JP2547899B2 - Automatic device control method and control device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method and a control device for controlling an automatic device such as an assembly robot device, and in particular, the automatic processing by the device is composed of a plurality of steps, and The present invention relates to improvement of facilitation of control program creation in the case where at most one article (for example, part) used in the process corresponds.

[0002]

2. Description of the Related Art In conventional assembly control and component supply control in a robot apparatus, so-called sequencer control is generally used for program control. This sequence control program is written in the ladder program format.

This ladder program is a program consisting of ladder elements in which conditions for driving individual actuators and solenoids used in the apparatus are expressed by logical expressions such as sensor output signals. Each ladder element is composed of an interlock condition and an actuator output. When one actuator is driven, the sensor output that confirms the driving of that actuator satisfies the driving condition of the next actuator, so that the next actuator is driven. In this way, the sequence operation is controlled.

[0004]

Although the sequence control by such a ladder program is a production control method suitable for a production line occupying a large area, it is inconvenient to see the whole, and therefore the control program and the production management are performed. It is said that it is difficult to create a program.

The reason for this difficulty is that in large production lines, each unit process uses different parts, and these parts are supplied from different supply lines, making each process completely unique and unique. , Because it is difficult to structure the program block.

On the other hand, in contrast to the "line system" using a large-scale production line, one assembly device is made up of a plurality of parts.
A so-called "non-line method" for assembling two finished products has also been proposed recently.

When the control program of the non-line type assembling apparatus is described by using the above-mentioned ladder program, it is necessary to first decide in what order the parts are to be assembled. Then, when the order is determined, in each assembly process, it is determined from where to supply the necessary parts in the process, which finger grips the next supplied part, and the gripped part Determine how the fingers behave and assemble.

Once such a ladder program is created, the determined component supply sequence in this ladder program is reflected in the finger replacement order and the hand operation order. Therefore, the component supply sequence ( That is, when the process is changed, it is necessary to change all the finger exchange order and the hand operation order in accordance with the change of the process. In other words, the conventional program control method requires a lot of labor for change and is not suitable for the "non-line type" assembly apparatus.

Therefore, the present invention has been made in view of the above problems of the prior art, and an object thereof is to control an automatic device in which a specific article corresponds to a process and the entire process is executed in the process order. The present invention proposes a control method and control device for an automatic device, which is easy to create and maintain a control program.

[0010]

The control method for controlling an automatic device for executing an automatic process comprising a plurality of steps of the present invention for solving the above-mentioned problems and achieving an object is provided by A variable value representing the process order is assigned to each of the processes, and the correspondence between the plurality of processes and the article used in each process is stored as a data array representing the correspondence between the process variable and the information of the article, and Any one of multiple steps
It is characterized in that information regarding an article required in one process is extracted from the data array using the process variable as an argument, and based on the extracted information, the process is controlled by associating the arbitrary one process with the product. .

According to the control method of such a configuration, one step is associated with at most one article used in the step. Then, each item is uniquely specified by a number indicating the process in which the item is used. Therefore, the uniqueness of each individual item is reduced to the process number. When such an article representation method is used, the control portion depending on the uniqueness of each article does not appear explicitly in the representation of the program, and the entire program is refreshed and has a good visibility. Further, the change of the process only changes the argument indicating the article related to the process related to the change. That is, it becomes easy to change the process.

Further, in the structure of the control device of the automatic apparatus according to the present invention, in order to assemble one work from a plurality of parts, an assembly robot means for performing this assembly operation and parts for the assembly robot means. Is a control device for controlling an automatic assembling device comprising a supply means for accommodating a plurality of parts for supplying each of the plurality of parts, the control device comprising a plurality of steps constituting an operation for assembling the work, respectively. The assembly robot means stores the correspondence between the parts used in the process and the storage position in the supply means as a data array with the process variable representing the process as an argument. When requesting the necessary parts in the order of the processes, the process variables are passed to the supply means, and the supply means stores the process variables passed from the assembly robot means as arguments. By searching stage, it detects the component storage position, and supplying a part of the detected position to the assembly robot means.

According to the control device having such a configuration, one process is associated with at most one article used in the process. Each item is uniquely specified by a number indicating the process in which the item is used and a place where the item is stored (this place itself is also expressed by the process number). Therefore, the uniqueness of each individual item is reduced to the process number. When such an article representation method is used, the control portion depending on the uniqueness of each article does not appear explicitly in the representation of the program, and the entire program is refreshed and has a good visibility. Further, the change of the process or the change of the storage place of the article only changes the argument representing the article related to the process related to the change. That is, it becomes easy to change the process and the storage location.

According to a preferred aspect of the present invention, not only is an article specified by a process variable, but if the article is a part for assembling a part, a finger that grips the part, a part of the part An operation program of a hand that makes a movement unique to assembly is also expressed by a process variable.

According to a preferred aspect of the present invention, the steps:
The article (part), the storage position of the article (part), and the like are displayed on the display unit and can be input.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The structure of an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

<< Schematic Configuration >> First, an outline of a flexible assembly center (hereinafter referred to as FAC) 10 of this embodiment will be described with reference to FIGS. 1 and 2.

The FAC 10 includes a plurality of parts x ₁ , x
₂ , x ₃ ... An automatic assembling device (hereinafter, simply referred to as a robot) 12 for automatically assembling a predetermined product, and a part x which is roughly required in the assembly order in the robot 12.
₁ , x ₂ , x _3, ... are automatically supplied to the parts supply system 14, and the robot 12 and the parts supply system 14 are connected to each other to drive and control them so that the assembly operation in the robot 12 can be efficiently executed. A control unit 16 for operating the control unit 16 and an input / output device 18 that is connected to the control unit 16 and receives assembly information data by an operator.

The parts supply system 14 includes various parts x ₁ , x ₂ , x stored in an automated warehouse (not shown).
₃ are received via a plurality of unmanned vehicles 20 (shown in FIG. 1). That is, the parts supply system 14 is configured such that the parts x ₁ , x ₂ , x
It is provided adjacent to the buffer 22 as a temporary storage means for receiving ₃ ...
A stocker 24 as a storage means for sequentially supplying the parts required for assembly to the robot 12 in accordance with the assembling order, and a part x which is disposed between the buffer 22 and the stocker 24 and is in a shortage state in the stocker 24. ₁ , x ₂ , x ₃
Basically, an elevator 26 is provided as one mode of transfer means for transferring the ... From the buffer 22 to the stocker 24.

<< Explanation of Unmanned Vehicle >> This unmanned vehicle 20 includes a large number of parts x stored in an unmanned warehouse.
₁ from, x _2, x ₃ ... Among, are provided for transporting the components _{x 1, x 2, x 3} ... to be subjected to the assembly in the robot 12 to selectively buffer 22. That is, each unmanned vehicle 20, as schematically shown in FIG. 1, has a casing 28 formed in a rectangular parallelepiped shape from a frame body, wheels 30 attached to the lower surface of the casing 28, and the casing 28. And a pallet mounting table 32 attached to the upper surface. This wheel 30
Are configured to be rotationally driven by a drive mechanism (not shown).

Further, each unmanned vehicle 20 travels between the unmanned warehouse and the buffer 22 along a traveling path previously provided on the road surface by driving wheels 30, and this traveling The state is optimally controlled by the production management computer described later. Further, the selection of the components x ₁ , x ₂ , x ₃ ... Which are conveyed to the buffer 22 and the placement operation on each unmanned vehicle 20 are also optimally controlled by the control unit 16 described above.

Further, in the state on the pallet table 32 as described above, the pallet p ₁ to be described later, p _2, p ₃ ... is the component x ₁ therein, x _2, x ₃ ... and respectively accommodating a plurality checkmate Has been raised. On the other hand, an empty pallet mounting table 34 is provided on the lower surface of the housing so that a plurality of emptied pallets p ₁ ′, p ₂ ′, p ₃ ′ can be mounted in a stacked state. There is. In the following description, when representing a pallet as a representative, it is simply represented by "p" without a subscript, and when representing an empty pallet as a representative, it is simply represented without a subscript. It is represented by "p '". Here, on the pallet mounting table 32, the parts x ₁ and x mounted on the pallet mounting table 32 are placed.
To carry-out _2, x ₃ ... pallet p ₁ of the incoming, p _2, p ₃ ... a carry-out roller 32a. Also,
The empty pallet mounting table 34 is provided with a carry-in roller 34a for carrying in the empty pallets p ₁ ′, p ₂ ′, p ₃ ′, ... These carry-out rollers 32
The carry-in roller 34a is configured to be rotationally driven by a drive motor (not shown).

<< Explanation of pallet >> Structure of pallet Here, the parts x ₁ , x ₂ , x ₃ ... Are housed in the corresponding pallets p ₁ , p ₂ , p _{3 ,} . ₁ p ₂ , p ₃ ... In the state of being housed respectively, they are placed on the unmanned vehicle 20, once housed in the buffer 22, housed in the stocker 24 via the elevator 26, and then provided to the robot 12. Is configured. That is, each of the pallets p ₁ , p ₂ , p ₃ ... contains the same type of components x ₁ , x ₂ , x _3, ... respectively, and as shown in FIG. x ₁ , x ₂ , x
₃ ... is housed so that it can be inserted and removed along the vertical direction, and the pallet body 36 having an open upper surface, and the pallet body 3
At least both side edges of the pallets p ₁ , p ₂ , p _3, ... Of 6 along the transport direction d are integrally provided with outwardly projecting flange portions 38. As is clear from the illustrated shape, the flange portion 38 is actually formed over the entire circumference of the pallet body 36. A lid 40 is placed on each pallet body 36 so as to openably close the upper surface of the pallet body 36.

As shown in the drawing, each flange portion 38 has
The first and second cutouts 3 are located at both ends.
Third cutout portions 38c are formed in a state in which 8a and 38b are also positioned in the center. Here, the first and second notches 38a and 38b on both sides are used to take out the pallets p ₁ , p ₂ , p ₃ ... From the buffer 22 to the elevator 26 and to the stocker 24, as will be described later.
Is provided for removing / retracting from the robot 12 or the elevator 26. On the other hand, the third notch 38c at the center lifts the lid 40 upward, and the stocker 2
A lifting body, which will be described later, is provided so that the pallet body 36 housed in 4 can be taken out to the side of the robot 12 with the upper surfaces thereof open.

The first and second notches 38 are provided.
Each of a and 38b is composed of a recess formed in a substantially isosceles trapezoidal shape in plan view, and the shorter bottom side defines the bottom of the recess.

That is, the lid 40 is the final stage in which the robot 12 handles the parts x ₁ , x ₂ , x ₃ ...
In other words, the pallets p ₁ , p ₂ , p ₃ ...
4 are covered so as to cover the upper surface openings of the corresponding pallets p ₁ , p ₂ , p _3, ... Until they are moved to the pull-out standby position described later, and the parts x ₁ , x ₂ , x ₃ ... It is prevented from being soiled by dust or the like.

The size of the pallet As shown in FIG. 4, these pallets p ₁ , p ₂ , p _3, ... Have thicknesses of 25 mm, 50 mm, depending on the size of the parts accommodated therein. There are 3 types of 100mm. Here, in the following description, for simplification, the component x ₁ has a maximum number of 54 in the pallet p ₁ having a thickness of 25 mm, and the component x ₂ has a thickness of 50.
the palette p ₂ having a mm in the state set a maximum number of 38 pieces, also parts x ₃ is in a state of being set to 13 the maximum number in palette p ₃ having a thickness of 100 mm, are respectively accommodated It is assumed that

Further, in each of the pallets p ₁ , p ₂ , p _3, ..., The thickness of the flange portion 38 is set to a common 12 mm. It should be noted that, as shown in FIG. 5, the lower portions of the pallet bodies 36 (shown by broken lines in the figure) that are stacked immediately above are fitted to the inner peripheral edge of each pallet body 36 so as to be positioned laterally to each other. A recess 36a for preventing the displacement is formed over the entire circumference. Here, the depth of the recess 36a is set to 7 mm. Thus, for example, in the state where the three types of pallets p ₁ , p ₂ , p ₃ are stacked one by one, the height of the stacked body is set to 25 + 50 + 100-7 × 2 = 161 mm. Become.

[0029] Incidentally, the side surface of each pallet p _1, p _2, p ₃ ... flange portion 38, as shown in FIG. 3, pallet p ₁ each, p _2, p ₃ ... it is received in Parts x
A bar code B indicating the information on the type and number of ₁ , x ₂ , x _3, ... And the height information of the pallet is drawn.

<< Explanation of Buffer >> Next, the pallet p containing the parts x ₁ , x ₂ , x ₃ ... From the pallet mounting table 32 of the unmanned vehicle 20 constructed as described above.
Referring to FIG. 6, a buffer 22 for receiving ₁ , ₁ , p ₂ , p _3, ... And storing it and sending empty pallets p ₁ ′, p ₂ ′, p ₃ ′ to the unmanned vehicle 20 is shown. explain.

Structure of Buffer Base The buffer 22 is composed of a base 42 fixed on a base (not shown) and columns 4 standing at four corners of the base 42.
4a, 44b, 44c, 44d and pallets p ₁ , p
_2, p ₃ ... a pair of posts 44a along the conveying direction d of 44
b; 44c and 44d, and standing plates 46a and 46b which are hung from the respective inner surfaces of the 44c and 44d in a standing state. The guide members 48 are fixed along the respective standing side edges of the surfaces of the standing plates 46a and 46b facing each other. A sliding member 50 is attached to each guide member 48 so as to be vertically movable along the guide member 48. The buffer table 52 is attached to the four sliding members 50 with the four corners supported respectively.

This buffer table 52 is used for the unmanned vehicle 2 described above.
Pallet p ₁ containing parts x ₁ , x ₂ , x ₃ ...
p ₂ , p _3, ... Are placed, and the parts x ₁ , x ₂ , x _3, ..., Which are placed here, are placed on the buffer table 52.
A carry-in roller group 54 for receiving the entered pallets p ₁ , p ₂ , p ₃ ... From the unmanned vehicle 20 has roller guides 56 at both ends.
It is disposed so as to be rotatably supported by. These carry-in rollers 54 are driven by a drive motor (not shown).
It is configured to be rotationally driven.

On the other hand, the standing plate 4 on the opposite side in FIG.
A slit 58 is formed in a portion of 6b sandwiched by both guide members 48 in a state of extending in the vertical direction.
A projecting piece 52a is integrally formed on the buffer base 52 in a state of projecting into the slit 58.

Here, the buffer table 52 has one remaining component x in the stocker 24, as will be described later, from the pallet groups p ₁ , p ₂ , p ₃ ... Mounted on the buffer table 52. It is configured to be movable up and down in order to replenish the replaced pallet p, to replace it, and to separate a predetermined pallet p.

That is, between the upper ends of the pair of columns 44c and 44d to which the upright pieces 46b on the opposite side are attached, the servo motor M _B for moving the above-mentioned buffer base 52 up and down along the guide member 48 is provided. It is arranged. The servo motor M _B has a rotary shaft extending in the vertical direction. The rotary shaft is rotatably arranged between the columns 44c and 44d and extends in the vertical direction. Screw 6
It is connected so as to drive 0 for rotation. On the other hand, the middle part of the ball screw 60 is screwed into the above-mentioned protruding piece 52a. In this way, the ball screw 60 is rotationally driven by the rotation of the rotary shaft of the servo motor M _B , and thus the buffer base 52 is moved up and down.

An encoder 62 for detecting the rotational position of the servo motor M _B, that is, the height position of the buffer table 52 is attached to the servo motor M _B. Configuration of Separation Mechanism With the above configuration, the buffer table 52 can be moved up and down to an arbitrary height position. As described above, the pallet groups p ₁ and p ₂ placed on the buffer table 52 are movable. , P ₃ …
The buffer 22 is provided with a separating mechanism 64 in order to separate a specific pallet p from among them.

The separating mechanism 64 includes the standing plates 46a, 4a.
A pair of first separating claws 66 provided on the upper end of 6b and a pair of second separating claws 68 arranged below the first separating claws 66 by a predetermined distance are provided. In addition, the first and second separation claws 6 on both the standing plates 46a and 46b.
6, 68 are set at the same height position.

Here, each of the first and second separation claws 6
6, 68 are provided on both sides of the flange portion 38 of the pallet group p ₁ , p ₂ , p ₃ ... Stacked on the buffer table 52. In other words, the first and second separation claws 6 provided on the upright plates 46a and 46b.
Reference numerals 6 and 68 denote a projecting position at which the flange portions 38 of the pallet groups p ₁ , p ₂ , p ₃ ... Stacked on the buffer table 52 are hooked from below, and a retracted position spaced from these flange portions 38. It is provided so that it can reciprocate between.

That is, each pair of the first separating claws 66 is integrally provided with a supporting rod 70 that projects from the corresponding upright plates 46a and 46b and reaches the back surface. Both support rods 70 are integrally connected via a connecting plate 72 on the back surfaces of the standing plates 46a and 46b, as shown in the figure. A first air cylinder C _B1 for reciprocally driving the first separating claw 66 is connected to the connecting plate 72. In this way, the first separation claw 66 is reciprocally driven between the projecting position and the retracted position in response to the driving of the first air cylinder C _B1 .

On the other hand, with respect to the second separation claw 68, _except that a second air cylinder C _B2 is provided as a drive source,
Since the configuration is the same as that for driving the first separation claw 66, its description is omitted.

The distance between the first separating claw 66 and the second separating claw 68 described above is slightly longer than 100 mm which is the maximum height among the pallets p ₁ , p ₂ and p _3. 110 mm
Is set to

Further, a bar code reader 74 for reading the bar code B drawn on the pallet p is provided on the side of the pallet p which is hooked on the first separating claw 66 described above. Has been done. This barcode reader 74
Has a well-known configuration, and the description thereof will be omitted.

The elevator 26 is mounted on the base 42.
The carry-out mechanism 76 is provided in a state where the carry-out mechanism 76 is extended to a lower position (that is, a position adjacent to the stocker 24). The carry-out mechanism 76 removes the pallets p ₁ ′, p ₂ ′, p ₃ ′, ...
It is provided to carry out to the empty pallet mounting table 34, and is composed of a plurality of carry-out rollers 78. These carry-out rollers 78 are configured to be rotationally driven by a drive motor (not shown).

The height position of the carry-out mechanism 76 is set to be at the same height position as the empty pallet mounting table 34 of the unmanned vehicle 20, and the standby position of the buffer table 52 is set at the unmanned vehicle. It is set to the same height position as the pallet mounting table 32 of 20. << Operation of Buffer >> Basic Separation Operation In the configuration of the buffer 22 provided with the separating mechanism 64 as described above, the pallet group p mounted on the buffer table 52 is placed.
An operation for separating _a predetermined pallet Pa from ₁ , p ₂ , p _3, ... Based on a request from a robot 12 described later will be described with reference to FIGS. 7A to 7DB.

First, as shown in FIG. 7A, a total of 12 pallets are placed on the buffer table 52 from the bottom, p ₁ and p.
₂ , p ₃ , p ₁ , p ₂ , p ₃ , p ₁ , p ₂ , p ₃ , p
It is assumed that they are placed in the order of ₁ , p ₂ , and p ₃ . It should be noted that the pallet groups p ₁ , p ₂ , p _3, ... With a height of 800 mm are set to be mounted on the buffer table 52. In the above-mentioned case, the twelve pallet groups are It will have a height of (25 + 50 + 100) * 4-7 * 100 = 623 mm and 623 mm. In such a state, when the robot 12 is requested to separate the pallet p ₁ in which the component x ₁ is housed, first, the plurality of pallets p ₁ mounted on the buffer table 52 are placed. From the inside, by applying the principle of first-in, first-out,
An instruction will be sent to separate the pallet p ₁ located at the third position from the top. In the following explanation,
The third pallet p ₁ from the top is given the reference sign p _a, and the pallet located immediately above it, that is, the second pallet from the top, is given the reference sign p _b .

As described above, when _a request is issued to separate the pallet p _a from the robot 12, first,
As shown in FIG. 7B, the pallet p _b placed immediately above the separated pallet p _a is moved to the position where it is locked by the first separating claw 66, as shown in FIG. 7B. _B is rotationally driven to move (in this case, lower) the buffer table 52. The first and second separation claws 66, 68 are both moved to the retracted position in the initial state.

In the state shown in FIG. 7B, the first air cylinder c _{B 1} is activated to urge the first separating claw 66 from the retracted position to the hooked position and push it out. As a result, the flange portion 38 of the pallet p _b is ready to be hooked on the first separating claw 66 from below.

Thereafter, as shown in FIG. 7C, the servo motor M _B is moved from the state shown in FIG. 7B to the buffer table 52.
Is rotationally driven so as to be lowered by 94 mm. As a result,
The pallet p _a is brought to a position where it is hooked on the second separating claw 68, and the pallet p _b is moved to the first position.
It will be hooked on the separation claw 66. That is, the pallet located above the pallet p _b is locked by the first separating claw 66.

In the state shown in FIG. 7C, the second air cylinder c _B2 is activated to urge the second separating claw 68 from the retracted position to the hooked position and push it out. As a result, the flange portion 38 of the pallet p _a can be hooked on the second separating claw 68 from below.

Thereafter, as shown in FIG. 7D, the servo motor M _B is moved from the state shown in FIG. 7C to the buffer table 52.
Is driven to rotate so that is lowered by 15 mm. As a result,
Only pallet p _a is hooked to the second separating claw 68, a pallet located below the pallet p _a will be brought into a position which is spaced from the pallet p _a.
In this way, in the state only pallet p _a is separated from the other pallet, a second separation claw 68 hooked position (hereinafter, simply referred to as a separating position.) In, alone removable It will be set to a different state.

The pallet p _a thus separated is
However, after being taken out by the elevator 24, which will be described later, next, all the pallets should be returned to the initial state mounted on the buffer table 52 so that any pallet may be separated. become.

That is, in this return operation, first, the second
Contrary to the previous time, the air cylinder C _B2 of the second separation claw 6
8 is pulled from the hooked position to the retracted position. Thereafter, the servo motor M _B is rotationally driven to move the buffer table 52 to 134 mm (that is, a value obtained by adding 25 mm, which is the stroke of the buffer table 52 lowered, to the stroke 94 + 15 = 109 mm, which is the thickness of the taken-out pallet p _a ). .) Only. As a result of this rise, the uppermost pallet in the pallet group on the buffer table 52 is moved to the first separating claw 6
The pallet p _b hooked on 6 is placed on top and brought up.

In this state, the first air cylinder C _B1 operates to retract the first separating claw 66 from the hooking position to the retracting position, contrary to the previous operation. As a result, the pallet group above the pallet p _b hooked on the first separating claw 66 is placed above the pallet group already placed on the buffer table 52, and the entire pallet group is placed. Will eventually be placed on the buffer table 52. Then, at this position, the robot enters the standby state and waits for the next separation instruction from the robot 12. Positioning operation of the pallet in the separating operation The operation of the buffer 22 described in detail above is a basic operation and does not take into consideration the manufacturing error of each pallet. That is, each pallet is allowed a manufacturing error of ± 0.3 mm. Therefore, if this manufacturing error is accumulated in a state where a large number of pallets are stacked on the buffer table 52, the movement of the pallet P _b to the hooking position by the first separating claw 66 in the above-described basic operation is performed. In some cases, an error may occur and the pallet p _b may not be accurately moved to the hooking position by the first separating claw 66.

In detail, assuming the worst case, all the mounted pallets are the pallets p ₁ having the minimum thickness of 25 mm, and the maximum mounting height is 8 as described above.
Since it is 00 mm, the maximum cumulative error amount is 800 ÷ (25-7) × 0.3 = 13.3 mm. When the height position changes by the maximum accumulated error amount, the servo motor M _B moves the predetermined pallet p _b to the hooking position of the first separating claw 66 according to the basic operation described above. As described above, even if the rotary drive is performed, in some cases, due to the above-mentioned error, it may not be possible to be positioned at the hook position.

Therefore, in this embodiment, the sixth
As shown in the figure, a sensor 80 is provided adjacent to the side surface of the pallet body 36 actually (calculated) brought to the hooking position by the first separating claw 66. The sensor 80 is composed of a well-known reflection type photocoupler, and although its detailed description is omitted, it is composed of a pair of a light emitting element and a light receiving element, and the flange portion 3 of the pallet.
When it is adjacent to the peripheral surface of No. 8, it is turned on by receiving the light from the light emitting element, and when it is adjacent to the side surface of the pallet body 36, it cannot receive the light from the light emitting element and is turned off. ing.

The arrangement position of the sensor 80 will be described in detail with reference to FIG. 8A when the upper end surface of the flange portion 38 of the pallet p _a is detected.
_The pallet p _b placed on a is the first separating claw 6
It is set so as to be brought to the hooked position by 6.

In the state where the sensor 80 as described above is provided, in consideration of the above-mentioned manufacturing error of the pallet,
The content of movement control of the pallet p _b to the hooking position by the first separating claw 66 will be described with reference to FIGS. 8A to 8E.

Here, in the range where the side surface of the pallet body 36 appears, as shown in FIG. 8A, in the case of the pallet p ₁ having a height of 25 mm, the thickness of the flange portion 38 is 12 mm, and Recess 36 for fitting the pallet book 36 located
Considering 7 mm which is a fitting margin to a, it becomes 25-12-7 = 6 mm. Therefore, considering the accumulation of the above-mentioned maximum manufacturing error, the relative relationship between the positions of the pallets p _a and p _b calculated by the servo motor M _B and the sensor 80 is shown in FIGS. 8B and 8C. As shown in the drawings and FIG. 8D, three modes are possible.

[0059] That is, as shown in Figure 8B, (in other words, a pallet p _a to be hooked onto the second separating claw 68) palette p _a to be separated peripheral surface of the flange portion 38 of the sensor 80 and a second mode in which the peripheral surface of the flange portion 38 of the pallet p _b to be hooked by the first separating claw 66 faces the sensor 80, as shown in FIG. 8C. Then, as shown in FIG. 8D, the first separating claw 6
There occurs a third mode in which the side surface of the pallet body 36 of the pallet p _b to be hooked on 6 faces the sensor 80.

The sensor 80 is turned on when the peripheral surface of the flange portion 38 of the pallet is adjacent to the sensor 80. In this turned-on state, the first mode shown in FIG. 8B and the eighth mode. A second mode shown in the figure can be considered. Therefore, as shown in FIG. 8E, the buffer table 52 is lowered until the sensor 80 detects the upper end surface of the flange portion 38, in other words, the sensor 80 is turned off.

Then, when the sensor 80 is turned off in this way, the bar code B drawn on the pallet whose upper end surface is detected is read through the bar code reader 74. As a result, when it is determined from the read bar code B that this pallet is the pallet p _a to be separated, as described above, the pallet p placed on the pallet p _a to be separated is set. _{Since b} has been brought to the hooking position of the first separating claw 66, the first air cylinder C _B1 is activated according to the basic operation described above, and the first separating claw 66 is moved. It will be pushed out to the hanging position.

On the other hand, when the bar code B drawn on the pallet whose upper end surface is detected is read and it is determined that this pallet is not the pallet p _a to be separated, this bar code B is selected. The read pallet is
Since it is automatically determined to be the pallet p _b immediately above the pallet p _a , the servo motor M _b is rotationally driven so that the buffer table 52 is moved up by the height of the pallet p _b. To be done. In this way, the sensor 80
Will detect the upper end surface of the flange portion 38 again as shown in FIG. 8E, and the pallet having the flange portion 38 whose upper end surface is detected should be the pallet p _a to be separated. Therefore, after confirming this through the bar code reader 74, the first air cylinder C _B1 is activated and the first separating claw 66 is pushed out to the latching position according to the basic operation described above. Will be done.

When it is determined that the pallet p _a to be separated is not found as a result of reading the bar code B of the pallet that has been lifted and detected, a clear control error, or
Since a pallet different from the requested pallet is conveyed by the unmanned vehicle 20 from the unmanned warehouse, the control operation is stopped at that point and a predetermined warning operation is started.

Further, the sensor 80 is turned off when the side surface of the pallet body 36 is adjacent to the sensor 80, that is, when the pallet is moved according to the calculated value. Only the third aspect shown in the figure will be considered. Therefore, the buffer table 52 is raised until the sensor 80 detects the upper end surface of the flange portion 38, in other words, the sensor 80 is turned on, as shown in FIG. 8E.

When the sensor 80 is thus turned on, the bar code B drawn on the pallet whose upper end surface is detected is read through the bar code reader 74. As a result, when it is confirmed from the read bar code B that this pallet is the pallet p _a to be separated, as described above, the pallet p placed on the pallet p _a to be separated is set. _{Since b} has been brought to the hooking position of the first separating claw 66, the first air cylinder C _B1 is activated according to the basic operation described above, and the first and the separating claw 66 are separated from each other. It will be pushed out to the hanging position.

By executing the position correcting operation of the pallet described above in detail, even if a manufacturing error occurs in the pallet, the pallet is placed above the separated pallet p _a regardless of the manufacturing error. The state that the pallet p _b being held is securely hooked by the first separating claw 66 is achieved.

<< Explanation of Elevator >> Next, the elevator 22 is provided between the buffer 22 and the stocker 24.
The construction of the elevator 26 for replacing the emptied pallet p'in the stocker 24 with the pallet p in which the component x is fully stored will be described with reference to FIGS. 9 to 13G. Configuration of Elevator Main Body As shown in FIG. 9, the elevator 26 is fixed on a base 142 common to the stocker 24, which will be described later. On the buffer 22 side of the base 142, , A pair of struts 82a, 82b in a state of standing adjacent to the struts 44a, 44c of the robot 22 on the robot 12 side and a pair of struts standing upright at a predetermined distance from the robot 12 side. 82c, 82d
Is equipped with. These four columns 82a, 82b,
The upper ends of 82c and 82d are connected to each other by a connecting member 84. In this way, the basic frame of the elevator 26 is constructed. Incidentally, this connecting member 84 also
It is configured in common with a stocker 24 described later.

Here, a pair of columns 82 along the transport direction d.
An elevator main body 86 is vertically movable between a; 82c and the pair of columns 82b; 82d.

This elevator body 86 is equipped with a pallet p.
It is composed of a box body in which a pair of surfaces of ₁ , ₁ , ₂ , _3, ... This elevator main body 86 requests from the robot 12 (request issued when the remaining number of parts in a predetermined pallet reaches "1").
Pallet p _a separated at the separation position based on
Is received from the buffer 22 and held in the elevator main body 86, and then the request from the stocker 24 (when the above-mentioned remaining one component is used for assembly and there is no component). depending on the requirements) which issued, so that transferring the retained pallet p _a in Sutotsuka 24 is configured. Here, the pallets p ₁ , p ₂ , p
₃ ... Pairs of columns 82a, 82c along the transport direction d; 8
Guide members 88 are fixed to the surfaces of 2b and 82d that face each other in the vertical direction. And
A pair of sliding members 90 are attached to each of the guide members 88 so as to be vertically movable along the guide members 88 and spaced apart from each other in the vertical direction by a predetermined distance. Here, the upper four corners are supported by the four sliding members 90 in the upper horizontal plane, and the lower four corners are supported by the four sliding members 90 in the lower horizontal plane. The above-mentioned elevator main body 86 is attached in a supported state.

On the other hand, a space defined by the pair of columns 82b and 82d on the opposite side in FIG. 9 has a space extending in the vertical direction. A projecting piece (not shown) is integrally formed with the elevator body 86 described above in a state of projecting into the space.

