveyance device'' of JP-A No. 60-171927, or ``Apparatus for separating pallets and conveyed objects mounted thereon'' of JP-A No. 52-26391, Only the lowest one of the stacked pallets or trays is separated. However, this does not allow arbitrary pallets or trays to be separated. JP-A-60-112504 can be positioned as an improvement on these three prior art techniques. That is, JP-A-60-112504 discloses a method in which a plurality of pallet-like items are stacked in a non-separable state, and all of them are separated at once, and any one of the items is taken out by a take-out tool that can move up and down. It's becoming like that. This batch separation is carried out by hooking claw-like arms onto the protruding portions of each of the non-separated items and raising these arms all at once. If there is an item that needs to be taken out, the vertically movable takeout tool moves to the separated item position, descends after taking out the item, and then moves the item horizontally to a work stage such as a robot. The idea is to move the . When this operation is completed, the removed item is returned to its original position by performing the reverse operation of the process described above. In other words,
This separation device of JP-A-60-112504 also serves as the storage section of the above-mentioned ``tray delivery device'' of JP-A-61-206709. [Problems to be solved by the invention] In general, articles are stored in pallet-like storage boxes,
In an article supply device that takes out the storage boxes one by one from a device that stores a plurality of storage boxes and supplies the goods, the empty storage It is necessary to replace the boxes and replenish them. Replenishment of this storage box in such an article supply device is required repeatedly while the article supply continues, and
Moreover, it is necessary to accurately supply the required storage boxes. Factors that make the replenishment of new storage boxes uncertain include the fact that there are multiple sizes of storage boxes such as pallets or trays, and that there are manufacturing tolerances in the dimensions. It is true that in the above-mentioned Japanese Patent Application Laid-Open No. 60-112504, it is possible to separate a plurality of non-separated storage boxes individually, but this only depends on the dimensions of the individual storage boxes,
In particular, it is assumed that the dimensions in the stacking direction (that is, the height of the storage boxes) are constant, and that there are no deviations in the dimensions of the storage boxes. This is because, in the above-mentioned Japanese Patent Application Laid-Open No. 60-112504, bulk separation is possible only when the height of the storage box is constant.
If an attempt was made to separate storage boxes of different sizes, the separation arm would be destroyed. In addition, these multiple storage boxes are stacked, and manufacturing tolerances are unavoidable for the storage boxes, so the higher they are stacked, the more the height error increases, and the separation position increases. In the event that the desired storage box is not located, the arm will likewise be destroyed. [Means for Solving the Problems] This invention has been made in view of the above-mentioned problems, and an object of the invention is to select a storage box necessary for replenishment from among a plurality of arbitrarily stored storage boxes. To provide an article supply device capable of accurately and reliably sorting and replenishing articles despite the tolerances of storage boxes. The configuration of the present invention to achieve this object is to store articles in order to supply new articles to an outside where the articles are being processed or assembled according to the progress of the processing or assembly work. An article supplying device that supplies stored boxes to the outside of the storage box unit by box, which comprises: a loading table on which a large number of new housing boxes containing articles are placed in a non-separated stacked state; and the loading table as described above. , a moving mechanism that moves in the vertical direction together with the large number of storage boxes placed thereon, and a moving mechanism that is provided at a fixed position and is capable of separating some of the storage boxes from among the new large number of storage boxes on the mounting table. a separation means; a supply means arranged to be able to take out some of the separated storage boxes and supply the removed part of the storage boxes to the outside; and each stage of the plurality of storage boxes on the mounting table. a storage means for storing a stacking position; and a storage box for storing necessary articles according to the progress of the external processing or assembly work from among the plurality of storage boxes on the mounting table at the fixed position. Movement control means for controlling the moving mechanism of the mounting table based on the stacking position stored in the storage means so that the target storage box is moved to the fixed position so that the separation means can separate the boxes. and a detection means for detecting the position of the some of the storage boxes that have been moved to the fixed position, and in response to a signal from the detection means, for adjusting the position of the some of the storage boxes to match the fixed position. , further comprising a correction movement control means that controls the moving mechanism to move the mounting table so as to correct the position of the mounting table before the separating operation by the separating means. [Function] According to this article supply device, even if there is a tolerance in the dimensions of the storage boxes and the storage boxes to be separated are moved by the movement control means to a position that deviates from the fixed position that is the separation position, the corrective movement control is performed. Correct movement control by the means ensures accurate and reliable separation at all times. [Embodiment] Hereinafter, the configuration of an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the following explanation, the explanation will be made in the order shown in the table of contents below. Table of Contents《Schematic configuration》《Pallet description》 Pallet configuration Pallet dimensions《Buffer description》 Buffer stand configuration Separation mechanism configuration《Buffer operation》 Basic separation operation Position correction operation《Elevator description》 Elevator main body configuration Replacement Mechanism configuration Operation of the exchange mechanism - Taking in from the buffer - Pulling in empty pallets - - Pushing out pallets - - Pushing out empty pallets - <<Description of the stocker>> Structure of the stocker Structure of the drawer part Operation of the drawer part 《Robot description》 Robot configuration Robot operation 《System operation》 〈Control unit configuration〉 〈Assembly environment input〉 〈Variable factors for increasing the efficiency of parts supply〉 〈Other display elements〉 〈Used for control Variables><Vertical movement range of each module><Outline of pallet exchange operation><Detailed explanation of each module control>

[Control of robot and stocker]

Until the number left is 1 When the remaining number reaches 1

[Palette exchange] *Pallet separation by buffer* *Pallet drawer using elevator* *Elevator replacement standby position* *Move to standby position* *Detection of 0 remaining pieces* *Palette swap* *Stacking empty pallets* *Final shelf replacement*

[Queueing for replacement preparation instructions] [Initial operating state settings]

<Parts replenishment for FAC> [Effects of Examples] The above is the order of explanation of the embodiments of the present invention.
Below, they will be explained in order. 《Schematic configuration》 First, let's talk about the flexible attachment of this example.
Bring Center (hereinafter referred to as FAC) 10
The outline will be explained with reference to Figures 1 and 2.
do. This FAC10 has multiple parts x₁,x₂,x₃…mosquito
Automatic assembly equipment for automatically assembling predetermined products from
(hereinafter simply referred to as robot) 12 and this
The robot 12 has the necessary parts according to the assembly order.
Product x₁,x₂,x₃A parts supply system that automatically supplies...
system 14, this robot 12 and parts supply system.
assembly in the robot 12.
Drive control of both so that operations can be executed efficiently
a control unit 16 for
16, and the assembly information data is input by the operator.
It is generally equipped with an input/output device 18 into which the information is inputted.
Ru. This parts supply system 14 is an automated system (not shown).
Various parts stored in the warehouse x₁,x₂,x₃…
through multiple unmanned vehicles 20 (shown in FIG. 4).
It is configured to be transported by In other words, this
The parts supply system 14 supplies parts from the unmanned vehicle 20.
x₁,x₂,x₃A temporary place to receive and temporarily store...
Buffer 22 as storage means and robot 12
The robot 12 is provided adjacent to the robot 12 for assembly.
Storage that supplies necessary parts according to the assembly order
The stocker 24 as a means and this buffer 22
and the stocker 24, and the stocker 24
Parts x that were in short supply at₁,x₂,x₃…
Transfer means for transporting from Tsuhua 22 to Stockka 24
Basically, it is equipped with an elevator 26 as one aspect.
It is growing. 《Palette description》 Palette composition Here, each part x₁,x₂,x₃...corresponds to each
palette p₁,p₂,p₃...is housed within this
palette p₁,p₂,p₃…The state of being housed inside each
Then, it is placed on the unmanned vehicle 20, and temporarily transferred to the buffer 22.
stored in the stocker 24 via the elevator 26.
and provided to the robot 12.
It is configured like this. That is, each palette p₁,p₂，
p₃… has parts of the same type x₁,x₂,x₃...are each collected
As shown in Figure 3,
Corresponding parts x₁,x₂,x₃... is pulled out along the vertical direction.
Pallets that can be inserted and have an open top surface
The pallet main body 36 and the pallet of this pallet main body 36
p₁,p₂,p₃At least both sides along the conveyance direction d of...
Flanges flared outward at edges
38. In addition, the shape shown in the diagram
As is clear from the figure, this flange portion 38 is actually
The shape of the pallet body 36 extends all the way around the pallet body 36.
It is formed by Also, each palette
The upper surface of the main body 36 is releasably closed.
Thus, the lid body 40 is placed. Each flange portion 38 has both ends as shown in the figure.
the first and second notches.
38a and 38b are also located in the center
, and the third notch portions 38c are formed respectively.
Ru. Here, the first and second notches 3 on both sides
8a and 38b are palette p as described later.₁，
p₂,p₃... from the buffer 22 to the elevator 26.
In order to remove the robot 1 from the stocker 24,
2 or to take out/draw into the elevator 26
It is provided. On the other hand, the third notch in the center
38c lifts the lid body 40 upwards and
The pallet main body 36 stored in the case 24 is
The robot 12 on the side is opened with its top surface open.
It has a holder (described later) so that it can be taken out to the side.
Provided for the insertion of the raised body. Note that each of the first and second notches 38a,
38b is a concave portion formed into a substantially isosceles trapezoid shape in plan view.
The shorter base defines the bottom of the recess.
It is formed so that it is fixed. That is, this lid body 40 is a part of the robot 12.
x₁,x₂,x₃The final step, which deals with...
In other words, palette p₁,p₂,p₃... is Stotsuka 24
until it is moved to the drawer standby position (described later).
and the corresponding palette p₁,p₂,p₃…Top opening
It is covered to cover the part x₁,x₂,x₃…
is prevented from becoming contaminated by dust, etc.
Ru. Pallet dimensions Furthermore, these palettes p₁,p₂,p₃...is shown in Figure 4.
As shown, depending on the size of the parts accommodated in this
The thickness is 25mm, 50mm, and 100mm.
It is set. Here, in the following explanation
For simplicity, part x₁has a thickness of 25mm
Palette p₁The maximum number is set to 54.
So, part x₂is a pallet p with thickness 50mm₂most
With the large number set to 38, and part x₃
is a pallet p with thickness 100mm₃set the maximum number to
The number is set to 13, and each one is housed.
To be. Also, each palette p₁,p₂,p₃In...
The thickness of the flange portion 38 is set to a common 12 mm.
There is. In addition, on the inner peripheral edge of each pallet main body 36, there is a
As shown in Figure 5, the pallets stacked directly above
The lower part of the main body 36 (indicated by the broken line in the figure) is fitted.
to prevent lateral displacement of each other.
A recessed portion 36a is formed around the entire circumference.
Here, the depth of this recess 36a is set to 7 mm.
It is. In this way, for example, three types of
Let's p₁,p₂,p₃are piled up one by one
So, the height of this stack is 25+50+100-7×2=161mm will be set to . In addition, each palette p₁,p₂,p₃...flange part 38
As shown in Figure 3, each pallet is placed on the side of the
top₁,p₂,p₃…Parts housed inside x₁,x₂，
x₃Information on the type and number of... and the height of the pallet.
A barcode B indicating information is drawn. 《Explanation of Batsuhua》 Next, the parameters of the unmanned vehicle 20 configured as above are explained.
Parts x from the letto mounting table 32₁,x₂,x₃…with pa
Let's p₁,p₂,p₃...and store it once.
, an empty palette p₁′, p₂′, p₃'... to unmanned vehicle 20
Refer to Figure 6 for the buffer 22 for sending out.
I will explain. Composition of Batuhua stand This buffer 22 is fixed on a base (not shown).
There is a base 42 that is
Erected pillars 44a, 44b, 44c, 44d
and palette p₁,p₂,p₃Along the transport direction d of...
Pair of supports 44a, 44b; 44c, 44d, respectively
Standing board 4 stretched over the inner surface of
6a and 46b. Each standing board 46a,
46b, each erected surface on mutually opposing surfaces
A guide member 48 is fixed along the side edge.
Ru. Each guide member 48 has a
A sliding member 50 is attached so as to be movable up and down.
Each of the four corners is supported by these four sliding members 50.
with the buffer stand 52 installed.
Ru. This buffer stand 52 is the unmanned vehicle 20 mentioned above.
Parts x₁,x₂,x₃...Palette p₁,p₂,p₃
... is placed on this buffer stand 52.
Above is the part that will be placed here x₁,x₂,x₃...Enter
Rino Palette p₁,p₂,p₃... received from the unmanned vehicle 20.
A group of carry-in rollers 54 for carrying
It is arranged in a state where it is rotatably supported by the door 56.
There is. Note that these carry-in rollers 54 are not shown.
Constructed to be rotationally driven by a drive motor.
It is. On the other hand, the opposite side upright plate 46b in FIG.
The upper and lower portions are located between the guide members 48.
A slit 58 is formed extending in the direction.
ing. While protruding into this slit 58,
The aforementioned buffer stand 52 has a protruding piece 52a.
formed in the body. Here, this buffer stand 52 is placed on this
Palette group p₁,p₂,p₃I will explain later from...
, the remaining number of parts x in the stocker 24
In order to replenish the pallet p, which is reduced to one,
Separate a given pallet p for replacement
Therefore, it is configured to be able to move up and down. In other words, the pair of upright pieces 46b on the opposite side are attached.
Between the upper ends of the pillars 44c and 44d, there is a
Move the buffer stand 52 up and down along the guide member 48
Servo motor M for_Bis installed.
This servo motor M_Bextends along the vertical direction
It is equipped with a rotating shaft that is connected to both pillars.
It is rotatably arranged between 44c and 44d, and
The ball screw 60 extending along the direction is rotationally driven.
connected as shown. On the other hand, this ball
The middle part of the same 60 is screwed into the above-mentioned protruding piece 52a.
are doing. In this way, the servo motor M_Bof
The ball screw 60 is rotationally driven by the rotation of the rotating shaft.
Therefore, the buffer table 52 may be moved up and down.
It becomes. Furthermore, this servo motor M_Bis the rotational position of this
In other words, the height position of the buffer stand 52 is detected.
An encoder 62 is attached for this purpose. Separation mechanism configuration With the above configuration, the buffer stand 52 can be
It is capable of moving up and down to different heights.
However, as mentioned above, the pallet placed on top of this
group p₁,p₂,p₃Separate a specific palette p from...
In order to separate this buffer 22, the separation mechanism 6
It is equipped with 4. This separation mechanism 64 includes each standing plate 46a, 46b.
a pair of first separation claws 66 provided at the upper end of the
A predetermined distance below these first separation claws 66
a pair of second separation claws 68 disposed in the
There is. In addition, the first
and the second separation claws 66, 68 are at the same height position.
It is set. Here, each of the first and second separation claws 66, 6
8 were stacked on the buffer stand 52.
Palette group p₁,p₂,p₃Both sides of the flange part 38 of...
It is provided so that it can be hung from. In other words, each
The first and second plates provided on the upright plates 46a and 46b
The separation claws 66 and 68 are placed on the buffer stand 52.
Palette group p stacked up₁,p₂,p₃... hula
This is the protruding position where the hinge part 38 is latched from below.
a retracted position spaced apart from the flange portion 38;
It is provided so that it can reciprocate between the two. That is, the first separating claws 66 of each pair
Support rods that protrude from the standing plates 46a and 46b and reach the back surface.
It is integrally equipped with a tube 70. Double support rod 70
is on the back side of the upright plates 46a, 46b.
are connected together via the connection plate 72 so that
ing. This connection plate 72 has a first portion.
A first air cylinder for reciprocating the release claw 66
Nda C_B1is connected. In this way,
The first air cylinder C_B1Depending on the driving of the
The separation claw 66 of No. 1 has a protruding position and a retracted position.
It will be driven back and forth between the two. On the other hand, regarding the second separation claw 68, the driving source and
and the second air cylinder C_B2In addition, it is equipped with
The configuration is similar to that for driving the first separation claw 66.
Therefore, its explanation will be omitted. Note that the first separation claw 66 and the second separation claw described above
The distance between 68 and 68 is pallet p₁,p₂,p₃inside of
Set at 110mm, slightly longer than the maximum height of 100mm.
has been established. In addition, the first separating claw 66 described above
On the sides of the state palette p, there are
Barcode for reading the drawn barcode B
A reader 74 is provided. This barcode
Since reader 74 has a well-known configuration,
Omit the description. Here, on the base 42, there is a
position (i.e., a position adjacent to the stocker 24) or
In the extended state, the unloading mechanism 76 is provided.
Ru. This unloading mechanism 76 is installed in the stocker 24.
empty palette p₁′,p₂′,p₃′... as mentioned above.
The unmanned vehicle 20 is transported to the empty pallet mounting table 34.