Further, a pair of support columns 82b and 82d on the opposite side.
In the portion of the connecting member 84 that connects the upper ends of the
A servo motor M _E1 for moving the above elevator main body 86 up and down along the guide member 88 is provided. The servomotor _E1 is provided with a rotary shaft extending in the up-down direction, and the rotary shaft is composed of both columns 82b and 8b.
It is rotatably arranged between 2d and is connected so as to rotationally drive the ball screw 92 extending along the vertical direction. On the other hand, the middle part of the ball screw 92 is screwed into the above-mentioned protruding piece. In this way, the servomotor M
The rotation of the rotary shaft of _E1 drives the ball screw 92 to rotate, which in turn causes the elevator body 86 to move up and down.

An encoder 94 for detecting the rotational position of the servomotor M _E1, that is, the height position of the elevator main body 86 is attached to the servomotor M _E1 . With the above configuration, the elevator main body 86 can move up and down to an arbitrary height position.

Construction of Replacement Mechanism Elevator body 8 which is vertically movable as described above
In order to take in the pallet p _a full of the separated parts from the buffer 22 into the pallet 6, push the pallet _a into the stocker 24 and pull the empty pallet p ′ from the stocker 24. The replacement mechanism 96 is provided.

The exchange mechanism 96 is provided with a servomotor M _E2 as a drive source fixed on the upper surface of the elevator body 86 via a stay 98. One end of an oscillating arm 100 is fixed to the drive shaft of the servo motor M _E2 , and the oscillating arm 100 is oscillated according to the rotation of the drive shaft. A long groove 100a is formed in the middle of the swing arm 100 along the longitudinal axis thereof. In addition, the swing arm 10 of the long groove 100a
A guide groove 102 is formed on the upper surface portion of the elevator main body 86 in the range in which 0 oscillates along the transport direction d described above. The guide groove 102 is formed over substantially the entire length of the elevator book 86 in the transport direction d.

Here, the long groove 100a and the guide groove 1
The guide pin 104 is provided in a state of being inserted along the up-down direction in common with No. 02. This guide pin 104
Has a large diameter, and these grooves 100a,
It is prevented from falling out of 102. With such a configuration, when the servo motor M _E2 is reciprocally rotated, the swing arm 100 is swing-driven, and accordingly,
The guide pin 104 is along the guide groove 104, that is,
It is reciprocally driven along the transport direction d.

Further, as shown in FIGS. 10 to 12, a slide plate 106 is fixed to the lower end of the guide pin 104 while being positioned inside the elevator main body 86. The slide plate 106 is attached to the guide pin 104 so as to extend along a direction orthogonal to the transport direction d. At both ends of the side surface of the slide plate 106 on the buffer 22 side, a first hook 108 is provided along a longitudinal axis direction of the slide plate 106 via a first hook slide member 110, in other words, a conveyance direction. It is attached so that it can slide along a direction orthogonal to d. The pair of first hooks 108 are used for the above-mentioned pallets p.
_{The first} notch portion 38a on the elevator 26 side formed in the flange portion 38 of ₁ , p ₂ , p ₃ ... Is formed in a shape that can be engaged from both sides. That is, the tip portion of the first hook 108 is formed in an isosceles trapezoidal shape that complementarily matches the isosceles trapezoidal shape that is the cutout shape.

On the other hand, air cylinder support plates 112 are fixed to both ends of the slide plate 106 in a state of extending along the carrying direction d. At the end of the air cylinder support plate 112 on the buffer 22 side, the first hook 10 is attached.
A first air cylinder C _E1 for reciprocating 8 is attached. The above-described first hook 108 is connected to the tip of the first piston 114 of the first air cylinder C _E1 . In this manner, the first hook 108 is reciprocally driven to be engaged with and disengaged from the first cutout portion 38a of the flange portion 38 in response to the driving of the first air cylinder C _E1 .

In addition, the stocker 2 of this slide plate 106
A second hook 116 is provided at both ends of the side surface on the fourth side through the second hook slide member 118, and the slide plate 106.
Is attached so as to be slidable along the longitudinal axis direction, in other words, along the direction orthogonal to the transport direction d.
The pair of second hooks 116 are engageable from both sides with the second notch portion 38b on the unmanned vehicle 20 side formed on the flange portion 38 of each of the above-mentioned pallets p ₁ , p ₂ , p ₃ . It is formed in various shapes.

On the other hand, the air cylinder C _E2 of the dar 2 for reciprocally driving the second hook 116 is attached to the stocker 24 side end of the air cylinder support plate 112 fixed to both ends of the slide plate 106. There is. This second
The second hook 116 described above is connected to the tip of the second piston 120 of the air cylinder C _E2 . In this manner, the second hook 116 is reciprocally driven to be engaged with and disengaged from the second cutout portion 38b of the flange portion 38 in response to the driving of the second air cylinder C _E2 .
Here, on the lower surface of the elevator body 86, the servo motor M is engaged with the first or second hooks 108 and 116.
A pair of fixed slide guides 1 slidably supporting the pallet p which is pulled in / pushed out according to the rotational drive of _E2.
22 are provided. That is, both fixed slide guides 1
22 is slidably set on the lower surface of the flange portion 38 on both sides of the pallet p to be pulled in / pushed out.

The height of the upper edge of both fixed slide guides 122 is set to a height sufficient to slidably support the pallet p ₃ having a maximum height of 100 mm. The standby position of the elevator main body 86 is set to a height position where the upper end surfaces of both fixed slide guides 122 can horizontally receive the pallet p at the separating position.

Further, both the air cylinder supports 1 described above
A third hook attachment plate 124 is fixed to the lower part of each of 12 in a state of extending along the same direction as the extending direction of the slide plate 106. Here, at both ends of the side surface of the mounting plate 124 on the stocker 24 side, a third hook 126 is provided along a longitudinal axis direction of the slide plate 106 via a third hook slide member 128, in other words, in other words. , Is attached so as to be slidable along a direction orthogonal to the transport direction d. This pair of third hooks 126
Is each empty pallet p emptied in the stocker 24.
₁ ', p _2', the second notch 38b formed in the p ₃ '... flange portion 38 of is formed on the engageable shapes from both sides.

On the other hand, a third air cylinder C _E3 for reciprocally driving the third hook 126 is attached to the lower end of the air cylinder support plate 112 fixed to both ends of the slide plate 106. . The aforementioned third hook 126 is connected to the tip of the third piston 130 of this third air cylinder C _E3 . In this way,
In response to the driving of the third air cylinder C _E3 , the third hook 126 is reciprocally driven so as to be engaged with and disengaged from the second cutout portion 38b of the flange portion 38.

The third hooks 126 are located below the elevator body 86 via a guide groove 132 (shown in FIG. 9) formed in the lower surface of the elevator body 86 along the transport direction d. It has been taken out. Here, below the lower surface of the elevator main body 86, a pair of movable slide guides 134 for slidably receiving the pallet p ′ taken out from the stocker 24 by the third hook 126 is arranged. Here, both movable slide guides 134 are
The empty pallet p'received here is transferred to the unloading mechanism 76 described above.
In order to place it on the group of the carry-out rollers 78, it is set slidable along the direction orthogonal to the transport direction d, in other words, so as to be separated from the empty pallet p ′ received here. . That is, as shown in FIGS. 10 and 11, both movable slide guides 134 are slidably attached to the lower surface of the elevator body 86 via the slide members 136, respectively. On the other hand, air cylinder support plates 138 are fixed to both sides of the lower surface of the elevator body 86. A fourth air cylinder C _E4 for reciprocating the movable slide guide 134 is attached to each air cylinder support plate 138. The movable slide guide 134 described above is connected to the tip of the fourth piston 140 of the fourth air cylinder C _E4 . In this way, the movable slide guide 134 is reciprocally driven to engage and disengage from the flange portion 38 of the empty pallet p'in response to the driving of the fourth air cylinder C _E4 .

Operation of Exchange Mechanism The exchange operation of the pallet p and the pallet p ′ in the interchange mechanism 96 configured as described above will be described with reference to FIGS. 13A to 13G.

First, in the initial state, the height of the elevator main body 86 is fixed at the fixed slide guide 12
The upper end surface of 2 and the upper end surface of the second separation claw 68 of the buffer 22 are set to have the same height. In addition, in the exchange mechanism 96, the swing arm 100
However, as shown in FIG. 9, the initial state is set so as to be in the intermediate position of the guide groove 102. High pressure air is not supplied to the air cylinders C _E1 , C _E2 , C _E3 , and C _E4 , and the corresponding hooks 108, 116, and
The 126 and the movable slide guide 134 are set in the retracted position, respectively.

-Capture operation from buffer-In the case where such an initial state is set, the robot 12 requests the part from the robot 12 as described above, that is, at the predetermined pallet p in the stocker 24. When the remaining number of x reaches one, the buffer 22 starts the operation of separating the predetermined pallet p _a based on the request for preparation for replacement of x.
Also in the elevator 26, the operation of taking the pallet p _a separated in the buffer 22 into the elevator main body 86 is executed.

That is, when the above-mentioned request is issued from the robot 12, first, in the elevator 26, the first
From the state shown in FIG. 3A, the servo motor M _E2 is rotationally driven in the direction shown by arrow A in FIG.
6 is moved to the buffer 22 side. By this movement, as shown in FIG. 13B, the buffer 2 of the exchange mechanism 96 is
The first hook 108 on the second side is the flange portion 3 of the pallet p _a separated at the separation position in the buffer 22.
First cutout portion 3 on the side of the elevator 26 formed in 8
8a is set to the engageable state from the side. In the engageable state of the first hook 108, the first hook 108 is set so as not to hinder the separating operation of the buffer 22.

In this state, the operation of the elevator 26 is in a waiting state for taking in, and this waiting state for taking up is continued until the separating operation is completed by the buffer 22. And
When the separation completion signal is output from the buffer 22 along with the completion of the separation operation, the exchange mechanism 96 starts the operation of taking in the separated palette p _a in response to the output of the separation completion signal.

That is, first, high-pressure air is supplied to the first air cylinder C _E1 , and the first hook 108 is separated from the first cutout portion 38a formed in the flange portion 38 of the pallet p _a. Engage from one side. Thereafter, the servo motor M _E2 is rotationally driven as shown by an arrow B in FIG. 9, and the exchange mechanism 96 is taken into the elevator main body 86 along the transport direction d. And, as shown in FIG. 13C,
The pallet p _a in the fully captured state in the elevator body 86, the drive of the servomotor M _E2 is stopped,
After this, the first air cylinder C _E1 moves to the first hook 1
08 moves away from the first notch 38 of the pallet p _a .

In this way, the pallet p _a separated by the buffer 22 is taken into the elevator 26. In this taken-in state, the replacement mechanism 96 is brought into a state in which a part thereof projects from the elevator body 86 toward the stocker 24 side. Therefore, the servo motor M _E2
Is driven to rotate in the direction indicated by arrow A, and as shown in FIG. 13D, it is operated so as to completely house the replacement mechanism 96 in the elevator main body 86.

-Pulling-in operation of empty pallet-After that, the servo motor M _E1 is rotationally driven to move the elevator main body 86 out of the pallet p accommodated in the stocker 24 so that the part x accommodated therein is lost. The empty pallet p'is lowered to the retracted position and waits at this retracted position to wait for a request to replace the empty pallet p'from the stocker 24.

The retracted position is defined as a position above the supply position of the pallet p in the stocker 24 to the robot 12, which will be described later, for one pallet box in which parts have been supplied to the robot 12. Here, as described above, since the height of the pallet p is set to three types, the pull-in position is also set to three depending on the difference in the height.
There will be types.

The standby position of the elevator main body 86 facing the retracted position is the second cutout portion 38b of the flange portion 38 of the pallet p'in the retracted position.
In addition, the third hook 126 of the exchange mechanism 96 is set to a height position at which it can be engaged. In this way, the standby position for retracting the empty pallet p'in the elevator 26 is defined.

On the other hand, in the replacement mechanism 96 in the elevator main body 86 brought to the pull-in standby position, as described above, the pair of pallets p _a in which the parts x are fully stored in the elevator main body 86 are fixed. It is held on the slide guide 122.

When the empty pallet p'is moved to the retracted position of the stocker 24 in the retracted standby position, the servomotor M _E2 moves in the direction indicated by the arrow B in response to the completion of the movement to the retracted position. 13E, the third hook 126 of the exchange mechanism 96 causes the empty pallet p ′ at the retracted position to rotate.
Second notch portion 38b formed in the flange portion 38 of the
Is moved to a position where it can be engaged with. After this, the third and fourth
High pressure air is supplied to each of the air cylinders C _E3 and C _E4 of the empty cylinder so that the third hook 126 engages with the second cutout portion 38b of the empty pallet p ′ and, at the same time, the movable slide guide 134 is pulled into The pallet p'is pushed out below the elevator main body 86 to a supportable state.

After this, the servo motor M _E2 is rotationally driven in the direction indicated by the arrow A, and the empty pallet p ′ is drawn below the elevator main body 86. In this manner, the empty pallet p'is supported by the movable slide guide 134 and is held below the elevator main body 86 as shown in FIG. 13F, and the retracting operation of the empty pallet p'is completed. The third air cylinder C _E3 is, the third hooks 126 are operated so as to be separated from the second notch portion 38b of the empty palette p '.

-Pallet pushing-out operation-Here, in the retracted state of the empty pallet p ',
The second hook 116 of the exchanging mechanism 96 is brought into an engageable state with the second notch portion 38b of the pallet p _a supported on the fixed slide guide 122.
Therefore, from this state, the high pressure air is supplied to the second cylinder C _E2 , and the second hook 116 moves to the second position of the pallet p _a .
It is operated so as to be engaged with the notch portion 38b.

On the other hand, in parallel with the above-described second hook engaging operation, in the elevator 26, the servo motor M _E1
There was rotated, to lower the elevator body 86, resulting in pallet p _a in this position opposed to going out position in Sutotsuta 24. And the servo motor M _E2
Rotates in the direction indicated by arrow B, and pushes out the pallet p _a from the inside of the elevator body 86 to the empty storage position of the stocker 24, as shown in FIG. 13G. After this,
The second air cylinder C _E2, the second hooks 116 are operated so as to be separated from the second notch portion 38b of the palette p. Then, the servomotor M _E2 is rotationally driven in the direction indicated by the arrow A, and the replacement mechanism 96 is drawn into the elevator main body 86. In this way, the pushing operation of the pallet p to the stocker 24 is completed.

[0099] - unloading operation of empty palette - as described above, an empty pallet p ', at the time the operation is complete replacement of the palette p _a the component x is packed, the lower side of the elevator body 86, The retracted empty pallet p'is supported. Therefore, in order to place the empty pallet p ′ on the unloading roller 78 of the unloading mechanism 76, the pulse motor M _E1 is rotationally driven to lower the elevator main body 86, and the empty pallet p ′ is moved to the unloading roller 7
If the empty pallet p ′ is not placed on the unloading roller 8, the empty pallet p ′ is placed immediately above the unloading roller 78, or if the empty pallet p ′ is already loaded on the unloading roller 78. It is moved to a position directly above the mounted empty pallet p '. After that, the fourth air cylinder C _E4 operates so as to draw in the movable slide guide 134, and the empty pallet p ′ supported by the elevator body 86 is stacked on the carry-out roller 78. In this way, when the number of empty pallets p ′ piled up on the carry-out roller 78 reaches a predetermined number, each discharge roller 78 is rotationally driven, and the stacked body of these empty pallets p ′ is formed on the buffer table 52. The unmanned vehicle 20 is conveyed to the lower side, and then is unloaded onto the empty pallet mounting table 34 of the unmanned vehicle 20. In this way, a series of empty pallet unloading operations is completed.

On the other hand, in the elevator 26 after the empty pallet p ′ is discharged to the carry-out mechanism 76, the servo motor M _E1 is rotationally driven to raise the elevator main body 86,
It is moved to the above-mentioned initial position, that is, the position opposite to the separation position in the buffer 22, and then stands by there.

<< Explanation of Stocker >> Next, a stocker 24 is provided adjacent to the robot 12 and sequentially supplies the parts x ₁ , x ₂ , x ₃ ... The configuration will be described with reference to FIGS. 14 to 16.

[0102] configuration of Sutotsuka this Sutotsuka 24, as shown in FIG. 14, is fixed on a base (not shown), an elevator 26 described above a common base 142, are respectively erected at the four corners of the base 142 The support columns 144a, 144b, 144c, 144d, and the connecting frame 84 for connecting the upper ends of the support columns 144a, 144b, 144c, 144d to each other. here,
Each pair of columns 14 on the side of the elevator 26 and the side of the robot 12
In order to face each other in 4a, 144b; 144c, 144d, in the state of extending along the vertical direction,
The guide member 148 is fixed. The guide member 148 is provided with a sliding member 1 so as to be vertically movable along the guide member 148.
50 are attached. An elevating frame 152 having a substantially rectangular parallelepiped shape is attached in a state in which the four corners are supported by the four sliding members 150.

The elevating frame 152 accommodates a plurality of stages of pallets p which are pushed out from the elevator 26 and pulled out to a drawer portion 154, which will be described later, to be assembled in the robot 12, and are also on standby for a drawer described later. It is configured so that it can be pulled out one by one from the position. Therefore, a plurality of shelf plates 156, to which the flange portion 38 of the pallet p is hooked, extend horizontally on the inner surface of the elevating frame 152 along the transport direction d, and along the vertical direction. About 30 mm and fixed at equal intervals.

Here, as shown in the drawing, each shelf 156 has a central portion (in other words, a third portion formed at the center of the flange portion 38 of the palette p placed on each shelf 156).
The portion facing the notch portion 38C) of the notch portion 1
58 is formed. That is, this cutout portion 158
Is formed so that a lifting arm 160 of an opening mechanism 170 (shown in FIG. 15), which will be described later, is inserted to open the lid 40 of the pallet p drawn out to the drawer portion 154.

On the other hand, in the portion sandwiched by the pair of columns 144b and 144d on the opposite side in FIG. 14, a space is defined in a state of extending along the vertical direction. A projecting piece 162 is integrally formed with the elevating frame 152 while projecting into this space.

A pair of support columns 144c and 14 on the opposite side are provided.
A servo motor M _S1 for moving the above-described elevating frame 152 up and down along the guide member 148 is provided in a portion of the connecting frame 84 that connects the upper ends of the 4d to each other. The servo motor M _S1 is provided with a rotary shaft extending along the up-down direction, and the rotary shaft is provided on both support columns 144.
The ball screw 164 is rotatably disposed between the c and 144d and is connected so as to drive the ball screw 164 extending along the vertical direction. On the other hand, the middle part of the ball screw 164 is screwed into the above-mentioned protruding piece 162. In this way, the ball screw 164 is rotationally driven by the rotation of the rotary shaft of the servo motor M _S1 , and thus the elevating frame 152 is moved up and down. The vertical movement of the lift table 152 is set so that the feed amount is set to an integral multiple of 30 mm which is the pitch where the shelf plate 156 is arranged.

An encoder 94 for detecting the rotational position of the servomotor M _S1, that is, the height position of the elevating frame 152 is attached to the servomotor M _S1 . With the above configuration, the elevating frame 152 can move up and down to an arbitrary height position.

Structure of Drawer Section Next, with reference to FIG. 14, the above-mentioned drawer section 154.
The configuration of will be described.

The drawer portion 154 is provided to receive and hold the pallet p, which accommodates the component x used for assembly in the robot 12, from the elevating frame 152, and basically, a predetermined base from a base not shown. The drawer base 168 fixed at the height position, and the pallet p from which the lid body 40 has been removed by the lid body opening mechanism 170 (shown in FIG. 15) which will be described later, is put into and taken out from the elevating frame 152. And a loading / unloading mechanism 172.

The drawer base 168 is fixed in a horizontal state via a pair of support stays 174 fixed to the columns 144a and 144c on the robot 12 side, respectively. The leading end of the pulled-out pallet p is brought into contact with the end of the drawer base 168 on the robot 12 side, and the stopper 176 that defines the drawing-out position of the pallet p is attached. Also, on both sides of this drawer base 168,
The pair of slide guides 17 are arranged along the transport direction d.
8 are provided. In addition, they slide guide 178
The upper end surface of the slide support surface, that is, the slide support surface, and the respective shelf plates 156 of the elevating frame 152 stopped in the intermittent feed,
It is set to be aligned horizontally. Incidentally, the pallet p supported by the shelf plate 156 aligned with the slide guide 178 in the horizontal direction in this way is defined as the pallet at the pull-out standby position.

Further, the above-mentioned loading / unloading mechanism 172 is symmetrically arranged on both sides of the drawer base 168, and is provided on the side edge of the drawer base 168 so as to extend along the carrying direction d. Guide member 180 and sliding member 18 slidably attached to each guide member 180
2 and a support plate 18 fixed to the upper surface of each sliding member 182.
4 and. The lifting frame 15 is provided on each support plate 184.
Flange part 3 of pallet p in the pull-out standby position 2
A hook 186 that can be engaged with the first cutout portion 38a formed in FIG. 8 is provided so as to be movable back and forth along a direction orthogonal to the transport direction d.

On the other hand, the hook 1 is placed on the support plate 184.
An air cylinder C _S1 for advancing and retracting the hook 186 in a state of being located outside of 86 is attached. The piston of the air cylinder C _S1 is connected to the corresponding hook 186, and is set to be pushed out to a position that engages with the above-mentioned cutout portion 38a by the supply of high-pressure air to the air cylinder C _S1 . .

A drive roller 188 is rotatably attached to an end of each side edge of the drawer 168 on the robot 12 side, and an idle roller 190 is rotated on an end of the elevator 26 side. The shaft is freely fixed. An endless belt 192 is wound around the drive roller 188 and the idle roller 190 at each side edge, and the endless belt 1 is rotated by the drive roller 188.
92 is driven to travel. The driving rollers 188 on both side edges are connected to each other via a connecting shaft 194 so as to rotate integrally.

Here, the support plate 184 at each side edge is
It is fixed to the corresponding endless belt 192, and depending on the running of the endless belt 192, the drawer base 16
8 is reciprocated along the transport direction d.
A driven roller 196 is fixed to the drive roller 188 coaxially therewith. On the other hand, below the center of the side edge of the drawer 168, a servo motor M _S2 is attached via a stay 198. The drive roller 202 is coaxially fixed to the drive shaft of the servo motor M _S2 . An endless belt 204 is wound around the drive roller 202 and the driven roller 196 described above.

With the above-mentioned structure, when the servo motor M _S2 is rotationally driven, the driving rollers 188,
202 is driven to rotate, and accordingly, the endless belt 19
2 is driven to travel, and accordingly, the hook 186 is moved in the transport direction d.
Will be round trips along the way.

Structure of Lid Opening Mechanism Next, the lid opening mechanism 170 will be described with reference to FIGS. 15 and 16. This lid opening mechanism 170
In the elevating frame 152, before the operation in which the pallet p at the pull-out standby position is pulled out to the pull-out position via the pulling-out mechanism 172, the lid body 40 covered by the pallet p is lifted up and placed on the pull-out table 194. At the pulling-out position, only the pallet p, in other words, the pallet p, which is set to the state where the component x stored inside by the robot 12 can be taken out, is provided so as to be pulled out.

Here, as shown in FIG. 15, the lid opening mechanism 170 includes a pair of support columns 144 on the robot 12 side.
a, 144c, an air cylinder C _S2 attached to the side surface on the side of the elevator 26, and a lifting arm 160 attached to the tip of the piston 206 of this air cylinder _S2.
It has and. The air cylinder C _S2 is attached so that the sliding direction of the piston 206 of the air cylinder C _S2 is inclined so as to ascend by 45 degrees from the horizontal direction toward the elevating frame 152 in the plane orthogonal to the transport direction d. There is.

The lifting arm 160 attached to the tip of the piston 206 is fixed to the piston 206 and is integrally attached to the body 160a extending in the extending direction of the piston 206 and the tip of the body 160a. And has a horizontal upper surface 160b.
On the outer side of 0b, a protrusion 160c protruding upward is formed. Here, this air cylinder C
_S2 has two high pressure air input ends 208a and 208b. When high pressure air is supplied to one input end 208a, the piston 206 is retracted and driven, and the tip of the lifting arm 160 is covered. When it is biased to the retracted position separated from the body 40, and when the high pressure air is supplied to the other input end 208b, the piston 206 is pushed out and the tip of the lifting arm 160 engages with the lid 40. It is configured to be biased to the push position.

In the disposing position of the air cylinder C _S2 thus constituted, that is, in the height position, the upper surface 160b of the tip of the lifting arm 160 in the pushing position is the flange of the pallet p in the pulling standby position. Third of part 38
It is set so that it can pass through the notch portion 38c and be engaged with the lid 40 covered with the notch portion 38c from below.

Operation of Lid Opening Mechanism In the lid opening mechanism 170 thus constructed,
The operation of the lid opening mechanism 170 is started when it is detected that the pallet p has arrived at the drawer standby position with respect to the pallet p brought to the drawer standby position according to the vertical movement of the elevating frame 152. To be done. That is, high pressure air is supplied to the second input ends of the air cylinders C _S2 on both sides, and the respective pistons 206 are pushed out obliquely upward.

As a result, the tips of the lifting arms 160, which are respectively connected to the tips of the pistons 206, pass through the insides of the third notches 38c formed in the center of the corresponding flanges 38 of the pallet p in the pull-out standby position. Pass each,
The upper surfaces 160b at the tips of the both lifting arms 160 respectively lift the both side edges of the lid body 40 from below. In this manner, as shown in FIG. 16, the lid 40 is biased upward from the pallet p in the pull-out standby position, and thus the pallet p can be pulled out to the pull-out position. It becomes a state.

On the other hand, when the operation of taking out the component x by the robot 12 is completed in the pallet p pulled out to the pulling-out position, the pallet p is returned to the pulling-out standby position again, but is returned. At this point, high pressure air is supplied to the first input end of the air cylinder C _S2 . In this way, the lifting arm 160 is pushed obliquely upward, and the lid 40 is put on the pallet p so as to cover the upper surface of the pallet p returned to the pull-out standby position during the pushing operation. become. In this way, a series of lid opening operations is completed.

Operation of Drawer Section The pallet p having the lid 40 removed by the lid opening mechanism 170 as described above is pulled out from the pull-out standby position to the pull-out position and returned to the original pull-out standby position. The operation of taking in and out will be described below.

First, in the initial state, the hook 186 is
Has been moved in the direction opposite to the transport direction d by the drive of the servo motor M _S2 , and is also in a position where it can be engaged with the first cutout portion 38a of the flange portion 38 of the pallet p at the drawer standby position. I'm being taken over. In this state, the air cylinder C _S1 is set in a state in which the hook 186 is retracted.

From such an initial state, at the same time when the pushing-up operation of the lid 40 is started, the air cylinder C _S1 is actuated, and the hook 186 has the first cutout portion 38a of the pallet p in the pull-out standby position. Engage with. After this,
With the completion of the pushing-up operation of the lid 40, the servo motor M _S2 is rotationally driven in the opposite direction to the previous time, and as a result, the hook 185 moves along the transport direction d. That is, the pallet p at the drawer standby position with which the hook 186 is engaged is pulled out from the elevating frame 152 onto the drawer base 168. In addition, this pallet p
Will slide on the pair of slide guides 178.

In this way, the pallet p that has been pulled out along the transport direction d while sliding on the slide guide 178 is stopped by contacting the stopper 176, and the drive of the servomotor M _S2 is also stopped. It In this way, the pallet p is held in the pulled-out position.

Thereafter, the robot 12 described below receives the work of taking out the component x from the pallet p brought to the pull-out position, and the servo motor M _S2 is reversely driven again as the work of taking-out is completed. The hook 186 is rotationally driven in the direction to move the hook 186 in the direction opposite to the transport direction d. In this way, the pallet p is again moved to the lifting frame 1
It will be put back in toward 52. Then, when the pallet p is completely returned to the elevating frame 152, the driving of the servo motor M _S2 is stopped, and the pallet p is held in the elevating frame 152.

After that, the covering operation of the lid 40 in the lid opening mechanism 170 described above is executed, and a series of the withdrawal operation is completed. << Explanation of Robot >> Next, referring to FIGS. 1 and 2, a part x is supplied from the part supply system 14 including the buffer 22, the elevator 26, and the stocker 24, and a predetermined product is obtained. The structure of the assembled robot 12 will be schematically described.

Structure of Robot As shown in FIG. 2, this robot 12 has a stocker 2
4 is provided with the assembly stage 210 horizontally arranged in a state including a portion located below the pull-out portion 154. On one side of this assembly stage 210, a pair of mounts 2
12 is erected, and an X-axis robot arm 214 that defines the X-axis of the robot 12 (the axis extending in the direction along the transport direction d) is bridged over both mounts 212.
On the X-axis robot arm 214, the Y-axis of the robot 12 (the axis extending in the direction orthogonal to the transport direction d).
One end of the Y-axis robot arm 216 that defines the position is supported so as to be movable along the X-axis direction.

On the side surface of the Y-axis robot arm 216 on the side of the supply system, the robot arm 21 that defines the Z-axis (the axis extending along the vertical direction) of the robot 12 is provided.
8 are provided. The robot arm 218 is configured to be movable along the vertical direction, and also movable and rotatable along the Y axis.

That is, on the X-axis robot arm 214,
A servo motor M _R1 for moving the Y-axis robot arm 216 along the X-axis direction (conveyance direction d) is provided. A robot hand 218 is mounted on the Y-axis robot arm 216 in the Y-axis direction (direction orthogonal to the carrying direction d).
A servo motor M _R2 for moving the robot arm 218, a servo motor M _R3 for moving the robot arm along the Z-axis direction (vertical direction), and a servo motor M _R4 for rotating the robot arm 218 are arranged. ing.

Here, fingers 220 corresponding to the parts x ₁ , x ₂ , x ₃ ... Are detachably attached to the lower surface of the robot hand 218. This finger 220 is configured to grip the corresponding component x, and the other fingers 220 corresponding to the remaining components x ₁ , x ₂ , x ₃ ... Are provided on the X-axis robot arm 214. It is housed in the ingestion 222 so that it can be taken out freely. In addition, on the assembly stage 210 described above,
An assembling table 224 for assembling the component x held by the finger 220 is provided. In addition, the input device 1 described above
8 is adjacent to the side of one of the mounts 212. Robot Operation The assembly operation of the product using the part x in the robot 12 configured as described above will be described.

First, in the initial state, the robot hand 218 is positioned above the drawer portion 154. From this state, when the pallet p accommodating the required component x is pulled out from the stocker 24 to the pull-out position in accordance with the predetermined assembly order, it is detected that the pallet p is positioned at the pull-out position. ,
The servo motor M _R3 is driven to rotate, and the robot hand 21
8 is lowered, and the gripping operation of the component x by the finger 220 is executed. Then, when the gripping operation of the part x is completed, the servo motor M _R3 is rotationally driven in the opposite direction to raise the robot hand 218, and the servo motors M _R1 and M _R2.
Are appropriately rotated and moved onto the assembly table 224.

Then, the servo motor M _R3 is driven to rotate again, the robot hand 218 is lowered, and the assembly table 22 is moved.
4, the assembling operation of the part x is executed. When this assembling operation is completed, the gripping state of the component x by the robot finger 220 is released, and the servo motor M _R3 is rotationally driven in the opposite direction to raise the robot hand 218. After that, the servo motors M _R1 and M _R2 are rotationally driven, and the robot hand 218 is returned to the initial position described above. In this way, a series of assembling operations in the case of paying attention to one part x are completed.

It should be noted that, while the series of assembling operations are being executed, the pallet p that has received the part x by the robot hand 218, that is, the pallet p that has completed the supply of the part x to the robot 12. Means that the robot hand 218 reaches the assembling position from the position above the pallet p, and until the robot hand 218 returns to the position above the pallet p again, the pallet p in which the parts x necessary for the next assembling step are stored. The loading / unloading operation of is executed.

Here, 1 in the robot 12 described above.
The time required to assemble the individual parts x is pallet p.
0.3 seconds for descending motion to 0.2, 0.2 for gripping part x
Seconds, 0.3 seconds for the ascending motion from the pallet p, the assembly table 22
4 0.5 seconds for upward movement, 0.3 seconds for lowering to the assembly table 224, 0.2 seconds for assembly operation on the assembly table 224.
Seconds, 0.3 seconds for the ascending motion from the assembly table 224, and
Since it takes 0.5 seconds to move the pallet p upward, a total of 2.6 seconds is set.

The operation of putting in and taking out the pallet p is performed by the robot hand 2 during the operation time of the robot 12 described above.
Pallet p after 18 is lifted from pallet p
Must be carried out from the upper position of the vehicle until it is returned to this upper position. In other words, robot hand 2
18 descends from the standby position above the pallet p,
Until the component x is gripped on the pallet p and is raised to a position above the pallet p, the pallet p is not allowed to be taken in and out, and the pallet p must be taken in and out at other times. Therefore, the maximum time allowed for the operation of putting in and taking out the pallet is defined as 0.5 + 0.3 + 0.2 + 0.3 + 0.5 = 1.8 seconds. In other words, if the operation of putting in and taking out the pallet p is completed within this 1.8 seconds, the operation of supplying the next part x can be achieved without stopping the assembling operation of the robot 12. Therefore, in the stocker 24 described above, the operation time is set so that the operation of putting in and taking out the pallet p is executed within the 1.8 seconds. << System Operation >> How to control the operation of the FAC system of the embodiment will be described below. <Structure of Control Unit> FIG. 18 shows a module structure of the control unit 16 (FIG. 2) for controlling the FAC system of the embodiment. As described above, the FAC system mainly includes the robot, stocker, elevator, buffer and the like. As described above, these constituent elements are mechanically modularized, and also structurally modularized. That is, in the control unit 16, there are four microprocessor boards: a microprocessor board for controlling the robot, a microprocessor board for controlling the stocker, a microprocessor board for controlling the elevator, and a microprocessor board for controlling the buffer. In addition, these microprocessor boards are connected by a well-known multi-bus interface. The four microprocessor boards are system-managed by a management microprocessor board located above them. The management microprocessor has the input / output device 18 shown in FIG.
, Which are connected by RS232 interface, and input the assembly environment of this FAC system (for example, designation of parts included in the palette, process order, etc.) from the input / output device 18 which uses this general personal computer. And specify.

The fact that the inside of the control unit 16 is modularized for each control target as shown in FIG. 18 means that the present FAC system takes into consideration various conditions of the installation destination, such as environment and constraints. In addition, the above FAC system is configured so that the above-mentioned module can be optionally selected, and further that the setting of the process and the like can be freely changed by inputting the above-mentioned assembly environment from the input / output device 18. As the name implies, it allows reorganization of a "flexible" system environment. This will be apparent from the description of the program of the control unit for the above-mentioned basic structure of the FAC system, the modification of various device configurations developed from this basic structure, and the modification of the program. Will. <Input of Assembly Environment> The technical idea of the FAC system is not limited to manufacturing, and ultimately, among a plurality of article groups prepared in advance (each article group includes only articles of the same means). From
According to a predetermined order that was previously determined, the articles are selected one by one, and then the selected one article is “supplied” to a certain point. And
When the articles are supplied from the plurality of article groups prepared in advance to the one point, the articles themselves in the article group run short. Therefore, the technical idea of the present FAC system is summarized in the point of "supplementing" new articles to this article group efficiently and without stopping the supply toward the one point. . The application of the technical concept of this FAC system to product assembly is automatic assembly by robot in the narrow sense of FAC, which is described in detail below. In this narrowly defined FAC system, "supply of goods" depends on stockers. It corresponds to "supplying goods" to the robot, and "supplying goods" corresponds to supply of new parts to stockers by buffers and elevators (further, including unmanned vehicles, unmanned warehouses, etc.). Therefore, the "assembling environment" in this narrowly defined FAC system will be described below.

The display screen of the input / output device 18 is shown in FIGS. 19A to 19CB. This display screen is a screen for the operator to input and change various assembling environments from the attached keyboard, and is also a screen for displaying the current control state as the control transitions.

The assembling environment of the FAC system is, for example, pallet information or the like, that is, for a certain component, the name of the component, the shelf position S of the stocker or the like of the pallet for accommodating the component, and the pallet which can be accommodated in the pallet. The total number T of parts, the thickness H of the pallet, the program number P for the robot to assemble the part into a finished product, the bar code B attached to the pallet at a predetermined place, and because it is used for the part It is the number F of the finger attached to the robot hand. This FAC system uses a standard-sized pallet as shown in FIG. Therefore, if the part is decided, the assembly program P of the part
(For example, screw tightening), the standard of the pallet for housing the part is determined. The deciding of the pallet means that the number T of the pallets to be accommodated in the pallet and the thickness H of the pallet depending on the height of the parts are decided.

In the used parts table shown in FIG. 19A, the operator looks at the CRT display screen of the input / output device 18 independently of the process order, and the part name, the total number T of pallets containing the part, and The thickness H of the pallet, the bar code B of the part, the number F of the finger of the robot necessary for assembling the part, and the number P of the program are input. Other process sequence numbers G and stocker shelf positions S are automatically displayed by the management module program (Fig. 18) in place of the operator at the time of entering the process sequence table, which will be described later. Since the number changes according to the progress of the process, the management module program Z also displays the latest updated remaining number instead of the operator. The index number IDX is assigned to each component in the component table input process. When IDX is assigned, the process order input process (first
In FIG. 9B), since the part can be identified by this IDX number, it is easier than directly inputting the part name.

In the concrete example shown in FIG. 19A, the part index IDX is "1", the part name is "bis", the number of stored parts in the pallet is 38, and the pallet thickness is 5
0mm, the program number is entered as "100", and the part index IDX is "2", the part name is "Nut", the number of stored parts in the pallet is 13, the pallet thickness is 25mm, and the program number is "200". Is entered,
In the pallet of the part index IDX "3", the part name is "washer", the number of stored parts in the pallet is 54, the pallet thickness is 100 mm, and the program number is "300".

The above-mentioned assembly environment information input by the operator is uniquely determined when the parts are determined. Since the parts required for assembling a certain product are usually pre-divided, therefore, the pallet, the program, the finger, etc. for accommodating those necessary parts are also uniquely determined. Therefore, these pieces of information may be given from a central production management computer system (FIG. 18) that simultaneously manages a plurality of FAC systems.

In order to assemble parts into products, it is not enough to know information about the parts, and it is important which parts are assembled in which order. Therefore, the operator of this FAC system
When assembling various products, all parts necessary for each process are restored and the process sequence table on the CRT (19B
(Fig.) In this input process, the process order is assigned from the beginning as 1, 2, 3, ... The input for instructing which part to use in each step is made by the operator inputting the part index IDX. Furthermore, the process order table contains
The pallet containing the parts is a shelf position S of the stocker.
Decide whether to place in [G] and enter. The necessity of inputting this S [G] is found in the following points. That is, the same part may be used even if the process is different, and the same part is stored in the same pallet, so that the same shelf pallet may be required in the different process. FIG. 19B shows a specific example of the process sequence table input in this way.

FIG. 19B is an input display for inputting the parts necessary for assembling a specific product from a plurality of parts and the order of the steps. The process order is 6 from 1 to 64
Four steps can be defined in this FAC system. The operator inputs the component IDX and the shelf position S [G] one after another while observing the display of the component table in FIG. 19A along the process order. The program number P and the part name in the process sequence table are inserted by the management program. In this process order table, process number G and parts index I
When it is associated with DX, the parts table (19A
The figure) associates the process number G with the pallet used for the process.

The input of S [G] in the process sequence table is 1 part / 1 process / 1 shelf, that is, when the same type of parts is used in different processes, the shelf on which the pallet is placed is placed. If the items are different, the process order is the shelf order S [G] of the pallet, and if the part is determined, the pallet thickness H can be known from the parts table by the management program, so the operator can set S [G]. Without inputting, the management program can calculate the shelf position S [G] on behalf of the operator and enter it in the table. By design, the same parts should be taken out from the same shelf pallet even in different processes.
When assembling the process sequence, the operator needs to input S [G] while considering the pallet thickness H.
As in the case of inputting the parts table, the process sequence is determined in advance by the production plan for a certain product. Therefore, the process sequence previously determined is communicated from the central production management computer system. This FAC via line
May be entered into the system. <Fluctuating Factors in Efficiency of Parts Supply> In the FAC system, the order of “supply of goods” (that is,
The premise of the assembling environment of the FAC system is that 1 part / 1 step, in which the order of assembling, that is, the order of steps) has an extremely large effect on the efficiency of "supply of articles". The factor that affects the efficiency of component supply and component replenishment is the pallet thickness H.
[G] and which pallet is to be placed on which shelf position S [G]. The pallet thickness H limits how many pallets can be stored in the stocker in total.
This FAC system assembles products from parts within the range of the number of pallets that can be stored in the maximum number of shelves in the stocker. Therefore, the number of pallets is limited due to the pallet thickness H. If the same parts are used in multiple steps to assemble one product, the same parts should be taken out from the same pallet. Then, it is necessary to suppress the total number of pallets. If parts in the same pallet are taken out in a plurality of different processes, the vertical movement of the stocker becomes random, which leads to a decrease in the feed rate of the stocker to the robot. As described above, since the process sequence G, the pallet thickness H, and the shelf position S [G] are greatly related to the efficiency improvement, the process sequence table is created in consideration of these various requirements. , Need to be carefully created. In addition, since the number T [G] to be accommodated is also determined for each part, the frequency and order of occurrence of empty pallets are also influenced according to the assembly, and the replacement of empty pallets, that is, the efficient operation of the elevator and the buffer. Because it also affects.

In FIGS. 17A to 17E, assuming that the thickness H of the pallet is the same, the total number T [G] of storage and the shelf position S are shown.
It is intended to explain how [G] affects efficiency. FIG. 17A is the simplest example. Even if the parts are different, the T [G] of the pallet in each step is the same, and the pallets are placed on the shelf in the order of the steps (that is, S
This is the case where [G] is arranged in a normal order. in this case,
It is the order of the process sequence that the parts are emptied by the pallet, and the stocker also moves upwards uniformly.

Next, it is necessary to assemble A parts and B parts, and the order of assembling them must be A → A → B. 100 A parts can be accommodated in the pallet and 50 B parts can be accommodated. Suppose it is possible.

FIG. 17B shows the case of taking out the parts A → A → B from each pallet in the order of steps 1 → 2 → 3. In this case, the movement of the stocker moves orderly upward, and the pallet replacement frequency is low, but the disadvantage that many pallets are required occurs.

FIG. 17C shows that the parts A in the same pallet are used in steps 1 and 2. In this case, the stocker is regularly moved, the pallet is exchanged less frequently, and the necessary pallet is not wasted. This is an ideal design that takes into account the special characteristics of assembly, the process sequence G, and the component storage amount T of a pallet.

When the order of assembling is A → B → A and the order of the steps and the position of the shelves are as shown in FIG. 17D, the number of shelves is wasteful, but the stocker moves in a regular manner. 17th
When you do as shown in the figure, there is no waste in the number of pallets,
Pallets are exchanged continuously, but the stocker moves violently up and down.

The specific examples have been described above to explain how the assembling order, the process order G, the number of parts T [G], and the shelf position S [G] affect the efficiency of supply and replenishment of parts. . The FAC system does not analyze the factors that affect the efficiency of the above elements to provide an optimum assembly order and parts supply plan. If it is decided by the production control computer, it can be flexibly adapted to any process sequence and plan, and within that range, the parts are most efficiently supplied to the robot and the stocker is supplied with the parts. belongs to. That is, the process order G, the shelf position S [G], etc. are set to the 21A
As shown in the figure, the variable is dealt with flexibly.

Incidentally, as shown in FIG. 17A, for the purpose of inputting the process sequence table so that the pallet mounting sequence in the stocker is the process sequence, the purpose of the FAC system is to provide "flexibility" to change. This is because the main purpose is to efficiently supply the parts to the robot without hindering the assembling operation by the robot. That is, the mounting order of the pallets in the stocker may be arranged in the order in which the parts in the pallet are zero and need to be replaced, instead of the process order. However, the control for supplying parts to the robot without disturbing the operation of the robot, which is the main purpose of this system, is that the number of parts stored in the pallet is variable depending on the parts, and therefore the pallet replacement timing is not always stable. It is difficult to predict because it does not follow the placement order inside, and it is possible to flexibly respond to changes in the remaining number of parts due to parts picking due to robots. Also, as shown in FIG. 19B, the input of process order is ergonomically suitable. In view of the above, the mounting order of the pallets is the process order in this embodiment. Therefore, in anticipation of the case where the mounting order of the pallets in the stocker is not arranged in the process order, the program can be easily modified so that the robot, stocker, elevator, etc. can be controlled appropriately. It will be apparent from the description of the control of the basic configuration example and its modified configuration example.

In this embodiment, the stocker shelf 156 shown in FIG. 14 of this system is provided with 20 stages in total, and the first stage, the second stage ... The 20th stage are arranged in order from the top. .
As shown in FIGS. 14 and 20, the shelves are provided at equal intervals (about 30 mm). Therefore, three types of thickness (2
When accommodating 5 mm, 50 mm, 100 mm) pallets in a stocker, for example, a 100 mm thick pallet occupies four shelves. In the specific example shown in FIG. 19A,
The 1st process IDX "1""bis" containing pallet is placed on the 1st shelf, and the 2nd process IDX
The pallet with "Washashia" which is "3" is placed on the third shelf, and the pallet with "Nutto" which is IDX "2" in the third process is the 7th shelf. It will be placed on the board. The shelf on which a certain pallet is placed (that is, the stocker position number S in FIG. 19A) is calculated by the management program taking into account the thickness of each pallet, as described above. The value is determined, or the operator determines and inputs it in consideration of efficiency, and sequentially displays it in the table of FIG. 19A.

In this way, when the operator inputs predetermined minimum information to the parts table and the process order table, the management program calculates the process order, the stocker mounting number S, etc. in the parts table. Since it is displayed, a complicated and enormous assembly environment can be set with extremely good operability. Moreover, since the change is made only by changing the input information, it is possible to flexibly cope with the process change and the part change. <Other Display Elements> FIG. 19C is an icon (pictogram key) on the display screen of the input / output device. "Continuous" is a key to instruct the normal continuous assembly / component supply operation mode.
When a key is pressed, the management microprocessor (Fig. 18)
The SINGLE flag in the memory (not shown) is set to "0". When the continuous operation mode is set and then the "start" key is pressed, the system operates continuously until the "stop" key is pressed or an abnormality occurs and the system stops. “Single” is a single operation mode, and when this key is pressed, the SINGLE
The flag is set to "1", and each time the "start" key is pressed, a single operation (the range of the single operation is different depending on each module) is executed. <Variables Used for Control> FIG. 21A shows common variables (global variables) commonly used (accessible) by the microprocessors of the respective modules. These variables are arranged in a two-dimensional array and are pulled by an argument G (process number). The exchange flag I [G] is a flag indicating that the pallet in the process order G (that is, the shelf having the G number from the top in the stocker) is empty. Many of the other common variables are the same as those shown in FIGS. 19A and 19B, and therefore description thereof will be omitted.

FIG. 21B is a waiting (waiting) instruction for the preparation of the replacement pallet sent from the robot to the elevator and buffer (when the remaining number Z in the pallet reaches one, the elevator and buffer are issued). Matrix)
In order to do so, the process number (E ₁ , E ₂ , D ₁ , D ₂ )
This is the evacuation area. As can be seen from FIG. 21B, the number of queuing is 2. The reason for using two is that, considering the machine speed (for example, motor speed) of each module used in this embodiment, at least three or more queues do not occur at worst. Of course, since the speed actually changes depending on the device used, the number of queues may be increased to three or more. Note that how this queue is used in this embodiment will be described later. <Vertical range of each module> The range in which each module can move vertically will be described with reference to FIG. 22A.

As for the buffer, the pallet piled up from the unmanned vehicle at a position 900 mm above the floor was used as the buffer stand 52.
To receive. The position at which the first separating claw hooks the pallet one above the separating target pallet (referred to as "temporary storage position") is 1410 mm above the floor, and the position at which the second separating claw hangs the pallet to be separated ( "Separation position" is on the floor 1
It is 300 mm. However, the temporary holding position and the separating position are nominal positions, and as described above, there is an allowable error in the thickness of the pallet, and the vertical movement amount control of the buffer in consideration of the error will be described later (Fig. 25B). To be done. The maximum downward position of the buffer table 52 is 50 above the floor.
It is 0 mm, and this position is used as the origin of teaching for buffer movement control. The maximum number of pallets that can be loaded on the buffer table is the thickness of each pallet so that the uppermost pallet does not exceed 2225 mm above the floor when the buffer table 52 is raised to the temporary storage position when a plurality of pallets are stacked. Etc. are set in consideration.

The unloading mechanism 76 is installed on the floor at 350 mm. As described above, the buffer table 52 can be lowered to 500 mm above the floor at the lowest position. Sometimes the buffer stand rises.

The vertical movement range of the elevator will be described. The highest lift position of the elevator is the position where the pallet in which the second separation claw is full of the parts to be separated is aligned with the slide guide 122 at the separation position (“palette removal position”), and this pallet removal position is the elevator. Set as the teaching origin of control. With this setting, the stroke range of the elevator is 800 mm.

The moving range of the stocker will be described. As described above, the stocker has 20 shelves with 30 mm intervals, so the top and bottom width of the stocker is 600 (= 30 x 2).
0) mm. When the pallet on the first shelf is pulled out to the drawer section 154, the 20th shelf position is the lowest descent position, and this position is set to 300 mm above the floor as the origin of teaching.

The origin of the vertical movement of the robot teaching is 1225 (900 + 175 + 150) mm on the floor, and the finger of the robot hand grasps one part from the pallet on the drawer 154, moves upward, and further assembles position. Move horizontally to and descend. <Outline of Operation of Replacing Pallet> Here, with reference to FIG. 22B, it will be described how one pallet full of parts is taken out from the buffer by the elevator and is further replaced with an empty pallet in the stocker.

When the number of parts in the pallet is reduced to one, the robot prepares the buffer for pallet and separation, and instructs the elevator to move to the separation position. Then
The pallets separated by the buffer at the separation position (this position is fixed) wait for removal by the elevator. When the elevator moves to the separation position (take-out position) and takes the pallet from the buffer into the elevator body, the elevator will have its slide guide 134 emptied in the stocker (or
It descends and waits until it is aligned with the (already emptied) pallet (usually located one above the pallet pulled out onto the drawer 154 into the robot). The standby position differs depending on the order of steps and the shelf position S [G], but when the pallets are arranged from the top in the order of steps, the standby position is represented by a solid line 230 as shown in FIG. 22B. It will be the position. Thus, the preparation for replacing the empty pallets of the elevator is completed.

The pallet with the remaining number of parts of 1 is pulled out from the stocker body to the pull-out portion 154 again, and when the last one is held by the robot, the number of remaining pallets in the pallet becomes "0". Then, the exchange of the pallet between the stocker and the elevator starts. That is, the elevator first draws the empty pallet into the lower portion of the elevator in the standby position state 230. After that, the elevator is lowered by one step and the pallet full of parts is pushed out to the empty stocker rack.
This pushed-out state position is shown by a broken line 232 in FIG. 22B.
After that, the elevator further descends to stack the empty pallets on the transport mechanism 76. Thus, the replacement of empty pallets is completed. <Detailed Description of Control of Each Module> Now that the general operation of each module of the FAC system can be grasped, detailed control operation of each module will be described below with reference to FIG. As described above, this control program is complicated because it has a structure capable of flexibly coping with the cases shown in FIGS. 17A to 17E. Therefore, in the description of each module operation described below, a general configuration (assembly order, process order, pallet mounting order) is assumed and described, and each module has a specific initial state as necessary. Starting from, the process in which the initial state changes under the control of each module will be explained. The initial state is: All the shelves in the stocker (that is, all 20 shelves) are loaded with pallets having the same thickness and thickness, and the number of parts in the pallet is different. : The process also follows this shelf order, and one process uses only one part in one pallet. That is, the total number M of processes is 20 which is equal to the total number of stockers in the stocker. The necessary spare pallets are also piled up on the buffer table 52 in advance.

The configuration having such an initial state will be referred to as "simplified configuration example" for convenience. The expected operation of the module starting from this "simplified configuration example" is as follows :: Robot performs assembly work of one part / process from each pallet ;: Stocker is 20th from the first shelf. Up to the shelf
Ascending in order, the pallet is pulled out to the drawer portion 154, and when the twentieth pallet is pulled out, the entire stocker is lowered and the pallet on the first shelf is pulled out again. : For elevators and buffers, the remaining number of parts is 1
Since the number of pieces or the number of pieces is 0 for each pallet, it is not always the case that a request for replacing empty pallets is generated in the stocker shelf order.

Now, the description will be started from the start of the assembly work of the robot. [Control of Robot and Stocker] The control of the robot is performed according to the program shown in the flow chart of FIGS. 23A and 23B until the remaining number becomes 1 . The stocker is controlled according to the program shown in the flow chart of FIGS. 24A and 24B. These two modules will be explained together until the remaining number Z of parts of any pallet in the stocker reaches "1".
This is because the elevator, buffer, etc. do not operate.

As described above, the management microprocessor program activates the program of each module when the "start" button of the input / output device 18 is pressed. The microprocessor of the robot module initializes the process number argument G to "1" at step S8. The fact that the process number G is "1" means that the robot requests the component of the process number 1, that is, the stocker requests the stocker's S [1] th shelf pallet. Means In step S10, the state of the SINGLE flag (Fig. 19C) is checked. In the SINGLE mode, the process proceeds 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 description, continuous operation will be mainly described.

At step S14, the stocker is activated and started. Commands for such other modules are issued via the above-mentioned multi-bus. When the robot starts the stocker, at step S16, the stocker starts S
It waits for the pallet with the number [G] to be drawn out to the drawer 154 (that is, ready for palletizing).

On the other hand, the start from the robot is started in step S6.
In the stocker waiting for 0, when this activation is performed, the process proceeds to step S62, and it is confirmed whether any of the pallets has already been pulled out onto the drawer portion 154. This confirmation is confirmed by a sensor (not shown) on the drawer portion 154. Such confirmation is for confirmation when the stocker is restarted after being stopped for some reason, and
This is for the SINGLE mode. Therefore, if the pallet has already been pulled out to the pull-out section 154, the process proceeds to step S64, where the pulled-out pallet (which pallet is known by the variable L) is the process G requested by the robot. It is determined whether the pallet is = 1. If it is a robot requesting pallet, it is not necessary to pull out the pallet, so step S8
Proceeding to step 4, a notification of the completion of the preparation for the pallet is sent to the robot via the multibus. At step S64, if the already extracted pallet is not the pallet of the robot request process G (shelf S [G] th), the pallet is returned to the stocker at step S66. Since the operation of the air cylinder C _s4 and the motor M _s2 for returning to the stocker has been described above, the description thereof will be omitted.

If it is determined in step S62 that the pallet has not been pulled out, or if the pallet that has already been pulled out is returned in step S66, step S68.
Then, the process proceeds to step S30 and stores in the variable L which pallet the robot is requesting. The variable G, which indicates the pallet requested by the robot, is stored in L by the stocker so that the robot and the stocker can basically operate independently in parallel while synchronizing with each other in this FAC system. This is because.

In step S70, the stocker is moved up and down to calculate the amount of rotation of the motor M _s1 necessary for aligning the pallet requested by the robot with the drawer portion 154. As shown in Fig. 20, the position from the origin of each shelf of the stocker (300mm above the floor from Fig. 22A) is
I used to teach it before. Therefore, since the robot for the process G (= L = 1) requested by the robot is in the stocker rack number S [L] indexed by the number L, the variable S [L] shown in FIG. , S [L] of L = 1
Position of the teaching position TP
[S [L]] is searched from the teaching point in FIG. 20, and the value is set as the movement amount STP of the servo motor. That is, STP = TP [S [L]]. Then, in step S72, stocker movement is performed according to the movement amount. When the servo motor M _s1 rotates to the STP position, the rack containing the pallet requested by the robot reaches the pull-out position. The CH flag in step S74 is a flag indicating that the replacement request from the robot has already been made. If G = L = 1, the CH flag is reset because the replacement required state has not yet occurred. Proceed to S78. Step S78, Step S80
Then, the lid of the pallet is opened, and in step S82, the pallet with the lid opened is already controlled by the pull-out portion 154.
Pull out to. When the pallet contacts the stopper 176 of the drawer 154, the robot is notified in step S84 that the pallet is ready on the drawer 154. Then, the stocker waits for a predetermined notification by the robot.

When the robot waiting for the completion of preparations from the stocker at step S16 (FIG. 23A) receives the completion notice, the robot proceeds to step S18 and pulls out portion 154.
To pick a part in a pallet placed on it, move above the part and then descend to try to pick the part. Next, in step S20, the process number G
The remaining number of parts Z [G] is reduced by one. Step S22
Then, it is checked whether or not the remaining number Z has become one. If the remaining number Z [G] is still 1 or more, it is checked in step S28 if the robot finger can pick the part. The case where the component cannot be normally picked includes the case where the finger fails to grip the component and the case where the component is not inserted into the relevant place in the pallet. In such a case, until the component can be normally gripped, or the remaining number is 1
The picking is retried in step S18 until the number of individual pieces is reached. When it is confirmed that the parts are picked normally, in step S32, the stocker is notified of the completion of picking.

Upon receiving the notification of the robot operation and the completion of picking, respectively, on the stocker side, the process proceeds to step S86 → step S88 → step S90, and the drawer portion 154
Put the upper pallet back inside the stocker. In addition, step S9
Check the CH flag at 2. Since this flag is still reset, the process proceeds to step S100. I [L] at step S100 is a flag indicating that the replacement request is issued from the robot because the remaining number Z of the L-th pallet detected in the robot as described above becomes zero. Has reset this flag.
Therefore, the process proceeds to step S118 and L is incremented by 1, that is, L = L + 1.

From step S118 to step S126, the stocker prepares the next pallet (part) on the drawer portion 154 while the robot is assembling the parts picked at step S18 (FIG. 23A). Is. That is, in step S120, it is checked whether or not the current step is the final step, and the final step (in the above "simplified configuration example", the total number of steps is 20, so when L = 20).
If not, the process proceeds to step S126 to calculate the amount by which the robot moves the rack of the next pallet next to the pallet on which the parts are picked (L has already been incremented by 1 in step S118) to the pull-out portion 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 of FIG.
The STP calculated in step 3 is sent to the motor M _s1 to align the next shelf with the position of the drawer portion 154. 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 24th
The stocker control program shown in FIG. B is based on the assumption of assembly that requires parts in all steps. However, in practice, there may be a process that does not require parts, such as a finger replacement, and in such a case, the stocker rack movement (step S126) is not necessary. Therefore, a flag for discriminating whether or not the process requires a component is set in the described control variable (FIG. 21A, etc.) (or the component index is made into an alphabet), and before step S126. , If the process does not require parts, the value of this flag is checked, and step S
Instead of proceeding to 126, the process may return to step S118 to proceed one step. When the remaining number becomes one, the remaining number Z [G] of pallets on the shelf S [G] becomes 1 in a certain process G. In other words, if one part is picked in step S18 from a pallet having two remaining parts, the remaining number becomes one.
The process proceeds from step 2 to step S24, and the process number G is saved in the process number variables E and D so that it can be used in the elevator and buffer control programs. Then, in step S26, the buffer and elevator are instructed to start preparations for an alternative pallet because an empty pallet will soon be available. This replacement preparation instruction is stored in the aforementioned queuing area, and if the elevator and buffer are not busy in the previous replacement preparation operation, the elevator and buffer take out this queue and start the replacement preparation operation.

Even after instructing to replace the buffer and the elevator, the robot continues the picking operation as long as it is notified in step S16 that the palette has been pulled out from the stocker to the pull-out portion 154 position.

On the other hand, in the control of this embodiment, the stocker stops its movement because the robot detects that the remaining number Z of pallets becomes zero in a certain process G (= L), and that Is notified (by I [L]) to the stocker,
The stocker pulls out the pallet for the next step G + 1 (= L + 1) to the pull-out section 154, the robot picks up the part of the G + 1 pallet, and the work for replacing the pallet with the remaining number zero found in the previous step G is performed. When it is not finished (step S94), it is set. That is, the stocker waits until the replacement operation is completed. This is because there are parts left in the pallet of the step G + 1 following the step G in which the remaining quantity Z [G] becomes zero. This is because the empty pallets can be replaced in parallel. [Replacement of pallet] * Pallet separation by buffer * Figure 25A shows the variables used in the buffer control program. That is, these variables are the number of the uppermost pallet stage placed on the current buffer table, the read data storage area B by the bar code reader, and the height information of the pallet for each stage, and its part name. Etc. The number of the highest pallet stage is as these variables are taken as the pallet is taken from the buffer by the elevator.
This is because the information of the fetched pallet is deleted so as to indicate which part of these variables is currently valid.
As will be described later, when the FAC system requests the necessary pallet from the unmanned warehouse through the production management computer and the pallet is passed from the unmanned vehicle to the buffer, as will be described later, The system (program of the management microprocessor of FIG. 18) gives it to the buffer. On the contrary, when manually stacking on the buffer table 52, the above information is input from the input / output device 18.

Now, the robot operates in step S26 (second
In Fig. 3A), the buffer is instructed to the replacement via the queue. The process number corresponding to the pallet required for this replacement preparation is saved in the variable D in the queue in step S24. When the buffer receives this replacement preparation instruction in step S150, the process proceeds to step S152, and the part name (or the part index IDX) of the pallet that needs to be replaced is set by the process number D notified from the robot in the 21A. Search from the conversion table in the figure. And, this part name (part IDX) is the 25th
By searching the table in the figure, it is possible to know the number of packed pallets in the component pallet to be replaced.
Then, in step S154, the distance of the pallet from the buffer table 52 (denoted by →) is obtained. This is calculated by summing up the thicknesses of all the pallets up to this pallet (known from the table in FIG. 25A), and the buffer table 52
Know the distance (m) from the floor at the bottom of the current position of
The moving distance from these m, → until the pallet to be exchanged is moved to the separation position is calculated as step S15.
In step 6, it is calculated from {1410- (m + →)} mm. In step S158, the buffer table 52 is moved up and down by the obtained moving distance. This travel distance is
With reference to FIG. 7A, it is well understood that the exchange pallet is the third pallet from the top.

At step S160, the sensing state of the sensor 80 is checked. If the sensor 80 is off, the buffer base 52 is raised until the sensor 80 is turned on at step S162. In step S160, the sensor 80
If is turned on, the sensor is lowered in step S164 until it is turned off. The reason why such control is performed in relation to the tolerance of the pallet thickness has already been described in detail with reference to FIGS. 8A to 8E, and the re-explanation thereof is omitted.