A plurality of unloading rollers 78
It consists of These carry-out rollers 78 are
Rotationally driven by a drive motor (not shown)
It is composed of Note that the height position of the unmanned vehicle 2
Take the same height position as the empty pallet mounting table 34 of 0.
Also, the buffer stand 52 is set as follows.
The standby position is on the pallet mounting table 32 of the unmanned vehicle 20.
It is set to the same height position. (Batsuhua movement) Basic separation operation Buffer 2 equipped with the above-described separation mechanism 64
In the configuration of 2, it is placed on the buffer stand 52.
Palette group p₁,p₂,p₃From..., the following
Based on the request from bot 12, a predetermined pallet is
p_aRegarding the operation when separating the
This will be explained with reference to FIG. 7D. First, as shown in FIG. 7A, the buffer stand 52
There are a total of 12 pallets on the top, starting from the bottom.₁,p₂，
p₃,p₁,p₂,p₃,p₁,p₂,p₃,p₁,p₂,p₃The order of
Assume that it is placed in . Furthermore, this
On the floor stand 52, there is a pallet group p with a height of 800 mm.₁，
p₂,p₃... is set to be placed on the top
In the above case, the 12 palette groups are (25+50+100)×4-7×11=623mm It will have a height of 623mm. And this
In a situation like this, parts are removed from the robot 12.
x₁Palette p containing₁requested to separate
In the case where the
multiple palettes p₁First in/first out
By applying the principle of
Let's p₁Instructions will be sent to separate the
Ru. In addition, in the following explanation, the third from the top
palette p₁, the sign p_aand place it directly above it.
the pallet to be placed, i.e. the second pallet from the top
sign p_bI will add . As mentioned above, from robot 12 to pallet p_a
If a request is made to separate the
This separated palette p_aplaced directly above the
Palette p_bAs shown in Figure 7B, the first
brought to the latching position by the separating claw 66 of
until the servo motor M_BRotate and drive the
Move the door stand 52 (in this case, lower it)
Ru. Note that the first and second separation claws 66 and 68 are
In the initial state, both are moved to the retracted position.
ing. In the state shown in FIG. 7B, the first air
-Cylinder C_B1is started and the first separating claw 66 is activated.
Push it out by forcing it from the retracted position to the latching position.
vinegar. This makes the palette p_bflange part 38
is in a state where it can be hooked onto the first separation claw 66 from below.
become. After this, as shown in Figure 7C, the servo motor
M_BFrom the state shown in FIG. 7B, the buffer stand 5
2 is rotated to lower it by 94mm. this
As a result, the palette p_ais caught on the second separation claw 68.
It will be brought to a position where
tuto p_bis hooked to the first separating claw 66.
Become. That is, the palette p_bPalais located higher up
The screw is hooked onto this first separation claw 66.
become. In this state shown in FIG. 7C, the second air
-Cylinder C_B2is started and the second separation claw 68 is activated.
Push it out by forcing it from the retracted position to the latching position.
vinegar. This makes the palette p_aflange part 38
is in a state where it can be hooked onto the second separation claw 68 from below.
become. After this, as shown in Figure 7D, the servo motor
M_BFrom the state shown in FIG. 7C, the buffer stand 5
Rotate and drive 2 to lower it by 15mm. this
As a result, the palette p_aThe chisel is hooked onto the second separating claw 68.
This palette p_aPalé located further down
The palette is p._abrought to a position separated from
will be done. In this way, the palette p_a
Only the first pallet is separated from the other pallets.
2 (hereinafter simply referred to as
This is called the separation position. ) and can be taken out separately.
It will be set to the state. Furthermore, the palette p separated in this way_aHowever, as explained later
After being taken out to the elevator 24
Then, any palette may be separated.
Then, all the pallets are placed on the buffer table 52.
The operation will be performed to return to the initial state. That is, in this return operation, first, the second error
Ar cylinder C_B2But, contrary to the previous time, the second separation claw
68 from the latching position to the retracting position.
works. After this, servo motor M_Bis rotating drive
move the buffer stand 52 to 134mm (i.e.,
94+15= which is the stroke when the base 52 descended
The extracted pallet p is 109mm._aThe thickness is 25
Value plus mm. ). This rise
The top of the pallet group on the buffer table 52
The pallet in the position is caught on the first separating claw 66.
Palette p_bLifted up with the on top
It will be brought to In this state, the first air cylinder C_B1
But, contrary to the previous time, move the first separation claw 66 to the latching position.
It moves to the retracted position. this
As a result, the pallet that was caught on the first separation claw 66
top_bThe upper pallet group is already on buffer stand 5.
It is placed above the pallet group that was placed on 2.
Therefore, the entire pallet group ends up on the buffer stand 52.
It will be brought to a state where it will be placed on top.
At this position, the robot enters the standby state.
The next separation instruction from 12 will be awaited. Pallet position correction operation during separation operation The operation of the buffer 22 detailed above is the basic
It takes into account the manufacturing tolerance of each pallet.
It's something that doesn't exist. That is, each pallet has a ±0.3mm
Manufacturing errors are allowed. Therefore,
A large number of pallets are stacked on the buffer table 52.
If this manufacturing error is accumulated under the condition described above,
Palette p in the basic movement_bthe first separation claw 6 of
An error occurs in the movement movement to the latching position by 6.
Palette p_bHowever, the first separating claw 66
There may be cases where the device is not moved to the desired latching position. In detail, assuming the worst case,
All pallets placed have a minimum thickness of 25mm
palette p₁As mentioned above, the maximum mounting height is
Since it is 800mm, 800÷(25-7)×0.3=13.3mm is the maximum cumulative error amount. This maximum cumulative error amount
If the height position changes, the servo motor
M_BHowever, following the basic operation described above,
Tsuto p_bis moved to the latching position of the first separation claw 66.
Even if the rotation is driven so that the
Due to the error mentioned above, it should be located at this latching position.
There will be cases where this is not possible. Therefore, in this embodiment, FIG.
As shown, in the latching position by the first separating claw 66
Palette body 36 actually brought (calculated)
A sensor 80 is provided adjacent to the side surface of the
It is. This sensor 80 is a well-known reflective type sensor.
It consists of an Oto coupler and its detailed explanation
Although omitted, from a pair of light emitting element and light receiving element
configured and adjacent to the circumferential surface of the flange portion 38 of the pallet.
When touched, it receives light from the light emitting element and turns on.
When adjacent to the side surface of the pallet body 36, the light emitting element
It turns off because it cannot receive light from the child.
It is composed of In addition, the arrangement position of this sensor 80 is as follows in detail:
As shown in Figure 8A, this is the palette p_ahula
With the upper end surface of the engine part 38 detected, press this panel.
Tsuto p_aPalette p placed on top_bBut the first
so that it is brought to the latching position by the separation claw 66.
is set to . In a state equipped with the sensor 80 as described above,
After considering the pallet manufacturing error mentioned above,
, palette p_bThe latching position by the first separating claw 66
Figures 8A to 8E show the control details for moving to the
Refer to and explain. Here, the range where the side surface of the pallet body 36 appears
is a pallet with a height of 25 mm as shown in Figure 8A.
top₁In the case of , the thickness of the flange part 38 is 12 mm.
Yes, for fitting the pallet body 36 located on the lower side.
Considering the insertion allowance of 7 mm into the recess 36a.
and, 25−12−7=6mm becomes. Therefore, the maximum cumulative manufacturing error mentioned above
Considering, servo motor M_BCalculated by
pallet p_a,p_band sensor 80
The relative relationship between the positions is shown in Figure 8B, Figure 8C, and
As shown in Figure 8D, three modes are assumed.
Ru. That is, as shown in FIG. 8B, the
palette p_a(In other words, the second separating claw 68
Palette p to be stopped_a) peripheral surface of the flange portion 38
is the first aspect facing the sensor 80 and the eighth C
As shown in the figure, it is latched onto the first separating claw 66.
should palette p_bThe peripheral surface of the flange portion 38 of the sensor
80, and FIG. 8D.
As shown in FIG.
should palette p_bThe side of the pallet body 36 is
A third mode facing the sensor 80 occurs. Here, the sensor 80
When the ring portion 38 is in a state where the circumferential surfaces are adjacent to each other,
It operates, but in this on state, Fig. 8B
The first aspect shown in FIG. 8C and the second aspect shown in FIG. 8C.
You could think so. For this reason, the buffer stand 52 is
As shown in FIG. 8E, the sensor 80 is located at the flange portion.
In other words, until the upper end surface of 38 is detected, the sensor
It is lowered until the sensor 80 is turned off. Then, when the sensor 80 turns off like this
, the top end face is a bar drawn on the detected palette.
Read code B via barcode reader 74
Ru. As a result, from the barcode B read, this
The pallet p from which the pallets of should be separated_aThat is
If determined, this separation, as described above,
should palette p_apallet p placed on top_bbut,
brought to the latching position of the first separation claw 66
Therefore, following the basic operation described above,
1 air cylinder C_B1is started and the first separation
The pawl 66 will be pushed out to the latching position. On the other hand, the upper end face is drawn on the detected palette.
As a result of reading the barcode B, this pallet
the palette p from which the parts are to be separated_aIt is determined that there is no
If this happens, this barcode B will be read.
The palette is automatically_aThe pallet directly above the
Tsuto p_b, so this
palette p_bThe buffer stand 52 rises by the height of
To operate, servo motor M_bis rotationally driven
Ru. In this manner, sensor 80 is shown in FIG. 8E.
As shown, the upper end surface of the flange portion 38 is detected again.
However, this upper end surface should be connected to the detected flag.
The pallet with the orange part 38 should be separated.
palette p_aSince it should be
After confirming via the code reader 74,
According to the basic operation, the first air cylinder C_B1
is activated and the first separation claw 66 is pushed to the latching position.
It will be served. In addition, the bar code of the pallet that was lifted and detected
As a result of reading code B, the palette to be separated is p._ain
If it is determined that there is no
or a different palette than the requested one.
was transported by an unmanned vehicle 20 from an unmanned warehouse.
At that point, the control operation will stop.
and a predetermined warning operation is started. Further, the sensor 80 is attached to the pallet body 36.
In other words, when the sides of the
When the pallet is moved by
However, in this off state, the 8th C
Only the third mode shown in the figure is considered.
Ru. For this reason, the buffer stand 52 is
The sensor 80 is connected to the upper end surface of the flange portion 38 so that the sensor 80
In other words, the sensor 80 is turned on until it detects
It is raised until it works. Then, when the sensor 80 turns on like this
, the upper end face is a bar drawn on the detected palette.
Read code B via barcode reader 74
Ru. As a result, from the barcode B read, this
The pallet p from which the pallets of should be separated_aThat is
If confirmed, this separation, as described above,
should palette p_apallet p placed on top_bbut,
brought to the latching position of the first separation claw 66
Therefore, following the basic operation described above,
1 air cylinder C_B1is started and the first separation
The pawl 66 will be pushed out to the latching position. Execute the pallet position correction operation detailed above.
For example, manufacturing errors may occur in pallets.
Regardless of this manufacturing error, even if
palette p_aPalettes placed on top of
Top_bis securely latched by the first separating claw 66.
The state will be achieved. 《Elevator explanation》 Next, between the buffer 22 and stocker 24,
The arm that was installed and became empty at Stockka 24
Let p′ be a pallet p fully filled with parts x.
Regarding the configuration of the elevator 26 for changing
This will be explained with reference to FIGS. 9 to 13G. Structure of the elevator body As shown in FIG. 9, this elevator 26 is
It is fixed on a common base 142 with the stocker 24, which will be described later.
This base 142 has a
On the part on the side of the fur 22, there is the aforementioned buffer 22.
on the pillars 44a and 44c on the robot 12 side.
A pair of pillars 82a, 8 stand adjacent to each other.
2b and a predetermined distance away from the robot 12 side.
A pair of pillars 82c and 82d are provided standing upright.
is provided. These four pillars 82a, 8
The upper ends of 2b, 82c, 82d are connected to the connecting member 8, respectively.
4 are connected to each other. Do it like this
The basic frame of the elevator 26 is made up of
Ru. Incidentally, this connecting member 84 is also used as a stocker to be described later.
It is configured in common with 24. Here, a pair of support columns 82a along the conveyance direction d,
82c and a pair of supports 82b and 82d.
In this case, the elevator main body 86 is arranged to be movable up and down.
ing. This elevator main body 86 has a pallet p₁,p₂，
p₃A pair of surfaces perpendicular to the transport direction d of ... are opened.
It consists of a box body. This elevator body
86 is a request from the robot 12 (a predetermined palette).
Output when the remaining number of parts in the tray reaches "1".
separation at the separation position based on the
Palette p_areceived from Batsuhua 22,
While holding within the elevator body 86, next,
Request from stocker 24 (1 piece remaining as mentioned above)
of parts are used for assembly and there are no parts left.
This retention depends on the request made in case of aging.
Palette p_aI will transfer it to Stotsuka 24.
Well, it's configured. Here, the palette p₁,p₂，
p₃Each pair of supports 82a, 82 along the conveyance direction d of...
On the mutually opposing surfaces of c, 82b, and 82d,
Guide members 88 are fixed along the vertical direction, respectively.
It is. Each guide member 88 has this
Can be moved up and down along
The pair of sliding members 90 are attached in this state.
Ru. Here, the four sliding parts in the upper horizontal plane
With the four upper corners supported by the material 90,
In addition, the four sliding members 90 in the lower horizontal plane
With each of the four lower corners supported,
A elevator main body 86 is attached. On the other hand, a pair of columns 8 on the opposite side in FIG.
In the part sandwiched between 2b and 82d, there is a
When it is out, the space is defined. this space
The above-mentioned elevator main body 8 is in a state of protruding inward.
6 is integrally formed with a protruding piece (not shown).
Ru. Also, on the opposite side of the pair of supports 82b and 82d.
At the part of the connecting member 84 that connects the ends to each other
The above-mentioned elevator main body 86 is connected to the guide member 8.
Servo motor M for vertical movement along 8_E1
is installed. This servo motor M_E1is above
It is equipped with a rotating shaft that extends downward.
The rotating shaft is rotatable between both supports 82b and 82d.
The ball is placed in the center and extends vertically.
It is connected to rotate the same 92.
On the other hand, the midway portion of this ball screw 92 is
It is screwed onto the protruding piece. In this way, the servo
Motor M_E1Due to the rotation of the rotating shaft, the ball screw 9
2 is rotationally driven, and as a result, the elevator main body 86
will be moved up and down. Furthermore, this servo motor M_E1is the rotational position of this
In other words, the height position of the elevator main body 86 is detected.
An encoder 94 is installed to
Ru. With the above configuration, the elevator main body 86 is
It can be moved up and down to any height position.
be. Configuration of exchange mechanism As mentioned above, the elevator is installed so that it can move up and down.
The main body 86 includes a buffer 22 and a separate
Pallet p full of separated parts_atake in
Along with this palette p_aFrom this list, choose Stockka 2.
4, and also empty pallet from stocker 24.
A switching mechanism 96 is provided for pulling in p′.
It is. This exchange mechanism 96 serves as a drive source.
Bomota M_E2A stand is placed on the top surface of the elevator main body 86.
98. child
Servo motor M_E1The drive shaft includes swing arm 1.
One end of 00 is fixed, and it responds to the rotation of the drive shaft.
It is designed so that it can be driven to swing as it moves. This tremor
In the middle of the movable arm 100, there is a
A long groove 100a is formed along the length. Also,
The swinging arm 100 of this long groove 100a swings.
The upper surface of the elevator main body 86 in the area covered when
The portion is provided with a guide along the transport direction d mentioned above.
A groove 102 is formed. This guide groove 102
is approximately along the conveying direction d of the elevator main body 86
It is formed over the entire length. Here, this long groove 100a and the guide groove 102
When the gas is inserted along the vertical direction,
An idle pin 104 is provided. This guide pin
The head of the ring 104 is formed with a large diameter.
Prevents it from falling out from the grooves 100a and 102.
has been done. With this configuration, the servo motor
Ta M_E2By driving the reciprocating rotation, the swinging arm
The arm 100 is driven to swing, and therefore the guide pin 1
04 is along the guide groove 102, that is, the conveyance direction
It will be driven back and forth along the direction d. In addition, as shown in FIGS. 10 to 12, this
The lower end of the guide pin 104 is attached to the elevator body.
86, the slide plate 106 is fixed.
It is worn. This slide plate 106 is
The guide line extends along the direction perpendicular to the direction d.
It is attached to the idle pin 104. this slide
At both ends of the side surface of the board 106 on the buffer 22 side,
The first hook 108 is a first hook slide member.
110 in the longitudinal axis direction of the slide plate 106
In other words, the direction perpendicular to the transport direction d
It is attached so that it can slide along the direction.
This pair of first hooks 108 are connected to each of the above-mentioned parts.