When the desired pallet reaches the separating position, the bar code attached to the pallet is read by the bar code reader 74 for confirmation. Step S168
Then, this read data R and the variable table (21st A
Compare with B [D] in the figure). If these comparisons do not match, the pallet that has moved to the separation position is the pallet that is one level higher than the pallet to be replaced.
Proceed to 170 and increase the thickness of the pallet one above it to the 25th A
Obtained from the table in the figure, in step S172, the buffer base 52 is raised by that amount, and the desired pallet is moved to the separation position. Step S174, Step S176
Then, retry the barcode read and confirm. From step S168 or step S176 to step S1
Proceeding to 78, the first separating claw 66 is urged, and at step S180, the buffer table is lowered by a predetermined distance L ₁ (a distance equal to or larger than the maximum thickness of the pallet, 94 mm in the example of FIG. 22A). , The state shown in FIG. 7C, and step S18
In step 2, the second separating claw 68 is urged, and in step S184, it is further lowered by a predetermined distance L ₂ to separate the buffer as shown in FIG. 7D. Then, in step S186, the elevator is notified of the completion of the buffer separation, and in step S188, the elevator waits for the separated pallet to be drawn into the elevator main body. * Elevator pallet withdrawal * The elevator does not need to operate when it is not necessary to replace empty pallets in the stocker. In this replacement operation, it is first necessary to take in a pallet full of parts separated by the buffer into the elevator frame of the elevator. Therefore, if the normal stand-by position of the elevator lifting frame is set to a position that aligns with the separating position by the buffer (origin position of the elevator also shown in FIG. 22A), it is necessary to prepare a new pallet from the robot. When the instruction comes and the separating operation is immediately completed on the buffer side, there is a merit that the loading of the pallet into the elevating frame can be immediately started without the time required for the movement. Therefore, also in the elevator control of the present embodiment, as shown in step S200 of FIG. 26A, the elevator raising / lowering frame standby position is matched with the separation position by the buffer.

Now, independently of the movement of the buffer, the robot instructs the elevator at step S26 (FIG. 23A) through the queuing (FIG. 21B) to prepare for replacement. The process number G corresponding to the pallet required for this replacement preparation is saved in the variable E in the queue in step S24. When the elevator receives this replacement preparation instruction, it proceeds from step S204 to step S206, and waits for a notification of the completion of pallet separation at the separation position by the buffer.

As described above, the buffer side issues a separation completion notice to the elevator side in step S186, and waits for the elevator to take in the pallets in step S188 while keeping the notice.

Therefore, the elevator that receives this notification is
At step S208, the pallet drawing operation is performed. As described in detail with reference to FIGS. 13AB to 13D, this pulling-out operation first rotates the motor M _E2 of the elevator in the A direction to move the first hook 108 to the latching position with the pallet. Then, the air cylinder C _E1 is driven to engage the hook 108 with the pallet, and then the motor M _E2 is rotated in the B direction to take the pallet into the elevator elevating frame from the buffer side. Is. When the drawing of the pallet from the buffer is completed, step S
At 210, a notification to that effect is returned to the buffer. Then, the process proceeds to step S212 and thereafter. * Incorporation of upper and lower pallets by buffer * The notified buffer releases the second separating claw 68 from step S188 to step S190, and then step S19.
In step 2, the buffer table 52 is raised by L ₁ + L ₂ + H [D] to combine the vertically separated pallet groups, and in step S196, the first separating claw 66 is returned, and then returned to step S150. , Wait for the next pallet preparation instruction from the robot. Note that the instruction standby position from the robot in step S150 is not the position raised by (L ₁ + L ₂ + H [D]) in step S192, but the origin position (500 mm above the floor in FIG. 22A). May be. This is because when the number of parts in the pallet is different depending on the pallet as in this embodiment, the time when the remaining number becomes one is random (even if it can be predicted). * Elevator replacement standby position * Before explaining the movement control to the replacement position, how the replacement position should be determined will be described. In this FAC system, the main focus is on how to replenish new parts so as not to stop the operation of the robot and how to easily cope with the change of the assembly procedure. From this point of view, how to determine the replacement position is a major factor.

In the above-mentioned "simplified configuration example", the pallet having the parts picked by the robot moves upward. Considering that the stock feed of the stocker is always carried out upwards, while trying to improve efficiency by replacing the pallet with the remaining number Z of zero while the robot is using another pallet, In FIG. 27A,
When the number of remaining pallets is 1, when the number of remaining pallets is 1, the number of remaining pallets becomes 0 next. Since the pallet has been pulled out to 154, the 0 pallet is moved upward, and while the lower pallet is being pulled out to the drawer portion 154, a new pallet is replaced with an empty pallet. It is the most efficient to do. That is, in FIG. 27A, while the remaining 0 number of pallets is in the position shown,
The elevator should just replace the pallets. Therefore, let us consider how far the elevator moves and descends to reach the interchange position shown in the figure.

In FIG. 27A, the height positions of the second separation claw 68 on the buffer side and the elevator slide 122 are aligned to enable smooth withdrawal. Numeral 134 is a plate for pulling out an empty pallet from the shelf of the stocker and sliding it, and the distance between both slide plates is fixed. Therefore, when the elevator pulls the separated pallet into the frame, the position of the slide plate 134 is a fixed distance from the floor (see FIG. 22A). Therefore, in order to move the pallet in which the elevator is empty so that it can be placed on the slide plate 134, the number S of the shelf on which the pallet to be replaced is placed can be easily known. Is the distance traveled by the elevator. Incidentally, in FIG. 27A, the pallet which the elevator is about to pull out from the buffer and the pallet with the remaining number of 0 are drawn as if they were about to be replaced, but this is for convenience of explanation. By the way, in the "Simplified configuration example", when the pallet is going to be pulled out from the buffer to the elevator, the pallet with the remaining number of 0 is usually the pallet with the remaining number of 1 causing the replacement preparation instruction. It should be.

What if the process order and the shelf position of the pallet are different? In such a case, the process G is 1,
When changing to 2, 3, ..., The stacker moves up and down according to S [G]. FIG. 27B shows the case where the pallet of the process L (= G) is Z [G] = 1 in such a general example. Then, the elevator starts preparation for replacement together with the buffer, receives a new pallet from the buffer at the separation position, and tries to move to the standby position of the elevator. At this time, the robot has already requested the pallet for the next step (L + 1), so the pallet for step L + 1 is pulled out to the drawer 154 of the stocker. At this time, the pallet used for the process L is No. 27.
It has moved to the position shown in Figure C. It should be noted that the process G goes from 1 to its maximum value once again, starting from 1 in the same order and following the same order,
Change. That is, when the number of remaining pallets (placed on S [L]) in the process L of a certain cycle is 1 and the number of pallets S [L + 1] is drawn out to the drawer 154 in the next process L + 1. In addition, at the existing position, the process makes one cycle and becomes the next cycle, and the process L again makes a cycle.
The remaining number of the pallets whose remaining number is 1 becomes zero, and is equal to the position of the pallet of the process L when the pallet of S [L + 1] is pulled out to the pulling-out portion 154 in the process L + 1. Therefore, when the remaining number becomes 1,
Predicting the replacement standby position when the remaining number becomes zero is consistent.

From this point of view, the calculation of the switching standby position will be described with reference to FIG. 27D. The left side of Fig. 27D shows the initial position of the stocker. That is, the distance t ₀ from the floor of the 20th shelf when the 1st shelf is in the pull-out position is 300 mm as shown in FIG. 22A. When the number of remaining pallets on the shelf S [L] is 1 in a certain process L, and the pallet of S [L + 1] is pulled out to the drawer portion 154 in the process L + 1, the pallet of the rack in the process L is used. Has moved to the position shown in FIG. 27D. When this situation is seen from the elevator side, as shown in FIG. 27D, when the shelf of the shelf S [E + 1] is in the pull-out position,
It is equivalent to calculating the position of the pallet on the shelf S [E]. That is, from FIG. 27D, the replacement standby position is
Considering that the distance between shelves is 30 mm and the total number of shelves is 20, 30 × {20 + S [E + 1] −S [E]} + t ₀ . In this way, the replacement standby position for the elevator is determined.

In FIG. 27C, the pallet of the process L + 1 is pulled out to the pull-out portion 154, and the remaining number Z [L +
As described above, when one [1] is detected, the second replacement preparation instruction is issued from the robot control step S26 and is queued. * Move to standby position * Now, step S212 of the elevator control program
Determines whether the shelf position S [E] in the stocker of the pallet for the process E in which the remaining number is one is the final shelf in which the pallets are stacked in the stocker. If all the stockers of the stocker having a total of 20 shelves in this embodiment are loaded with pallets, the final stage is the 20th stage. The reason for this judgment is that there may be no shelves in the final stage and below, or shelves that have shelves but have no pallets incorporated into the process (hence no pallets). . That is,
In this embodiment, the algorithm for determining the pallet replacement position is changed depending on whether or not it is the final stage. To determine whether or not this is the final stage, the value of S [E] is compared with all the values of the shelf position information S (FIG. 21A) in the variable table, and S [E] is the maximum. It is done by judging whether or not.

The explanation of the control at the final stage will be given later, and if it is determined that S [E] is not at the final stage, the process proceeds to step S214, where the replacement position is 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, the stocker waits for a replacement instruction.

That is, the robot detects a pallet with the remaining number of 1 and, in accordance with the detection, issues a replacement preparation instruction to the buffer and the elevator, and in response to the instruction, the elevator receives a new pallet from the buffer. Then, with the new pallet, the elevator has moved to the replacement standby position. * Detection of 0 remaining quantity * Robot side can issue up to 2 replacement preparation instructions when it finds 1 remaining quantity continuously in the pallet of continuous process. As explained. That is, until then, the robot continues the work of taking out and assembling the parts one after another from the stocker independently of the operation of the buffer and the elevator. In other words, by the time a new pallet with a remaining number of 1 is newly discovered, at least the first pallet with a remaining number of 1 should be zero first.

The finding of the remaining number 0 is performed in step S34 (23rd
(Fig. A). If this is detected, step S3
In step 6, 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 by the stocker by the time one cycle of the entire process completes a cycle and the process requires the same parts as the emptied pallet. Then, at least when they have not been replaced, in step S16,
The robot will stop waiting for the stocking from the stocker. * Replacement of pallet * On the stocker side, the robot detects the set I [G] = 1 at step S100 (Fig. 24B). When this flag is detected, the state of the stocker in the case of the "simplified configuration example" described above will be described with reference to FIG. 24C.

In FIG. 24C, it is assumed that 3, 2, 3, 4, 5 parts from the top are accommodated in the five-stage pallets of the stocker from the beginning.

In this state, when the robot assembly completes one cycle (all processes), the number of parts is (2, 1, 2, 3, 3).
5) It becomes the number. The second drawer of the pallet from the top 1
It goes without saying that a pallet replacement preparation instruction has been sent to the elevator and buffer at the time of drawing out to 54.
In the next cycle, when a part is taken out from the first-stage pallet, the remaining first-stage pallet is left, so this pallet preparation instruction is queried. Next, when the number of parts is taken out from the second-stage pallet, the number of the parts becomes zero, so that the I [G] flag of the second-stage is set to 1 at this point.

Explaining this point in detail, in order to take out the last part from the second-stage pallet, the stocker pulls this pallet into the pull-out portion 154 at step S82 (FIG. 24A). Then, the process proceeds from step S82 to step S84 to notify the robot that the pallet has been pulled out. In the robot that has received this notification, the I [G] flag is set in step S16 → step S18 .................. → step S36.

On the stocker side, step S84 → step S86 → step S88 → step S90 → step S92 → step S100 are proceeded to detect I [L] = 1. In other words, the stocker pulls out the pallet with the remaining number of 1 into the drawer 154, the robot picks it up, and when the stocker returns the pallet with the remaining number of 0 to the inside, I [L ] = 1 is detected.

When I [L] = 1 is detected in step S100, the flow advances to step S102 to set the CH flag to "1".
To The reason why the CH flag is only set but the exchange operation is not immediately performed is that at this point, there is a pallet with the remaining number Z of zero on the stocker rack at the position where the robot is pulled out to the robot side. There are parts in the process pallet, so for the time being, the stocker advances the pallet for the next process to the position where it is pulled out to the robot,
This is because the operation of the robot is not hindered and a replacement request may be issued at that time. Step S102
From step S104 to step S104, for the same reason as in step S212 of the elevator described above, whether S [L] is the maximum value, that is, the stocker shelf of the pallet whose remaining number is zero is the last shelf in the stocker. To find out.

If it is not the final shelf, step S106.
To the register P for the process number L when the remaining number is 0.
Save it temporarily. The reason for this is that in order to advance the pallet of the next step (L + 1) to the position where the stocker pulls out to the robot so that the stocker does not hinder the operation of the robot for the time being, the original process number L which is zero is held. This is to keep it. Then, in step S118 to step S130 described above, the process number is advanced to step S7.
In step 2, the stocker is moved to the shelf position for the next process. Since the CH flag has already been set in step S74, a request for exchanging an empty pallet with a new pallet is sent to the elevator in step S76.

At this point, if the elevator has already arrived at the replacement standby position with a new pallet, the elevator should immediately start pallet replacement independently of the stocker control. . As described above, the preparation for replacing the pallet is started when the remaining number is one, so in step S76,
It is highly expected that the elevator has already arrived at the replacement position when the replacement required for the elevator is issued. See Figure 27E in this regard.

After the replacement request is sent to the elevator, the stocker control is performed in steps S78 to S82.
Then, the pallet in the next process after the pallet with the remaining number of zero is pulled out onto the pull-out portion 154, and steps S84 to S84 are performed.
92-> Step S94 is to assemble the parts of the pallet of the robot in the next step, and at Step S94,
Wait for the replacement of pallets. In this way, the empty pallets are replaced without obstructing the operation of the robot as much as possible.

Return to the elevator control program. In step S218, the elevator, which was waiting for the replacement request from the stocker, receives the above request, and then in step S2.
At 20, the pallet is replaced. Step S2
The specific control of 20 is performed by the steps S240 to S240 of FIG. 26B.
As shown in step S256, the sequence of operations under the control is in accordance with FIGS. 13A to 13G, and therefore description thereof will not be repeated. 27E, 27F and 26
In association with the control of FIG. B, FIG. 27E shows step S
240 to step S246, and FIG. 27F corresponds to step S248 to step S256. Also, β
Is the thickness of the pallet 38 shown in FIG. 4, which is 12 mm in this embodiment.

When the elevator completes the replacement of the pallets, it sends a replacement completion notification to the stocker side (step S222). The stocker side receiving this notification proceeds from step S94 to step S96 to restore the remaining number of pallets in the process P to be replaced. And step S
At 98, the CH flag is reset and I [P] is reset as well. Then, step S100 → step S1
18 and proceed to the next step L = L + 1, and step S
120 → ... → Step S130 → Return to step S72 and repeat the above operation. * Stacking of empty pallets * On the other hand, on the elevator side, operation control is performed to stack the empty pallets held in the lower part of the elevator on the transport mechanism 76.

That is, in step S226, the stacking height Q of empty pallets up to the previous time is changed to the pallet height H this time.
Add the value obtained by subtracting the pallet edge β from [E],
Find the lowered position of the elevator. That is, the descending position is Q + H [E] -β. This is understood with reference to FIG.
Move the elevator to this descending position to move the air cylinder C
Release _E4 and stack empty pallets. Then, when stacked, the pallet is lowered by the stacking amount α (= 7 mm), so the updated stacking position Q is Q = Q + H [E] −α. Next, in step S234, an empty pallet with stacked is, (shown in the elevator bottom of FIG. 1) sensor S ₄ for detecting or not interfere with movement of the elevator determine reached position. If yes, step S23
In step 6, the transport mechanism 76 is driven to transport the empty pallet to the unmanned vehicle position.

Thus, the replacement of empty pallets is completed, the operation of the robot is not stopped, and the parts are supplied to the robot and the parts are supplied to the stocker continuously.

The basic form of operation control of the FAC system has been described above, but the control program has been devised in various ways in pursuit of efficiency. * Replacement of the last shelf * One method of efficiency improvement is to replace the last shelf and change the control procedure in the next step. The stock of this FAC system is
The total number of shelves is 20. Therefore, when the pallet is placed on the shelf from the top to the bottom in the process order, there is no pallet under the 20th stage. In addition, even if all the pallets used in all the steps are placed on the shelf and the stocker is not filled, there is no pallet under the shelf at the lowest position. As described above, when the pallets are placed on the shelves from the top to the bottom in the order of steps, if the last shelf is exchanged according to the determination of the exchange position described above, the shelves of the next step have no pallets. Nevertheless, the shelf without the pallet is moved to the position of the drawer portion 154, and the empty pallet is replaced at the replacement position above it. However, in this case, the robot must stop the assembling work while waiting for the completion of the withdrawal at step S16 until the replacement of the pallet is completed.

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,
If it is necessary to replace the pallets at the final stage, the replacement position should be the drawer position of the stocker (drawer 154).
Position of the slide plate 178). The replacement standby position in this case is 30 × S [E] + t ₀ , as shown in FIG. 27G. Therefore, on the elevator side, step S212
→ Proceed to step S224, calculate the standby position according to the above equation, move to the pull-out position, and execute step S2.
At 18, the system waits for a replacement request from Stocker.

On the other hand, on the stocker side, step S100
Then, when it is detected that the exchange flag I [L] is set, the CH flag is set in step S102, and the process proceeds from step S104 to step S108 to issue an exchange request to the stocker.

Since the subsequent control is the same as the normal rack position changing operation, its explanation is omitted.

In this way, when the replacement pallet is the final one, the pallet is replaced at the position where the stocker is pulled out to the robot side, so that unnecessary waiting of the robot is eliminated. This is especially effective when the pallets are placed on the shelf from top to bottom in the order of steps. [Queuing for replacement preparation instructions] Another way to improve efficiency is queuing. This queuing is necessary from the following background. That is, the total time required for the replacement, such as the time required for separating the pallets by the buffer and the time required to move the elevator to the replacement standby position, is shorter than the time required for one step of assembling the robot. If the operating speed of each module (for example, the rotation speed of the motor) can be set, the robot will not issue a plurality of replacement preparation instructions (step S26) to the buffer and the elevator. However, the former case may be long. In such a case, it is possible that a plurality of the instructions are issued, and in order to deal with such a case, the instructions need to be queued. For example,
In the case where the total number in the pallet is the same in two consecutive processes and the parts are consumed in the same way, there is a possibility that the replacement preparation instruction may be issued successively. Especially, the continuous 2
Steps (these two steps are stolen, L and L + 1)
If the shelf positions S [L] and S [L + 1] are not continuous, vertical movement of the stocker occurs and it takes time to replace the pallet. In such a case, 21B
As shown in the figure, when the replacement preparation instruction is queued, the operation of the robot is not stopped. At the buffer, in order to prepare for one replacement, the pallets are separated, the separated pallets are given to the elevator, and then the next replacement instruction which is being queued is immediately taken out from the queuing machine to separate the next pallets. This is because the operation can be performed. Although the number of queues is set to two in this embodiment, it may be increased if necessary. [Initial operating state setting] The above control has been described on the assumption that the pallet is placed on the stocker. Therefore, initialization control for inserting a pallet into this stocker will be described with reference to FIG. In this initial setting, the robot and stocker do not work, but the buffer and elevator insert a pallet into the shelf of the stocker that is stopped.

First, in step S300, the buffer receives the stacked pallets from the unmanned vehicle. Step S3
At 02, the counter n is set to 1. Step S30
In step 4, the n-th stage pallet is moved to the separation position, and in step S306 the pallet is separated. Step S30
In step 8, the elevator is notified of the separation completion, and the step S
At 310, the elevator completes withdrawal of the pallet.

On the other hand, on the elevator side, at the same time as the start of the program, the elevator moves to the separation position in step S352, and waits for the separation completion notification from the buffer in step S354. When this notification is received, the stocker shelf position is calculated from STP = TP [n] by the counter set by the buffer, and the position is moved to that position, and step S358 is performed.
Then push this pallet into the shelf. Then, in step S360, the transfer completion is notified to the buffer, and step S
At 352, wait for the next pallet.

Upon receiving this notification, the buffer updates the counter n in step S312. In this update, the required shelf number of the pallet transferred to the stocker is calculated from the thickness information of the pallet received from the unmanned vehicle in step S300, and the rack number for inserting the next pallet is calculated. In step S314, it is judged whether or not there is a remaining pallet on the buffer table, and if there is a remaining pallet, the process returns to step S300 to separate the next pallet.

In this way, the initial operating state setting is completed.

<< Explanation of Modifications >> It goes without saying that the present invention is not limited to the configuration of the above-described embodiment and can be variously modified without departing from the scope of the present invention.

Various modifications of the above-described embodiment will be described in detail below. In the following description, the same parts as those in the above-described embodiment will be designated by the same reference numerals and the description thereof will be omitted.

Description of the First Modification First, in the buffer 22 of the above-described embodiment, the robot 12 recognizes that the remaining number of the parts x in the pallet p is one, and thereafter, When the part x is used in the assembly operation and the pallet is emptied,
This empty pallet p'is the pallet p full of parts x.
In order to be able to execute the operation of replacing with the operation of the robot 12 without any hindrance, the remaining number is 1
At the time when it is recognized as an individual piece, the buffer 22 is loaded via the separating mechanism 64 so that the pallet p, which is full of the same parts x as the remaining parts x, can be taken in from the buffer 22. In the above, it is configured to be separated from other pallets p.

However, the present invention is not limited to the above-mentioned configuration, and the buffer 22 is not limited to the separating mechanism 6.
31 to 34 as a first modified example, a plurality of pallets p ₁ , p ₂ , p ₃ ... Stacked on the buffer table 52 are put together in a lump without each other. It may be configured to include the separating mechanism 250 for separating.

* Structure of the step-out mechanism * That is, as shown in FIG. 31, this step-out mechanism 250
Above the buffer table 52, each standing plate 46a,
A plurality of separation claw mounting plates 252 extending along the transport direction d are respectively arranged on the inner surfaces of the b 46 b that face each other along the vertical direction. Here, the pair of separating claw mounting plates 252 facing each other are configured so as not to be hooked on the flange portion 38 of each pallet p in the vertical direction. In addition, in the first modification, the buffer table 52 described above is different from the case of the embodiment, and the unmanned vehicle 2
It is fixed at the same height position as the pallet mounting table 32 of 0.

Here, all the separation claw mounting plates 252 of the respective standing plates 46a, 46b have their corresponding ends extending in the vertical direction, and the corresponding standing plates 46a, 46b.
It is supported along the guide shafts 254a and 254b fixed to the above so as to be movable in the vertical direction. In addition, each guide shaft 2
The upper ends of 54a and 254b have fixtures 256a and 256b.
Are fixed to the upper ends of the corresponding upright plates 46a and 46b, respectively, and the lower ends are fixed to the buffer table 52.

Further, as shown in FIG. 32, an air cylinder C _D1 is integrally attached to the center of each separation claw mounting plate 252, and the piston 258 of this air cylinder C _D1 is directed downward. It is configured to extend. The lower end of the piston 258 has an air cylinder C _D1 attached to the separation claw attachment plate 252 located immediately below.
It is fixed to the upper end of. Here, each air cylinder C
_D1 has two input terminals 260a and 260b,
One input end 260a communicates with a cylinder chamber above the piston 258, and the other input end 260b communicates with a cylinder chamber below the piston 258.

On the other hand, one input end 260a of all the air cylinders C _D1 is connected to one output end 264a of the switching valve 264 via one introduction pipe 262a, and the other input end 260b is connected to the other. Introduction pipe 262
It is connected to the other output end 264b of the above-mentioned switching valve 264 via b. Here, this switching valve 2
The input end 264c of 64 is connected to a coupler not shown in the figure via an introduction pipe 262c.

With the above configuration, for example, when the switching valve 264 is switched so that the high pressure air is output from the one output end 264a of the switching valve 264, the high pressure air is supplied to one side. Introduction pipe 2
62a through the piston 25 of each air cylinder C _D1
8 is introduced into the cylinder chamber above each piston 258
Will be biased downwards. In other words, by supplying this high-pressure air to one input end 260a of the air cylinder C _D1 , as shown in FIG. 32, the space between the separation claw mounting plates 252 adjacent to each other is widened.

On the other hand, in the switching valve 264, when the switching valve 264 is switched so that the pressurizing air comes out from the other output end 264b, the high pressure air passes through the other introducing pipe 262b. It is introduced into the cylinder chamber below the piston 258 of each air cylinder C _D1 , and each piston 258 is biased upward. In other words, by supplying this high-pressure air to the other input end 260b of the air cylinder C _D1 , the 33rd
As shown in the figure, the space between the separation claw mounting plates 252 adjacent to each other is narrowed.

In the narrowed state shown in FIG. 33, for example, all the pallets p have a thickness of 25 mm.
In the case of the pallet p ₁ of No. ₂ , the disposition pitch of the separation eye attachment plate 252 is set to 25-7 = 18 mm. Further, in the expanded state shown in FIG. 32, since the fitting margin of 7 mm must be removed, the pitch of the separation claw mounting plate 252 is set to be longer than 25 mm described above, for example, 30 mm. Will be. In other words, from the state shown in FIG. 33, the high pressure air is supplied to one input end 260a of each cylinder C _D1 so that the piston 258 is pushed downward by 12 mm and the separation claw mounting plate 252 is arranged. The installation pitch will be expanded.

Further, as shown in FIG. 34, this step disassembling mechanism 250 has separation claws 266 provided on the lower surface of each separation claw mounting plate 252 so as to be movable back and forth along a direction orthogonal to the conveying direction d. Is equipped with. That is, the pair of separation claws 266 facing each other are formed by the flange portion 3 of each pallet p.
It is configured to be able to move back and forth between a projecting position that is latched from below by 8 and a retracted position that is separated from the flange portion 38. Further, an air cylinder C _D2 for advancing and retracting the separation claw 266 is attached to the lower surface of each separation claw mounting plate 252 and is located outside the corresponding separation claw 266. Piston 2 of this air cylinder C _D2
68 is reciprocally driven along a direction orthogonal to the transport direction d, and the tip end of the 68 is the corresponding separation claw 266.
It is connected to the.

With the above-described structure, the piston 168 is biased to the retracted position in the state where the high pressure air is not supplied to the air cylinder C _D2 , and all the separation claws 266 are provided with the corresponding palette p ₁ . Flange part 38
Is set to be separated from. Here, by supplying high-pressure air to the air cylinder C _D2 , the separation claws 266 are projected from the retracted position to the projecting position, and each separation claw 266 has a flange portion 3 of the corresponding palette p _1.
It becomes a state in which it can be hooked from below. * Operation of the disassembling mechanism * In the disassembling mechanism 250 configured as described above,
Hereinafter, the collective disassembling operation will be described.

First, when a plurality of pallets p ₁ are conveyed in a stacked state on the buffer table 52, a high voltage current is supplied to the above-mentioned air cylinder C _D2 , and the separation claw 266 pulls in. Biased from the position to the protruding position,
The corresponding flange 38 of the pallet p ₁ is set to be hookable from below. After this, air cylinder C _D1
High pressure air is supplied to the first input end of the
Is biased upwards so that its arrangement pitch can be widened. In this way, the separation claws 266 are hooked on the flange portion 38 from below, and the respective pallets p ₁ are set in a state in which they can be pulled out laterally from the pallets p ₁ located immediately below. It will be.

As described above in detail, according to the first modification, the plurality of pallets p ₁ placed on the buffer table 52 are utilized at the same time by utilizing the step-out mechanism 250. All the pallets p ₁ can be separated from each other so that they can be pulled out to the side. For this reason, as described above, at the height position on the buffer table 52, the pallet p ₁ in which the same parts as the parts recognized as one remaining from the robot 12 are stored is placed on the buffer base 52. Pareto p from that position
₁ can be pulled out to the elevator 26, and the operation time can be shortened satisfactorily as compared with the case where the separating mechanism 64 of one embodiment is used.

In the control of the FAC system equipped with such a buffer, the drawing position of the pallets separated by the buffer to the elevator is also fixed in each pallet. Therefore, the standby position in the preparation for changing the pallet of the elevator differs depending on which pallet is pulled out from the buffer. for that purpose,
As with the buffer side, if the elevator side also has the information shown in Fig. 25A, it is possible to determine from which information the parts in which position the stocker needs in response to the replacement preparation instruction from the robot. I can know.

Description of Second Modification In the elevator 26 according to the above-described embodiment, the three hooks 108, 116, 126 of the replacement mechanism 96 are provided.
As a drive source for moving the carrier along the transport direction d,
Although it has been described that the common servo motor M _E2 is used, the present invention is not limited to such a configuration and the third servo motor M _E2 can be used.
As shown as a second modified example in FIGS. 5 to 39, a drive motor for driving the hooks 108 and 116 for moving the fully loaded pallet p of the component x along the transport direction d, and an idle motor. A drive motor for driving the hook 126 for moving the pallet p ′ along the transport direction d may be separately provided.

* Explanation of Elevator * That is, as shown in FIG. 35, the elevator 300 according to the second modification has guide grooves 1 on its upper and lower surfaces.
Elevator body 8 similar to elevator body 86 of one embodiment, except that 02 and 132 are not formed respectively.
6 is provided. In addition, the replacement mechanism 96 is a component x attached to the lower surface of the upper plate 86a of the elevator body 86.
It is composed of an actual pallet changing mechanism 96a for changing the pallet p full of the pallets and an empty pallet changing mechanism 96b for changing the empty pallet p'mounted on the lower surface of the lower plate 86b of the elevator body 86.

As shown in FIGS. 36 and 37, the actual pallet changing mechanism 96a is used for the elevator main body 86. As shown in FIG.
On the lower surface of the upper plate 86a, a pair of first guide members 302
a and 302b are provided in a state of extending along the transport direction d. Then, both first guide members 302a, 302
On b, a first slide plate 304 is supported reciprocally along the transport direction d.

Here, at the central portion of the first slide plate 304, a protrusion 308 into which a first ball screw 306 described later is screwed is integrally formed. The first ball screw 306 has a pair of first rotation support members 310a and 310b whose front and rear ends are fixed to the lower surface of the upper plate 86a.
It is rotatably supported via. Further, the first ball screw 306 is configured to be rotationally driven by the first servo motor M ₁ . In this way, the first ball screw 306 is rotationally driven by the rotation of the rotary shaft of the first servomotor M ₁ , and the first slide plate 304 is reciprocally moved along the transport direction d. It will be.

The first slide plate 304 is formed so as to extend along the direction orthogonal to the carrying direction d, and both ends of the first slide plate 304 are different from those of the above-described embodiment. Similarly, the first hook 10 is provided on the side of the buffer 22.
8 is provided to be movable back and forth via an air cylinder _E1, and a second hook 116 is provided to the stocker 24 side so as to be movable forward and backward via an air cylinder C _E2 . The pair of first and second hooks 108 and 116 includes a first notch portion 38a on the elevator 26 side formed on the flange portion 38 of each of the above-mentioned pallets p ₁ , p ₂ , p ₃ .
The second notch 38b on the unmanned vehicle 20 side is formed in a shape that can be engaged from both sides.

[0232] Here, the upper plate 86a of the elevator main body 86.
The lower surface of the pair of slidably supports a pallet p which is engaged with the first or second hooks 108 and 116 and is pulled in / pushed out according to the rotational drive of the first servomotor M ₁ . A fixed slide guide 316 is provided.
That is, both fixed slide guides 316 are slidably set on the lower surfaces of the flange portions 38 on both sides of the pallet p to be pulled in / pushed out.

The height of the upper edge of both fixed slide guides 316 from the lower plate 86b of the elevator main body 86 is such that the pallet p ₃ having a maximum height of 100 mm is slidably supported. It is set high enough.

On the other hand, the empty pallet changing mechanism 9 described above.
6b includes a pair of second guide members 322a and 322b on the lower surface of the lower plate 86b of the elevator body 86 in the transport direction d.
It is provided in a state of being extended along with. A second slide plate 324 is supported by both the second guide members 322a and 322b so as to be capable of reciprocating along the transport direction d.