Let's p₁,p₂,p₃It is formed on the flange portion 38 of...
The first notch 38a on the elevator 26 side
It is formed in a shape that can be engaged from both sides.
That is, the tip of the first hook 108 is cut off.
Isosceles that complementarily match the isosceles trapezoid that is the missing shape
It is formed into a trapezoidal shape. On the other hand, at both ends of the slide plate 160,
Air cylinder support with extending along d
The plates 112 are fixed to each other. This air cylinder
At the end of the buffer support plate 112 on the buffer 22 side, there is a
A first arm for reciprocating the first hook 108.
Ar cylinder C_E1is installed. This first
1 air cylinder C_E1the first piston 114 of
The first hook 108 described above is connected to the tip of the
has been done. In this way, the first air
Nda C_E1In response to the drive of the first hook 108, the first hook 108
Engagement/disengagement with the first notch 38a of the flange portion 38
As a result, it will be driven back and forth. Also, the stocker 24 side of this slide plate 106
A second hook 116 is provided at both ends of the side surface of the second hook 116.
Slide via the hook slide member 118 of
In other words, along the longitudinal axis of the plate 106,
Can be slid along the direction perpendicular to the feeding direction d
installed. This pair of second hooks 1
16 is each palette p mentioned above.₁,p₂,p₃... hula
A second cut on the unmanned vehicle 20 side formed in the hinge part 38
It is shaped into the notch 38b so that it can be engaged from both sides.
has been completed. On the other hand, the slide plate 106 is fixed to both ends.
Stocker 24 side end of arch cylinder support plate 112
For reciprocating the second hook 116,
Second air cylinder C_E2is installed.
This second air cylinder C_E2second piston of
120 is provided with the aforementioned second hook 116.
is connected. In this way, the second air
-Cylinder C_E2The second hook 1
16 is the second notch portion 38b of the flange portion 38
It will be driven back and forth to engage and disengage. Here, on the lower surface of the elevator main body 86, a number
engaged with the first or second hook 108, 116;
Servo motor M_E2Retracts/retracts according to rotational drive of
Slideably supports the extruded pallet p
A pair of fixed slide guides 122 are provided.
Ru. That is, both fixed slide guides 122 are
flan on both sides of pallet p being pushed in/out
It is slidably set on the lower surface of the hinge portion 38. Note that the height of the upper edge of both fixed slide guides 122 is
The height of the panel is 100mm, which is the maximum height.
Tsuto p₃set at a height sufficient to slidably support the
At the same time, the waiting position of this elevator main body 86
The upper end surface of both fixed slide guides 122 is
Receiving the pallet p in the separation position horizontally
It is set at a height that allows for In addition, both air cylinder support plates 112 mentioned above
The extending direction of the slide plate 106 is indicated at the bottom of each
The third foot extends along the same direction as the
A mounting plate 124 is fixed thereto. here
The side of this mounting plate 124 on the stocker 24 side
A third hook 126 is provided at both ends of the surface.
Slide plate 1 via Tsukuslide member 128
Along the longitudinal axis direction of 06, in other words, the conveyance direction
It can be slid along the direction perpendicular to the direction d.
It is attached. This pair of third hooks 126
is each empty pallet emptied in the stocker 24.
Tsuto p₁′, p₂′,p₃’ is formed on the flange portion 38 of...
The second notch 38b can be engaged from both sides.
It is formed into a flexible shape. On the other hand, the slide plate 106 is fixed to both ends.
At the lower end of the arch cylinder support plate 112, a third
3rd air for reciprocating the hook 126 of
-Cylinder C_E3is installed. This third
air cylinder C_E3of the third piston 130 of
The third hook 126 described above is connected to the tip.
It is. In this way, the third air cylinder
da C_E3In response to the drive of the third hook 126, the third hook 126
Engages and disengages from the second notch 38b of the flange portion 38
It will be driven back and forth as much as possible. Note that both third hooks 126 are attached to the elevator main body.
A gasket is formed on the lower surface of 86 along the conveyance direction d.
via the idle groove 132 (shown in FIG. 9).
It is taken out below the main body 86. here
Under the lower surface of the elevator main body 86, this third
Take it out from the stocker 24 using the hook 126.
a pair of sliders for slidably receiving the pallet p′
A movable slide guide 134 is provided. Here, both movable slide guides 134 are
The empty pallet p′ received by the
In order to place it on the group of carry-out rollers 78,
Along the direction perpendicular to direction d, in other words, here
Slide the pallet so that it separates from the empty pallet p′ received by the
is set to possible. That is, FIGS. 10 and 1
As shown in Figure 1, both movable slide guides 134
are connected to the elevator via slide members 136, respectively.
It is slidably attached to the lower surface of the main body 86.
ing. On the other hand, both sides under the lower surface of the elevator main body 86
On the sides, air cylinder support plates 138 are fixed.
It is worn. on each air cylinder support plate 138.
is for reciprocating the movable slide guide 134.
4th air cylinder C_E4is attached
There is. This fourth air cylinder C_E4The fourth pi of
The aforementioned movable slide is attached to the tip of the stone 140.
A guide 134 is connected. Do it like this
Then, the fourth air cylinder C_E4Depending on the driving of
The movable slide guide 134 moves the empty pallet p'
It is to be driven back and forth in order to engage and disengage from the hinge part 38.
Ru. Operation of the switching mechanism In the exchange mechanism 96 configured as described above,
The operation of exchanging pallets p and pallet p'
Regarding, with reference to FIGS. 13A to 13G,
explain. First, in the initial state, the elevator main body 8
6, the height position of this is fixed slide guide 1
22 and the second separating claw 6 of the buffer 22
It is set so that the top end surface of 8 is at the same height.
There is. In addition, in the exchange mechanism 96, this
As shown in FIG. 9, the swinging arm 100 of
Its initial position is at the intermediate position of the idle groove 102.
The state has been set. Also, each air cylinder
C_E1,C_E2,C_E3,C_E4is supplied with high pressure air.
corresponding hooks 108, 116, 126
and the movable slide guide 134 are retractable, respectively.
It is set to the retracted position. -Import operation from buffer- If such an initial state is set,
From robot 12, as mentioned above, robot
A request from the stocker 12, i.e., a location in the stocker 24.
The remaining number of parts x is 1 on a given pallet p.
Request for preparation for replacement in case of
A predetermined palette is created in the buffer 22 based on
p₃At the same time as the operation to separate the
Even in Beta 26, there is a difference in Buffer 22.
separated palette p₃is installed inside the elevator body 86.
The import operation is executed. That is, if the above-mentioned request is issued from the robot 12,
Then, in this elevator 26, first,
From the state shown in Figure 13A, servo motor M_E2but,
Rotationally driven in the direction shown by arrow A in FIG. 9,
Move the exchange mechanism 96 to the buffer 22 side
Ru. Due to this movement, as shown in FIG. 13B,
The first foot on the buffer 22 side of the exchange mechanism 96
The hook 108 is in the separation position at the buffer 22.
Palette p separated by_aThe flange part 38 of
The first notch 3 on the elevator 26 side
8a so that it can be engaged from the side.
It becomes. Note that this first hook 108 can be engaged.
In the active state, this first hook 108 is
Does not interfere with the separation operation in buffer 22 in any way
It is set as follows. In this state, the operation of the elevator 26 is
Goes to standby state and completes separation operation at buffer 22
This capture standby state continues until this time.
And, when the separation operation was completed, Tokyo, Batsuhua 22
When the separation completion signal is issued from
In response to the output of
Palette p_aStart the import operation. That is, first, the first air cylinder C_E1to high pressure
Air is supplied and the first hook 108 is separated.
Palette p_aThe first portion formed on the flange portion 38 of
It engages with the notch 38a from the side. After this,
Servo motor M_E2However, as shown by arrow B in Figure 9,
The exchanging mechanism 96 is rotated in the transport direction d.
It is taken into the elevator main body 86 along. So
Then, as shown in Figure 13C, the palette p_aThe
The lever is completely inserted into the elevator main body 86.
and servo motor M_E2The drive of this
After, first air cylinder C_E1is the first hook
108 is palette p_afrom the first notch 38 of
Moves to move away. In this way, the buffer 22 separates the
Let's p_ais taken into the elevator 26. child
In the loading state, the switching mechanism 96
A part of it is transferred from the elevator main body 86 to the stocker 2.
It is brought to a state where it protrudes on the 4th side. There
So, servo motor M_E2rotates in the direction shown by arrow A
By driving this exchange, as shown in Figure 13D,
The lifting mechanism 96 is completely housed within the elevator body 86.
It is operated as follows. −Empty pallet retraction operation− After this, servo motor M_E1is rotated and
The lever main body 86 is
There is no part x stored in let p.
To the position where the pallet p′, which becomes empty, is drawn in,
Lower it, wait in this retracted position, and then
Waits for a request to replace the empty pallet p' from key 24.
It turns out. Note that this retracted position is the same as that of the stocker 2, which will be described later.
Supply position of pallet p to robot 12 in 4
The pallet that has finished supplying parts to the robot 12 from the
It is specified at a position one box above. here
As mentioned above, the height of this palette p is
There are 3 types of settings, so this retraction position
Also, there are three types depending on the difference in height.
It becomes. Also, the elevator facing this retraction position
The standby position of the main body 86 is the pallet in the retracted position.
Second notch portion 38 of flange portion 38 of point p'
b, the third hook 126 of the exchange mechanism 96 is
It is set to assume an engageable height position.
Ru. In this way, the empty space in the elevator 26
The pull-in standby position of pallet p' is defined. On the other hand, the error brought to this pull-in standby position
In the exchange mechanism 96 in the elevator main body 86
As mentioned above, this elevator main body 8
A pallet full of parts x in 6
p_ais held on a pair of fixed slide guides 122.
It is. In this retracted standby position, the stock
An empty pallet p' is placed in the retracted position in the case 24.
When it is moved, the movement to this retracted position is completed.
Servo motor M_E2is the direction indicated by arrow B
As shown in FIG. 13E,
The third hook 126 of the exchange mechanism 96 is
Formed on the flange part 38 of the empty pallet p' at the filling position
a position where it can be engaged with the second notch 38b
will be moved to After this, the third and fourth air seats
Linda C_E3,C_E4High pressure air is supplied to each
The hook 126 is located in the second notch of the empty palette p'.
At the same time as engaging the portion 38b, the movable slide guide
The door 134 lifts the drawn-in empty pallet p' to the elevator.
Push it into a supported state below the motor body 86.
It is brought out. After this, servo motor M_E2is the direction indicated by arrow A
The empty pallet p′ is rotated by the elevator
Pull it below the body 86. In this way, the empty
Let p' is supported by the movable slide guide 134.
in the elevator as shown in Figure 13F.
It is held below the container body 86 and the empty pallet p' is
The writing operation is completed. And the third air seat
Linda C_E3However, the third hook 126 is an empty palette.
so as to be spaced apart from the second notch 38b of p'.
It is operated. −Pallet pushing operation− Now, in the retracted state of this empty pallet p′,
and the second hook 116 of the exchange mechanism 96
is a pad supported on the fixed slide guide 122.
Let's p_acan be engaged with the second notch 38b of
has been brought to the state. Therefore, this state?
, second cylinder C_E2By supplying high pressure air to
The second hook 116 is the pallet p_asecond notch of
38b. On the other hand, in parallel with the above-mentioned second hook engagement operation,
In the elevator 26, the servo motor
M_E1rotates and lowers the elevator main body 86.
Let the palette p in this_aIn Stockka 24
position opposite the drawer position. stop
Servo motor M_E2rotates in the direction shown by arrow B.
Drive the elevator as shown in Figure 13G.
Palette p from inside the main body 86_ato the sky of Stotsuka 24
Push it out to the stored position. After this, the second
Ar cylinder C_E2The second hook 116 is
away from the second notch 38b of the
It is operated like this. And servo motor M_E2ga arrow
The exchange mechanism is rotated in the direction indicated by mark A.
96 into the elevator body 86. This way
In this way, the pallet p is pushed out to the stocker 24.
The operation ends. −Empty pallet unloading operation− In the above manner, the empty pallet p' and the part x are
Fully loaded pallet p_aThe exchange operation with
At this point, the lower part of the elevator main body 86
, the drawn-in empty pallet p′ is supported.
Ru. Therefore, this empty pallet p' is transferred to the unloading mechanism 76.
A pulse motor is used to place the paper on the carry-out roller 78.
M_E1rotates and lowers the elevator main body 86.
and place this empty pallet p' on the carry-out roller 78.
If the empty pallet p′ is not placed, this
Directly above the carry-out roller 78, the carry-out roller 7
If an empty pallet p' is already placed on 8,
is directly above this empty pallet p′ that has already been placed.
move it towards the And after this, the fourth air
Cylinder C_E4However, the movable slide guide 134 is pulled.
The elevator body 86 supports the elevator body 86.
The empty pallet p' that had been
It will be piled up. In this way, the paper is stacked on the delivery roller 78.
When the number of empty pallets p′ reached a predetermined number
Then, each discharge roller 78 is rotationally driven, and these empty rollers 78 are driven to rotate.
The stack of pallets p' is placed below the buffer stand 52.
and then placed on an empty pallet by an unmanned vehicle 20.
It is carried out onto the placing stand 34. In this way, a series of
The empty pallet unloading operation is completed. On the other hand, the empty pallet p' was discharged to the unloading mechanism 76.
In the later elevator 26, the servo motor
M_E1rotates and raises the elevator main body 86.
to the initial position described above, that is, buffer 22.
is moved to a position opposite to the separation position at
Here, you will have to wait. 《Explanation of Stotka》 Next, the robot 12 is provided adjacent to the robot 12.
Parts necessary for assembly to robot 12 x₁,x₂,x₃…of
The structure of the stocker 24 that supplies the parts sequentially according to the assembly order.
The formation will be explained with reference to Figures 14 to 16.
I will clarify. Composition of stotzka This stocker 24, as shown in FIG.
The above-mentioned elevator is fixed on a foundation (not shown).
A common base 142 with the data center 26 and a common base 142 with the
Posts 144a, 144b erected at the four corners, respectively.
144c, 144d and these supports 144a, 1
Connect the upper ends of 44b, 144c, and 144d to each other
A connecting frame 84 is provided. Here, the elevator
Each pair of pillars 14 on the motor 26 side and the robot 12 side
4a, 144b; 144c, 144d
Extends along the vertical direction to face the
In this state, the guide member 148 is fixed.
Ru. Each guide member 148 has a
A sliding member 150 is attached so that it can move up and down.
Ru. The four corners are supported by these four sliding members 150.
The elevator frame 15, which is configured in a substantially rectangular parallelepiped shape,
2 is installed. This elevator frame 152 is connected to the elevator 26 described above.
It is pushed out from the robot 12 and assembled by the robot 12.
If possible, it should be pulled out to the drawer section 154, which will be described later.
A plurality of pallets p are stored at once in multiple stages, and
Pull out one by one from the drawer standby position described later.
It is configured to be possible. For this reason,
The inner surface of the lowering frame 152 along the conveyance direction d is provided with a pad.
A plurality of shelves on which the flange portion 38 of the letto p is hung
With the plates 156 each extending horizontally, and
Arranged at equal intervals of approximately 30 mm along the downward direction.
It is fixed in the state. Here, each shelf board 156 is
(In other words, the central part of
is formed at the center of the flange portion 38 of the pallet p.
(a portion facing the third notch portion 38C),
A notch 158 is formed. That is, this
The cutout part 158 is a drawer part 154.
To open the lid 40 of the pallet p, which will be described later,
Lifting of the opening mechanism 170 (shown in FIG. 15)
It is formed so that the arm 160 can be inserted therethrough.
Ru. On the other hand, a pair of support columns 1 on the opposite side in FIG.
The part sandwiched between 44b and 144d has a
The space is defined by extending along the
Ru. While protruding into this space, the above-mentioned lifting and lowering
A projecting piece 162 is integrally formed on the frame 152.
There is. In addition, a pair of support columns 144c and 144d on the opposite side
At the part of the connecting frame 84 that connects the upper ends of the
The above-mentioned lifting frame 152 is attached to the guide member 148.
Servo motor M for vertical movement along_S1is arranged
It is set up. This servo motor M_S1is up and down
It is equipped with a rotating shaft extending along the
The rotating shaft is rotatable between both supports 144c and 144d.
The ball is placed in the center and extends vertically.
connected to rotate the same 164.
Ru. On the other hand, the middle part of this ball screw 164 is
It is screwed into the protruding piece 162 described above. in this way
Then, servo motor M_S1Due to the rotation of the rotation axis of
The ball screw 164 is rotationally driven and moves up and down.
The frame 152 will be moved up and down. Furthermore, this Noboru
The vertical movement of the platform 152 is determined by the arrangement of the shelf board 156 mentioned above.
The feed amount is set as an integral multiple of the setting pitch of 30 mm.
is set to Furthermore, this servo motor M_S1is the rotational position of this
In order to detect the position, that is, the height position of the lifting frame 152.
A second encoder 94 is attached. Below
With the above configuration, the elevating frame 152 can be moved to any height position.
It can be moved up and down. Composition of the drawer part Next, referring to FIG. 14, the drawer described above is
The configuration of section 154 will be explained. This drawer part 154 is assembled by the robot 12.
A pallet p containing parts x used in
It is provided to receive and hold from the lowering frame 152.
Basically, the height is set at a certain height from the foundation (not shown).
A drawer stand 168 fixed to the
A lid opening mechanism 170 (described later) is mounted on the stand 168.
(shown in Fig. 15), the lid body 40 is removed.
The pallet p is put in and taken out from the lifting frame 152.
A loading mechanism 172 is provided. This drawer stand 168 is a support on the robot 12 side.
A pair of supports fixed to pillars 144a and 144c, respectively.
It is fixed in a horizontal state via the holding stay 174.
There is. The robot 12 side of this drawer stand 168
The tip of the pallet p that has been pulled out is at the end of the pallet p.
When the pallet is in contact with the pallet p, the pull-out position of the pallet
A stopper 176 is attached thereto. Also,
On both sides of this drawer stand 168, there are
A pair of slide guides 178 are set up along the
I'm being kicked. Furthermore, these slide guides 178
The upper end surface, that is, the slide support surface is suitable for intermittent feeding.
Each shelf of the lifting frame 152 in a stopped state
Set to be horizontally aligned with plate 156.
It is. In addition, the slide guide 178
supported by a shelf board 156 that is horizontally aligned with
The removed pallet p is placed in the drawer standby position.
Defined as a let. Further, the above-mentioned putting in/out mechanism 172 is a drawer.
They are arranged symmetrically on both sides of the table 168.
on the side edge of the drawer stand 168.
A guide member 18 provided extending along the direction d
0 and each guide member 180 in a slidable manner.
the sliding member 182 and the top of each sliding member 182.
A support plate 184 is fixed to the surface. each
On the support plate 184, there is a drawer stand for the lift frame 152.
Formed on the flange part 38 of the pallet p in the machine position
The first notch 38a can be engaged with the
The hook 186 is moved in a direction perpendicular to the transport direction d.
It is set up so that it can move forward and backward along the direction. On the other hand, a hook 186 is mounted on this support plate 184.
Move forward and backward on hook 186 while staying on the outside
Air cylinder C for driving_S1is installed
It is. This air cylinder C_S1The piston of
It is connected to the corresponding hook 186, and the air
Cylinder C_S1By supplying high pressure air to
is pushed out to a position where it engages with the notch 38a.
It is set to Also, the robot 1 on each side edge of the drawer stand 168
At the end of the second side, a drive roller 188 is rotatably mounted.
It is fixed on the shaft, and also at the end on the elevator 26 side.
In this case, the idle roller 190 is rotatably fixed.
ing. Drive rollers 188 and eyes at each side edge
The endless belt 19 is attached to the dollar roller 190.
2 is wound, and the drive roller 188 is rotated.
Due to the motion, this endless belt 192 is
will be moved. In addition, the drive rollers on both sides
The roller 188 rotates integrally via the connecting shaft 194.
They are connected to each other in such a way that Here, the support plate 184 at each side edge is
It is fixed to an endless belt 192 that
Depending on the running of the endless belt 192, the drawer
The paper is reciprocated on the table 168 along the conveying direction d.
That will happen. In addition, the drive roller 188 has this
A driven roller 196 is fixed coaxially therewith.
On the other hand, the central part of the side edge of the drawer stand 168
A servo motor is installed below via a stay 198.
M_S2is installed. this servo motor
M_S2A drive roller 202 is coaxially fixed to the drive shaft.
It is worn. This drive roller 202
and the above-mentioned driven roller 196, there is an endless
The belt 204 is wound. With the above configuration, this servo motor
M_S2By rotating and driving the drive roller 18
8,202 is rotationally driven, thus endless
The belt 192 is driven to run, and the hook 1
86 is to be reciprocated along the conveying direction d.
Ru. Drawer operation Pull out the pallet p from the standby position to the pull out position
pull it out and return it to its original standby position.
The movement of putting in and taking out the drawer part 154
The work is explained below. First, in the initial state, the hook 186 is
Servo motor M_S2Due to the drive of
It has been moved in the opposite direction and is in the drawer standby position.
The first notch in the flange portion 38 of the pallet p
It is brought to a position where it can be engaged with the portion 38a.
In addition, in this state, air cylinder C_S1Ha, Futsuku
186 is set in a retracted state. From this initial state, the lid body 40 is pushed up.
At the same time as the operation starts, air cylinder C_S1
operates and the hook 186 is in the drawer standby position.
Engages with the first notch 38a of a certain pallet p
do. After this, the lifting operation of the lid body 40 is completed.
Accompanying, servo motor M_S2is rotated in the opposite direction from the previous time.
As a result, the hook 185 is rotated in the conveying direction.
move along d. That is, this hook 186
Pallet p in the engaged drawer standby position
is pulled from the lifting frame 152 onto the drawer stand 168.
It will be served. In addition, this pulled out pallet
Tuto p slides on a pair of slide guides 178.
I will do it. In this way, it slides on the slide guide 178.
At the same time, the package is pulled out along the conveyance direction d.
The let p comes into contact with the stopper 176.
The servo motor M_S2The drive of the
Ru. In this way, pallet p is placed in the drawer position.
held in place. After this, the robot 12, which will be described later, performs this action.
Part x from pallet p brought to the ejection position
This removal work was completed after receiving the removal work.
Along with this, servo motor M_S2is the opposite again
The hook 186 is rotated in the transport direction d.
move it in the opposite direction. In this way, the
Let p is returned to the elevator frame 152 again.
will be lost. And the palette p is complete
When the servo motor is returned to the lifting frame 152,
TaM_S2The drive of the pallet p is stopped, and the pallet p is
152. After this, a series of insertion and removal operations are completed. 《Robot explanation》 Next, referring to FIGS. 1 and 2, the above-mentioned
Buffer 22, elevator 26, stocker 24
Supplying part x from the parts supply system 14 equipped with
The configuration of the robot 12 that receives the information and assembles a predetermined product.
will be briefly explained. Robot configuration As shown in FIG. 2, this robot 12
located below the drawer part 154 of Totsuka 24.
The assembly station is placed horizontally with the parts included.
page 210. This assembly stage 21
A pair of mounts 212 are erected on one side of 0.
The X-axis of the robot 12 is mounted on both mounts 212.
(an axis extending in the direction along the conveyance direction d)
The X-axis robot arm 214 is
Ru. Also, on this X-axis robot arm 214,
is the Y axis of the robot 12 (perpendicular to the transport direction d)
Y-axis robot tour that defines the axis extending in the direction
One end of the system 216 is movable along the X-axis direction.
Supported. In addition, the supply system of this Y-axis robot arm 216
The Z-axis (vertical) of the robot 12 is located on the stem side
a robot shaft that defines an axis extending along a direction
A room 218 is provided. This robot tour
The system 218 is configured to be movable in the vertical direction.
can be moved and rotated along the Y axis.
It is composed of That is, on the X-axis robot arm 214, the Y-axis
Move the robot arm 216 in the X-axis direction (transport direction d)
Servo motor M for moving along_R1is arranged
It is set up. In addition, the Y-axis robot arm 216
Above, the robot hand 218 is moved in the Y-axis direction (transfer
to move along the direction (direction perpendicular to direction d)
Servo motor M_R2and in the Z-axis direction (vertical direction)
Servo motor M for moving along_R3and ro
Servo motor for rotating the bottom arm 218
Data M_R4and are provided. Here, on the underside of this robot hand 218,
Here is the part x₁,x₂,x₃Fingers compatible with...
220 is detachably attached. This frame
The inger 220 grips the corresponding part x.
and remaining parts x₁,x₂,x₃against...
The other finger 220 that corresponds to
The finger station 22 provided in the room 214
It is housed in 2 and can be taken out freely. In addition, as mentioned above
On the assembly stage 210, there is a finger 220.
An assembly table 224 for assembling the gripped part x is
It is provided. In addition, the input device 18 described above
is adjacent to the side of one pedestal 212. Robot operation In the robot 12 configured as described above,
Explain the assembly operation of the product using part x
do. First, in the initial state, the robot hand 21
8 is positioned above the drawer part 154.
There is. From this state, follow the prescribed assembly order and
The pallet p containing the essential parts x is stocked.
It is pulled out from the card 24 to the drawer position.
, pallet p was positioned at the pull-out position.
From the moment it is detected that the servo motor M_R3but
The robot hand 218 is lowered by rotating.
Then, the gripping operation of the part x by the fingers 220 is carried out.
will be carried out. Then, the gripping operation of part x ends.
and servo motor M_R3is rotated in the opposite direction.
to raise the robot hand 218 and turn the servo motor on.
Data M_R1,M_R2The assembly table 22 is rotated as appropriate.
4 Move it up. And again servo motor M_R3to rotate and drive
, lower the robot hand 218 and lower the assembly table 2.
24, the assembly operation of part x is performed.
When this assembly operation is completed, the robot finger 2
12 is released from gripping the part x, and the servo
Motor M_R3rotates in the opposite direction, and the robot moves in the opposite direction.
218. After this, the servo motor
M_R1,M_R2is rotated to the initial position described above.
Then, the robot hand 218 is moved back. child
When focusing on one component x,
A series of assembly operations are completed. It should be noted that this series of assembly operations has not been performed.
During the process, the robot hand 218
The pallet p gripped by the item x, that is, the part x
The pallet p that has finished being supplied to the robot 12 is
Is the robot hand 218 located above the pallet p?
Then the assembly position is reached and the upper part of this pallet p is again
Before returning to the position, the next assembly process can be started.
A pallet p containing parts x required for
The insertion and removal operations are executed. Here, one of the above-mentioned robots 12
The time required to assemble part x is given by pallet p
0.3 seconds to descend to , 0.2 seconds to grasp part x
seconds, 0.3 seconds for lifting from pallet P, assembly table
224 0.5 seconds for upward movement, assembly table 224
It took 0.3 seconds to lower the assembly to the assembly table 224.
0.2 seconds to move, 0.3 seconds to rise from assembly table 224
seconds, and for the upward movement of pallet p.
Since 0.5 seconds are required, the total is set to 2.6 seconds.
ing. In addition, the operation of putting in and taking out the pallet p is done by the above-mentioned rotor.
During the operation time of bot 12, the robot hand
After 218 is lifted from pallet p
From the upper position of let p, return to this upper position again.
must be executed by the time the Let me rephrase it
For example, the robot hand 218 is placed above the pallet p.
Descend from a certain standby position and place it on the pallet p.
grip part x and bring it to the upper position of pallet p.
Until it rises, the pallet p is put in and taken out.
is prohibited, and the output of palette p is prohibited at any other time.
You have to make an inserting motion. For this reason, the
The allowable time for inserting and removing the let is 0.5+0.3+0.2+0.3+0.5=1.8 seconds is defined as the maximum time. Let me rephrase it
For example, within this 1.8 seconds, the pallet p is put in and taken out.
If completed, assembly operation in robot 12
The next part x supply operation is achieved without stopping
will be done. For this reason, the above-mentioned stock
In 24, pallet p comes out within this 1.8 seconds.
The operation time is set so that the insertion operation is performed.
It is set. 《System operation》 The following describes how the FAC system in this example operates.
Explain how to control it. <Control unit configuration> Figure 16 shows how to control the FAC system of the example.
Module configuration of the control unit 16 (Fig. 2)
shows. As mentioned above, this FAC system is
Mainly includes bots, stotsuka, elevators, buttresses, etc.
be a component. These components above are
As mentioned above, it is mechanically modularized.
Both are modular in terms of control. Immediately
In the control unit 16, there is a device that controls the robot.
microprocessor board that controls the stocker
Microprocessor board, control the elevator
microprocessor board, the master that controls the buffer
There are four microprocessors called microprocessor boards.
These microprocessors have processor boards
The board is connected using a well-known multibus interface.
are combined. 4 microprocessor boards
is a management microprocessor located above it.
The board performs system management. above tube
The industrial microprocessor has input and output as shown in Figure 2.
Device 18 is connected via RS232 interface.
This general personal computer
From the input/output device 18 that was used, this FAC system
assembly environment (e.g. parts contained within a pallet)
designation, process order, etc.). The inside of the control unit 16 is shown in FIG.
It is modularized for each controlled object as shown in
This means that this FAC system complies with the terms and conditions of the place where it is installed.
The above modules should be
This allows you to select the option as an option.
Yes, and furthermore, the above assembly environment is connected to the input/output device 18.
It is now possible to freely change process settings etc. by inputting information.
As the name of this FAC system suggests,
“Flexible” system environment can be reorganized
This is how it was done. This is a FAC system
Control unit configuration for the basic configuration described above.
Explanation of the program and further developments from this basic structure
Examples of various device configuration variations and program variations
It will become clear from the explanation of the example.
cormorant. <Input of assembly environment> The technical philosophy of this FAC system is limited to manufacturing only.
ultimately, it is not prepared in advance.
multiple groups of goods (each group of goods consists only of goods of the same means)
(including), predetermined
Select the items one by one in the following order, and then
Aim one selected item at a certain point.
It means "supplying". And the above
The above items are selected from multiple groups of items prepared in advance.
When an item is fed to one point, the items in the item group
himself is lacking. Therefore, the technology of this FAC system
The technical philosophy is how to efficiently handle this group of goods.
Moreover, it is not possible to stop the supply towards the above point.
Instead, the focus is on “supplying” new goods.
guaranteed. The technical concept of this FAC system is incorporated into the product.
The method applied to the construction is detailed below.
Automatic assembly by robots in the narrow sense of FAC
In this narrowly defined FAC system, ``goods''
``Supply of parts'' to robots by Stotsuka
"Supply of goods" is equivalent to "supply of goods",
Elevators (including unmanned cars, unmanned warehouses, etc.)
Equivalent to the supply of new parts to Stotsuka by
do. Therefore, the FAC system in this narrow sense
The "assembly environment" will be explained below. 17A to 17C show the input/output device 18.
Shows the display screen. This display screen is provided by the operator.
Enter and change various assembly environments from the keyboard
This is a screen for controlling the
It is also a screen for displaying the current control status of the
Ru. The assembly environment of this FAC system is, for example, a
information, etc., that is, information about a certain part.
name of the part, the stock of the pallet containing the part
Placement shelf position S in the container,
The total number of parts T, the thickness of the pallet H, the part
for robots to assemble and finish products.
Program number P is attached to the designated place on the palette.
barcode B, which is downloaded to be used on the part.
Number of fingers attached to the bottom hand
F etc. In this FAC system, the
A standard size pallet like the one shown above is used.
Therefore, once a part is decided, the assembly program for that part can be created.
Ram P (for example, screw tightening, etc.), which accommodates its parts.
The standard of the palette to be used is decided. The palette is
Determined by the number T of parts accommodated in the pallet and the height of the parts.
The thickness H of the pallet depends on the
be. What is the process order of the used parts table in Figure 17A?
The operator independently controls the CRT display screen of the input/output device 18.
While looking at the screen, enter the part name and the package containing the part.
The total number of pallets T, the thickness H of the pallets, the
Barcode B of the part, necessary for assembling the part
Robot finger number F and program
The number P was entered. Other process order
The number G and stocker shelf position S are based on the process order table described later.
The program of the management module is
(Fig. 16) automatically displays the input table on behalf of the operator.
The remaining number Z changes as the process progresses.
Therefore, this Z also uses the above management module.
The program is updated to the latest version on behalf of the operator.
This displays the number of items remaining. Includes parts table
During the assembly process, each part is assigned an index number IDX.
Can be guessed. Once the IDX is assigned, this FAC
In the process sequence input process of the system (Figure 17B), this
Since the part can be identified by its IDX number, the part name
It's easier than typing directly. In the specific example shown in Figure 17A, the component index
The palette with a box IDX of "1" has a part name of "BI".
The number of items stored in the palette is 38, and the number of items stored in the palette is 38.
The thickness is 50mm, the program number is entered as "100",
The palette with component index IDX “2” has
The part name is "Natsuto" and the number of pieces stored in the pallet is
13 pieces, pallet thickness 25mm, program number "200"
is input, and the component index IDX is "3".
The part name is "Washia" and the palette is
54 pieces stored inside, pallet thickness 100mm, programmable
Enter the ram number as "300"... The assembly environment information input by the above operator is
Once the parts are determined, everything is uniquely determined.