Here, at the central portion of the second slide plate 324, a protrusion 328 into which a second ball screw 326 described later is screwed is integrally formed. The second ball screw 326 has a pair of second rotation support members 330a and 330b whose front and rear ends are fixed to the lower surface of the lower plate 86b.
It is rotatably supported via. Further, the second ball screw 326 is configured to be rotationally driven by the second servo motor M ₂ . In this way, the second ball screw 326 is rotationally driven by the rotation of the rotary shaft of the second servo motor M ₂ , and thus the second slide plate 324 is reciprocated along the transport direction d. It will be.

The second slide plate 324 is formed so as to extend along the direction orthogonal to the carrying direction d, and both ends of the lower surface of the second slide plate 324 are provided on the stocker 24 side. A hook member 332 integrally provided with the third hook 126 is slidably attached along a direction orthogonal to the transport direction d. The third hook 126 has a shape that can be engaged from both sides with the second cutout portion 38b on the unmanned vehicle 20 side formed on the flange portion 38 of each of the above-mentioned pallets p ₁ , p ₂ , p ₃ . Is formed in.

On the other hand, the second air cylinders C ₂ are attached to both ends of the slide plate 324 so as to extend along the direction orthogonal to the carrying direction d. The hook member 332 described above is connected to the tip of the second piston 334 of the second air cylinder C ₂ . In this manner, the third hook 126 is reciprocally driven in response to the driving of the second air cylinder C ₂ so as to be engaged with and disengaged from the second cutout portion 38b of the flange portion 38.

Further, on the lower plate 86b of the elevator body 86, a pair of movable slide guides 336 for slidably receiving the empty pallet p'taken out from the stocker 24 by the third hook 126 are provided. Has been done. Here, both movable slide guides 336 send the empty pallet p ′ received here to the carry-out roller 7 of the carry-out mechanism 76 described above.
In order to be placed on the eighth group, it is set to be slidable along the direction orthogonal to the transport direction d, in other words, to be separated from the empty pallet p ′ received here. That is, as shown in FIGS. 38 and 39, both movable slide guides 336 are slidably attached to the lower surface of the lower plate 86b of the elevator body 86 via the slide members 338, respectively. On the other hand, a third air cylinder C ₃ for reciprocally driving the movable slide guide 336 is attached to both sides of the lower surface of the lower plate 86b. At the tip of the third piston 340 of the third air cylinder C ₃ ,
The movable slide guide 336 described above is connected.
In this way, the movable slide guide 336 is reciprocally driven to engage and disengage from the flange portion 38 of the empty pallet p ′ in response to the driving of the third air cylinder C ₃ .

In the exchange mechanism 96 having the actual pallet exchange mechanism 96a and the empty pallet exchange mechanism 96b configured as described above, the exchange operation of the pallet p and the pallet p'is performed by the first and second hooks 108, 108.
The replacement operation is the same as that of the replacement mechanism 96 in the above-described embodiment except that 116 are simultaneously driven, and thus the description thereof is omitted.

As described above in detail, in the second modification, the drive source for replacing the actual pallet p and the drive source for replacing the empty pallet p'are
Even if the servo motors M ₁ and M _{2 are} formed separately, the same effect as that of the above-described embodiment can be obtained.

Incidentally, in the control according to the second modification, the three motors are driven by one motor of the elevator in the above-described one embodiment, but are only driven by two motors. Therefore, the description thereof is omitted.

Description of Third Modification Next, in the elevator 26 of the above-described embodiment, the replacement mechanism 96 has three hooks 108, 116, 126.
Is provided to take in and push out the actual pallet p.
The first and second hooks 108, 116 are arranged in the upper stage,
A third hook 12 is provided for pulling in the empty pallet p '.
Although it has been described that 6 is disposed in the lower section, the present invention is not limited to such a configuration, and the present invention is not limited to such a configuration.
As shown as a third modified example in FIG. 1, the exchange mechanism 350 may be configured to include only the first and second hooks 108 and 116 in a state in which the third hook is removed.

* Explanation of Replacement Mechanism * That is, as shown in FIG. 40, in the elevator main body 86 of the elevator 26, the central portion of the lower plate 86b of the elevator main body 86 has a cutout portion 86c formed along the transport direction d. Cage,
The pallet P is formed so as to be able to pass along the transport direction via the cutout portion 86c.

Here, air cylinder support plates 112 are fixed to both ends of the above-mentioned slide plate 106 in a state of extending along the carrying direction d. A first air cylinder C _E1 for reciprocally driving the first hook 108 is attached to an end of the air cylinder support plate 112 on the buffer 22 side. The above-described first hook 108 is connected to the tip of the first piston 114 of the first air cylinder C _E1 . In this way,
In response to the driving of the first air cylinder C _E1 , the first hook 108 is reciprocally driven to engage and disengage with the first cutout portion 38a of the flange portion 38. Further, at both ends of the side surface of the slide plate 106 on the stocker 24 side, a second hook 116 is provided along a longitudinal axis direction of the slide plate 106 via a second hook slide member 118, in other words, It is attached so as to be slidable along a direction orthogonal to the transport direction d. This pair of second hooks 11
6 is formed in a shape that can be engaged from both sides with the second cutout portion 38b on the unmanned vehicle 20 side formed in the flange portion 38 of each of the above-mentioned pallets p ₁ , p ₂ , p ₃ . .

On the other hand, a second air cylinder C _E2 for reciprocally driving the second hook 116 is attached to the stocker 24 side ends of the air cylinder support plates 112 fixed to both ends of the slide plate 106. There is. At the tip of the second piston 120 of the second air cylinder C _E2 ,
The above-mentioned second hook 116 is connected. In this way, the second hook 116 is reciprocally driven to be engaged with and disengaged from the second cutout portion 38b of the flange portion 38 in response to the driving of the second air cylinder C _E2 . Here, on the lower plate 86 b of the elevator main body 86, the actual pallet p taken from the buffer 22 by the first hook 108 and the stocker 2 by the second hook 116.
A pair of movable slide guides 352 for slidably receiving the empty pallet p'pulled in from No. 4 are provided.

Here, both movable slide guides 352 are
The empty pallet p'received here is transferred to the unloading mechanism 76 described above.
In order to place it on the group of the carry-out rollers 78, it is set slidable along the direction orthogonal to the transport direction d, in other words, so as to be separated from the empty pallet p ′ received here. . That is, on the lower plate 86b of the elevator body 86,
A slide member 354 is attached to slidably support the movable slide guide 352 along a direction orthogonal to the transport direction d.

The cutout portion 86 is formed on the lower plate 86b.
A fourth air cylinder C _E4 for reciprocally driving the movable slide guide 352 is attached in a state of being adjacent to the central portions of both side edges of the c along the conveyance direction d. The movable slide guide 352 described above is connected to the tip of the fourth piston 256 of the fourth air cylinder C _E4 . In this way, the movable slide guide 352 is reciprocally driven to be engaged with and disengaged from the flange portion 38 of the empty pallet p ′ in response to the driving of the fourth air cylinder C _E4 .

As described above, by constructing the interchange mechanism 350 according to the third modification, the empty pallet p'is temporarily placed on the movable slide guide 352 on the stocker 2 side.
4, the empty pallet p ′ is once placed on the carry-out mechanism 76, and the replacement mechanism 35 is placed.
Move down to remove from 0. And like this,
The empty pallet p ′ is separated from the exchange mechanism 350,
With the interior of the elevator body 86 emptied again, this time, in order to receive the actual pallet p separated in the buffer 22, it is moved up and moved to a height position adjacent to the separation position. In this separation position, the buffer 22
The actual pallet p is received from and the actual pallet p is pushed out to a predetermined position of the empty stocker 24 by drawing the empty pallet p '.

In this way, a series of pallet exchange operation is completed.

* Control * The operation of the elevator according to the third modification will be described together with the movement of the stocker with reference to FIGS. 42A to 42H. Regarding the control of this modification, a robot, a stocker,
Regarding the buffer, since the robot is step S26 and the control of the basic embodiment does not require modification, the robot is shown in FIGS. 23A and 23B, the stocker is shown in FIGS. 24A and 24B, and the buffer is shown in FIG. 25B. , FIG. 25C is incorporated. Then, regarding the elevator, the sequence of the control operation will be described with reference to FIGS. 42A to 42H. In the elevator of this modification, the empty pallet pull-out mechanism in the lower part of the basic embodiment is removed, and therefore, the empty pallet is pulled out from the stocker first → the empty pallet is stacked → the new pallet is inserted. Take a sequence.

In FIG. 42A, if it is assumed that the pallet of the process number L ₀ (placed on the shelf S [L ₀ ]) has the remaining number Z [L ₀ ] = 1, the robot will move to the buffer and elevator at this point. On the other hand, give instructions to the pallet to replace it.
The buffer which has received this preparatory instruction determines from which part of the buffer table 52 the supply pallet is placed on the basis of the part name of the process L ₀ (= D ₀ ) according to the buffer control of the basic embodiment described above. Examine (see Figure 25A) and separate the pallet at the separation location. On the other hand, the modified elevator that has received the replacement preparation instruction moves to the replacement standby position. The standby position is the stocker S in the process L ₀ .
This is the position of [L ₀ ]. When the elevator arrives at this standby position, the stocker process will have shifted to another process L ', as shown in FIG. 42B. When the process completes one cycle and the pallet of the shelf S [L ₀ ] comes to the position of the robot drawer 154, the remaining number Z [L ₀ ] is zero. Then, here, the empty pallet is pulled out from the stocker side to the elevator side (42C).
(Fig. 42D). When the elevator has taken in the empty pallet, the elevator descends and stacks the empty pallet on the transport mechanism 76 (Fig. 42E). In this state, the elevator does not hold any pallets.

After that, the elevator rises to the separating position of the buffer and takes in the new separated pallet. When this loading is completed, the elevator sends a completion notification of this loading completion to the buffer, and further descends to the S [L ₀ ] position of the stocker waiting to stop its movement (Fig. 42F). The elevator that has descended to the standby position of the stocker pushes a new pallet into the stocker (Figs. 42G and AH), and sends a replacement completion notification to the stocker. Upon receiving this notification, the stocker restarts the parts supply to the robot side.

As described above, in the third modification, the replacement operation of the empty pallet p'and the actual pallet p takes some time as compared with the case of the above-described embodiment, but the replacement is performed. The structure of the mechanism 350 is simplified,
It is possible to reduce the cost.

Description of Fourth Modified Example * Structure * In the carry-out mechanism 76 of the above-described embodiment, empty pallets p ′ separated from the lowered elevator 26 are held in a stacked state. When the number of stacked sheets reaches a predetermined value, the carry-out mechanism 76 is driven so as to carry out below the buffer table 52, that is, to a position adjacent to the empty pallet mounting table of the unmanned vehicle 20. Although it has been described that the carry-out mechanism 76 is set to a fixed state below (immovable vertically), the present invention is not limited to such a configuration. 43rd
As shown as a fourth modification in FIGS. 44 to 44, a portion of the carry-out mechanism 76 located below the elevator 26 may be configured to be vertically movable, and may be configured to include a so-called lift mechanism.

That is, as shown in FIG. 43, the carry-out mechanism 76 according to the fourth embodiment has a fixed transport mechanism 400 located below the buffer table 52 and a lift mechanism 402 located below the elevator 26. It has and. Here, since the fixed transport mechanism 400 has the same configuration as the transport mechanism 76 described in the embodiment, the description thereof will be omitted.

On the other hand, as shown in the figure, the lift mechanism 402 includes the columns 82a, 82b, 8 which form the elevator 26.
The other sliding member 404 is slidably attached to the guide member 88 attached to 2c and 82d in a state of being positioned below the sliding member 90 to which the elevator body 86 is attached. A lift table 406 is vertically movable so that the four corners are attached to these four sliding members 404. On the lift table 406, in a state where the lift table 406 is brought to the lowermost position, a group of carry-out rollers 78a provided in the fixed carry-out mechanism 400 and a group of carry-out rollers 78b arranged in a horizontal state are provided. ing. Further, in the figure, a protruding piece 408 is integrally attached to the side surface of the lift base 406 in a state of entering the space between the columns 82b and 82d on the opposite side. Then, in a state where the air cylinder mounting member 41 is bridged over both the columns 82b and 82d.
0 is provided so as to extend horizontally. A piston 412 is provided on the upper surface of the air cylinder mounting member 410.
The air cylinder C _L is attached in a state of protruding downward. The lower end of the piston 412 is fixed to the upper surface of the above-mentioned protruding piece 408.

The air cylinder C _L is equipped with a break mechanism (not shown) so that the protrusion amount of the piston 412 can be set arbitrarily. Further, the air cylinder C _L is
Is held in a state of being projected by the maximum amount, and by supplying high-pressure air to this, the piston 412 is pulled up.
6 is configured to be driven upward.

On the other hand, the cylinder mounting member 41 described above
A sensor mounting member 414 is attached to the lower surface of 0 in a state of extending downward from this. On this sensor mounting member 414, three sensors S ₁ , S ₂ and S ₃ are arranged side by side in the vertical direction so as to be able to face the lift table 406 that is moved up and down.

These sensors S ₁ , S ₂ and S ₃ are changed in three types only for the lift position (elevation standby position) of the uppermost position of the empty pallet group p ′ mounted on the lift base 406 for the reason described below. For the purpose of control, in other words, when the empty pallet p ′ is released from the elevator main body 86 onto the lift platform 406, the lift platform 406 is arranged to change and control the position where the lift platform 406 is raised and waits in advance to three types. ing.

That is, as shown in FIG. 44, according to the height of the empty pallets p ₁ ′, p ₂ ′ and p ₃ ′ held at the bottom of the elevator body 86 at the lowest position, The height of the empty pallets p ₁ ′, p ₂ ′ and p ₃ ′ to the bottom surface will change. Therefore, the elevator body 8
Empty pallets p ₁ ′, p ₂ ′, p held under 6
_When 3'is released onto the empty pallet group p'on the lift platform 406, the descending control of the elevator body 86 becomes complicated, and it becomes difficult to determine how much the lift platform 406 should be raised. .

In other words, if the lift platform 406 is raised to a predetermined rising standby position while the empty pallets p ₁ ′, p ₂ ′ and p ₃ ′ are being pulled in the elevator 26, The descent time of the elevator main body 86 is set to the shortest, and the subsequent operation is quickly performed. In this way, these sensors S ₁ , S
₂ and S ₃ are for the purpose of simplifying the descent control of the elevator main body 86 and shortening the descent time, the lift table 406 and the empty pallets p ₁ ′, p that are stacked on the lift table 406. ₂ ', p _3' depending on the height of, and is provided in order to keep as much as possible, to wait the raised stand-by position.

Therefore, in the sensor S _{1 at the} uppermost position, the height of the empty pallet p ′ held at the lower portion of the elevator body 86 is 25 when the elevator body 86 is at the lowest position.
In the case of mm, it is set so as to be located a predetermined distance L downward from the height position of the lower surface of the empty pallet p ₁ ′.

Further, the sensor S ₂ at the second height position is
Is set to be located 25 mm below the sensor ₁ . That is, the second sensor S ₂ is the elevator main body 8 with the elevator main body 86 in the lowest position.
'In the case of height is 50 mm, the air pallet p _2' empty pallet p held at the bottom of 6 from the height position of the lower surface of, and is set so as to be positioned downward by a predetermined distance L described above .

Further, the sensor S ₃ at the third height position is
Is set to be located 50 mm below the sensor S ₂ . That is, in the third sensor S ₃ , the height of the empty pallet p ′ held at the bottom of the elevator body 86 is 100 mm when the elevator body 86 is at the lowest position.
In this case, it is set to be located below the height position of the lower surface of the empty pallet p ₃ ′ by the above-mentioned predetermined distance.

Here, the predetermined distance L is the empty pallet p from the elevator main body 86 in the state where this interval is present.
_{When 1} ′, p ₂ ′ and p ₃ ′ are released on the empty pallet p ′ mounted on the lift platform 406, the released empty pallets p ₁ ′, p ₂ ′, p are satisfactorily obtained. ₃ 'lift stage 406 empty pallet p' is set to a sufficient small distance is overlaid on.

In this way, the elevator main body 86 is
The empty pallets p ₁ ′, p ₂ ′, p ₃ ′ indicated to this are
When transferring to the empty pallet p ′ mounted on the lift platform 406, the lift platform 406 preliminarily determines the uppermost position of the empty pallet p ′ mounted on the lift platform 406.
6 and the empty pallets p ₁ ′, p held at this position
₂ ', p _3' is brought to elevated standby position corresponding to the height of the. As a result, the elevator main body 86 simply needs to descend to its lowest position, which simplifies the descending control and minimizes the descending time.

* Control * In the fourth modified example configured as described above, the outline of the operation control will be described below with reference to FIG. The control of this modification is performed by step S226 in FIG. 26A.
~ Step S236 is changed. That is, the stocker control step S76 or step S10.
When the request to replace the empty pallet p'is issued to the elevator at 8, the elevator main body performs the predetermined operation described above, and at step S220 (Fig. 26A), the empty pallet p'and the new pallet p'are set. Replace.

On the other hand, the lift mechanism side also waits for the replacement request at step S420 (FIG. 45), and if there is this request, the thickness of the empty pallet held in the elevator is found at step S422. When this type of thickness is known, step in S424, by driving the air cylinder C _L, the aforementioned three corresponding to the thickness of the sensor S ₁ to S ₃
Lift platform 406 to any of the positions. Then, in step S426, the empty pallet p'from the elevator side is sent while sending the standby position arrival notification to the elevator side.
Wait for release notice.

On the other hand, the elevator which has completed the pallet replacement sends this notification to the stocker at step S222 (Fig. 26A), and at step S400 (Fig. 45),
The elevator body is lowered to the position shown in FIG. Then, at this position, it waits for a standby position arrival notification from the lift mechanism. At the time of notification from the lift mechanism side, the distance between the empty pallet p ′ held at the lower part of the elevator and the uppermost empty pallet p on the lift platform 406 is approximately L.
As described above, it is close to. Therefore, in step S404, the empty pallet held in the lower part of the elevator is released, and in step S406, a release notification is sent to the lift mechanism side.

The lift mechanism side that has received the release notification advances from step S428 to step S430, and the lift table 4
Lower 06 to the floor position. At this point it is checked if the now stacked empty pallet p'reaches the maximum height sensor position. If the height reaches the maximum position, the vertical movement of the elevator is hindered, so in step S434, the fixed transfer mechanism 400 is driven to carry out the stacked empty pallets.

By controlling the elevator and lift mechanism as described above, the elevator main body 86 simply needs to descend to the lowermost position thereof, which simplifies the descending control and minimizes the descending time. It will be.

In the elevator control of the above-mentioned basic embodiment, the thickness of the empty pallet is given as H [L]. However, if the thickness is wrong, the elevator body will be damaged. The following accessory mechanism may be provided as a means for checking the thickness of the empty pallet. That is, the empty pallet p drawn into the lower part of the elevator body 86.
₁ ', p _2', in order to detect the respective height of the p ₃ ',
Although not shown, a sensor group for detecting the height of the empty pallets p ₁ ′, p ₂ ′, p ₃ ′ drawn into the elevator main body 86 is provided at the bottom of the elevator main body 86, and the above-mentioned H [L]
And the determination of the thickness type by the detection of these sensors (not shown) are collated and confirmed.

Further, it is possible to omit the _three sensors S _{1 to} S ₃ into one, and in such a case, the maximum height sensor S ₄ may also be used. However, in this case, the empty pallet held in the lower part of the elevator main body and the empty pallet stacked in the stack are 3 depending on the thickness of the pallet.
In order to take the street distance, it is necessary to lower the elevator body further and reduce this distance to a distance where it does not matter if the empty body releases the empty pallet. [Other Embodiments] * Structure * In the above description of one embodiment, the component supply system 14 for supplying the necessary parts x to the robot 12 is
Broadly speaking, there are a buffer 22 for receiving the parts from the unmanned vehicle 20 and temporarily accommodating them, and a stocker 24 provided adjacent to the robot 12 for sequentially supplying the parts required for assembly to the robot 12 in accordance with the assembly order. , This buffer 22
And the stocker 24 are disposed between the stocker 2 and the stocker 24.
4 and an elevator 26 for transfer to the vehicle.

Particularly, in this embodiment, in the stocker 24, the pallet p ', which has become empty due to the lack of the remaining number of parts, is replaced with the actual pallet p full of corresponding parts. , Process L + of empty pallet at the drawing position to the robot 12 in process L
The position at 1. In other words, the replacement position is the process sequence L and the shelf position S of the pallet corresponding to the process.
It is defined by [L], and this replacement position,
In many cases, the height is different from the separation position on the buffer 22. Therefore, during this period, the elevator 26 for transferring the actual pallet p from the buffer 22 to the stocker 24 is required.

However, the present invention is not limited to the structure of such an embodiment, and is not limited to FIG. 46 to FIG.
It may be configured as shown in FIG. 9 as another embodiment.

That is, in another embodiment, the buffer 2
The separation position in 2 and the replacement position in the stocker 24 are set at the same height position, and the buffer 2
By setting the separation position in 2 above the buffer base 52, the elevator 26 required in the above-described embodiment can be eliminated.

The configuration of the FAC 10 according to another embodiment will be described in detail below. In the following description, the same members as those used in the configuration of the above-described embodiment and various modifications will be designated by the same reference numerals, and the description thereof will be omitted.

That is, as shown in FIG. 46, the robot 1
The component supply system 14 for supplying the necessary components to the 2 is roughly divided into a buffer 450 that receives the components from the unmanned vehicle 20 and temporarily stores them, and is provided between the buffer 450 and the robot 12. A stocker 24 for sequentially supplying the parts 12 required for assembly in accordance with the assembly sequence.
It has and.

Unlike the buffer 22 of the above-described embodiment, this buffer 450 has a function of once receiving an empty pallet p'from the stocker 24 and pushing out the pallet p separated here to the replacement position of the stocker 24. At the same time, on the buffer table 52, the pallets p are stacked from the bottom in the order that the number of parts in the stocker 22 becomes zero. Further, the buffer table 52 is attached with its upper and lower positions fixed.

Specifically, this buffer 450 is the 47th
As shown in the figure, while sandwiched between the two upright plates 46a and 46b, the buffer block 5 is inserted through the spacer block 452.
2 is fixedly provided at the same height as the pallet mounting table 32 of the unmanned vehicle 20. In other words, the spacer block 45
The side surface of the buffer table 52 is separated from the corresponding upright plates 46a and 46b by the amount corresponding to the provision of 2.

A separating mechanism 454 for separating the pallet p, which is directly placed on the buffer table 52 in a state of being located above the buffer table 52, independently from the pallet group located on the upper side. Is provided.

This separating mechanism 454 is composed of both standing plates 46a,
Mounting members 456 fixed to the upper end of each of the mounting members 46b are provided, and guide shafts 458 are mounted on both ends of each mounting member 456 along the conveyance direction d in a state of standing in parallel with each other. The separation claw mounting plate 460 is attached to the lower ends of the pair of guide shafts 458 along the transport direction D. A pair of separation claws 462 are attached to the lower surface of each separation claw mounting plate 460 so as to be able to be engaged with the flange portion 38 of the pallet p from below, and to move back and forth along the direction orthogonal to the transport direction D, respectively. There is.

On the other hand, in the central portion of each mounting member 456, the ball screw 46 is extended in the vertical direction.
4 is rotatably supported. This ball screw 464
The lower end of each is rotatably supported by a support plate 466 fixed to the corresponding upright plates 46a and 46b. Here, a ball screw receiving portion 468 in which an intermediate portion of the ball screw 464 is screwed into the central portion of the separation claw mounting plate 460 described above.
Is provided.

Further, a servo motor M _T is attached to the upper surface of the attachment member 456 on the opposite side in the drawing via a stay 470. The upper end of the ball screw 464 described above is connected to the drive shaft of the servo motor M _T ,
The ball screw 464 is configured to be rotationally driven according to the rotation thereof. Here, a drive pulley 472 is coaxially attached to this drive shaft. On the other hand, the driven pulley 474 is attached to the upper end of the ball screw 464 on the front side in the figure.
Are attached coaxially. And these drive pulleys 4
72 and the driven pulley 474 include the timing belt 47.
6 is wound. In this way, the pair of ball screws 464 are rotationally driven in synchronization with each other. That is, both separation claw mounting plates 460, and hence both separation claws 4
62 have the same height as each other and are moved up and down.

In order to drive each of the above-mentioned separation claws 462 forward and backward from the corresponding separation claw mounting plate 460, an air cylinder C _T1 is provided on the rear surface of the separation claw mounting plate 460. The tip of the piston (not shown) of the air cylinder C _T1 is connected to the corresponding separation claw 462. Here, each separation claw 462 is supported by a pair of guide pins 478 so as to be movable back and forth.

In the state where high pressure air is not supplied to each air cylinder C _T1 , in the state where high pressure air is supplied, the corresponding separation claw 462 is biased to the retracted position separated from the flange portion 38. It is constructed so as to be biased to a projecting position where it can be hooked on the flange portion 38.

Since the separating mechanism 454 is configured as described above, from the plurality of pallets p in a state of being stacked on the buffer table 52, the pallet p _{a at the} lowest position, that is,
Have been placed directly on the buffer board 52, then in the case of separating the pallet p _a that is adapted to be transferred to Sutotsuka 24, first, in a state of being biased in the retracted position separation claw 462, the The separating claw 462 is moved to a position immediately below and adjacent to the flange portion 38 of the second pallet p _b from the bottom via the servo motor M _T.

Thereafter, high pressure air is supplied to the air cylinder C _T1 to bias the separation claw 462 to the projecting position. As a result, each separation claw 462 is in a state in which it can be hooked from below onto the flange portion 38 of the pallet p _b located second from the buffer table 52. From this state, the servo motor M _T is activated to move the separation stitch attachment plate 460, that is, the separation claw 462 upward. In this way, the second pallet p _b from the bottom, together with the pallet p group superimposed on this,
Will be raised. In other words, with the pallet p _a at the lowest position left on the buffer table 52, the second or more pallet group p from the bottom is lifted and separated from the pallet p _a at the lowest position. Become. Therefore, the separated bottom pallet p _a , in other words,
Then pallet p _a to be transferred to Sutotsuka 24, along connexion in the conveying direction d, is set to a drawable independently state.

On the other hand, the buffer 450 is provided with a replacement mechanism 480 for the pallet p in a state of being located around the buffer table 52. As shown in FIGS. 48 and 49, the exchange mechanism 480 is provided below the buffer table 52 so as to be capable of reciprocating along the conveyance direction d via a pair of guide shafts 482a and 482b. It has a horizontal slide plate 484. As shown in FIG. 48, a ball screw 486 is rotatably supported at its both ends via rotation supporting members 488a and 488b in the central portion of the lower surface of the buffer table 52 along the transport direction d, as shown in FIG. It is installed in. Here, this slide plate 484
Is configured to be in rolling contact with the lower surface of the buffer table 52 via a pair of rollers 484a and 484b.

This ball screw 486 is a slide plate 48.
4 is screwed into a screwing portion 484c integrally formed in the central portion. Although not shown, this ball screw 486
Is driven to rotate by a servo motor, and as a result, the slide plate 484 is reciprocally driven along the carrying direction d via the screwing of the ball screw 486 and the screwing portion 484c.

On the lower surface of the slide plate 484, an empty pallet p'is drawn in from the stocker 24, and the buffer table 5
A pair of first hooks 490 for supporting the lower part of the two
a and 490b are attached such that they can move back and forth along a direction orthogonal to the transport direction d. In addition, an air cylinder C _T2 for reciprocally driving the first hooks 490a and 490b is attached to this lower surface. The piston 492 of each air cylinder C _T2 is the first hook 4 described above.
It is connected to 90a and 490b.

In this air cylinder C _T2 , when the high pressure air is not supplied to the air cylinder C _T2 , the corresponding first hooks 490a and 490b are moved to the pallet p.
Of the pallet p, the corresponding first hooks 490a, 490b are operated so as to be biased laterally away from the flange portion 38 of the pallet p. Second notch 3
8b to move to engage.

On the other hand, the exchanging mechanism 480 is provided with movable slide guides 494a and 494b for receiving the empty pallet p ′ drawn from the stocker 24 by the first hooks 490a and 490b. Both the movable slide guides 494a and 494b correspond to the corresponding upright plates 46.
The guide pins 496a and 496b are provided on the a and 46b so as to be movable back and forth along the direction orthogonal to the transport direction d. Movable slide guides 494a, 494b
Is attached to the tip of the piston 498 of the air cylinder C _T3 fixed to the corresponding upright plates 46a and 46b.

Here, in the air cylinder C _T , when the high pressure air is not supplied to the air cylinder C _T , the corresponding movable slide guides 494a and 494b are hooked on the flange portion 38 of the empty pallet p'from below. The movable slide guides 494a and 494 corresponding to the movable slide guides 494a, 494 are biased to the protruding position where they are stopped and high-pressure air is supplied thereto.
b is biased to a retracted position that is laterally spaced from the flange portion 38 of the retracted empty pallet p '.

Further, the above-mentioned exchange mechanism 480 is provided with a pair of second hooks 500a and 500b for pushing the actual pallet p into the stocker 24 in a state of being located on the upper side of the buffer table 52. Both second hook 50
0a and 500b are provided so as to be engageable with the second cutout portion 38b of the flange portion 38 of the actual pallet p from both sides. Here, both second hooks 500a and 500b are
Support stay 502 integrally connected to slide plate 484
The pistons 504 of the air cylinder C _T4 fixed to the upper surfaces of a and 502b are attached to the respective tips.

This air cylinder C _T4 biases the corresponding second hooks 500a and 500b to the retracted position which is separated laterally from the flange portion 38 when high pressure air is not supplied to the air cylinder C _T4. In the state in which the high pressure air is supplied, the corresponding second hook 500a,
500b to the second cutout portion 38b of the flange portion 38.
Is configured to be biased to a protruding position that engages with.

As described above, the stocker 24 in another embodiment provided with such a buffer 450 has the same structure as that of the above-described embodiment, but its operation is slightly different. That is, the stocker 24 in one embodiment operates so that the pulling-out position of each pallet p in the elevating frame 152 moves up and down within a range in which it can face the pulling-out base 168, but the stocker 24 in another embodiment. While performing the above-described operation, the operation is performed so that the pull-out position of each of the pallets p in the elevating frame 152 can face the separation position of the buffer 450.

Here, in such another embodiment, in order to place the empty pallet p'received on the lower portion of the buffer table 52 on the devising mechanism 76, this discharging mechanism 76 is used.
Includes a lift mechanism 402, which is the same as the lift mechanism described in the fourth modification of the above-described embodiment, in the lower portion of the buffer table 52. * Control * Stocker 2 according to another embodiment configured as described above
4 and the buffer 450 will be described in the following 50th.
A description will be given based on FIG. A and FIG. 50B. For the control on the robot side, the program shown in FIGS. 24A and 24B is used for the outline. The feature of these controls is that since there is no elevator as in the above-mentioned embodiment, only the buffer performs the preparatory operation even when the request for the preparation for the replacement of the pallet comes out from the robot. At the time when the robot notifies that the value has become zero (replacement request flag I [L] = 1),
The parts supply to the robot is temporarily stopped (that is, without proceeding to the next step), and the stocker elevating frame 152 is moved to the separating position of the pallet by the buffer described above. Then, at this separation position, the empty pallet and the actual pallet are exchanged. After that, the pallet at the shelf position of the process is again moved according to the original process order until the pallet is aligned with the drawing position of the drawing section 154, and the parts supply to the robot is restarted.