It is. The parts needed to assemble a product are usually
Since this has been known for a long time, therefore,
Palettes and programs containing these necessary parts
The thumb, finger, etc. are also uniquely determined. Therefore, the book
A central location that manages multiple FAC systems simultaneously
Computer system for production control (Figure 16)
You may give this information from Information about parts to assemble parts into products
It is not enough to assemble which parts and in what order.
is important. Therefore, the operation of this FAC system was
The author explains what is necessary in each process when assembling various products.
Restore all the necessary parts and display the process on the CRT.
The information is entered into the order table (Figure 17B). the
In the input process, the process order is 1 from the beginning in the input order,
2, 3..., and the numbers are assigned to the variable G.
be done. To instruct which parts to use in each process.
The operator inputs the component index IDX.
It is done by force. Furthermore, process order table
The pallet containing the parts is stored in the
Decide and input which shelf position S[G] to place the item on.
do. The need to input this S[G] is due to the following points.
Desired. In other words, even if the process is different, the same parts
may be used, and this same part is the same
Because it is housed in a pallet, the different processes mentioned above
In some cases, you may request pallets from the same shelf.
It is. Process order table input in this way
A specific example of this is shown in FIG. 17B. Figure 17B shows a specific product made from multiple parts.
Enter the parts required to assemble the and their process order.
The input will be displayed. The process order is from 1 to 64.
64 processes can be defined with this FAC system.
The operator follows the parts table in Figure 17A in accordance with the process order.
Check the part IDX and shelf position S while looking at the table display.
Enter [G] one after another. In process order table
The program number P and part name are the management program.
is inserted. This process order table
Then, process number G and parts index IDX are related.
Once attached, it will appear in the parts table (Figure 17A).
and the process number G and the pallet used in that process.
is associated. In addition, the input of S[G] in the process order table is as follows:
If it is 1 part/1 process/1 shelf, that is, the same type
If you use different parts in different processes, load them on a pallet.
If the shelves to be placed are different, the process
The order is the pallet shelf order S[G], and the parts are
Once determined, the pallet thickness H is determined by the management program.
can be known from the parts table, so the operator can
The management program can replace the operator without entering the
Calculate the shelf position S[G] and input it into the table.
can be done. Intentionally machining the same part differently
Even if the pallets are on the same shelf,
When arranging the process order, the operator must check the pallet thickness.
It is necessary to input S[G] while considering H.
It is coming. Same as when entering the parts table.
Similarly, the order of processes is different from the previous one for a certain product.
This is decided in the production plan, so
The predetermined process order is transferred to a central production control computer.
This FAC system is connected to the computer system via the communication line.
You can also enter it into the system. <Fluctuating factors for improving efficiency of parts supply> Now, in the FAC system, the order of "supply of goods" is
(In other words, the process order that is the assembly order) is the "supply of goods"
This has an extremely large impact on efficiency. BookFAC
The premise of the system assembly environment is one part/one process.
be. Affects the efficiency of parts supply and parts replenishment
The factors that give are the pallet thickness H[G] and which
Which shelf position S[G] should the pallet be placed on?
Ru. The pallet thickness H is the total number of pallets in the stocker.
You can limit the amount of pallets that can be stored.
cormorant. This FAC system has the maximum number of shelves in Stockka.
Manufactured from parts within the number of pallets that can be stored.
Assemble the item. Therefore, depending on the pallet thickness H,
If there is a limit on the number of pallets,
The same parts are used in multiple steps to assemble a product.
If so, then the same parts should be made from the same pallet.
Take out the pallets to reduce the total number of pallets.
I am forced to do so. Same pallet in multiple different processes
If you try to take out the parts inside the stocker,
The up and down movement of will be random, and Stotsuka's robot
This leads to a decrease in the supply speed to the target. In this way,
The process order G, the pallet thickness H, and the shelf position S[G]
is closely related to efficiency, so
When creating a sequential table, take these requirements into consideration.
Therefore, it needs to be created carefully. In addition, the number of accommodating pieces T
[G] is also determined for each part, so when assembling
Therefore, the frequency and order in which empty pallets occur are also affected.
replacement of empty pallets, i.e. elevator and bar
This is because it also affects the efficiency of Tsuhua's operation.
Ru. Figures 15A to 15E show the pallet thickness H.
Assuming the same, total number of items accommodated T [G], shelf position S
Explain how [G] affects efficiency
It is something. Figure 15A is the simplest example,
Even if the products are different, the pallet T [G] in each process
are the same, and each pallet is processed in the same order.
(i.e. S[G] is in normal order)
This is the case. In this case, the parts are
is empty in the process sequence order, and
The movement of the stotzka is also uniform upward. Next, parts A and B are required for assembly, and the assembly
It is also necessary to set the order of AAB, and A parts are
A pallet can accommodate 100 pieces, and 50 pieces of B parts.
Assuming that it can be accommodated. FIG. 15B shows that in step 123, each palette is
This is a case where part AAB is taken out from a pipe.
In this case, the movement of the stotzka is upward in an orderly manner.
Although the pallets are not frequently replaced, many pallets are
This causes the inconvenience of requiring retouching. Figure 15C shows the same pallet in steps 1 and 2.
It uses part A. in this case
The movement of the stocker is orderly and the pallets are
Replacement frequency is low, and there is no waste of required pallets.
stomach. Special characteristics of assembly, process order G, parts collection on pallets
This is an ideal design that takes the capacitance T into consideration. If the assembly order is ABA, the process order, shelf
When the position is as shown in Figure 15D, the number of shelves is
Da can be done, but Stotska's movements are orderly. No.
When making it as shown in Figure 15E, the number of pallets
There is no waste and pallet exchange occurs continuously.
However, there is a violent up-and-down movement in the movement of the stotsuka. Above are specific examples: assembly order, process order G,
The number of parts T [G] and the shelf position S [G] are the supply of parts,
Explained how it affects replenishment efficiency.
In this FAC system, the above factors affect efficiency.
Analyze the factors that give rise to the optimal assembly order and parts
Although not intended to provide a supply plan, such
Assembly plan, process order once, operator or production
As determined by the management computer,
It can flexibly adapt to different process orders and plans, and
Supply parts to robots most efficiently within the range of
and for supplying parts to the stocker.
It is. In other words, the process order G, shelf position S[G], etc.
As shown in Figure 19A, make it variable and deal with it flexibly.
This is what we are trying to do. In addition, as shown in Figure 15A, for example, the
The process order table is set so that the pallet placement order is the process order.
The purpose of entering the bull is this FAC system
However, along with “flexibility” for changes, robots
How to make sure that the assembly operation is not obstructed and is effective.
Focusing on how to efficiently supply parts to robots
Because there is. In other words, the pallets in the stocker
The order of placement does not have to be in the order of the process, but for example,
In the order in which the internal parts become zero and need to be replaced.
You can also line them up. However, the main focus of this system is
Adding parts to robots without interfering with robot operation
The supply control controls the number of parts stored in the pallet.
The number is variable depending on the part and therefore the pallet
The replacement timing does not necessarily follow the order in which they are placed in the stocker.
Parts made by robots are difficult to predict.
Flexibly responds to changes in the number of remaining parts due to bit errors
What can be done, and what can be done as shown in Figure 17B.
Because inputting in sequential order is ergonomically suitable, etc.
In view of this, in this example, the order in which the pallets are placed is
This was done in order. Therefore, the pallet in the stockka
It is also possible to anticipate cases where the items are not placed in the order of the process.
to control robots, stockcars, elevators, etc.
Modify the program so that it is performed properly.
The basic configuration example and its
This will become obvious from the explanation of the control of the modified configuration example.
It will be. The stocker shown in Figure 14 of this FAC system
In this embodiment, the shelf boards 156 are for a total of 20 shelves.
From top to bottom: 1st row, 2nd row...20th row
dan. As shown in Figures 14 and 18, each
The shelves are placed at equal intervals (approximately 30mm). obey
and pallets of three thicknesses (25mm, 50mm, 100mm).
For example, 100 if you want to store Tsuto in a stocker.
A mm-thick pallet would occupy four shelves.
In the specific example shown in FIG. 19A, the IDX in the first step
The pallet containing the “screw” which is “1” is the first one.
IDX "3" is placed on the second shelf board, and the second step is IDX "3".
The palette containing "Watsya" is number 3.
It is placed on the second shelf board, and in the third process IDX "2"
The palette that contains a certain ``nut'' is the seventh one.
It will be placed on a shelf. A certain palette is
On which shelf (i.e., the stocker position in Figure 19A)
As mentioned above, whether it is placed in number S) is
The management program takes into account the thickness of each pallet.
Either the operator determines it by calculating it, or the operator considers efficiency.
Decide, enter, and display in the order of the table in Figure 17A.
Show. In this way, the operator can view the parts table and process order table.
Once you have entered the required minimum information into the
The program includes the process order,
It calculates and displays the Tsuka placement number S etc.
This makes complex and huge assembly environments extremely easy to operate.
can be set, and the change does not change the input information mentioned above.
It is flexible for process changes and parts changes.
Can respond flexibly. <Other display elements> Figure 17C shows the icons on the display screen of the input/output device.
Con (emoji key). “Continuous” usually means
Keys for instructing the continuous assembly/parts supply operation mode of
, and when this "Continuous" key is pressed, the management manager
Memory (not shown) in the microprocessor (Figure 16)
The SINGLE flag in is set to “0”. continuous operation
mode is set, and then the ``Start'' key is pressed.
When pressed, the ``Stop'' key is pressed or
Continuously until an error occurs and the system stops.
The system works properly. "Single" means single
operation mode, and when this key is pressed, the above
The SINGLE flag is set to “1” and the “Start” flag is set to “1”.
Each time you press the 'To' key, a single action (each
(depending on the scope of that single action)
will be carried out. <Variables used for control> Figure 19A shows the microprocessor of each module.
Commonly used (accessible) by
Indicates a global variable. These variables
are arranged in a two-dimensional array, and the argument G
Indexed by (process number). swap flag
I[G] is the process order G (i.e. from the top in the stocker)
Indicates that the palette on the Gth shelf is empty.
It's a flag. Many of the other common variables are
The explanation is the same as that shown in Figures 7A and 17B.
Details are omitted. Figure 19B shows the elevator and bar from the robot.
Instructions for preparing replacement pallets to be sent to Tsuhua
When the remaining number Z in the let becomes 1, the
(issued in Beta and Batfua),
The process number (E₁，
E₂,D₁,D₂) is an evacuation area. Figure 21B
As can be seen, the number of queues is two. 2
The numbers are for each module used in this example.
machine speed (e.g. motor speed) etc.
Then, at worst, 3 or more Kyuu will occur.
It is et al. Of course, it depends on the device you use.
In some cases, the speed changes, so the number of queues is set to 3.
You may increase the number to more than one. Furthermore, this Kyuu is real
How it is used in the example will be described later. <Vertical movement range of each module> Each module moves up and down using Figure 20A.
Explain what you can do. Regarding Batsuhua, it is unmanned at a position of 900mm above the floor.
Buffer stand 52 carries pallets piled up from cars.
receives it. The first separation claw separates the pallet to be separated.
The position for hanging the pallet on one of the
(referred to as "separation position") is 1410mm above the floor, and the part to be separated is
The position where the second separation claw latches the let (“separation position”)
(referred to as "position") is 1300mm above the floor. However, the above
The temporary storage position and separation position are the nominal positions,
As mentioned earlier, there is a tolerance for pallet thickness.
Yes, and the amount of vertical movement of the buffer considering the error
Control is performed as described below (FIG. 23B).
The maximum lowering position of the buffer stand 52 is above the floor.
500mm, and this position is set as buffer movement control text.
It is the origin of eating. Palé of Batuhuadai
The maximum number of pallets that can be loaded is
In the raised state, the battle table 52 is temporarily in storage position.
When the pallet is raised to the
Consider the thickness of each pallet so that it does not exceed 2225 mm.
is set. The installation position of the unloading mechanism 76 is 350 mm above the floor.
As mentioned above, the buffer stand 52 is at the lowest position.
It is possible to descend up to 500mm above the floor, but this buffer
Conveyance mechanism 76 is fully loaded with empty pallets
transport of empty pallets so as not to obstruct the transport of empty pallets.
Sometimes the Batuhua table rises. The vertical movement range of the elevator will be explained. workman
The highest raised position of the elevator is the second minute at the separation position.
The separating claw picks up a pallet full of parts to be separated and a strip.
The position where the ride guide 122 aligns with the
This is the pallet take-out position.
position as the teaching origin for elevator control.
Ru. With this setting, the stroke range of the elevator
is 800mm. The movement range of the stocker will be explained. Stotsu
As mentioned above, there are 20 shelves spaced 30mm apart.
Therefore, the top and bottom width of the stocker is 600 (= 30 x 20) mm
It is. The pallet on the first shelf is a drawer.
The 20th shelf position when pulled out to 154 is
This is the lowest descending position, and this position is taught.
The origin is set at 300mm above the floor. The origin of vertical movement of robot teaching is
It is 1225 (900 + 175 + 150) mm above the floor, and the robot
The finger of the finger is on the pallet on the drawer part 154.
From the top, grasp one part and move it upwards,
It then moves horizontally to the assembly position and descends. <Outline of pallet exchange operation> Here, using Figure 20B,
One pallet is transferred to a buffer by an elevator.
Furthermore, the empty pallet in the stocker
I will explain how it is replaced. When the number of parts in the pallet is reduced to one, the robot
has the buffer prepare the pallet and separation, and
Instruct Beta to move to the separation position.
Ru. Then, the separation position (this position
is fixed), the pallets separated by
wait for it to be retrieved by the data. The elevator
It moves to the separation position (take-out position) and
Load the pallet from the buffer into the elevator body.
Then, this elevator has its slide guide 1.
34 will be empty in the stocker (or
is already empty) palette (usually robot
The pallet drawn out onto the drawer part 154 to
one position above the
Descend and wait. This standby position is in process order,
Although it depends on the shelf position S[G], the pallet can be machined.
When arranged from top to bottom, this standby position is
As shown in FIG. 20B, the position represented by the solid line 230
It will be placed. Thus, the empty pallet of the elevator
Preparation for replacement is complete. The pallet with 1 part left will be used again as the stocker body.
It is pulled out from inside to the drawer part 154, and this
When the robot grasps the last one, it
The remaining number becomes "0". Then Stotska and Ele
Palette swapping with Beta begins.
That is, the elevator is initially in the standby position state 230.
First, pull the empty pallet into the lower part of the elevator.
After that, the elevator went down one step and was full of parts.
Push the pallet onto the empty shelf. This extrusion
The state position is shown by dashed line 232 in FIG. 20B. So
After that, the elevator descends further and removes the empty pallet.
Stacked on the transport mechanism 76. In this way, the empty pallet
Finish replacing the parts. <Detailed explanation of control of each module> Thus, an overview of each module of the FAC system can be obtained.
Now that you have a general understanding of the operation, we will explain each module below.
The detailed control operation of is explained in Fig. 21A et seq.
do. Furthermore, as mentioned above, this control program
is also flexible in the cases shown in Figures 15A to 15E.
It has a structure that can be handled flexibly, so it can handle complex
It is. Therefore, each module operation explained below
In the explanation of the general configuration (assembly order,
process order, pallet loading order), and explain the necessary
The specific initial state that each module is in, depending on
Starting from , its initial state is determined by each module.
We will explain the process that changes due to the control
That's it. What is its initial state? : All shelves in Stockka (i.e. all 20 shelves)
Pallets of the same thickness are placed on the
Therefore, the number of parts within a pallet varies. : The processes also follow this shelf order, and one process is
Use only one part in one palette.
In other words, the total number of processes M is equal to the total number of shelves in the stocker.
There are 20 steps. : Also, the necessary spare parts are placed on the buffer stand 52.
Letts are piled up in front. For convenience, we have created a configuration with such an initial state.
This will be referred to as a "simplified configuration example." This “simple”
Expected modules starting from “Simplified configuration example”
The operation is :The robot picks up 1 piece/1 process from each pallet.
Perform product assembly work, : Stockka moves from the 1st shelf to the 20th shelf.
Then, while ascending in order, pull the pad up to the drawer section 154.
pull out the palette, then pull out the 20th palette.
When I took it out, the whole stocker went down and the first part came out again.
Pull out the palette on the first shelf. :Remaining parts for elevators and elevators
The number Z becomes 1 or 0 for each palette.
It is not necessarily necessary to
A request is made to replace empty pallets in the order of shelves.
It does not become a thing, etc. Now, the robot is about to start assembly work.
Let's start the explanation.

[Robot and stocker control]

The robot is controlled according to the program shown in the flowcharts of FIGS. 21A and 21B. In addition, the control of the stocker is shown in Fig. 22A and Fig. 22.
This is done according to the program shown in the flowchart in Figure B. The reason why these two modules will be described together is that the elevator, buffer, etc. will not operate until the remaining number Z of parts on any pallet in the stocker reaches "1". As described above, the program of the management microprocessor starts the program of each module when the "start" button on the input/output device 18 is pressed. The robot module's microprocessor is
In step S8, the process number argument G is initialized to "1". The fact that this process number G is "1" means that the robot requests the part with process number 1, that is, it requests the stocker for the pallet on the S[1]th shelf of the stocker. It means that. In step S10, the state of the aforementioned SINGLE flag (FIG. 17C) is checked. If it is the SINGLE mode, the process advances from step S10 to step S12, and only when the "start" key is pressed, the following control is executed to perform a single operation. In the following explanation, continuous operation will mainly be explained. The stocker is activated and started in step S14. Directives for such other modules are:
This is done via the aforementioned multibus. After the robot starts the stocker, in step S16,
The stocker waits until the pallet numbered S[G] is pulled out to the drawer section 154 (that is, the pallet is ready). On the other hand, the stocker, which has been waiting for activation from the robot at step S60, proceeds to step S62 when this activation occurs, and checks whether any pallet has already been pulled out onto the drawer section 154. This confirmation is confirmed by a sensor (not shown) on the drawer section 154. This kind of confirmation is for confirmation when restarting the stocker after it has stopped for some reason, and when in SINGLE mode. Therefore, if a pallet has already been pulled out to the drawer section 154, the process advances to step S64 and the pallet that has been pulled out (which pallet is known from the variable L)
It is determined whether the pallet of process G=1 is requested by the robot. If the pallet is the one requested by the robot, there is no need to pull out the pallet, so the process advances to step S84, and a notification of pallet preparation completion is sent to the robot via the multi-bus. In step S64, if the pallet that has already been pulled out is not the pallet in process G (shelf S[G]th) requested by the robot, the pallet in step S64 is
Return the pallet to the stocker with S66. In addition, in order to return it to this stocker, use air cylinder C _S4 .
Since the manner in which the motor M S2 and the motor M _S2 operate has been described above, the explanation thereof will be omitted. If it is determined in step S62 that the pallet has not been pulled out, or if a pallet that has already been pulled out is returned in step S66, the step
Proceeding to S68, the variable L stores which pallet the robot requests. The reason why the stocker stores the variable G indicating the pallet requested by the robot in L is to enable the robot and stocker to basically operate independently and in parallel, although they synchronize from time to time in this FAC system. It's for a reason. Proceeding to step S70, the amount of rotation of the motor M _S1 required to move the stocker up and down and align the pallet requested by the robot with the drawer section 154 is calculated. The origin of each shelf of Stotzka (No. 22)
From Figure A, the position from 300mm above the floor is taught with the front as shown in Figure 20. Therefore, the process G (=L=
Since the palette in 1) is in the stocker shelf number S[L] indexed by the number L, index S[L] of L=1 from the variable S[L] shown in Figure 19A. , the teaching position TP with that value as an argument
Find [S[L]] from the teaching point in Figure 18, and calculate the value as the servo motor travel distance STP.
shall be. That is, STP=TP[S[L]]. Then, in step S72, the stocker is moved according to the amount of movement. When the servo motor M _S1 rotates to the STP position, the shelf containing the pallet requested by the robot reaches the pull-out position.
The CH flag in step S74 is a flag indicating that a replacement request has already been received from the robot.
In the case of G=L=1, the state is reset since the state requiring replacement has not occurred, so the step is not executed.
Proceed to step S78. In steps S78 and S80, the lid of the pallet is opened, and in step S82, the pallet with the lid opened is placed in the drawer 1 by the control described above.
Pull it out to 54. The pallet is in the drawer section 15
When it comes into contact with the stopper 176 of No. 4, step S84
When the pallet is placed in the drawer section 15 for the robot,
4 to notify you that the preparation is complete. The stocker then waits for a predetermined notification from the robot. Now, when the robot, which was waiting for the completion of preparation from the stocker in step S16 (FIG. 21A), receives the notification of completion, it proceeds to step S18 and picks up the parts in the pallet placed on the drawer section 154. move above the part and then descend to try to pick the part. Next, step
In S20, the remaining number of parts with the relevant process number G Z[G]
Reduce by one. In step S22, it is checked whether this remaining number Z has reached 1. If the remaining number Z[G] is still 1 or more, it is checked in step S28 whether the robot's fingers were able to pick up the parts. The failure to pick a component normally includes cases in which the fingers fail to grasp the component, as well as cases in which the component is not inserted at the relevant location within the pallet. In such a case, repeat the steps until the part can be gripped normally or there is only one part left.
At S18, retry the pick. When it is confirmed that the parts have been picked normally, a notification of the completion of the picking is returned to the stocker in step S32. Upon receiving the notification that the robot is operating and that the picking is complete, the stocker proceeds to step S86 → step S88 → step S90, and removes the drawer 15.
4. Return the above pallet to the stocker. Furthermore, in step S92, the CH flag is checked. This flag has now been reset, so the step
Proceed to S100. I[L] in step S100 is a flag indicating that the remaining number Z of the L-th pallet detected by the robot as described above has become zero and a replacement request has been issued from the robot. , this flag is reset. Therefore, the process proceeds to step S118, where L is incremented by one, that is, L=L+1. The steps from step S118 to step S126 are for the stocker to prepare the next pallet (components) on the drawer section 154 while the robot is assembling the parts picked in step S18 (FIG. 21A). That is, in step S120, it is checked whether the current process is the final process, and if it is not the final process (in the above-mentioned "simplified configuration example", the total number of processes is 20, so when L = 20), , step
Proceeding to S126, the robot calculates the distance to move the shelf of the pallet next to the pallet from which the parts were picked (L has already been incremented by 1 in step S118) to the drawer section 154 position. Steps S128 and S130 are controls for moving the stocker each time the "start key" is pressed in the SINGLE mode. From step S130, return to step S72 in FIG. 24A, and then proceed to step S126.
The STP calculated in is sent to the motor M _S1 to align the next shelf with the drawer section 154 position. The following control repeats the control described above. The above control is repeated until the remaining number Z[G] of any pallet becomes one. The stocker control program shown in FIG. 22B assumes an assembly in which parts are required in all steps. but,
In reality, there may be processes that do not require parts, such as finger replacement, and in such cases, there is no need to move the stocker to the shelf (step S126). Therefore, a flag is set in the control variable of the description (Figure 19A, etc.) to determine whether or not the process in question requires parts (or the part index is set to alpha).
The value of this flag may be checked before S126, and if the process does not require any parts, the process may be returned to step S118 and proceed one step without proceeding to step S126. When the remaining number becomes one, the remaining number of pallets on shelf S[G] will eventually become Z[G]
becomes 1 in a certain process G. In other words, from a pallet with 2 parts left until then, the step
If you pick one part in S18, the number remaining is one, so proceed from step S22 to step S24.
The process number G is saved in process number variables E and D so that it can be used in the elevator and buffer control programs. and step
At S26, Batsufua instructs the elevator to start preparing a replacement pallet because an empty pallet will soon be available. This shunting preparation instruction is stored in the aforementioned queue area, and if the elevator or buffer is not busy with the previous shunting preparation operation, the elevator or buffer takes out this queue and starts the shunting preparation operation. Even after instructing the robot to prepare for switching to the buffer and elevator, the robot continues the picking operation as long as it is notified in step S16 that the pallet has been pulled out from the stocker to the drawer section 154 position. On the other hand, in the control of this embodiment, the stocker stops its movement when the robot detects that the remaining number of pallets Z has become zero in a certain process G (=L), and this fact is indicated by (I). [K]), Stotsuka is notified of the next process G+1 (=L
+1) is pulled out to the drawer section 154, the robot picks up the parts on the G+1 pallet, and the replacement work for the pallet with zero remaining parts found in the previous process G has not been completed (step S94). ). That is, the stocker waits until the replacement operation is completed. This is the process G where the remaining number Z[G] becomes zero.
Since there are parts left on the pallet of the next process G+1, in that case, the robot process (G+1) will be carried out.
This is because the assembly of parts in 1) and the replacement of empty pallets in process L (=G) can be performed in parallel.

[Palette exchange]

*Pallet separation by buffer* Figure 23A shows the variables used in the buffer control program. In other words, these variables include the number of the highest pallet stage currently placed on the buffer table, the data storage area B read by the barcode reader, the height information of the pallet for each stage, and its component name. etc. The number of the topmost pallet row indicates which parts of these variables are currently valid, since as pallets are removed from the buffer by the elevator, the information for the removed pallet is deleted. This is to show that As described later, this FAC system requests the necessary pallets from the unmanned warehouse via the production control computer and the pallets are delivered from the unmanned vehicle to the warehouse without human intervention. (program of the management microprocessor shown in FIG. 16) is applied to the buffer. On the other hand, when stacking on the buffer table 52 manually, the above information is input from the input/output device 18. Now, the robot goes to step S26 (Figure 21A).
, he instructs Batsuhua to prepare for the replacement via Kyuu. The process number corresponding to the pallet required for this exchange preparation is saved in variable D in the queue in step S24. When the buffer receives this replacement preparation instruction in step S150, the process advances to step S152, where it inputs the component name (or component index IDX) of the pallet that needs to be replaced.
According to the process number D given by the robot,
Search from the variable table in FIG. 19A. Then, by searching this part name (part IDX) in the table shown in FIG. 23A, it is possible to find out which pallet the part pallet to be replaced is. Then, in step S154, the distance (assumed to be l) of this pallet from the buffer stand 52 is determined. This is determined by summing the thicknesses of all the pallets up to the pallet in this stage (known from the table in Figure 23A), and then determining the distance (m) from the floor of the lower end of the buffer table 52 at its current position. , from these m and l, the moving distance until the pallet to be exchanged is moved to the separation position is calculated in steps.
In S156, calculate from {1410−(m+l)}mm. In step S158, the buffer table 52 is moved up and down by the determined moving distance. This moving distance can be better understood by referring to FIG. 7A and assuming that the replacement pallet is the third pallet from the top. In step S160, the sensing state of sensor 80 is checked. If the sensor 80 is off, the buffer stand 52 is raised until the sensor 80 is turned on in step S162. If the sensor 80 is on in step S160, it is lowered in step S164 until the sensor is turned off. The reason why such control is performed in relation to the pallet thickness tolerance has already been explained in detail in conjunction with FIGS. 8A to 8E, and will not be explained again. When the desired pallet reaches the separation position, the barcode attached to the pallet is read by the barcode reader 74 for confirmation. step
In S168, this read data R is compared with B[D] in the variable table (FIG. 19A). If this comparison does not match, since the pallet that has been moved to the separation position is the pallet one above the pallet to be replaced, the process advances to step S170 and the thickness of the pallet one above is calculated as shown in FIG. 23A. This is determined from the table, and in step S172, the buffer table 52 is raised by that amount to move the desired pallet to the separation position. At step S174 and step S176,
Retry and confirm the barcode read. From step S168 or step S176, the steps
Proceed to S178, energize the first separation claw 66,
In step S180, the buffer table is lowered by a predetermined distance L ₁ (distance equal to or greater than the maximum pallet thickness, 94 mm in the example of Fig. 20A) to the state shown in Fig. 7C, and in step S182, the second separation is performed. energizing the claw 68;
In step S184, it is further lowered by a predetermined distance _L2 ,
Separate the buffer as shown in Figure 7D. Then, in step S186, the elevator is notified that the buffer separation has been completed, and step S188 is executed.
Wait for the elevator to draw this separated pallet into the elevator body. *Removal of pallets using an elevator* The elevator does not need to operate when there is no need to replace empty pallets in the stocker. This exchange operation always involves a pallet full of parts separated by a buffer.
The first thing you need to do is to fit it into the elevator frame. Therefore, the normal standby position of the elevator frame is aligned with the separation position by the buffer (the origin position of the elevator also shown in FIG. 20A).
In this case, when the robot receives an instruction to prepare a new pallet, and the separation operation is completed immediately on the buffer side, the pallet is immediately placed into the lift frame without the time required for movement. This has the advantage that the import can be started.
Therefore, the elevator control of this embodiment also uses the 24th A.
As shown in step S200 in the figure, the elevator frame standby position is made to coincide with the separation position by the buffer. Now, independently of the buffer movement, the robot also instructs the elevator to prepare for replacement via the cue (FIG. 19B) in step S26 (FIG. 21A). The process number G corresponding to the pallet required for this exchange preparation is the step number G.
In S24, it is saved to variable E in the queue.
When the elevator receives this replacement preparation instruction, it proceeds from step S204 to step S206 and waits for notification of completion of pallet separation at the separation position by the buffer. As mentioned above, on the buffer side, the step
S186 sends a separation completion notification to the elevator side,
The system waits for the elevator to take in the pallet at step S188 while the notification is being displayed. Therefore, upon receiving this notification, the elevator performs a pallet pulling operation in step S208. This pull-out operation is first performed by the elevator motor, as described in detail in connection with FIGS. 13A to 13D.
Rotate M _E2 in direction A and attach the first hook 108.
to the pallet latching position, then drive the air cylinder C _E1 to engage the hook 108 with the pallet, and then rotate the motor M _E2 in the direction E to buffer the pallet. It is taken into the elevator frame from the side. Once the pallets have been removed from the buffer, the steps
A notification to that effect is returned to Batsuhua in S210. and,
Proceed to step S212 and below. *Combining the upper and lower pallets by the buffer* The buffer receiving the notification releases the second separating claw 68 in steps S188 to S190, and raises the buffer stand 52 by L ₁ +L ₂ +H [D] in step S192. , the upper and lower pallet groups are combined, and step S196
The first separation claw 66 is returned to its original position, and the process returns to step S150 to wait for the next pallet preparation instruction from the robot. Note that the waiting position for lifting and lowering from the robot in step S150 is changed to (L ₁ +L ₂ +
Instead of the position raised by H[D]), the origin position (500 mm above the floor in Fig. 20A) may be used. This is because if the number of parts in a pallet varies depending on the pallet as in this embodiment, the time when the number of parts remaining will be one is also random (even if it is possible to predict). *Elevator replacement standby position* Before explaining the movement control to the replacement position,
How the replacement position should be determined will be explained. This FAC system focuses on how to supply new parts without stopping the robot's operation, and how to easily deal with changes in assembly procedures. From this perspective, how to determine the replacement position is a major factor. Now, in the "simplified configuration example" mentioned above,
The pallet from which the parts are picked by the robot moves upward. Considering that the stocker always moves upwards, if you try to improve efficiency by replacing a pallet with zero remaining number Z while the robot is using another pallet, In FIG. 25A, when there is only one pallet remaining when the pallet is pulled out to the drawer section 154, an instruction to prepare for replacing the pallet is issued to the elevator and buffer, and if the remaining one pallet becomes 0, , since the next time the pallet is pulled out to the drawer section 154, the pallet with 0 pieces is moved upward and the lower pallet is pulled out to the drawer section 154.
It is most efficient to replace the empty palette with a new palette while the palette is being pulled out. That is, in FIG. 25A, the elevator only needs to replace the pallets while the remaining pallets are at the positions shown. Therefore, consider how far the elevator must travel and descend to reach the illustrated switching position. In FIG. 25A, the second separating claw 68 on the buffer side and the elevator slide 122 are aligned in height, allowing smooth extraction. Reference numeral 134 denotes a plate for sliding an empty pallet out of the shelf of the stocker, and the distance between both sliding plates is fixed. Therefore, when the elevator pulls the separated pallets into the frame, the position of the slide plate 134 is a fixed distance above the floor (see Figure 20A). Therefore, in order to move the elevator so that the empty pallet can be placed on the slide plate 134, since the number S of the shelf on which the pallet to be replaced is placed can be easily known, the teaching position of that shelf must be set. The distance reached is the distance traveled by the elevator. In addition, in FIG. 25A, the pallet that the elevator is about to pull out from the buffer is depicted as if it is about to be replaced with a pallet with 0 remaining pieces, but this is done for convenience of explanation. However, in the ``Simplified configuration example'', when a pallet is about to be pulled out from the buffer to the elevator, the pallet with 0 pieces remaining is usually replaced by the pallet with 1 piece remaining, which caused the replacement preparation instruction. It should be. What if the process order and pallet shelf position are different? In such a case, the process G is
When the transition is 1, 2, 3..., the stats are S[G]
Move up and down according to . In Figure 25B,
In such a general example, the case where the palette of process L (=G) becomes Z[G]=1 will be shown. Then, the elevator and the buffer begin preparations for replacement, receive a new pallet from the buffer at the separation position, and attempt to move to the elevator's standby position. Now, at this time, since the robot has already requested the pallet for the next process (L+1), the pallet for process L+1 is pulled out into the drawer section 154 of the stocker. At this time, the pallet in process L has been moved to the position shown in FIG. 25C. It should be noted here that step G is
After going around from 1 to its maximum value, it starts from 1 again in the same order and changes according to the same order.