FIG. 50A is a flow chart of a stocker control program according to another embodiment. From step S600 to step S608, according to the process number G (= L) received from the robot, the lifting frame 152 of the stocker 24 is moved up and down to the drawer position of the drawer 154 at the shelf position corresponding to the number. The following is the control until the desired pallet is pulled out at the position of the pull-out portion 154. In step S610, the robot is notified that the preparation for drawing out the pallet is completed, and in step S611, the robot waits for the completion of the delivery pick from the robot. When the picking is completed, the process proceeds from step S611 to step S612 to return the pallet on the drawer portion 154 into the elevating frame 152, and in step S614, the replacement request flag I [L] is not set to "1" by the robot. To find out.

If this flag is not set,
Steps S628 to S634 are executed, the process returns to step S606, and the above-mentioned control is executed in step S61.
At 4, the switching is repeated until the replacement request flag I [L] becomes "1".

If a pallet in which the number of remaining pallet parts is one is found on the robot side in the above repeating process (step S22 in FIG. 23A), step S26 (FIG. 23A). ), The buffer side should be instructed to perform the replacement preparation operation.

That is, when such a replacement preparation instruction is issued, the process proceeds from step S650 of the buffer control program shown in FIG. 50B to step S652 and the process number D is entered.
(D = G at step S24 in FIG. 23A), the pressure H [D] of the new pallet is obtained by searching the variable table (FIG. 21A), and at step S654 Separate the pallet in position. That is, the motor M _T is rotated to H [D] to raise the separating pawl 462, and at that time, the separating pawl 462 is used to lock the pallet of one or more stages above the actual pallet to be separated. , Drive the air cylinder C _T1 . After this locking, the motor M _T1 is further rotated to raise the pallet one or more steps above the pallet to be separated, and the pallet to be separated is separated. In this way, the actual pallet is separated from the other pallets, and then a separation completion notice is sent to the stocker at step S655, and then step S65.
At 6, the system waits for a replacement request instruction from the stocker.

On the other hand, the flag I [L] is "1" in Rohhot.
If the stocker finds that the empty set has been set in step S614, the process proceeds to step S616 to raise the empty pallet of the process L on the shelf of S [L] to the empty draw-out position as shown in FIG. 50C. That is, the position of the shelf with the empty pallet from the floor at the time of rising is a position aligned with the slide guide 494a (494b). Therefore, in step S618, the buffer is notified of the replacement request of the empty pallet. And step S620
Then wait until the pulling mechanism at the bottom of the buffer pulls out the empty pallet.

On the buffer side which has received the replacement request, the empty pallet is pulled in at step S658. That is, the air cylinder C _T3 is driven to bias the slide guide 494a. Then, by rotating a motor (not shown), the hooks are slid into the stocker while the first hooks 490a and 490b are not biased. Then, the air cylinder C _T2 is driven to bias the hooks 490a and 490b so that the empty pallet is hooked on this hook, and the motor (not shown) is reversed to pull the empty pallet to the lower portion of the buffer. In step S660, the stocker is notified that the empty pallet has been pulled out, and the stocker is urged to move to the actual pallet pushing position.

At this point, the buffer control becomes two parallel controls. That is, by waiting for the notification of the completion of the pushing position movement from the stocker in step S662a, and in step S622b waiting for the lift mechanism to move up to a position where the buffer may release the empty pallet. is there.

Here, the control on the lift mechanism 402 side will be described. The lift mechanism 402 has a configuration equivalent to that of the fourth modification described above. This is because the empty pallet pull-out mechanism of the buffer of the other embodiment is of a fixed type, so that it is necessary to accurately detect the lift position as shown in FIGS. 43 and 44. Therefore, the 50th
The control on the lift mechanism side shown in the figure is almost the same as that in FIG. That is, the lift mechanism 402, which has received the replacement request notification from the stocker in step S700, proceeds to step S702 and checks the thickness of the empty pallet in the stocker at present, and in step S704, detects the sensor position (first position) according to the thickness. Lift table 4 up to S ₁ , S ₂ , S _{3 in} Fig. 43
Increase 06. When the vehicle arrives at this standby position, it notifies it to the buffer at step S706, and waits for the empty pallet release notification from the buffer at step S708.

It does not matter which of the arrival of the standby position of the lift mechanism 402 and the arrival of the push-in position of the actual stocker of the stocker occurs first or simultaneously.

Even if the lift mechanism 402 arrives at the standby position first, the buffer advances from step S662b to step S662c to release the empty pallet.
That is, the air cylinder C _T3 is returned to unlock the empty pallet. In step S662d, the lift mechanism 4
02 will be notified. Upon receipt of this notification, the lift mechanism 402 proceeds to step S710, lowers the lift table 406 to the floor position, and checks at step S712 and step S714 whether the empty pallet has been stacked on the lift table to the maximum height position. Perform the check operation.

On the other hand, in step S620, the stocker waiting for the notice of empty pallet withdrawal from the buffer raises the emptied shelf to the actual pallet pushing position as shown in FIG. 50D. When the vehicle arrives at this position, it notifies the buffer of the completion of movement at step S624, and waits for the notification of the completion of pushing the new pallet into the stocker from the buffer.

The buffer which has received the movement completion notice in step S662a starts the pushing operation of the actual pallet into the stocker in step S664. That is, the air cylinder C
By biasing the _{T 4,} hooks 500a, engaging the 500b to the flange of the pallet, where, by rotating the motor (not shown), pushing the actual pallet in the shelf Sutotsuka (the 50D view). Moreover, to return the Eashinrinda C _TS, by reversing the motor, return the can push mechanism in the buffer. In step S666, a replacement end notification is sent to the stocker. Further, in step S668, the motor M _T is reversely rotated to return the pallet lifted by the guides 460 and 462 onto the roller 54, and the air cylinder C _T is returned to release the engagement with the separation claw 462.

Thus, the control of pulling out the empty pallet at the fixed position and the pushing-in of the actual pallet at the fixed separating position are completed.

In the control program shown in FIG. 50B, the lift mechanism 402 side starts to move up when a replacement request (zero remaining number) is made, but it should be performed when the remaining number in the pallet becomes one. You may

Modification of Other Embodiments In the configuration of the other embodiments described above, the buffer table 52 is used.
The pallet p group placed on the upper side is set so as to be sequentially stacked from the bottom in the order in which the stocker 24 is requested to exchange them. In this way, the pallet separated on the buffer table 52 to be transferred to the stocker 24 is always defined on the pallet p directly mounted on the buffer table 52, that is, the pallet p at the lowest position. Will be. Therefore, the elevator 26 as described in the embodiment is not necessary, and the separating mechanism 454 and the exchanging mechanism 480 may be provided in the vicinity of the buffer table 52.

However, the present invention is not limited to the configuration of the other embodiment described above, and as shown as a modified example of the other embodiment in FIG. Alternatively, various pallets p may be mounted.

That is, as shown in FIG. 51, the modified example of the other embodiment is provided with the buffer 22 having the same structure as described in the above-mentioned one embodiment. Therefore, in this modified example, the predetermined pallet p is separated by the second separating claw 68 of the buffer 22 from the plurality of pallets p arbitrarily stacked on the buffer base 52.

On the other hand, in this modified example, the buffer 22 is located adjacent to the separation position of the buffer 22.
In order to transfer the pallet p separated in (1) to the stocker 24 that has been raised to the same height as the separation position,
A transferer 550 is provided as another aspect of the transfer means.

Here, this transfer 550 is the elevator mechanism in the configuration of the above-described embodiment,
With the elevator body 86 adjacent to the separation position of the buffer 22, and in the same state where the position is fixed,
I have it. That is, in the transferer 550, the elevator main body 86 is provided as the transferer main body 552 in a state of being fixed to the four columns 82a to 82d. In addition, in this transfer main body 552,
The exchanging mechanism 96 having the same structure as the exchanging mechanism in the above-described embodiment is provided.

In other words, in this modified example, unlike the other embodiments described above, the buffer 450 is provided with the replacement mechanism 480, and the transfer mechanism is replaced with the transfer mechanism 550 independently of the buffer 22. It can be said that it is configured to include 96.

As described above, by constructing this modified example, even if the pallets p are placed on the buffer base 52 in any order, the buffer 22 can request the pallets p in accordance with the elements of the stocker 24. After separating the pallet p, the pallet p full of parts can be replenished to the predetermined replacement position of the stocker 24, which has been raised to the same height as the separation position, via the transferer 550. Become.

The empty pallet p'pulled in from the stocker 24 at the lower part of the transfer 550 is taken out by the unloading mechanism 7
The unloading mechanism 76 is mounted on the lift mechanism 402 described in the fourth modification of the above-described embodiment.
It is equipped with.

Here, the replacement mechanism 96 has been described as having the same structure as the replacement mechanism in one embodiment, but the invention is not limited to this, and for example, the second replacement mechanism in one embodiment is used. As described in the modification, the actual pallet changing mechanism 96a and the empty pallet changing mechanism 96b.
It goes without saying that it is also possible to adopt a configuration in which and are independently provided.

In the control according to the modification of this other embodiment, the replacement position of the empty pallet is fixed, and the movement to that position is performed by the stocker side because there is no elevator, so The basic operation is the above-mentioned fifth
It is similar to the control shown in FIG. Also, since the buffer is the same as the buffer shown in FIG. 6,
The control program shown in FIGS. 25A to 25C can be used for the operation control on the buffer side. [Others] <Lock of pallet in stocker> In the above two embodiments and various modifications,
In the stocker 24, the pallet p hooked on each shelf plate 156 is simply set such that the flange portion 38 of the pallet p is supported by the shelf plate 156 from below. Therefore, the stocker 24 shifts the pallet p to the robot 12
If the pallet p supported by these shelf plates 156 is moved up and down so as to be supplied to the trays 156, the supporting position may shift. Here, when the support position of the pallet p shifts in this way, the hook 18 of the pulling-out mechanism 172 in the pull-out portion 154 is moved.
There is a possibility that 6 may not be able to engage with the first cutout portion 38a of the pallet p supported by the shelf plate 156 in the pulled-out position.

Therefore, as shown in FIGS. 52 to 54, it is more effective to provide the stocker 24 with a locking mechanism 600 for locking each pallet p to the supporting position. In order to effectively lock the locking mechanism 600, as shown in FIG. 52, a third notch portion 3 formed at the center of each flange portion 38 of each pallet p.
8c is formed so that its both side surfaces 38d are constituted by surfaces orthogonal to the conveying direction d of the pallet p. Then, both side surfaces 38 of the third cutout portion 38c
d is set to function as a surface to be locked.

On the other hand, the locking mechanism 600 described above has a fifth
As shown in FIGS. 3A to 54, on both sides of the elevating frame 152 in the stocker 24, in the center with respect to the transport direction d, in other words, in the stocker 24, the first p of the pallet p placed at the regular position. A lock member 602 is provided at a position facing the cutout portion 38c of No. 3 so as to be vertically movable. This locking member 602 is the 54th
As shown in the figure, the inside is formed hollow so as to open both sides orthogonal to the transport direction d, and the lifting arm 1
A housing 602a into which 60 can be inserted, and this housing 6
A pair of guide rods 602b integrally formed on the upper and lower end surfaces of 02a so as to extend in the vertical direction.
And 602c. These upper and lower guide rods 6
02b and 602 are arranged so that they can be reciprocated in the vertical direction via guide members 604a and 604b attached to the upper and lower ends of the central portion of the elevating frame 152, respectively. In order to reciprocate the lock member 602 along the vertical direction, the air cylinder C _R is attached to the air cylinder mounting plate 60.
It is fixed to the lower end of the central portion of the elevating frame 152 via 6. The upper end of the piston 608 of the air cylinder C _R is connected to the lower end of the lower guide rod 602c described above. Here, the air cylinder C _R is provided with a piston 60 when high pressure air is not supplied to the piston.
8 is biased to the retracted position, and is biased to the projecting position when high-pressure air is supplied.

The lock member 602 which is vertically moved in this manner
Lock pieces 610 are integrally formed on the inner left and right end surfaces of the same with the same arrangement pitch as the shelf plate 156 described above in a state corresponding to each pallet p. The left and right locking members 610 are the third cutouts 3 of the corresponding pallet p.
It is regulated at a position facing both left and right end surfaces of 8c.

Incidentally, each lock piece 610 is restricted to an unlock position which is separated downward from each pallet p, as shown in FIG. 53A, with the air cylinder C _R biasing the piston 608 to the retracted position. , The air cylinder C _R with the piston 608 biased to the protruding position, as shown in FIG. 53B, the third position of each pallet p.
Will be restricted to the lock position that is inserted from below into the notch 38c.

At this locking position, the pair of left and right locking pieces 610 inserted into the third notch 38c are
The corresponding left and right end faces 38d face each other with a slight gap therebetween, and as a result, the pallet p is locked at its mounting position. Here, this air cylinder C _R , prior to the pallet p being pulled out from the elevating frame 152 of the stocker 24 onto the drawer 168,
When the supply of high pressure air is stopped, the lock position is biased to the unlock position.

Since the locking mechanism 600 is constructed as described above, the elevating frame 152 is installed in the stocker 24.
Is moving up and down, the high pressure air is supplied to the air cylinder C _R of the locking mechanism 600.
Therefore, each locking piece 610b of the locking mechanism 600 is
As shown in FIG. 53B, each pallet p is inserted into the third notch 38c, so that all pallets p are locked by the locking mechanism 600 on the shelf 156. Will be done.

Therefore, by providing this locking mechanism 600, even if the elevating frame 152 moves up and down,
The support position of the pallet p is fixed satisfactorily without rattling. That is, when the pallet p is pulled out, it is surely engaged by the hook.
In addition, since there is no risk that the components stored in the pallet p will fall when the elevating frame 152 is moved up and down, the components stored in the pallet p will not move by the robot when the components are pulled out to the supply position for the robot. It will be securely clamped.

On the other hand, when the lifting frame 152 is stopped because the pallet p is pulled out, the air cylinder C
The supply of high pressure air to _R will be stopped. In this manner, each lock pin 610b is pulled out downward from the corresponding third cutout portion 38c, as shown in FIG. 53A, and each pallet p moves on the shelf board 156 in the transport direction d.
It will be set to be slidable along with.

As described above, by providing the locking mechanism 600, the shift of the supporting position of the pallet p due to the vertical movement of the elevating frame 152 does not occur, and the hook 186 of the loading / unloading mechanism 172 in the drawer portion 154 is
The first cutout portion 38a of the pallet p supported by the shelf plate 156 in the pulled-out position is always reliably engaged.

Further, since the locking mechanism 600 is provided, the pallet p placed on each shelf 156 of the elevating frame 152 is locked by the locking mechanism 600, and thus is generated when the elevating frame 152 moves up and down. Even with the shock, there is no rattling along the conveyance direction d. In this way, the inconvenience of the parts stored in the pallet p falling down is eliminated.

The control of the stocker 24 to which the locking mechanism 600 is added may be achieved by newly adding the following points.

That is, as shown in FIG. 24A, prior to moving the stocker 24 in step 72, in step 71, the locking mechanism 600 is set to the locked state, and then in step 72, the stocker 2 is moved.
In step 4, the target shelf board 156 is moved to the pull-out position of the pull-out portion 154. In the case of the pallet p including the lid 40, in step 78, the air cylinder C _s2 (shown in FIG. 16) for opening the lid 40 is driven,
Open the lid 40. Next, in step 79, the air cylinder C _R is driven to pull down the lock piece 610 to the unlock position, and the third cutout portion 34 of the pallet p is pulled.
Remove from c. Then, in step S82, the drawing of the pallet p into the drawing portion 154 is started.

In addition, the vertical movement of the elevating frame 152 of the stocker 24 is started by, for example, in step S72, returning the air cylinder C _S2 to close the lid 40, and further to the air cylinder C.
_R is returned and changed so that it starts when the lock piece 610 returns to the lock position. <Part Replenishment for FAC> The FAC system of the above-described basic embodiment achieves the problems of efficient supply of parts from the stocker to the robot and efficient supply of parts from the buffer to the stocker. However, with the FAC system alone, it is no longer possible to supply parts to the robot or stocker, and therefore, it is necessary to supplement the parts to the FAC system from the outside in some way. As described above, for the component replenishment for the FAC system, automatic replenishment by an unmanned vehicle and a production control computer and manual replenishment are prepared. It is not possible to determine exactly which one to take, and each has advantages and disadvantages.

Items that can be the trigger for replenishment of parts from the outside to the FAC system are as follows: Since a new pallet has been supplied to the stocker, the pallet of the other component is 1
If it is exhausted: When the number of empty pallets loaded on the transport mechanism 76 is such that it interferes with the vertical movement of the elevator.

Since the occurrence of these states leads to the stop of the robot at least immediately, when the above-mentioned conditions occur, it is necessary to immediately replenish the buffer of the pallet.

Other conditions for replenishing the buffer with pallets are: Whenever an empty pallet occurs in the stocker,
There is a replenishment with an unmanned car. However, this requires frequent round trips between the FAC and the warehouse by an unmanned vehicle, or a manual replacement of empty pallets.

It is the step S36 or the step S30 of the robot control (FIG. 23A) that the robot detects the remaining number zero. Therefore, at the same time as this detection, the robot issues a replenishment request to replenish a new pallet. The destination of this replenishment request is 1
One aspect is for a central production control computer that directs the unmanned vehicle to be restocked. As another mode, it is a warning light for urging the operator to generate an empty pallet. The former is automatic replenishment, and the latter is manual replenishment.

By the way, the replenishment of a new pallet to the buffer is carried out by a buffer stopping operation for adding a new pallet to the existing pallet on the buffer table, and the carry-out mechanism 76.
This includes an operation for moving the empty pallet loaded above to the buffer side. Therefore, it is important from the viewpoint of efficient operation of the robot at which stage the preparation for replenishment of the pallet and the replenishment of the actual pallet to the buffer are performed.

* Replenishment by an unmanned vehicle * Replenishment of a new pallet by an unmanned vehicle will be described with reference to FIGS. 55A and 55B.

FIG. 55A shows an outline of a pallet supply system including a central production control computer and an unmanned vehicle. In step S770, the FAC sends the above replenishment request to the production management computer in the process of assembling. If there is no replenishment preparation instruction from the production control computer, step S772 to step S77.
Proceeding to step 6, it is checked whether the empty pallet has been started to be discharged by the elevator discharge mechanism 76 in the FAC. If not started, the process returns to step S770 to continue the assembly.

At step S750, the replenishment request from the robot is counted and the request is recorded. This is because the production management computer knows the production management plan, so even if there are no parts in one stocker's pallet, the same parts may be accommodated in other pallets on the buffer. This is because the production management computer recognizes and manages this. Therefore, even if a request for replenishment is received from the robot, the replenishment by the unmanned vehicle is not immediately performed in response to the request. Instead, in step S752, the trace record information about the pallet loaded on the buffer owned by the production control computer is checked, and if necessary, in step S752.
At 754, a departure instruction is issued to the unmanned vehicle.

It should be noted that when a request for replenishment from the robot is received in step S750, the unmanned vehicle is not immediately started, but on the unmanned vehicle a pallet requested from the warehouse is loaded and the vehicle can be started at any time. Reserve the system. Also, every time this pallet is loaded on an unmanned vehicle, the warehouse informs the unmanned vehicle about the pallet (Fig. 25A).
To give.

In step S752, the other factors for the occurrence of the predetermined state, for example, the robot fails to pick the parts, the parts in the pallet are consumed more than the production plan, and the production management computer does not expect. This is a case where the empty pallets are loaded on the transport mechanism 76 early enough to obstruct the vertical movement of the elevator.

When such a predetermined state occurs, in step S754, a departure instruction is issued to the unmanned vehicle, and in step S755.fwdarw.step S756, progress monitoring for a fixed time is performed. The unmanned vehicle is FA
It is slightly shorter than the time required to reach C. When this time has elapsed, in step S758, FA
Instruct C to start a preparatory operation for pallet replenishment.
Even if multiple FACs are installed, the production management computer knows in advance the time required to move the unmanned vehicle to these FACs. Therefore, if the preparation for replenishment in the FAC is completed shortly before the arrival of the unmanned vehicle, the replenishment from the unmanned vehicle can be started immediately when the unmanned vehicle arrives. That is, during this fixed time, FA
This is because there is a merit that the assembly by the robot can be continued by not performing the supplement preparation in C.

On the other hand, the unmanned vehicle starts traveling toward the FAC in response to the departure instruction from the production management computer in step S762.

Also, the FAC system is step S772.
When the instruction to start the preparation for replenishment is received from the production management computer, the preparation operation is started in step S774. Details of this preparatory operation are shown in FIG. 55B. On the other hand, if the FAC system itself finds the necessity of the replenishment preparation operation, step S776 → step S
Proceed to step 778 to start the preparation operation. When this preparation operation is completed, the arrival of the unmanned vehicle is waited in step S780. This waiting time should be the minimum time for the reasons mentioned above. When the unmanned vehicle arrives, the actual pallet from the unmanned vehicle to the buffer is replenished in step S782,
In step S784, the information about the newly added pallet is additionally updated in the memory area shown in FIG. 25A.

Preparation for replenishment will be described with reference to FIG. 55B. FIG. 55B shows a part related to the palette replenishment of the control program of the FAC system control microprocessor, the elevator microprocessor that controls the carry-out mechanism 76, and the microprocessor that controls the buffer.

The management microprocessor goes to step S800.
Then, when a supplementary preparation instruction is received from the production management computer, the operation of the elevator or the like is stopped in step S802. In step S804, the buffer is instructed to start rising of the buffer table, and in step S806, the buffer waits for a notification of completion of rising.

The buffer which has received this rising instruction in step S840 raises the buffer table in step S842. When the buffer table is lifted, if the pallet separated at that time is hooked on the separating claw 68, the hook is released and the separated pallet is united, and in step S846, The lowermost pallet on the buffer table is hooked by the separating claw 68. Even if the buffer table is lowered at step S848 after the latching, the pallet is hooked on the separating claw 68, and there is no pallet on the buffer table. And step S8
At 50, the transport mechanism 76 is notified of the buffer preparation completion.

Upon receiving this notification in step S822, the transport mechanism 76 rotates the roller in step S824 to start moving the empty pallet to the buffer side, and in step S826 sends the notification to the buffer side.

Upon receiving this notification, the buffer is step S
Proceed to 852 → step S854 and wait for the unmanned vehicle to arrive. As mentioned earlier, unmanned vehicles should arrive soon.

When an unmanned vehicle arrives, the empty pallets are handed over to the unmanned vehicle side and the new pallets are received from the unmanned vehicle simultaneously by driving the respective rollers.
In step S857, the buffer table is raised together with the newly loaded pallet, and is merged with the existing pallet hooked on the separating claw 68. In step S858, information about the newly added pallet is received from the unmanned vehicle, and in step S860, the memory contents shown in FIG. 25A are updated.

In this way, by making preparations for replenishing new pallets immediately before the arrival of the unmanned vehicle, the stop time of the unmanned vehicle can be minimized.

* Manual replenishment * For manual pallet replenishment, the warning light is turned on for each replenishment request from the robot described above, and the operating vehicle that has seen the warning display manually discharges empty pallets. The gist is the operation of accumulating new pallets and inputting pallet information from the input / output device 18.

FIG. 56A shows the input display screen on the input / output device 18, and FIG. 56B shows the layout of the input keys.
FIG. 6C shows the outline of the supplementing operation sequence. As shown in FIG. 56B, the input keys are the "pallet supplement key",
There is a "ready key". 56C outline of replenishment operation
Description will be made with reference to the drawings.

When there is a supplement request from the above-mentioned robot,
At step S900, the warning light is turned on. Upon seeing this, the operator confirms the requested pallet in step S902, and turns on the "pallet replenishing key" in step S904.

In this way, on the buffer side, in step S906, the buffer table is moved to the replacement position (position of the separating claw 68) and the existing pallet is hooked on this claw. The carry-out mechanism side 76 discharges the empty pallet thereon in step S908.

At this point, the operator must proceed to step S910.
Then, the empty pallet is taken out, and at step S912, the requested pallet is placed on the buffer table.

In step S916, the information as shown in FIG. 56A is input from the input / output device 18. Each time these inputs are made, the data in FIG. 25A is updated in step S918, and the updated order of the pallets is displayed on the CRT screen of the input / output device. The routines of steps S916 to S918 are repeated by the number of required pallets.

At step S922, the operator turns on the "ready key".

By doing this, on the buffer side, step S9 is executed.
At 24, the stroke from the separating claw 68 position to the uppermost pallet placed on the buffer table is calculated,
In step S926, the descent for this stroke is started, and the new pallet and the existing pallet are combined. Then, the FAC system resumes operation.

Thus, the manual replenishment of the pallet is completed.

In the above-described five embodiments and various modifications (hereinafter, simply referred to as embodiments), the elevator main body 86 and the elevating frame 152, which are vertically movable, can slide at four corners. It has been described that it is slidably arranged in a state of being supported from both sides, in other words, being supported from both sides. However, the present invention is not limited to such a configuration, for example, the elevator main body 86, respectively.
Needless to say, it may be configured so as to be slidably supported by a pair of columns corresponding to the elevating frame 152, in other words, can be slidably disposed by so-called cantilever support.

Further, in the above-mentioned embodiments and the like, it is explained that a plurality of common parts x are accommodated in one pallet p, but the present invention is not limited to such a structure. It goes without saying that, for example, one pallet p may be configured to accommodate a plurality of types of components x ₁ and x ₂ , respectively.

Furthermore, in the above-described embodiments and the like, a plurality of pallets p are held in a stacked state on the buffer table 52 of the buffer 22, but the present invention is limited to such a configuration. Without being done, for example,
It goes without saying that a plurality of pallets p may be stood upright and arranged side by side.

Further, in the above-described embodiments and the like, the pallets stacked on the buffer table 52 are separated by the separating claws.
In the case of adjusting the separation position in order to absorb the manufacturing error when separating only one, the arrangement position of the separation claw is fixed and the buffer table 52 is moved up and down. Needless to say, the configuration is not limited to such a configuration, and for example, the buffer base 52 may be fixed and the separation claw may be moved up and down. Also,
When a plurality of pallets containing the same parts are loaded on the buffer, the pallet loaded first (or the pallet at the higher level) may be preferentially separated. . << Control Hierarchy >> In many of the embodiments described above, as shown in FIG. 18, control programs such as robots, stockers, elevators, buffers, etc. are stored in the memories in the respective microprocessor boards. They were stored and each was managed and operated as a task under the multitask OS.
That is, under such an environment, the control variables as shown in FIG. 21A are shared among the tasks in the program (that is, stored in the shared memory), and further between the boards, The shared memory is shared by hardware. In other words, there is a one-to-one correspondence between tasks and boards.

However, from the viewpoint of easiness of expansion of a module such as a robot, the task and the microprocessor do not necessarily have to correspond to each other on a one-to-one basis. Because robots, stockers, elevators, buffers, etc.
In terms of hardware, it is basically a set of hardware devices such as servo motors, encoders, sensors and solenoids. Therefore, if the control program shown in FIG. 23A and the like can obtain sufficient data for operating the above devices, the dedicated input / output control microprocessor for processing these devices at high speed controls the above devices. It is okay to do so. In other words, the processing (multitask processing) of each task such as robot, stocker, elevator, buffer, etc. is performed by one microprocessor, and this higher-order microprocessor and robot,
This is to connect a bus to a lower microprocessor that controls the above-mentioned devices used in stockers, elevators, buffers, and the like. That is, it is hierarchical control.

From this point of view, yet another embodiment in which the block configuration of the embodiment of FIG. 18 is newly reconfigured is shown in FIG. 57 and subsequent figures. <Structure of control unit> The control device for controlling each functional element to be controlled is one
As shown in FIG. 57, 6 is composed of 6 microprocessor boards. The board 702 is a servo block board for performing servo-related control for robots, the board 703 is for stockers, the board 704 is for elevators, and the board 705 is for buffers. The I / O block board 706 is a board for inputting / outputting various sensors and solenoids used in robots, stockers, elevators, and buffers. I / O
Perform control collectively. This I / O block board
Each robot, stocker, elevator, and buffer are modularized to facilitate system expansion.

The main block board 701 is a microprocessor board for interpreting a robot language and interfacing with the input / output device 18 under a multi-task operating system (hereinafter abbreviated as OS). These six microprocessor boards are connected by a well-known system bus 700 as in the basic embodiment shown in FIG.

FIG. 58 is a diagram showing the connection relationship centering on the main block board. First, the main block 701 is an RS232C interface 802 that communicates with the input / output device 18 according to a certain communication protocol, a local memory 803 that is the main memory of the main block board 701, and a CPU 8 that controls the main block.
05, etc.

Each of the servo blocks 702 to 705 receives, for example, a servo motor 808a, 808b and an encoder 809a in response to an operation command from the main block 701.
The operation control of 809b is performed. I / O block 7
Reference numeral 06 also controls the solenoid valve SV811, the sensor S812, and the like according to the operation command of the main block 701. The motor 808b of the buffer servo block 705, for example, is the servo motor M _B of FIG.

The main block 701 controlling each block is the servo block 702 or the like or the I / O block 706 via the shared memory 806 on the shared bus 700.
Give an operation command to. The above-mentioned servo block and I / O block are the major features of this embodiment, as described later, in that the simplified operation of the driven element such as the servo motor is specialized for the control of this embodiment. .

The program of each function block keyed from the input / output device 18 is stored in a predetermined area of the local memory 803 via the RS232C interface 802. As shown in FIG. 58 and the like, the input / output device 18
Is another common feature of this embodiment in that it is shared among the functional blocks. <Memory Map of Main Block> FIG. 59 is a memory map showing the logical address space of the CPU 705 of the main block 701. Reference numeral 820 is a multitasking OS, and 821 is a handler program for handling data with the input / output device 18. Reference numeral 822 is an allocation register that stores which rusks the input / output device 18 is allocated to. Also 82
Reference numerals 3 to 826 are mode processing programs for processing modes such as robots, 827 is a work area for each task, and 828 is a task common variable area for storing variables commonly used between tasks. Also, 829-83
Reference numeral 2 is an area for storing each application program, and 833 to 836 are areas for storing each teaching point for a robot or the like.

Further, reference numeral 837 denotes a command communication shared memory used for the main block 701 to communicate with each servo block and I / O block 706. As described above, the data for this command communication is used. Is stored in the shared memory 806 in FIG. That is, the above 820 to 836 are stored in the local memory 803,
The command communication data is stored in the shared memory 806. <Multitask OS> FIG. 60 is a diagram hierarchically showing between the programs shown in FIG. That is, the handler task 821 and the robot task 823 to the buffer task 826 are managed under the multitask OS 820. This OS is an event-driven multitasking system that creates a task control box (see Fig. 63) at the time of task registration, at which time the start address of the code of the task and the task-specific data area (for the task) A work area 827) and a data area (common variable area 828) commonly used between the tasks are designated.

Also, this multitask OS is for flag set / reset, mail (communication between tasks), RS2.
System calls (system control commands) for 32 interface input / output and servo block are available. The execution / stop of the task depends on the set state of a flag called "interruption flag" described later. For example, when the WAIT-FLAG system call is issued, the STE-
If the FLAG system call is issued from another task, the interruption flag is not set as it is, and accordingly, the task execution is continued without WAIT.
However, if another system has not issued the SET-FLAG system call, the suspend flag of the task is set, the task has abandoned the right to use the CPU 805, and the task enters the waiting state. That is, of the other tasks, only the task for which the interruption flag is not set occupies the CPU 805. On the other hand, if there is a SET-FLAG system call from another task while the suspend flag is set, the suspend flag is reset and the waiting flag becomes ready.

A so-called robot language written as an application program such as robot, stocker, ... Is structured, interpreted, and executed by an interpreter in the multitasking OS 820. By using the above system call in the execution routine, it is possible to exchange data between the tasks by mail and arbitrate the execution between the tasks by the flag. It will be possible to provide a robot language.