In other words, when a pallet (placed on S[L]) of which there is only one remaining in process L of a certain cycle is pulled out to S[L+1] pallet in the next process L+1 to the drawer section 154. In the next cycle, the process L comes around again, and the remaining number of pallets from 1 becomes zero, and furthermore, in process L+1, the remaining number of pallets becomes zero. S
This is equivalent to the position of the pallet in process L when the pallet [L+1] is drawn out to the drawer section 154. Therefore, when the remaining number is 1,
There is no contradiction in predicting the replacement standby position when the remaining number becomes zero. From this viewpoint, calculation of the exchange standby position will be explained using FIG. 25D. The left side of Figure 25D shows the initial position of the stocker. In other words, when the first shelf is in the drawer position, the distance t ₀ from the floor of the 20th shelf is 300 mm from Figure 20A.
It is. In a certain process L, the number of pallets remaining on the shelf S[L] becomes 1, and furthermore, in process L+1, the number of pallets remaining on the shelf S[L] decreases to S[L+
1] is pulled out to the drawer section 154, the pallet on the shelf in process L is
It has moved to the position shown in the 5D diagram. If this situation is viewed from the elevator side, it is equivalent to calculating the position of the pallet on shelf S[E] when shelf S[E+1] is in the drawer position, as shown in FIG. 25D. That is, from Figure 25D, the replacement standby position has a distance between shelves of 30 mm and a total number of shelves of 20.
Considering that there are 30×{20+S[E+1]−S[E]}+ _t0 . In this way, the waiting position for replacement by the elevator is determined. In addition, in FIG. 25C, the pallet of process L+1 is pulled out to the drawer part 154, and the remaining number Z[L+
1] is detected, a second replacement preparation instruction is issued from step S26 of the robot control, and this is queued, as described above. *Move to standby position* Now, the steps of the elevator control program.
In S212, it is determined whether the shelf position S[E] in the stocker of the pallet of process E, in which the remaining number is one, is the last shelf on which the pallet is stacked in the stocker. If pallets are stacked on all shelves of the stocker with a total of 20 shelves in this embodiment, the final stage is the 20th stage. This judgment is necessary because, below the final stage, there may be no shelf itself, or even if there is a shelf, the pallet may not be incorporated into the process (therefore, there may be no pallet). .
That is, in this embodiment, the algorithm for determining the pallet exchange position is changed depending on whether it is the final stage or not. The judgment as to whether this is the final stage is made by comparing the value of S[E] with all the values of the shelf position information S in the variable table (Fig. 19A).
This is done by determining whether [E] is the maximum. We will leave the explanation of the control when the final stage is reached later, but if it is determined that S[E] is not the final stage, the process proceeds to step S214, and the above-mentioned exchange position, 30×{20+S[E+1]-S [E]}+t ₀ is calculated. When the replacement position is determined as described above, the elevator is moved in step S216. Then, at this replacement standby position, it waits for a replacement instruction from the stocker. In other words, the robot detects a pallet with one pallet remaining, and in accordance with that detection, issues an instruction to the buffer and elevator to prepare for replacement, and in response to that instruction, the elevator receives a new pallet from the buffer, and then The elevator moved to the replacement standby position with a new pallet. <Detection of 0 pieces remaining> When the robot side continuously finds 1 piece remaining on pallets in consecutive processes, it can issue an instruction to prepare for replacement of up to 2 pieces, as shown in Figure 19B. As explained. That is, until then, the robot continues to take out parts one after another from the stocker and assemble them, independently of the buffer and elevator operations. In other words, by the time a third pallet with 1 item remaining is discovered, at least the first pallet with 1 item remaining should have become zero first. To discover that the remaining number is 0, proceed to step S34 (Figure 21A).
It will be held in If this detection occurs, step S36
Then, the flag I[G] is set to 1 and the next control is continued. That is, the robot expects that the pallet will be replaced by the elevator at the stocker by the time it completes one cycle of all processes and proceeds to the process that requires the same parts as the empty pallet. Then, at least if the robot has not been replaced, the robot will stop at step S16, waiting for the stocker to complete the preparation. *Palette exchange* On the stocker side, the I[G] set by the robot is
1 is detected at step S100 (Figure 22B)
When I came to When this flag is detected, whether the stocker is in such a state in the case of the above-mentioned "simplified configuration example" will be explained with reference to FIG. 22C. In FIG. 22C, it is assumed that 3, 2, 3, 4, and 5 parts from the top are initially stored in each of the five pallets of the stocker. When the robot completes the assembly (all processes) in this state, the number of parts will be (2, 1, 2, 3,
5) Become a piece. Needless to say, when the second pallet from the top is pulled out to the drawer section 154, a pallet replacement preparation instruction is sent to the elevator and buffer. Now, in the next cycle, the first
When you take out the parts from the pallet in the first stage, this first
Since there is only one pallet left in the third row, this pallet preparation instruction is queued. Next, when you take out the parts from the second stage pallet, there will be 0 parts, so at this point the second stage I[G] flag is set to 1.
is set to To explain this point in detail, it is at step S82 (FIG. 22A) that the stocker pulls out this pallet to the drawer section 154 in order to take out the last part from this second stage pallet. The process then proceeds to step S82 and step S84, and notifies the robot that the pallet has been withdrawn. Upon receiving this notification, the robot sets the I[G] flag in step S16, step S18, . . ., step S36. On the stocker side, step S84 step S86
The process proceeds to step S88, step S90, step S92, and step S100, and detects I[L]=1.
In other words, the stocker pulls out the pallet with one remaining pallet to the drawer section 154, the robot picks it up, and the stocker pulls out the pallet with one remaining pallet.
When the pallets are returned inside, I[L]=1
This means that it is detected. When I[L]=1 is detected in step S100, the process advances to step S102 and the CH flag is set to "1". The reason why the CH flag is only set and the exchange operation is not performed immediately is because at this point, there is a pallet with a remaining number Z of zero on the stocker shelf at the pull-out position toward the robot, and on the other hand, the next pallet is Since there are parts in the pallet of the process, the stocker should advance the pallet of the next process to the position where it will be pulled out to the robot so as not to disturb the robot's operation, and at that point issue a replacement request. It is from. Proceeding from step S102 to step S104, for the same reason as step S212 of the elevator mentioned above, if S[L] is the maximum value, that is, if the stocker shelf of the pallet with the remaining number of pieces is zero, the last one in the stocker is Check to see if it is a shelf. If it is not the last shelf, proceed to step S106,
The process number L whose remaining number is 0 is temporarily saved in the register P. The reason for this is that, as mentioned above, in order to prevent the stocker from interfering with the robot's operation, the stocker should be placed in the next process (L+
This is to keep the original process number L, which is zero, in order to advance the palette in step 1). Then, in steps S118 to S130 described above, the process number is advanced, and in step S72, the stocker is moved to the shelf position of the next process. Step S74
Now, since the CH flag is already set,
In step S76, a request to replace the empty pallet with a new pallet is sent to the elevator. If, at this point, the elevator has already arrived at the replacement standby position with a new pallet, the elevator should immediately start replacing the pallets, independent of stocker control. As mentioned above, preparation for replacing pallets starts when there is only one pallet left, so when issuing a replacement request to the elevator in step S76, the elevator has already arrived at the replacement position. This is something that is highly anticipated. See Figure 25E in this regard. After sending this replacement request to the elevator,
Stocker control is performed in steps S78 to S82.
The pallet for the next process of the pallet with zero remaining is pulled out onto the drawer part 154, and in steps S84 to S92, the robot assembles the parts of the pallet for the next process, and in step S94, the pallet is assembled. Wait for the swap to finish. In this way, empty pallets are replaced in a manner that does not interfere with the operation of the robot as much as possible. Return to the elevator control program. step
When the elevator, which has been waiting for a replacement request from the stocker in S218, receives the above request, it performs a pallet replacement operation in step S220. The specific control of step S220 is shown in steps S240 to S256 in FIG. 26B, but since the operation order according to the control is in accordance with FIGS. 13A to 13G, the explanation thereof will not be repeated. 25th
When the controls in FIGS. E and 25F are associated with the controls in FIG. 24B, FIG.
Corresponds to step S256. Further, β is the thickness of the pallet 38 shown in FIG. 4, which is 12 mm in this example. When the elevator has finished replacing pallets, it sends a replacement completion notification to the stocker (step S222). Upon receiving this notification, the stocker proceeds from step S94 to step S96, and restores the remaining number of pallets in process P to be replaced. Then, in step S98, the CH flag is reset,
Similarly, I[P] is also reset. Then, proceed to step S100 and step S118, and proceed to the next step L=
Proceed to L+1, step S120...step
Step S130 returns to step S72 and repeats the aforementioned operation. *Stacking Empty Pallets* On the other hand, on the elevator side, operation control is performed to stack empty pallets held at the bottom of the elevator onto the conveyance mechanism 76. That is, in step S226, the current pallet height H is added to the previous stacking height Q of empty pallets.
The descending position of the elevator is determined by subtracting the edge β of the pallet from [E] and adding the value. That is, the lowered position is Q+H[E]-β. This can be understood by referring to FIG. Move the elevator to this lowered position, release air cylinder C _E4 , and stack empty pallets. Then, when stacking up, the stacking amount α (=
Since the pallets are lowered by 7 mm), the updated stacking position Q is Q=Q+H[E]-α. Next, in step S234, it is checked whether the stacked empty pallets have reached the position of the sensor _S4 (shown at the bottom of the elevator in FIG. 1), which detects whether the stacked empty pallets will interfere with the movement of the elevator. If it has been reached, the transport mechanism 76 is driven in step S236, and
Transport empty pallets to the unmanned vehicle position. In this way, the replacement of empty pallets is completed, and the operation of the robot is not stopped, and parts are continuously supplied to the robot and to the stocker. The basic form of operation control of this FAC system has been explained above, but this explanation program has various points.
A lot of effort has been made to improve efficiency. *Replacing the final shelf* One method for improving efficiency is to change the control procedure after replacing the final shelf. The stocker of this FAC system has a total of 20 shelves. Therefore, when pallets are placed on the shelves in order of process from top to bottom, there are no pallets below the 20th stage. Furthermore, even if all the pallets used in all processes are placed on the shelves, the stocker will not be filled, and there will be no pallets under the lowest shelf. In this way, when pallets are placed on the shelves in process order from top to bottom, if the final shelf is replaced according to the above-mentioned replacement position determination, there will be no pallets on the shelf for the next process. Nevertheless, the shelf where the pallet does not exist is moved to the drawer part 154 position,
You will move it and replace the empty pallet at the replacement position above it. However, in this case, the robot waits for the withdrawal to be completed in step S16 until the pallet replacement is completed.
Assembly work must be stopped. In order to eliminate this inconvenience, there are steps S104 to S116 in FIG. 24B, and steps S212 and S224 in FIG. 26A. That is, when it is necessary to exchange pallets at the final stage, the exchange is performed at the pull-out position of the stocker (the position of the slide plate 178 of the pull-out section 154). In this case, the replacement standby position is the 25th
As shown in diagram G, 30×S[E]+t ₀ . Therefore, on the elevator side, the steps
In step S212, the process proceeds to step S224, where the standby position is calculated according to the above formula, and the item is moved to the withdrawal position, and in step S218, a replacement request from the stocker is awaited. On the other hand, on the stocker side, when it is detected in step S100 that the replacement flag I[L] is set, the CH flag is set in step S102, and the process proceeds to step S104 and step S108, in which it is determined that the replacement flag I[L] is set for the stocker. make a request. Since the subsequent control is the same as the normal shelf position switching operation, the explanation thereof will be omitted. In this way, when the pallet to be replaced is the last one, the pallet is replaced at the position where the stocker draws it out toward the robot, thereby eliminating unnecessary waiting for the robot. This is particularly effective when pallets are placed on a shelf in order of process from top to bottom. *Queueing for replacement preparation instructions* Another way to improve efficiency is queueing. This cueing is necessary due to the following background. In other words, the total time required to prepare for replacement, such as the time required to separate the pallets using a buffer and the time required to move the elevator to the replacement standby position, is made shorter than the time required for one process of robot assembly. If the operating speed of each module (for example, motor rotation speed, etc.) can be set, multiple replacement preparation instructions (steps) can be sent from the robot to the buffer or elevator.
S26) is never issued. However, it is conceivable that the former time is long. In such a case, it is conceivable that a plurality of the above-mentioned instructions will be issued, and in order to deal with such a case, it is necessary to queue the instructions. For example, in two consecutive processes, if the total number of parts in the pallet is the same and the wear of parts is the same, there is a possibility that replacement preparation instructions will be issued consecutively. In particular, in the above-mentioned two consecutive processes (these two processes are stocked as L and L+1), the shelf positions S[L] and S[L+1]
If this is not continuous, the stocker will move up and down, and it will take time to replace the pallets. In such a case, if a replacement preparation instruction is queued as shown in FIG. 19B, the robot's operation will not be stopped. In order to prepare for one exchange at the buffer, pallets are separated, and after passing the separated pallets to the elevator, the queued next exchange instruction is immediately taken out from the queue and the next pallet separation is carried out. This is because it can perform actions. In this embodiment, the number of queues is set to 2.
Although the number is set to 1, you may increase the number if necessary. *Initial operating state setting* The above control was explained on the assumption that a pallet was placed on the stocker. Initialization control for inserting a pallet into this stocker will be explained with reference to FIG. 27. In this initial setting, the robot and stocker do not operate, and the buffer and elevator insert pallets into the shelves of the stopped stocker. First, in step S300, a buffer receives stacked pallets from an unmanned vehicle. step
At S302, a counter n is set to 1. In step S304, the n-th pallet is moved to the separation position, and in step S306, the pallet is separated.
In step S308, the elevator is notified of the completion of separation, and in step S310, the elevator waits for the completion of pallet extraction by the elevator. On the other hand, on the elevator side, at the same time as the program starts, it moves to the separation position in step S352, and waits for a separation completion notification from the buffer in step S354. When this notification is received, the counter set by the buffer calculates the shelf position of the stocker from STP=TP[n], moves to that position, and steps
Push this pallet into the shelf with S358. Then, in step S360, the buffer is notified of the completion of the transfer, and in step S352, it waits for the next pallet. Upon receiving this notification, the Bathua
In S312, counter n is updated. This update is
From the pallet thickness information received from the unmanned vehicle in step S300, the required number of shelves for the pallet just transferred to the stocker is calculated, and the shelf number to insert the next pallet is calculated. In step S314,
It is determined whether there are any remaining pallets on the buffer table, and if there are any remaining pallets, the process returns to step S300 to separate the next pallet. In this way, the initial operating state setting is completed. [Others] <Parts Replenishment for FAC> The FAC system of the basic embodiment described above accomplishes the tasks of efficiently supplying parts from a stocker to a robot and efficiently supplying parts from a buffer to a stocker. However, the FAC system alone will eventually be unable to supply parts to the robot or stocker, and therefore it is necessary to replenish parts to the FAC system from the outside in some form. As mentioned above, parts replenishment for the FAC system can be performed automatically by unmanned vehicles and production control computers, or manually. It is not possible to make a definitive decision as to which one to choose; each has its advantages and disadvantages. Possible triggers for external replenishment of parts to the FAC system include: If a new pallet is supplied to the stocker and one of the pallets of that part runs out even though there are pallets of other parts; : When the number of empty pallets loaded on the transport mechanism 76 reaches a level that obstructs the vertical movement of the elevator. Since the occurrence of these conditions will at least immediately lead to the robot being stopped, the pallet buffer must be refilled immediately when the above conditions occur. In addition, the conditions for replenishing the buffer with pallets include: Whenever an empty pallet occurs at the stocker, it must be replenished by an unmanned vehicle. However, this requires frequent reciprocation between the FAC and the warehouse by unmanned personnel, or the complicated replacement of empty pallets manually. The robot detects that the remaining number is zero at step S36 or step S30 of the robot control (FIG. 21A). Therefore, at the same time as this detection,
Have the robot issue a replenishment request to replenish a new pallet. Now, in one aspect, this replenishment request is sent to a central production control computer that directs the unmanned vehicle to replenish the vehicle. Another aspect is a warning light for alerting the operator to the occurrence of empty pallets. The former is automatic replenishment, and the latter is manual replenishment. By the way, replenishing the buffer with a new pallet involves stopping the buffer to add a new pallet to the existing pallet on the buffer stand, and moving the empty pallet loaded on the unloading mechanism 76 to the buffer side. This includes the actions of Therefore, from the viewpoint of efficient operation of the robot, it is important to decide when to prepare for pallet replenishment and when to actually replenish the pallet buffer. *Replenishment using an unmanned vehicle* Replenishment of new pallets using an unmanned vehicle will be explained using FIGS. 28A and 28B. FIG. 28A shows an overview of the pallet supply system including a central production control computer and unmanned vehicles. In step S770, the FAC tells the production control computer during the assembly process.