As task common variables, there are various control variables as shown in FIG. 21A. Generally, the work area used in each task is unique and closed between tasks, but by providing a common variable area 828 that can be used in common for each task, any task can access these variables. It will be possible. As described above, by constructing a task common variable as a robot language, which is an application program description language, in a common area between the tasks, it is possible to operate a numerical value or a character from any task. The synchronization between tasks is realized by a multitasking compatible robot language characterized by issuing a system call for the OS in an execution routine and a task common variable.

As described above, the application program level parallel execution of each function block by multitasking does not require complicated wiring because data is exchanged between the tasks via the memory. Also, a complicated communication program is not required, resulting in high speed. Moreover, as will be described later, it should be noted that the uniqueness of the operation of the robot, stocker, etc. is absorbed by the difference in tasks under this multitask.

FIG. 61 shows a logical data path provided between the input / output handler 821 and each task. That is, the input / output handler 821 has three input / output ports (PT ₁
~ PT ₃ ) Available. On the other hand, as mentioned above, 8
A mail box (MB _{1 to} MB ₄ ) dedicated to data exchange with the input / output device 18 is prepared for each task 23 to 826. Since the I / O handler 821 has three I / O ports and four mail boxes, each I / O port currently has which task (which mail box).
Need data to be allocated or retained
The data is the data of the allocation register 822.
As described above, this allocation data is secured in the area 822 of the local memory 803, and one word is prepared for each port. <Allocation Register> FIG. 62 shows the configuration of the allocation register. As mentioned above, this allocation register is for each port / channel,
One is prepared, and the value of "0" means that the port / channel is in the open state.
When the value is "1", it is occupied by the robot task, when it is "2", it is occupied by the stocker task, and when it is "3".
..... This allocation bit is reset (released) when a "D0" command is input from the I / O device 18, or when a "D1" command is input from the I / O device 18 when it is assigned to a robot task. It is ... <Task Control Box> FIG. 63 shows the structure of the task control box.
This task control box is a multitasking OS8
20 is created at the time of initialization. The tasks that can be registered in this task control box are the sixth, if only those particularly related to this embodiment are given.
As shown in FIG. 3, the I / O device handler task 821
(Hereinafter, abbreviated as RS handler task), robot task 823, stocker task 824 elevator task 82
5, there is a start task 826, and a start attack that is started by the OS 820 and cannot be used by the user. Due to its nature, this start-up task
It is not shown in FIG.

The data stored in the task control box will be described. The "start address" indicating the start instruction address of the task, the "registration flag" indicating whether or not the task is registered in the system, and whether or not the task is activated. "Activation flag", "Activation flag" indicating whether it has been activated but is currently suspended, "Allocation flag" indicating whether or not it has been assigned to the RS handler, and data in the corresponding mail box. The flag is a “mail box flag” or the like indicating that there is an input. The "interruption flag" is a "mail box input wait flag" indicating that the data for the task is waiting to be input to the mail box, and an I / O completion interrupt wait from the servo board. If any bit of the "I / O completion wait flag" that indicates that the task is assigned to one of the channels by the RS handler and the "assignment wait flag" is set, , Will be suspended. Now, scheduling between tasks, switching according to the so-called round robin method,
The registered and activated tasks are sequentially searched for “interruption flag”, and the task whose “interruption flag” is “0” executes the application program and the task whose “interruption flag” is “1” executes it. It interrupts and searches the "interruption flag" of the next task.

The above "mail box flag" is set by the system 820.

Further, the task control boxes of the RS handler task are prepared for three channels in this embodiment. You can prepare channels for all tasks, but all tasks can enter the communication state with the RS handler at the same time.
Since this automatic assembly / replenishment device is small, the number of channels is reduced from the viewpoint of preventing the program scale and system complexity. Therefore, if the operation of the device of this embodiment becomes complicated, it is necessary to increase the number of channels, and even in that case, it is possible to expand without changing the algorithm of the system from the following description. Easily understood.

In the control program described below, the port / channel will be described as one channel for convenience of description. <Assignment of Input / Output Device 18 to Task> Seven modes are set as control modes in the automatic assembly / supplementing device of this embodiment. The modes are a mode in which a robot program is interpreted and an operation is commanded to each block (automatic mode), a mode in which a robot program is created and stored (program mode), an input from the input / output device 18 or each sensor is monitored. Mode (input mode), mode to open / close output (output mode), mode to teach operating position to robot (teaching mode), mode to input and store operating position of robot (data mode), constant for each block operation There are seven modes for changing (parameter mode).

Commands for entering and leaving these modes are issued from external input / output device 18. That is, the task operates according to the program because it is activated from the input / output device 18, and for that purpose, the task needs to be assigned to the input / output device 18 through any port / channel. is there. 64A and 64B are control programs for this allocation. FIG. 64A shows up to activation of each task by the Maritz task OS 820, and FIG. 64B up to allocation of the RS handler 821 and each task. Incidentally, in FIG. 64B, due to space limitations, the RS handler 821 and the robot task 82 are shown.
Only the relationship with 3 is shown.

First, when the control unit 16 is powered on, the multitask OS is started in step S10 of FIG. 64A.
The work area 820 and the like are initialized. And the OS
The start-up task is activated by 820. That is, the "registration flag" and the "start flag" of the task control box (Fig. 63) are marked as "1", and the start-up task is started.

Start-up task step S20,
In step S22, the "registration flag" and "start flag" of the RS handler task, the robot task to the buffer task, etc. corresponding to each of the channels 1 to 3 are marked as "1". Then, in step S24, the "start flag" of the start-up task is marked "0" and the "interruption flag" is marked "1" to suspend this start-up task.

Thereafter, as described above, task scheduling and switching are performed from the RS handler task to the buffer task according to the round robin method.

It will be described with reference to FIG. 64B. When the "start flag" is set to "1" by the start-up task, the RS handler side checks the input from the input / output device 18 via the RS232C interface 402 by the system call in step S30. If there is no input, in step S32, the "interruption flag" and the "input waiting flag" are marked as "1", and the CPU 405 relinquishes the right to use.

If there is no input from the input / output device 18, R
When the S handler task is interrupted, it can be switched to the robot task by task scheduling. Since the robot task has already been marked as registered and activated by the start-up task, it is executed from step S70 and the variables and the like used in each of the above-mentioned modes are initialized. Then, in step S72, the start address of the task control box is changed. This is to prevent the step S70 from being initialized again when the RS handler task is switched to the robot task again. Therefore, the start address to be changed points to step S74. In step S74, it is checked whether or not there is an input from the handler 821 in the mail box for robot. If there is no such input, the "interruption flag" and "input wait flag" of this robot task are marked as "1" and the execution is switched to another task (RS handler task in the case of FIG. 64B). If there is an input, the process proceeds to step S78, but in this case, it is still RS.
Since it has not been input from the handler, the "mail box flag" remains reset and the execution of the RS handler task is switched to.

On the RS handler task side, step S3
Suspended due to waiting for input at 2. If there is an input from the input / output device 18 via the interface 402 before this, the multitask OS 820 has reset the "interruption flag" and the "input wait flag", and thus the process proceeds to step S34. Then, in step S34, one byte is input from the port, and in step S36, this command is interpreted, and the command advances to any one of steps S40, S48, and S60.

Step S40 is a case where the input command is an allocation command. This allocation command is
An attempt is made to assign the port / channel for which this command was input to the task indicated by the command. The designated task is assigned to the input / output device 18. After that, the input / output device 18 communicates with the task through the assigned channel. If the command is to be assigned to a robot task, the command is, for example, "D1", as described above. Therefore, in step S40, the port / channel allocation registers other than the port / channel to which this command is input are checked. That is, the task may already be combined with another port / channel. If they are already combined, an error message is returned to the RS handler task. This is because the provision of two or more logical paths in one task is prohibited because it complicates control, but if the input from the RS handler task and the output to the RS handler task are set to 1 For one task,
If allowed to do separately, step S4
2. Step S44 is unnecessary.

If the determination in step S42 is OK,
In step S46, the mail box number of the task to be allocated is stored in the allocation register. Thus,
It means that the RS handler task, the port / channel and the specific task are connected via the mail box.

After setting the above logical path, the RS handler task returns to step S30 and waits for an input from the port / channel again. Even if the control is switched to the robot task due to no input from the input / output device 18 in step S30, the robot task is still in the step S76.
Then, since it is waiting for the mail box data, the control is switched to the RS handler task side again. When it is detected in step S30 that there is an input from the input / output device 18, the process proceeds to step S34 → step S36 → step S38.
If this input is neither the allocation command nor the allocation release command, the process proceeds to step S60. In step S60, the allocation register is examined to make sure that this port / channel and the task specified by this command are already linked. If not allocated, an error message is returned to the RS handler task via the port / channel in step S64. If the allocation is OK, it is stored in the mail box of the number indicated in the allocation register, and the process returns to step S30. At this time, the multitask OS marks the "Mates box flag" of the task control box as "1" and resets the "interruption flag".

Even if there is no input in step S30 and control is transferred to the robot task, the "mail box flag" is set, so the robot task can be executed. Therefore, in step S78, Retrieve the data. Then, according to the command thus fetched, this task is transferred to any of the seven modes described above.

In this manner, the input data from the input / output device 18 is exchanged with a command in the state where one port / channel and a task are logically connected.

The robot task exits from each mode by inputting the mode exit command, and the step S70 is executed.
Return to

Here, the case where the allocation release command is input from the input / output device 18 will be described. At this time, step S30 → step S34 → step S36
→ Step S38 → Step S48. In step S48, the channel of the allocation register is set to "0".
And the task control box allocation status bit is set to "0". This allocation release command is necessary because there are four tasks that use this port / channel for three ports / channels, so the release command is absolutely necessary. The allocation may be released by a round-robin scheduling by a program in the input / output device 18.

Control in the case of outputting from each task to the input / output device 18 via the RSR handler task will be described with reference to FIG. In this case also, due to space limitations, only the robot task will be described. During execution of the robot task application program, in step S120,
It is assumed that output data to the input / output device 18 is generated. At this time, the system call is used to check the set state of the task allocation flag of its own in the task control box in step S122. If it is not allocated, it waits for allocation by the allocation command from the input / output device 18. That is, the "allocation wait flag" and the "interruption flag" of the task control box are marked as "1".

On the other hand, on the RS handler task side, steps S100 to S
Since the port / channel is assigned to the task in step 106, in step S106, the multitask OS
However, the "allocation wait flag" and "interruption flag" of this task are set to "0" and the mail box number is stored in the allocation register of the channel. Eventually, the RS handler task enters a waiting state and the control is switched to the robot task side. At that point, the control of the robot task is restarted from step S126. Step S126
Check the contents of the allocation register in order to find the channel that matches the mail box number used by your task. Then, from this port / channel, step S1
At 30, directly output. In this way, even when output data for the RS handler task occurs on the task side at any time and at any time, it is output after the logical path is determined, and the output data is not oblivious.

As described above, one port / channel is connected to one task by the allocation command and released by the allocation release command, which means that one input / output device 18 is shared between a plurality of tasks. It means that the conversion can be achieved. That is, various controls such as teaching, system initial setting, etc. are required in the automatic assembling / supplying device by the program control, and as in this embodiment, the robots, stockers, etc. operate independently. In this case, teaching or the like is required for each block, which requires a plurality of input / output devices for the teaching or the like in the past, but in this embodiment, at least one is required.
The input / output device 18 of the table will be in time. Thus
One input / output device 18 can be shared with each functional block element in an automatic assembly device such as a robot or stocker. Moreover, even when a robot or the like is added, the control block board (5th
Although it is newly required (see FIG. 7), it is not necessary to add a teaching device for teaching as in the conventional case. Also, when inputting data for each load,
This eliminates the trouble of moving to the input / output device 18 corresponding to the load. <Main block and servo block> As described above, a multi-task OS is used between tasks.
The control modules are operated in synchronization by the flag management by the system call and the management by the common variable. These tasks are connected to the servo block boards (702 to 705) and the I / O block board 706 by the system bus 700 through control at the physical layer level of the multitask OS. Before describing the interface between these servo blocks and the like and the main block including the above tasks, the control in the automatic mode will be described with reference to FIG. 66.

In step S150, it is checked whether or not data is input to the mail box of the task that called this automatic mode. If data has not been input, switch to another task and wait for data input. If there is data input in the mail box, step S152
Then, the data is taken out, and in step S154, the analysis is performed to determine what kind of operation instruction. In this embodiment, six examples of operation instructions are shown. The first is the interpretation / execution of the program in step S156. At this time, the program is executed up to the end, and at the point of time when the program is completed (step S160), five lines are output centered on the completed pointer line to the input / output device 18. The second example is the interpretation / execution of one program line in step S162. At this time, the interpretation / execution of each line is performed, and in step S164, 1
One line is output for the program three lines after the pointer line advanced. The third example is to change the program number in step S166. At this time, in step S168, the first five lines of the program having the changed program number are sent to the input / output device 18. Fourth
Is an example of changing the pointer line in step S170. At this time, in step S172, five lines are transmitted centering on the changed pointer line. The fifth example is to advance the pointer line by one in step S174. At this time, one line three lines after the changed pointer line is transmitted in step S176. The sixth example is to return one pointer line in step S178. In this case, in step S180, one line three lines before the changed pointer line is transmitted. It should be noted that the control shown in FIG. 65 is used for sending these data.

Next, referring to FIG. 67 and FIG. 68, the main block 701 and the lower control blocks 702 to 70 will be described.
The interface with 6 will be described. FIG. 67 is a data format used for communication with each lower board. This communication data is stored in the area 837 of the shared memory 806.
(Fig. 59). The operation instruction code is, for example, a 1-byte code for moving the robot arm, for example, by rotating the servo motor. The moving position is set as the parameter at this time. The number of transfer bytes is the total number of bytes of the above instruction code and parameter. The number of bytes to transfer is needed because the parameters are of variable length. As shown in FIG. 67, the robot servo board has a communication area sufficient to drive 256 servo motors and other devices, assuming 1 device / word. Also for the I / O block, the area as shown in FIG. 67 is shared memory 8
Reserved within 06.

The control will be described with reference to FIG. When the application program executes an instruction such as "MOVE", a system call is generated and multitasking is performed.
S prepares an operation instruction code and parameters. Therefore,
On the task side, in step S200, those codes and parameters are stored in a predetermined position in the shared memory 806. Then, in step S202, an interrupt is issued to the lower board via the system bus 700. In step S204, a system call is made and the "I / O completion wait flag" of the task control box,
Mark the "interruption flag" as "1" and enter the waiting state.
The lower block side which has received the interrupt in step S212 retrieves the operation instruction code and the parameter from the shared memory 806 in step S214, and in step S216.
Then, execute the operation. And step S220
Then, the operation completion interrupt is issued to the main block 701. On the main block side that received this interrupt,
The multi-task OS sets the "completion flag" and "interruption flag" of the task control box of the task that caused the I / O completion interrupt to "0". In this way, the task is placed in the ready state again.

In addition, for the I / O block, the 12th
The same area as shown in the figure is secured in the shared memory 806, and when a command for energizing a solenoid is executed in, for example, a robot task, the driven element is the solenoid, and The interpreter interprets that control should be performed in the I / O block,
The operation support code and the like shown in the figure are prepared in the shared memory 806 and a system call is issued to the OS 820. Then, the OS 820 interrupts this I / O block. Other operations are the same as in the case of the servo block. The same I / O block board is used for solenoids such as stockers, elevators and buffers.

As described above, one of the main block and the control block below it is interfaced by a simplified command set as shown in FIG. Moreover, the operation of the device such as the servo motor in each lower block can be extremely simplified by using its operation as a command. This brings out the following important features.
That is, each of the robot, stocker, etc. has its own function, and its operation is different. As in the past,
If different control devices are controlled by different functions with control programs corresponding to the functions, different control devices are required as the functions increase. However, in the above embodiment, first, even if the robot and the stocker have different functions, only the control algorithm is different, and the difference between the algorithms is absorbed by the difference between the tasks. The difference in tasks is only the difference in programs. And, for example, in robots and stockers,
If the differences in the algorithms are omitted, it is just a set of devices such as servo motors, solenoids, etc.,
Since these devices can express their operation with a simple instruction set as described above, the lower control board has little difference even between the robot and the stocker. Further, since the main block is not affected by the uniqueness of the driven elements such as the servo motor, it is only necessary to have a different program, and this only appears in the difference in memory capacity. That is, in the main block, it is possible to add the function by simply increasing the memory capacity, and in the lower control block, the same control board can be used even if the function is increased, resulting in a great cost reduction.

In the above embodiment, the input / output device 18
Although three ports are set, the same is true for one port and four or more ports. Further, the number of input / output devices 18 is not limited to one. For example, when there are 10 control targets, two or more input / output devices 18 can be installed in consideration of efficiency.

Further, in the above-mentioned embodiment, the control target is one block, which corresponds to one task and one board. However, if there is a space on one board, a plurality of blocks can be obtained. It is also possible to mount a control block.

Furthermore, in the control of FIG. 68, an interrupt is used, but a polling method using a part of the shared memory can be used instead of the interrupt. On the contrary, the sixth
In the control of FIG. 8, the CPU 805 of the main block places the operation instruction code and the parameter on the system bus 700 at the same time as the interrupt occurs without using the shared memory.
It is also possible that it is picked up by the microprocessor of the lower control block. <Effects of the Embodiment> The following effects can be obtained by the embodiment described above. A: Effects obtained by the FAC system. The FAC 10 accommodates a plurality of pallets p for accommodating a plurality of components x in a horizontal plane in a shelf shape, and moves up and down in order to pull out a desired one of these pallets to a fixed pull-out position. Basically, a stocker 24 for carrying out the above and a robot 12 for taking out the part x from the pallet 24 pulled out to the pulling position and assembling it from the part x into a product are basically provided. Therefore, the robot 12 can quickly receive the supply of the components from the pallet p which is always pulled out to a fixed pulling position.

Specifically, in order to supply the components to the robot 12, (1) the pallet p is pulled out to the pull-out portion. In this drawer portion, the robot performs the operation of taking out the parts; (2) the pallet is pulled back to the stocker 24; (3) the elevating frame of the stocker 24 is pulled out at the storage position of the pallet containing the parts to be supplied next Only move up and down until it corresponds to the position: 3 movements are required. Thus, the 1 in the robot 12
The effect that the assembly operation time required for assembling the parts is shortened and the assembly operation control is simplified is achieved.

On the other hand, Japanese Patent Application No. 61-2 described in the prior art.
In the article supply devices according to Nos. 00094 and 61-200905, the stocker is fixed and the drawer portion is arranged so as to be vertically movable. Therefore, in order to supply the pallet from the stocker to the robot, (1)
Pull out the pallet p to the drawer. (2) Move the drawer part up and down to the robot parts removal position;
At this component take-out position, the robot takes out a component take-out operation; (3) the drawer is moved up and down to the position where the pallet is pulled out; (4) the pallet is pulled back to the stocker 24; , 5 are required to move up and down to the storage position of the pallet in which the components to be supplied next are stored.

By further providing the following structure, it is possible to efficiently supply the parts from the stocker 24 to the robot 12. A-1: the robot Efficiency A-1-parts supply to: palette p _1, p having three types of thickness
₂ and p ₃ can be stored in any combination as long as the capacity of the stocker 24 allows. In this way, it is possible to select the pallet p according to the size of each component x, and avoid an inefficient accommodation state in which, for example, only a short component is accommodated in a deep pallet. Will be done.

Also, on the upper side edge of this pallet p,
The flange portion 38 is integrally formed. The flange portion 38 is originally provided in the stocker 24 for hooking itself to the shelf plate. However, the flange portion 38 does not have such a single function, but has a cutout portion for moving the flange portion 38 along the transport direction d. Then, the movement of the pallet p is executed through the mechanically engaged state by engaging the hook with the cutout portion as described above. Therefore, this pallet p
The movement of is surely executed, and the effect that the stop position thereof is accurately defined can be obtained.

In particular, in the structure of one embodiment, the first and second notches 38a and 38b and the corresponding hook 1 are provided.
The relationship with 08, 116, and 126 is formed in a substantially isosceles trapezoidal shape that complementarily engages with each other. In this way, even if the position of the pallet p is slightly displaced, the hook will surely engage with the notch. In this engagement state, the trapezoidal slope of the hook is held in contact with the trapezoidal slope of the notch. That is, in the state where the hook engages with the notch, there is no gap between the hook and the notch. In this way, by moving the hook along the conveying direction d, when the pallet is conveyed, the movement of the hook is transmitted to the pallet as it is, and the pallet is smoothly conveyed without any impact on the pallet. Will be done.

A-1-: Parts required for assembling products, order of steps required for assembling, and selection of which shelf p contains these parts for each step is arbitrarily selected. For example, the parts can be accommodated in the form of one pallet / one part in order from the top according to the order of steps, and for example, the same part x can be taken out from the same pallet p in different steps. Can also be set. In this way, the effect of flexibly setting the assembly-related factor is exhibited.

A-1-: The order of steps and the like can be set manually or automatically from the host computer, so that various steps can be taken according to the scale of the factory or the like. In addition, even in the field such as a factory, it can be changed according to the peculiarities of the product, which is convenient.

A-1-: The robot manages the remaining number of parts Z in each pallet stored in the stocker, thereby activating the pallet exchange preparatory operation and the empty pallet exchange operation. , The robot itself can manage. That is, the robot, which is an assembly subject, manages the trigger of the operation start, so that the robot itself can select the optimum start timing that does not hinder the assembly.

A-2: Efficient Supply of Parts As a basic configuration, in addition to the stocker 24 described above, a buffer 2 for supplying parts to the stocker 24 is provided.
2 is provided. Then, the stocker 24 and the buffer 22
When replenishing the required parts x from the
In step 4, the empty pallet for feeding the parts to the robot 12 is pulled out and carried out, and at the same time, the actual pallet is taken out of the buffer and replaced in the storage position emptied by this pullout 24 Has realized a state where parts are not lost.

In particular, when it is determined that it is necessary to predict the necessity (remaining number 1) of replacement of a pallet that becomes empty due to exhaustion of the part x in a predetermined pallet p, By preparing a new pallet instead of an emptied pallet (preparation for replacement), the efficiency of component replenishment is improved.

This efficiency improvement is basically achieved by a buffer 22 having a function of selectively preparing a plurality of spare pallets and selectively separating the pallet p containing the same component as the exhausted component x. It is what is done. Here, when this buffer is instructed to prepare for the replacement,
This is achieved by performing selective separation of the above-mentioned pallet p. In this way, even if the number of remaining pellets p becomes zero, the replacement preparation is completed at that time, so that the replacement operation is immediately performed, and the total replacement time of the palette p is shortened. Robot 1
The effect of preventing the stop of No. 2 or minimizing the time even if the stop is achieved is obtained. Such effects will be more clarified by the following specific aspects.

A-2-: Regarding the separation position in the buffer 22, the following effects are achieved. That is, A-2--1: When the separating position is fixed at a predetermined position, only the pallet p to be separated is separated at the separating position. Therefore, after the separation, by removing this separation, the remaining pallets can be set again in a stacked state, and then the pallets at an arbitrary height position can be separated.

Two types of separation positions are set at the predetermined position. That is, A-2--1-a: This separation position is the buffer table 52.
If it is set at an arbitrary height position above,
From among the pallets p stacked on the buffer table 52,
Any pallet will be selected and separated.

Since the pallets stacked on the buffer table 52 have manufacturing errors,
The height of the pallet to be separated at the separation position is
It will not be defined exactly. Therefore, in this embodiment, the sensor 80 for accurately defining the separation position is used.
Therefore, even if the manufacturing error is accumulated, the desired pallet p can be surely separated.

A-2--1-b: If this separating position is specified to separate a pallet directly mounted on the buffer table 52, then it is mounted on this buffer table 52. The pallets p are stacked in order from the bottom in the order required to be replaced by the stocker 24. With this configuration, as will be described later,
The buffer 22 itself can be provided with a replacement function, and the fact that the structure without the elevator 26 is realized can be realized.

A-2--2: When the separating position is set for all the p-layers p stacked on the buffer table 52, all the parts are collectively put together with the separating operation. The pallets will be separated. In this way, it is possible to pull out an arbitrary pallet and replace it with an empty pallet, and the replacement operation can be simplified.

A-2-: When the preparatory operation for replacement is performed between the buffer 22 having the separating function of A-2 and the stocker 24, the separating position of the pallet in the buffer 22 and the empty pallet in the stocker 24. It is necessary to match with the shelf position of. The mode of this matching is as follows.

A-2--1: The stocker 24 has a moving (up and down) function, and the separating position of the pallet p is the buffer 2.
2 is fixed, the stocker 24 itself moves to a position adjacent to the separation position so that the separation position in the buffer 22 and the shelf position of the empty pallet p'in the stocker 24 are aligned. In this way, the stocker 24 itself goes to receive the actual pallet, and the effect of setting the replacement time of the empty pallet short is achieved.

A-2--2: Between the buffer 22 having the separation function described in A-2 and the separation position of the buffer 22 and the replacement position of the stocker 24 every time there is a replacement preparation instruction. It is possible to prepare for replacement by combining the elevator with the elevator 26 that carries the separated pallet up and down and carries the separated pallet to the stocker 24. In this case, A
As explained in 2--1, since the stocker 24 does not receive the actual pallet by itself and does not operate, the effect that the operation of pulling out the pallet from the stocker 24 to the robot 12 is not impaired is achieved. It will be.

A-2-: A buffer 22 having the separating function described in A-2, and a transferer 550 having a replacing function fixedly located at the separating position in a state adjacent to the buffer 22, Transfer 550
By providing the stocker 24 that moves up and down to a position adjacent to, the same effect can be obtained.

A-2-: By storing the identification information regarding the pallet loaded on the buffer table in the memory, the supply from the buffer to the stocker becomes easy and reliable. That is, the order in which a new pallet is needed from the buffer is irrelevant to the order in which it is loaded on the buffer table. Therefore, when replenishing pallets to the buffer table, the identification of each replenished pallet only needs to be given to the buffer, and it is not necessary to be aware of the loading order of the replenishing pallets. as a result,
Loading order of replacement pallets on an unmanned vehicle in an unmanned warehouse,
It is not necessary to manually consider the order of replenishment and loading on the buffer table, and work efficiency can be improved.

On the contrary, even if there is no such memory information,
There is no problem if the actual pallets are loaded on the buffer table in the order of occurrence of empty pallets, which is already known.

A-3: Inserting empty pallets and actual pallets
Efficient replacement operation The efficiency of the replacement operation is achieved by the configuration in which the empty pallet p'and the new pallet p are actually replaced after the preparation for the replacement operation. There are the following three modes as the modes for executing this replacement operation.

A-3-: Stocker 24, elevator 26 that moves up and down, buffer 22 having a separating mechanism for the pallets p stacked in an arbitrary order, and the elevator 26 has a replacing mechanism 96. Due to
The effects described above are achieved.

A-3-: A stocker 24 having a separating mechanism for separating the stocker 24, the pallets p stacked in an arbitrary order at a fixed separating position, and a transfer provided adjacent to the fixed separating position. The above-described effect is achieved by the configuration including the switch 550 and the transfer mechanism 550 including the replacement mechanism 96.

A-3-: A stocker 24 and a buffer 22 for separating the pallets p stacked in a predetermined take-out order at a fixed separation position are provided, and a replacement mechanism 480 is provided to the buffer 22. The above-mentioned effects are achieved by the configuration.

A-3-: This replacing mechanism 96 uses the hooks 108, 116, 126 to move the pallet p while mechanically engaging the notches 38a, 38b of the pallet p. It is configured. In this way, in the replacement operation, the pallet p is reliably moved, the stop position of the pallet p is accurately defined, and the replacement operation is reliably executed.

Here, there are two modes depending on the number of hooks. That is, A-3--1: the first cutout portion 38a of the pallet p.
And a second hook 108 for engaging the pallet p to remove the pallet p from the buffer 22 and a second hook 108 for engaging the second notch 38a of the pallet p to push the pallet p to the stocker 24. In a configuration with three hooks, 116 and a third hook 126 for pulling the empty pallet p ′ from the stocker 24, the third hook 126 is positioned directly below the second hook 116 and is integrated. The first hook 1 by being configured to move to
The moving stroke of 08 and the moving stroke of the second hook 116 can be set to the same distance, and the effect of simplifying the configuration of the replacement mechanism 96 and simplifying the control of the replacement operation can be achieved. .

The hook drive source has the following two modes. That is, A-3--1-a: Three hooks are attached to a common slide plate 106, and these slide plates 106 are reciprocally driven by one drive motor, so that three hooks form one drive source. Thus, the effect of simplifying the control can be achieved.

A-3--1-b: Two hooks which are the first and second hooks 108 and 116 are reciprocally driven by the first drive motor, and the third hook 126 is driven by the second drive motor. Although the number of drive motors is increased by the configuration of reciprocating drive by A., the configuration for each drive can be simplified.

A-3--2-: A first hook 108 for engaging the first cutout portion 38a of the pallet p to take out the pallet p from the buffer 22, and a second notch for the pallet p. Even in the configuration including two hooks, the second hook 116 for engaging the portion 38a to push out the pallet p to the stocker 24 and pulling the empty pallet p'from the stocker 24, the replacement mechanism 9
6 is functional. However, in this case, since the second hook 116 performs two operations, the operation time thereof is longer than that in the case of A-3--1 described above. However, the effect of being inexpensively manufactured is achieved with a simple configuration.

A-4: Efficient unloading operation of empty pallets: When empty pallets p ′ are pulled out from the stocker 24 and the actual pallets p are pushed in here to execute the replacement operation,
Inevitably, an empty pallet p'will occur in the FAC system 10. Here, in this embodiment, since the unloading mechanism 76 for the empty pallets p'is provided, the empty pallets p'are satisfactorily carried out in a predetermined number or less, so that the empty pallets p'are stacked in a predetermined number or more. As a result, the effect that the next replacement operation is not hindered is achieved.

In this carry-out operation, the empty pallet p '
There are various modes for stacking the sheets on the carry-out mechanism 76 as described below.

A-4-: The elevator main body 86 of the elevator 24 itself descends directly above the unloading mechanism 76 or directly above the empty pallet p ′ already stacked on the unloading mechanism 76, and the lower part of the elevator main body 86. The empty pallets p'supported by the are stacked on the unloading mechanism 76. With such a configuration, the empty pallets p'are stacked in the unloading mechanism 76 in principle without hindering the pallet exchange operation.

A-4-: The carry-out mechanism 76 is provided with the lift mechanism 402, and the lift mechanism 402 is raised to support the empty pallet p'supported by the replacement mechanism 96.
To be stacked on the lift mechanism 402.
In this way, compared with the case of A-4-, the effect of reducing the possibility of hindering the replacement operation is further reduced. In addition, in the configuration including the lift mechanism 402, there are two types of modes described below.

A-4--1: This lift mechanism 402
However, if it is arranged below the elevator main body 86, the lift mechanism 402 may rise to a predetermined position and wait until the empty pallet p ′ is drawn into the elevator main body 86. Therefore, the descent time of the elevator body 86 can be set short. In this way, the time required for the operation of carrying out the empty pallet p'is shortened, and the effect that the delay of the next replacement operation is avoided can be achieved.

A-4--2: This lift mechanism 402
However, when it is not arranged below the elevator main body 86, there are the following two modes. That is, A-4--2-a: a transferer 550 provided at a fixed position adjacent to the separation position of the buffer 22.
When the lower lifting mechanism 402 of the
Since the transferer main body 552 of the transferer 550 on which the empty pallet p ′ is pulled out and supported is fixed in position, the lift mechanism 402 is an indispensable structure for stacking the empty pallet p ′ on the carry-out mechanism 76. It becomes a requirement.

A-4--2-b: In the state where the buffer 22 has a replacement function, when the lift mechanism 402 is arranged below the buffer base 52, the empty pallet p'is pulled out. Supported buffer table 52
However, since the position is fixed, the lift mechanism 402 is an indispensable constituent element for stacking the empty pallet p ′ on the carry-out mechanism 76.

A-4-: As described in A-4-, the following two effects are achieved by providing the sensors S ₁ , S ₂ and S ₃ in the case where the lift mechanism 402 is provided. Will be. That is, A-4--1: When the sensors S ₁ , S ₂ , and S ₃ are used to define the lift position of the lift mechanism 402, this lift position is an empty space over the lift mechanism 402. It changes according to the height of the pallet p '. That is, when a predetermined rising position is defined so that the maximum height pallet p ₃ can be stacked regardless of the height of the pallet p ′, this minimum height is set when the maximum height pallet p ₁ is stacked. A considerably large gap is created between the bottom surface of the pallet p _{1 it} has and the lift mechanism 402 or the uppermost position of the pallet placed on this lift mechanism 402. Therefore, if the empty pallets p ₁ ′ are to be stacked via this gap, the posture of the empty pallets p ₁ ′ may collapse, and a situation may occur in which the empty pallets p ₁ ′ cannot be stacked properly.

However, since the sensors S ₁ , S ₂ and S ₃ define the optimum ascending position according to the height of each pallet, the above-mentioned problem does not occur and the empty pallet p ′ is surely generated. The effect of being superposed on the lift mechanism 402 will be achieved.

A-4-2: This sensor S ₁ , S ₂ ,
When S ₃ is used to define the lifted position of the lift mechanism 402, and further when the lift mechanism 402 is disposed below the elevator body 86, the sensors S ₁ , S ₂ , S ₃ is the elevator body 8
In the lowermost position of 6, the lift position of the lift mechanism 402 is defined so as to receive the empty pallet p ′, so that the elevator main body 86 necessary for moving the empty pallet p ′ from the elevator main body 86 to the unloading mechanism 76. Will be set to the minimum. In this way, the time required to move the empty pallet p'to the unloading mechanism 76 is shortened, and the possibility of delaying the next replacement operation is reduced.

A-5: Cover the pallet with the lid 40.
Effect: When the component x is conveyed by using the pallet p having an open upper surface to take out the component x accommodated inside, the accommodated component is in the middle of conveyance or the buffer 2
2 and the stocker 24, a lid 40 is provided to each pallet p in order to protect it from dust and the like during storage, and the lid 40 closes the upper opening so as to be openable. It is a thing. In this way, the lid 4 is attached to each pallet p.
Since 0 is attached, the part x housed inside is
The effect of being surely protected from dirt such as dust is exhibited.

A-5: Here, this lid 40 covers the pallet p in the stocker 24 in all periods except during the time when the pallet p is also put in the drawing position to the robot 12. There is something. In this way, the period during which the upper surface of the pallet p is open is limited to the pull-out period which is the required open period for taking out the component x from this, so that dust or the like can be removed into the pallet p. The invasion is suppressed to a minimum, and the dirt of the component x due to dust or the like is prevented as much as possible.

A-5: When the lid 40 is detached from the pallet p, the lifting arm 160 of the lid opening mechanism 170 moves linearly from diagonally downward to diagonally upward to move to the third portion of the pallet p. Notch 38
It engages with the side line of the lid body 40 from below via c, and the lid body 4
I try to lift 0 upwards. Such a linear movement of the lifting arm 160 reduces the drive source of the lifting arm 160.
Therefore, the lifting operation time can be shortened and the cost can be reduced.

The lifting arm 160 that has passed through the third cutout portion 38c of the pallet p in this way is not
Needless to say, it is configured so as not to hinder the movement of the pallet p along the transport direction in the state where 0 is lifted in this way.

A-6: B of pallet in stocker
In poke Sutotsuka 24, each pallet p are those set in the corresponding state of being supported on the shelf plate 156 of the elevating frame 152 which is vertically driven. Here, in the state of being supported on the shelf plate 156, each pallet p is locked by the locking mechanism 600 so as to move along the transport direction on the shelf plate 156. In this way, even if each pallet p receives a moving force along the carrying direction based on the vibration or the like due to the vertical movement of the elevating frame 152, it is locked by the locking mechanism 600.
Each pallet p is surely neglected at a predetermined position on the corresponding shelf plate 156.

As a result, each pallet p is always brought to a predetermined position when the elevator frame 152 is stopped and the lock by the locking mechanism 600 is released, and the pallet p is moved to the robot 12 of each pallet. Thus, the effect that the pulling-out operation and the drawing-in operation when it becomes empty can be surely executed is achieved. B: Effect of facilitating process change The effect of the FAC embodiment described in the above item is mainly the hardware and the control program for controlling it when various combinations of robots, stockers, elevators, buffers, lift mechanisms, etc. This is the effect seen from the configuration of. Since software such as control programs should be characterized by their easiness of change, therefore, the effect from the viewpoint of how flexible the control programs used in this FAC are to change. Look at.

That is, in the embodiment, the variable G called the process
Associates the parts used in the process. The pallet and the rack position for storing the pallet are associated by a variable S, and the rack position variable S is arrayed (S [G]) by the step G. Thus, process → shelf position →
The relationship between pallets and parts is clarified. Therefore, just by converting this array, the process changes, and
Even if the process changes, it is not necessary to change the position of the shelves storing the pallets. Further, there is an effect that it is not necessary to change the control program.

Further, since the above arrangement is displayed on the CRT screen of the input device, there is an effect that it is extremely easy to change the process and the like. C: Effectiveness of the efficiency of replenishment to the FAC from the outside This FAC system is based on the component supply from the stocker to the robot at a fixed position and the component supply from the buffer to the stocker. is there. Therefore, if there are no more parts in the FAC system, it is necessary to replenish a new pallet full of parts from the outside.

In this FAC system, the process of supplying the parts and the process of supplying the parts through the pallet are independent. By making these two processes independent, the supply from the stocker to the robot will not stop immediately when the stocker cannot be supplied. Then, the parts replenishment is performed on the FAC side in the preparation process (the process of retaining all the existing pallets on the buffer table for information, and the process of unloading the empty pallets loaded under the elevator), and the FAC and this FAC. By dividing the process of parts replenishment into the actual replenishment process in which the external parts (unmanned vehicle) that supplies the parts work together, and by matching the process of parts replenishment with the above-mentioned preparation process of pallet replenishment Is shortened, and as a result, the time for which the unmanned vehicle stops is shortened. Further, although the manual replenishment is time-consuming, it is easy to update the information on the pallets on the buffer table, which is increased due to the replenishment of a new pallet, considering the effect described in B above. D: Effect of hierarchical control In this FAC, a control program at the application program level of robot, stocker, elevator, buffer is a task program that operates under a multi-task OS, and shared memory is provided between these task programs. It is synchronized by a commonly accessible variable stored in and a system call of the multitasking OS. These controls are stored on the main block board as higher level controls.

As lower level control, robot servo board for controlling servo motor and encoder, stocker servo board, elevator servo board, buffer servo board, and I / I for controlling elements such as solenoid and sensor. O board is prepared. These boards are connected via a multibus and also have a shared memory between these boards.

D-1: By multitasking the control program at the application program level,
Streamline the development of control programs for multiple motion parts such as robots and stockers. Then, by using the common variable, the synchronization of each task program at the application program level can be easily achieved.

D-2: By storing the control of the main operation at the application program level in the task program of the main block, the above-mentioned servo block, I
The control of the driven elements such as the servo motor and the solenoid by the / O block is easy and simplified. That is, as clarified in the above-described embodiment, the operation of the front driven element can be described by a simple command system. Then, this command is sent via the multi-bus between the main block as the upper control unit and each servo block as the lower control unit. By doing this, the servo board, I
The / O board is standardized, and changes such as addition of robots can be easily performed at low cost.

[0464]

As described above in detail, the control method for controlling the automatic apparatus for executing the automatic processing consisting of a plurality of steps of the present invention provides the variable value indicating the step order to each of the plurality of steps. Allocation, the correspondence between the plurality of steps and the articles used in each step is stored as a data array representing the correspondence between the step variable and article information, and is required in any one of the plurality of steps. It is characterized in that information regarding the item is extracted from the data array using the process variable as an argument, and the process is controlled by associating the arbitrary one process with the item based on the extracted information.

According to the control method of such a configuration, one step is associated with at most one article used in the step. Then, each item is uniquely specified by a number indicating the process in which the item is used. Therefore, the uniqueness of each individual item is reduced to the process number. When such an article representation method is used, the control portion depending on the uniqueness of each article does not appear explicitly in the representation of the program, and the entire program is refreshed and has a good visibility. Further, the change of the process only changes the argument indicating the article related to the process related to the change. That is, it becomes easy to change the process.

Further, in the structure of the control device of the automatic apparatus according to the present invention, in order to assemble one work from a plurality of parts, an assembly robot means for performing this assembly operation, and parts for the assembly robot means. Is a control device for controlling an automatic assembling device comprising a supply means for accommodating a plurality of parts for supplying each of the plurality of parts, the control device comprising a plurality of steps constituting an operation of assembling the work, The assembly robot means stores the correspondence between the parts used in the process and the storage position in the supply means as a data array with the process variable representing the process as an argument. When requesting the necessary parts in the order of the processes, the process variables are passed to the supply means, and the supply means stores the process variables passed from the assembly robot means as arguments. By searching stage, it detects the component storage position, and supplying a part of the detected position to the assembly robot means.

According to the control device having such a configuration, one process is associated with at most one article used in the process. Each item is uniquely specified by a number indicating the process in which the item is used and a place where the item is stored (this place itself is also expressed by the process number). Therefore, the uniqueness of each individual item is reduced to the process number. When such an article representation method is used, the control portion depending on the uniqueness of each article does not appear explicitly in the representation of the program, and the entire program is refreshed and has a good visibility. Further, the change of the process or the change of the storage place of the article only changes the argument representing the article related to the process related to the change. That is, it becomes easy to change the process and the storage location.

[Brief description 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;

2 is a perspective view schematically showing the overall configuration of the FAC system shown in FIG. 1;

FIG. 3 is a perspective view showing the structure of a pallet in which parts are stored;

FIG. 4 is a front view showing the shape of a pallet having three kinds of heights;

FIG. 5 is a cross-sectional view showing a stacked state of pallets;

FIG. 6 is a perspective view showing the structure of a buffer;

FIG. 7A is a front view sequentially showing a separating operation of _a predetermined pallet p _{a in} the buffer;

FIG. 7B is a front view sequentially showing the separating operation of the predetermined pallet p _{a in} the buffer;

FIG. 7C is a front view sequentially showing the separating operation of the predetermined pallet p _{a in} the buffer;

FIG. 7D is a front view sequentially showing the separating operation of the predetermined pallet p _{a in} the buffer;

FIG. 8A is a front view sequentially showing the position correcting operation in the buffer separating operation;

FIG. 8B is a front view sequentially showing the position correcting operation in the buffer separating operation;

FIG. 8C is a front view sequentially showing the position correcting operation in the buffer separating operation;

FIG. 8D is a front view sequentially showing the position correcting operation in the buffer separating operation;

FIG. 8E is a front view sequentially showing the position correcting operation in the buffer separating operation;

FIG. 9 is a perspective view showing the structure of an elevator;

FIG. 10 is a side view showing an elevator main body in an elevator together with a replacement mechanism;

FIG. 11 is a front view showing a configuration of a replacement mechanism in a state where the elevator body is partially broken;

FIG. 12 is a perspective view showing a replacement mechanism taken out;

FIG. 13A is a front view sequentially showing a replacement operation in the elevator;

FIG. 13B is a front view sequentially showing the replacement operation in the elevator;

FIG. 13C is a front view sequentially showing the replacement operation in the elevator;

FIG. 13D is a front view sequentially showing the replacement operation in the elevator;

FIG. 13E is a front view sequentially showing the replacement operation in the elevator;

FIG. 13F is a front view sequentially showing the replacement operation in the elevator;

FIG. 13G is a front view sequentially showing the replacement operation in the elevator;

FIG. 14 is a perspective view showing the structure of a stocker;

FIG. 15 is a side view showing the configuration of a lid opening mechanism;

FIG. 16 is a side view showing a state in which the lid is lifted in the lid opening mechanism;

FIG. 17A is a diagram explaining that the movement of a stocker changes depending on the order of steps and the order of placing shelves;

FIG. 17B is a diagram for explaining that the movement of the stocker or the like changes depending on the process and the placing order of the shelves;

FIG. 17C is a diagram explaining that the movement of stockers and the like changes depending on the order of steps and the order of placing shelves;

FIG. 17D is a diagram explaining that the movement of stockers and the like changes depending on the order of steps and the order of placing shelves;

FIG. 17E is a diagram explaining that the movement of stockers and the like changes depending on the order of steps and the order of placing shelves;

FIG. 18 is a diagram showing a configuration of a control unit of the embodiment and a connection relationship between the control unit and the production management computer and the like;

FIG. 19A is a diagram showing an input menu to the input device and its display state;

FIG. 19B is a diagram showing an input menu to the input device and its display state;

FIG. 19C is a diagram showing an input menu to the input device and its display state;

FIG. 20 is a diagram illustrating the teaching of each shelf position of the stocker;

FIG. 21A is a diagram explaining variables commonly used in each control module;

FIG. 21B is a diagram illustrating the configuration of a queue;

FIG. 22A is a diagram for explaining the vertical positional relationship of the operation of each module in the FAC system system;

FIG. 22B is a view for explaining the vertical positional relationship of the operation of each module in the FAC system system;

FIG. 23A is a flow chart of a robot control program;

FIG. 23B is a flow chart of the robot control program;

FIG. 24A: Flow chart of Stocker control program;

FIG. 24B: Flow chart of the Stocker control program;

FIG. 24C is a diagram for explaining how the process number changes in stocker control;

FIG. 25A is a diagram explaining the configuration of variables used for controlling a buffer;

FIG. 25B is a flow chart for a buffer control program;

FIG. 25C is a flow chart for a buffer control program;

FIG. 26A: Elevator control program flow chart;

FIG. 26B is an elevator control program flow chart;

FIG. 27A is a diagram sequentially explaining a pallet changing operation centering on an elevator;

FIG. 27B is a diagram sequentially illustrating a pallet changing operation centering on an elevator;

FIG. 27C is a diagram sequentially explaining a pallet changing operation centering on an elevator;

FIG. 27D is a diagram sequentially illustrating a pallet changing operation centering on an elevator;

FIG. 27E is a diagram sequentially illustrating a pallet changing operation centering on an elevator;

FIG. 27F is a diagram sequentially explaining a pallet changing operation centering on an elevator;

FIG. 27G is a diagram sequentially explaining the pallet changing operation centering on the elevator;

FIG. 28 is a diagram illustrating stacking of empty pallets on the transport mechanism;

FIG. 29 is a control flow chart for setting the system to an initial operating state;

FIG. 30 is a flow chart of the control program according to the first modification;

FIG. 31 is a perspective view schematically showing the structure of a buffer according to the first modification;

32 is a front view showing a state in which the disposition claws of the separation claws in the step disassembling mechanism shown in FIG. 31 are set to the maximum;

FIG. 33 is a front view showing a state in which the pitch of the separation claws in the step-out mechanism shown in FIG. 31 is set to a minimum;

FIG. 34 is a side view showing the structure of the step-out mechanism;

FIG. 35 is a perspective view schematically showing the configuration of an elevator according to a second modification;

36 is a bottom view showing the structure of the actual pallet changing mechanism in the elevator shown in FIG. 35;

37 is a side view showing the structure of the actual pallet changing mechanism shown in FIG. 36;

38 is a bottom view showing the structure of the empty pallet changing mechanism shown in FIG. 35;

39 is a side view showing the structure of the empty pallet changing mechanism shown in FIG. 38;

FIG. 40 is a side view showing a configuration of a replacement mechanism according to a third modified example;

41 is a partially cutaway front view of the replacement mechanism shown in FIG. 40;

FIG. 42A shows a simplified operation of the third modification,
Front view showing sequentially;

FIG. 42B shows a simplified operation of the third modification,
Front view showing sequentially;

FIG. 42C shows a simplified operation of the third modification,
Front view showing sequentially;

FIG. 42D shows a simplified operation of the third modification,
Front view showing sequentially;

FIG. 42E shows a simplified operation of the third modification,
Front view showing sequentially;

FIG. 42F shows a simplified operation of the third modification,
Front view showing sequentially;

FIG. 42G shows a simplified operation of the third modification,
Front view showing sequentially;

FIG. 42H shows a simplified operation of the third modification,
Front view showing sequentially;

FIG. 43 is a perspective view showing a buffer provided with a lift mechanism according to a fourth modification;

44 is a side view showing an arrangement position of the sensor shown in FIG. 43;

FIG. 45 is a control flow chart of the elevator and lift mechanism according to the fourth modified example;

FIG. 46 is a perspective view showing a schematic configuration of another embodiment according to the present invention;

FIG. 47 is a perspective view showing a configuration around a buffer base in the buffer;

FIG. 48 is a bottom view showing the state of the lower surface of the buffer table;

FIG. 49 is a side view showing the configuration of a replacement mechanism provided on the buffer table;

FIG. 50A is a control program flow chart according to another embodiment;

FIG. 50B is a control program flow chart according to another embodiment;

FIG. 50C is a diagram showing a sequence of a pallet exchange operation in another embodiment;

FIG. 50D is a diagram showing a sequence of the operation of exchanging pallets in another embodiment;

FIG. 51 is a perspective view schematically showing a configuration of a modified example of another embodiment,

52 is a perspective view showing a case where a locking hole is formed on the lower surface of the flange portion of the pallet;

FIG. 53 is a front view showing the structure of a locking mechanism for locking the support position of the pallet in the stocker;

54 is a side view of the locking mechanism shown in FIG. 53;

FIG. 55A is a flow chart showing a control program related to a refilling operation of a pallet to a buffer via an unmanned vehicle;

FIG. 55B is a flow chart showing a control program relating to a replenishment operation of a pallet to a buffer via an unmanned vehicle;

FIG. 56A is a view showing an input display in an operation relating to manual replenishment of a pallet to a buffer;

FIG. 56B is a view showing an input display in an operation relating to manual replenishment of a pallet to a buffer;

FIG. 56C is a view showing a sequence of operations relating to manual replenishment of pallets to the buffer;

FIG. 57 is a diagram showing a board configuration in a control unit in the apparatus of still another embodiment;

FIG. 58 is a diagram showing the connection between the input / output device, the main block, and the subordinate control block of the FIG. 57 embodiment;

FIG. 59 is a main block CPU8 of the embodiment of FIG. 57;
Memory map diagram showing the memory space of 05;

FIG. 60 is a program hierarchy diagram in the multitasking of the embodiment of FIG. 57;

FIG. 61 is a diagram showing the connection of information logical paths between blocks in the embodiment of FIG. 57;

FIG. 62 is a diagram showing the configuration of an allocation register of the embodiment of FIG. 57;

63 is a diagram showing the configuration of the task control box of the embodiment of FIG. 57;

64A is a flow chart of an operation control program for sharing the input / output device 18 of the embodiment of FIG. 57 among tasks;

64B is a flow chart of the operation control program for sharing the input / output device 18 of the embodiment of FIG. 57 among tasks;

FIG. 65 is a flowchart of data output control from the task of the embodiment of FIG. 57 to the RS handler task;

66 is a flow chart of a program relating to control of the embodiment of FIG. 57;

67 is a diagram showing a format of interface data between the main block and the lower order control block of the embodiment of FIG. 57;

FIG. 68 is a flow chart of a program relating to control of the embodiment of FIG. 57.

[Explanation of symbols]

10 ... Flexible Assembling Center (FA
C system), 12 ... Robot, 14 ... Parts supply system, 16 ... Control unit, 18 ... Input device, 20 ... Unmanned vehicle, 22 ... Buffer, 24 ... Stocker, 26 ... Elevator, d ... Conveyance direction, unmanned vehicle 20 28 ... Casing, 30 ... Wheels, 32 ... Pallet mount, 32
a ... carry-out roller, 34 ... empty pallet mounting table, 34a ... carry-in roller, pallet p (p ₁ , p ₂ , p ₃ ...) Relation 36 ... pallet body, 38 ... flange portion, 38a ... 1st
Cutouts, 38b ... second notch, 38c ... third notches, 40 ... _{lid, x (x 1, x 2} , x 3
…）… Parts, B… Bar code, buffer 22 relations 42… Base, 44a-44d… Posts, 46a; 46b…
Standing plate, 48 ... Guide member, 50 ... Sliding member, 52 ... Buffer base, 52a ... Projecting piece, 54 ... Carry-in roller group, 56
... Roller guide, 58 ... Slit, 60 ... Ball screw,
62 ... Encoder, 64 ... Separation mechanism, 66 ... First separation claw, 68 ... Second separation claw, 70 ... Support rod, 72 ... Connection plate, 74 ... Bar code reader, 76 ... Delivery mechanism, 78
... carry-out roller, 80 ... sensor, B ... bar code, C _B1 ;
C _B2 ... air cylinder, M _B ... servomotor, elevator 26 relationship 82 a to 82 d ... post, 84 ... coupling member, 86 ... elevator body, 88 ... guide member, 90 ... slide member, 92 ...
Ball screw, 94 ... Encoder, 96 ... Replacement mechanism,
98 ... Stay, 100 ... Swing arm, 100a ... Long groove,
102 ... Guide groove, 104 ... Guide pin, 106 ... Slide plate, 108 ... First hook, 110 ... First hook slide member, 112 ... Air cylinder support plate, 11
4 ... 1st piston, 116 ... 2nd hook, 118 ...
Second hook slide member, 120 ... Second piston,
122 ... Fixed slide guide, 124 ... Mounting plate, 1
26 ... Third hook, 128 ... Third hook slide member, 130 ... Third piston, 132 ... Guide groove, 13
4 ... Movable slide guide, 136 ... Slide member, 13
8 ... Air cylinder support plate, 140 ... Fourth piston, 230 ... Elevator body in empty pallet pulling position, 232 ... Elevator body in actual pallet pushing position, A; B ... Servo motor rotation direction, C _E1 ;
C _E2 ; C _E3 ; C _E4 ... Air cylinder, M _E1 ... Servo motor, M _E2 ... Servo motor, stocker 24 related 142 ... Base 144a-144d ... Struts 146 ... Connection frame 148 ... Guide member 150 ... Sliding member, 152
… Elevating frame, 154… Drawer, 156… Shelf, 158
... Notch part, 160 ... Lifting arm, 160a ... Main body part, 160b ... Top surface, 160c ... Projection part, 162 ... Projection piece, 164 ... Ball screw, 166 ... Encoder, 16
8 ... Drawer, 170 ... Lid opening mechanism, 172 ... Taking in / out mechanism, 174 ... Support stay, 176 ... Stopper, 1
78 ... Slide guide, 180 ... Guide member, 182 ...
Sliding member, 184 ... Support plate, 186 ... Hook, 188 ...
Drive roller, 190 ... idle roller, 192 ... endless belt, 194 ... connecting shaft, 196 ... driven roller, 1
98 ... Stay, 200 ... Drive shaft, 202 ... Drive roller,
204 ... Endless belt, 206 ... Piston, 208
a; 208b ... Input end, robot 12 related 210 ... Assembly stage, 212 ... Stand, 214 ... X-axis robot arm, 216 ... Y-axis robot arm, 218 ...
Robot hand, 220 ... Finger, 222 ... Fin gas station, 224 ... Assembly base, C _S1 ; C _S2 ... Air cylinder, M _S1 ... Servo motor, M _S2 ... Servo motor, first modified relation 250 ... Step disassembly mechanism , 252 ... Separation claw mounting plate, 254
a; 254b ... Guide shaft, 256a; 256b ... Fixing device, 258 ... Piston, 260a; 260b ... Input end,
262a; 262b; 262c ... Introducing pipe, 264
a; 264b ... Output end, 264c ... Input end, 266 ... Separation claw, 268 ... Piston, C _D1 ; C _D2 ... Air cylinder, second modified example relation 86a ... Elevator body 86 upper plate, 86b ... Elevator body 86 Lower plate, 96a ... Mechanism for replacing actual pallet,
96b ... Empty pallet changing mechanism, 300 ... Elevator, 302a; 302b ... First guide member, 304 ...
First slide plate, 306 ... First ball shaft, 308 ...
Projection portion, 310a; 310b ... First rotation support member, 3
16 ... Fixed slide guide, 322a; 322b ... second
Guide member, 324 ... Second slide plate, 326 ... Second ball shaft, 328 ... Projection portion, 330a; 330b ...
Second rotation support member 332 ... Hook member, 334 ... Second piston, 336 ... Movable slide guide, 338 ...
Slide member, 340 ... Third piston, C ₁ ; C ₂ ;
C ₃ ... Air cylinder, M ₁ ; M ₂ ... Servo motor, third modification relation 350 ... Swap mechanism, 352 ... Movable slide guide,
354 ... Slide guide, 356 ... Fourth piston, fourth modified example relationship 400 ... Fixed transfer mechanism, 402 ... Lift mechanism, 404 ...
Sliding member, 406 ... Lift base, 408 ... Projecting piece, 410
... Air cylinder mounting member, 412 ... Piston, 4
14 ... Sensor mounting member, S ₁ ; S ₂ ; S ₃ ... Sensor, relationship with other embodiments 450 ... Buffer, 452 ... Spacer block, 454
... Separation mechanism, 456 ... Mounting member, 458 ... Guide shaft, 460 ... Separation claw mounting plate, 462 ... Separation claw, 464 ...
Ball screw, 468 ... Ball screw receiving portion, 470 ... Stay, 472 ... Drive pulley, 474 ... Drive pulley, 476
... Timing belt, 480 ... Replacement mechanism, 482
a; 482b ... Guide shaft, 484 ... Slide plate, 484
a; 484b ... Roller, 484c ... Threaded portion, 486 ... Ball screw, 488a; 488b ... Rotation support member, 490
a; 490b ... First hook, 492 ... Piston, 49
4a; 494b ... Guide pin, 496a; 496b ... Guide pin, 498 ... Piston, 500a; 500b ... Second hook, 502a; 502b ... Support stay, 504
... piston, modified example of other embodiment Relationship 550 ... Transformer , 552 ... Transformer main body, other relationship 38d ... Locking hole formed on lower surface of flange 38 of pallet, 600 ... Lock mechanism, 602 ... Rotsukurotsudo, 604a; 604b ... guide member, 606 ... air cylinder mounting plate, 608 ... piston 610 ... lock member, 610a ... mounting piece, 610b ... Rotsukupin, C _R ...
Air cylinder, hierarchical control relationship 700 ... System bus, 701 ... Main block board, 702-705 ... Servo block board, 706 ...
I / O block board, 802 ... Interface, 8
03 ... Local memory, 805 ... CPU, 806 ... Shared memory, 808a, 808b ... Servo motor, 809
a, 809b ... Encoder, 811 ... Solenoid valve, 812 ... Sensor, 823 ... Robot task, 82
4 ... Stocker task, 825 ... Elevator task,
Reference numeral 826 is a buffer task, 821 is an input / output device handler task, 820 is a multi-task OS.

 ─────────────────────────────────────────────────── --- Continuation of the front page (72) Inventor Ryohei Inaba 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc. (56) Reference JP-A-59-177603 (JP, A) JP-A-61 -283905 (JP, A) JP-A-59-191614 (JP, A)

Claims (13)

(57) [Claims] 1. A control method for controlling an automatic device for executing an automatic process comprising a plurality of steps, wherein a variable value representing a process order is assigned to each of the plurality of steps, and the plurality of steps and each step. Is stored as a data array representing the correspondence between the process variable and the information of the product, and the information about the product required in any one of the plurality of processes is stored as the process variable. A method of controlling an automatic device, comprising: taking out from the data array as an argument, and controlling the process by associating the arbitrary one process with an article based on the taken out information. 2. The method for controlling an automatic device according to claim 1, wherein the automatic device is an automatic assembly device having an assembly robot means, and the article is a component necessary for assembly. . 3. The automatic device comprises an assembling robot means, and a supplying means having a plurality of shelves accommodating a plurality of kinds of parts for supplying parts required for assembly to the robot assembling means. The correspondence between the shelf position and the parts stored in a certain shelf position and the process in which the part is used is stored as a data array with the process variables as arguments, and the parts required in a certain process are When specifying in the supply means, with a variable representing the process as an argument,
The method for controlling an automatic device according to claim 1, wherein the supply of the parts from the supply means to the robot means is controlled by specifying a shelf for storing the parts required in the step. . 4. The assembling robot means sends the value of a process variable corresponding to the part to the supplying means in order to receive the necessary part from the supplying means. The method for controlling an automatic device according to the third item. 5. The assembling robot means stores the correspondence between each part and the assembly program as a data array using the process variables as arguments so that the operation of assembling the parts is controlled by an assembly program unique to each part. 4. The control method for an automatic device according to claim 3, wherein the assembly program is called by the assembly robot means using the process variables as arguments. 6. The assembling robot means has a plurality of fingers for gripping a component, and this control method stores the correspondence between each component and the finger as a data array using the process variables as arguments. 4. The automatic apparatus according to claim 3, wherein the assembling robot means uses a finger corresponding to a process variable corresponding to the part in order to grip the part required from the supply means. Control method. 7. Assembly robot means for assembling one work from a plurality of parts, and supply means for accommodating the plurality of parts for supplying the parts to the assembly robot means. A control device for controlling an automatic device comprising: a control device for controlling each of a plurality of steps constituting an operation for assembling the work, and a part for supplying a component used in each step in the supply means. The assembly robot means includes a storage means for storing the correspondence with the storage position as a data array having a process variable representing a process as an argument, and the assembling robot means, when requesting the necessary parts to the supply means in the order of the processes, A variable is passed to the supply means, and the supply means searches the storage means by using the process variable passed from the assembly robot means as an argument,
A controller for an automatic apparatus, which detects a component storage position and supplies the component at the detected position to the assembling robot means. 8. The supply means has a plurality of shelves accommodating a plurality of types of parts to be supplied to the assembling robot means, and the storage means has a shelf position and parts stored at a certain shelf position and the parts thereof. The correspondence with the process in which the part is used is stored as a data array with the process variable as an argument, and when a part required in a certain process is specified in the supply means, a variable representing the process is stored. As an argument
8. The control device for an automatic device according to claim 7, wherein the supply of parts from the supply means to the robot means is controlled by specifying a shelf for storing the parts required in the process. . 9. The control device further comprises input means for inputting a correspondence between a shelf position stored in the storage means, a component housed in the shelf position and a process in which the component is used, 8. The control device for an automatic device according to claim 7, further comprising a display means for displaying these input data. 10. The storage means further uses each process variable as an argument for each part, an assembly program unique to each part for assembling the part to the work, and correspondence of the part assembly program. 7. A data array, wherein the assembling robot means calls an assembling program for the part from the storage means when the part is assembled to the work, using the process variable as an argument. A method for controlling an automatic device according to item. 11. The assembling robot means has a plurality of fingers for gripping a component, and the storage means associates each component, the finger gripping the component, and the location of the finger with the step. A variable data array is stored as an argument, and the assembling robot means uses a finger corresponding to a process variable corresponding to the part in order to grip the part supplied from the supply means. A control device for an automatic device according to claim 7. 12. The automatic device control according to claim 8, wherein the storage means further stores the number of parts remaining in each shelf by using a process variable as an argument. apparatus. 13. The supply means outputs the process variable to the outside in order to receive the supply of new parts when there is a shortage of parts in any of the shelves.
A control device for an automatic device according to the item.