Send the above-mentioned replenishment request. If there is no replenishment preparation instruction from the production control computer, the step
Proceeding from S772 to step S776, it is checked whether the unloading mechanism 76 of the elevator in the FAC has started to unload empty pallets. If it has not started, return to step S770 and continue assembly. In step S750, the replenishment requests from the robots mentioned above are counted and the requests are recorded. This is because the production control computer grasps the production control plan, so even if there are no parts left in one stocker's pallet, the same parts may still be stored in another pallet on the buffer. This is because the production control computer recognizes and manages this. Therefore, even if a replenishment request is received from a robot, the unmanned vehicle will not immediately respond to the replenishment request. Instead, in step S752, the production control computer examines the tracking record information regarding the pallets loaded on the buffer, and if necessary, issues a departure instruction to the unmanned vehicle in step S754. Note that when a replenishment request is received from the robot in step S750, the unmanned vehicle is not immediately launched, but the unmanned vehicle is loaded with the requested pallet unloaded from the warehouse, and a system is in place so that the unmanned vehicle can be dispatched at any time. Keep it on. Furthermore, each time a pallet is loaded onto an unmanned vehicle, the warehouse provides the unmanned vehicle with information regarding the pallet (FIG. 23A). Other factors for the occurrence of the predetermined condition in step S752 include, for example, when the robot fails to pick up parts, and the parts on the pallet are consumed more than planned, and the parts are consumed earlier than expected by the production control computer. This is the case when empty pallets are loaded on the transport mechanism 76 to the extent that they obstruct the vertical movement of the elevator. Now, when such a predetermined state occurs, in step S754, a departure instruction is issued to the unmanned vehicle, and
In step S755 and step S756, elapsed time is monitored. This fixed period of time means that the unmanned vehicle
This is slightly shorter than the time required to reach FAC. Once this time has elapsed, the step
In S758, the FAC is instructed to start preparing for pallet replenishment. Even if multiple FACs are installed, the production control computer knows in advance how long it will take for unmanned vehicles to travel to these FACs.
So, shortly before the unmanned vehicle arrived at FAC,
This is because if the preparation for replenishment at the FAC is completed, replenishment from the unmanned vehicle can be started immediately upon arrival of the unmanned vehicle. That is, by not making preparations for replenishment within the FAC during this certain period of time, there is an advantage that assembly by the robot can be continued. Meanwhile, the unmanned vehicle receives a departure instruction from the production control computer at step S762 and begins traveling toward the FAC. Further, when the FAC system receives an instruction to start replenishment preparation from the production control computer in step S772, it starts the preparation operation in step S774. Details of this preparatory operation are shown in FIG. 28B. On the other hand, if the FAC system discovers on its own that a replenishment preparation operation is necessary, it will
Step S776 Proceeds to step S778 to start the preparation operation. After completing this preparatory operation, proceed to the step
Waiting for the unmanned vehicle to arrive on S780. This waiting time should be the minimum time for the reasons mentioned above. When the unmanned vehicle arrives, the buffer is actually replenished with pallets from the unmanned vehicle in step S782, and information regarding the newly added pallet is additionally updated in the memory area shown in FIG. 23A in step S784. Replenishment preparation will be explained using FIG. 28B. FIG. 28B shows the part related to pallet replenishment of the control program for the FAC system management microprocessor, the elevator microprocessor that controls the unloading mechanism 76, and the buffer microprocessor. When the control microprocessor receives a replenishment preparation instruction from the production control computer in step S800, it stops the operation of elevators and the like in step S802. In step S804, the buffer is instructed to start raising the buffer platform, and step S806 is performed.
Wait for notification from Batsuhua that the ascent is complete. The buffer that receives this instruction to raise in step S840 raises the buffer stand in step S842. When the buffer stand is raised, if the separated pallets are latched on the pallet separating claw 68 at that time, the latching is released and the separated pallets are combined, and in step S846, the buffer The lowest pallet on the table is latched by the separating claw 68. Even if the buffer table is lowered in step S848 after this latching, the pallet will not be attached to the separating claw 6.
8, and there is no pallet on the buffer stand. Then, in step S850,
The transfer mechanism 76 is notified of the completion of buffer preparation. The transport mechanism 7 that received this notification in step S822
6, in step S824, rotate the roller,
The empty pallet is started to be moved to the buffer side, and a notification thereof is sent to the buffer side in step S826. The person who received this notification should proceed to step S852.
Proceed to step S854 and wait for the unmanned vehicle to arrive.
As mentioned above, the unmanned vehicle should arrive soon. When the unmanned vehicle arrives, the system simultaneously drives each roller to transfer an empty pallet to the unmanned vehicle and to receive a new pallet from the unmanned vehicle. In step S857, the buffer table is raised together with the newly loaded pallet, and is combined with the existing pallet that was hooked on the separating claw 68. In step S858, information regarding the newly added pallet is received from the unmanned vehicle, and in step S860, the memory contents in FIG. 23A are updated. In this way, by preparing to replenish new pallets as much as possible just before the unmanned vehicle arrives,
Stopping time of unmanned vehicles can be kept to a minimum as much as possible. In the above-mentioned two embodiments and various modifications (hereinafter simply referred to as embodiments), the elevator main body 86 and the elevator frame 152, which are provided to be movable up and down, are slidably supported at the four corners. As if
In other words, the description has been made so that it is slidably disposed while being supported from both sides. however,
The present invention is not limited to such a configuration, but may include, for example, a pair of supports that are slidably supported on a pair of columns corresponding to the elevator main body 86 and the elevator frame 152, respectively.
In other words, it goes without saying that it may be configured to be slidably disposed with so-called cantilever support. Further, in the above-described embodiments, a plurality of common parts x are stored in one pallet p, but the present invention is not limited to such a structure, and for example, It goes without saying that one pallet p may be configured to accommodate a plurality of each of a plurality of types of parts x ₁ and x ₂ . Further, in the above-described embodiments, a plurality of pallets p are held in a stacked state on the buffer stand 52 in the buffer 22, but the present invention is not limited to such a configuration. However, it goes without saying that, for example, a plurality of pallets p may be held in an upright position and held side by side in the horizontal direction. In addition, in the above-described embodiments, when separating only one pallet stacked on the buffer table 52 using the separating claw, the separating position is adjusted to absorb manufacturing errors. Although the explanation has been given in which the separation claw is fixed in position and the buffer table 52 is moved up and down, the present invention is not limited to such a configuration; for example, the buffer table 52 is fixed and the separation claw is moved up and down. Needless to say, it is good to have a configuration that moves. Additionally, if multiple pallets containing the same parts are loaded on the buffer, the pallet that was loaded first (or the pallet at a higher level) is separated with priority. Good too. [Effects of the Invention] As explained above, the article supply device of the present invention is capable of supplying new articles to an outside where articles are being processed or assembled according to the progress of the processing or assembly work. and an article supplying device for supplying the storage box containing the article to the outside in a box-by-box unit, and a loading table on which a large number of new storage boxes containing the article are placed in a non-separated stacked state. a moving mechanism for vertically moving the mounting base together with the large number of storage boxes placed thereon; a separation means capable of separating the storage boxes; a supply means arranged to be able to take out some of the separated storage boxes and supplying the taken out part of the storage boxes to the outside; A storage means for storing the stacking position of each of the storage boxes, and a storage box for storing necessary items according to the progress of the external processing or assembly work are included among the plurality of storage boxes on the mounting table. so that the separating means can be separated from the fixing position,
movement control means for controlling the moving mechanism of the mounting base based on the stacking position stored in the storage means so that the target storage box is moved to the fixed position; detection means for detecting the positions of the some of the storage boxes that have been fixed, and a separating operation by the separation means to match the positions of the some of the storage boxes with the fixed positions in response to a signal from the detection means; The apparatus is characterized by comprising a correction movement control means that controls the moving mechanism to move the mounting table so as to correct the position of the mounting table before the operation. According to this article supplying device, even if there is a tolerance in the dimensions of the storage boxes and the storage box to be separated is moved by the movement control means to a position that deviates from the fixed position that is the separation position, the correction movement control means can correct the storage box. As a result of the movement control, the separation always takes place accurately and reliably, and therefore the supply is also reliable. Furthermore, according to the article supply device of item 3, the separation reliability and accuracy are further improved by further checking the separated storage boxes.

[Brief explanation of drawings]

FIG. 1 is a front view schematically showing the overall configuration of an FAC system according to an embodiment of the present invention; FIG. 2 is a perspective view schematically showing the overall configuration of the FAC system shown in FIG. 1; FIG. 3 Fig. 4 is a front view showing the shape of pallets with three different heights; Fig. 5 is a sectional view showing how the pallets are stacked; Fig. 6 are perspective views showing the structure of the buffer; Figures 7A to 7D;
The figures are front views sequentially showing the separation operation of a predetermined pallet p _as in the buffer; Figures 8A to 8E are front views sequentially showing the position correction operation during the separation operation of the buffer; Figure 9 shows the configuration of the elevator. Fig. 10 is a side view showing the elevator main body in the elevator together with the exchange mechanism; Fig. 11 is a partially cut away state of the elevator main body;
A front view showing the configuration of the exchange mechanism; Figure 12 is a perspective view showing the exchange mechanism taken out;
3A to 13G are front views sequentially showing the switching operation in the elevator; FIG. 14 is a perspective view showing the structure of the stocker; FIGS. 15A to 15E
The figure is a diagram explaining that the movement of the stocker changes depending on the process order and the shelf placement order;
FIG. 6 is a diagram showing the configuration of the control unit of the embodiment and the connection relationship between it and a production management computer, etc.; FIGS. 17A to 17C are diagrams showing the input menu to the input device and its display state; Figure 18 shows
Figure 19A is a diagram explaining the teaching of each shelf position of the stocker; Figure 19A is a diagram explaining variables commonly used in each control module; Figure 19B is a diagram explaining the configuration of the cue; Figures 20A and 20B The figure is a diagram explaining the vertical positional relationship of each module operation in the FAC system; Figures 21A and 21B are flowcharts of the robot control program; Figures 22A and 22B are flowcharts of the stocker control program. ;Second
Figure 2C is a diagram explaining how process numbers change in stocker control; Figure 23A is a diagram explaining the configuration of variables used for buffer control;
Figures 23B and 23C are flowcharts of the buffer control program; Figures 24A and 24
Figure B is a flowchart of the elevator control program; Figures 25A to 25G are diagrams that sequentially explain the pallet exchange operation centering on the elevator; Figure 26 is a diagram that explains the stacking of empty pallets on the conveyance mechanism. ; Figure 27 is a flowchart of control for setting the system to the initial operating state;
FIG. 8A and FIG. 28B are flowcharts illustrating a control procedure for replenishing parts to the FAC. In the figure, 10...Flexible assembly center (FAC system), 12...Robot, 14...Parts supply system, 16...Control unit, 18...Input device, 20...Unmanned vehicle, 2
2...Buffer, 24...Stocker, 26...Elevator, d...Transportation direction, unmanned vehicle 20 related 28...Housing, 30...Wheels, 32...Pallet mounting table, 32a...Export roller, 34 ... Empty pallet mounting table, 34a ... Carrying roller, pallet p (p ₁ , p ₂ , p ₃ ...) related 36 ... Pallet body, 38 ... Flange section,
38a...first notch, 38b...second notch, 38c...third notch, 40
... Lid body, x (x ₁ , x ₂ , x ₃ ...) ... Parts, B ...
Barcode, buffer 22 related 42... Base, 44a to 44d... Support, 46
a, 46b... Standing plate, 48... Guide member, 5
0...Sliding member, 52...Buffer stand, 52a...
... Projection piece, 54 ... Carrying-in roller group, 56 ... Roller guide, 58 ... Slit, 60 ... Ball screw, 62 ... Encoder, 64 ... Separation mechanism, 6
6...First separation claw, 68...Second separation claw, 7
0... Support rod, 72... Connection plate, 74... Barcode reader, 76... Carrying out mechanism, 78... Carrying out roller, 80... Sensor, B... Bar code,
C _B1 , C _B2 ... Air cylinder, M _B ... Servo motor, elevator 26 related 82a to 82d ... Support column, 84 ... Connection member,
86... Elevator main body, 88... Guide member,
90...Sliding member, 92...Ball screw, 94...
...Encoder, 96... Swapping mechanism, 98...
Stay, 100... Swinging arm, 100a... Long groove, 102... Guide groove, 104... Guide pin, 106... Slide plate, 108... First hook, 110... First hook slide plate, 11
2... Air cylinder support plate, 114... First
piston, 116... second hook, 118...
...Second hook slide member, 120...Second piston, 122...Fixed slide guide, 12
4...Mounting plate, 126...Third hook, 1
28...Third hook slide member, 130...
Third piston, 132... Guide groove, 134...
...Movable slide guide, 136...Slide member, 138...Air cylinder support plate, 140
. . . Fourth piston, 230 . . . Elevator main body in the empty pallet pull-out position, 232 . . . Elevator main body in the actual pallet push-out position, A;
B...Rotation direction of the servo motor, C _E1 ; C _E2 ;
C _E3 ; C _E4 ...Air cylinder, M _E1 ...Servo motor, M _E2 ...Servo motor, stocker 24 related 142...Base, 144a to 144d...Strut, 146...Connection frame, 148...Guide Element,
150...Sliding member, 152...Elevating frame, 154
...Drawer part, 156...Shelf board, 158...Notch part, 160...Lifting arm, 160a
...Main body, 160b...Top surface, 160c...Protrusion, 162...Protrusion piece, 164...Ball screw, 166...Encoder, 168...Drawer stand, 170...Lid opening mechanism, 172... Insertion/removal mechanism, 174...Support stay, 176...Stopper, 178...Slide guide, 180...Guide member, 182...Sliding member, 184...Support plate, 186...Hook, 188...Drive roller,
190... Idle roller, 192... Endless belt, 194... Connection shaft, 196... Driven roller, 198... Stay, 200... Drive shaft, 2
02... Drive roller, 204... Endless belt, 206... Piston, 208a, 208b...
...Input end, robot 12 related 210... Assembly stage, 212... Frame, 2
14...X-axis robot arm, 216...Y-axis robot arm, 218...robot hand, 22
0...Finger, 222...Finger station, 224...Assembly table, C _S1 , C _S2 ...Air cylinder, M _S1 ...Servo motor, M _S2 ...Servo motor.

Claims (1)

[Scope of Claims] 1. In order to supply new articles to an outside where the article is being processed or assembled according to the progress of the processing or assembly work, a storage box containing the article is used as a storage box. An article supplying device for supplying items to the outside in units, comprising: a loading table on which a large number of new storage boxes containing articles are placed in a non-separated stacked state; a moving mechanism that moves vertically together with a large number of storage boxes; a separation means that is provided at a fixed position and is capable of separating some of the new storage boxes from the large number of new storage boxes on the mounting table; a supply means arranged to be able to take out some of the storage boxes, and supplying the removed part of the storage boxes to the outside; and a memory for storing stacked positions of each of the plurality of storage boxes on the mounting table. and a storage box for storing items required according to the progress of the external processing or assembly work from among the plurality of storage boxes on the mounting table so that the separating means can separate the storage box at the fixed position. , movement control means for controlling the moving mechanism of the mounting base based on the stacking position stored in the storage means so that the target storage box is moved to the fixed position; detection means for detecting the position of the moved part of the storage boxes; and separation by the separation means to match the position of the part of the storage boxes with the fixed position in response to a signal from the detection means. An article supplying apparatus comprising: a correction movement control means for controlling the moving mechanism to move the placing table so as to correct the position of the placing table before operation. 2. The detection means includes a sensor that is provided near the fixed position and detects an end of the storage box, and the correction movement control means detects the sensor when the target storage box comes near the fixed position. When the sensor detects the edge of the storage box, lower the mounting base until it no longer detects the edge, and when the sensor does not detect the edge of the storage box, lower the mounting base until it detects the edge. 2. The article supplying apparatus according to claim 1, wherein the moving mechanism is controlled to raise the placing table. 3. A location provided near the fixed position for reading an identification code attached to an end of the storage box that identifies the storage box after the correction movement control means finishes controlling the correction movement operation. By further comprising a reading means and a comparison means for comparing the read identification code and the identification code of the storage box to be separated, it is possible to confirm that the separated storage box is the intended storage box. An article supply device according to claim 1, characterized in that: