JPS59215282A - automatic work equipment - Google Patents

Abstract

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

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to an automatic working device that automatically performs operations such as machining, assembly, painting, and welding on a workpiece.

[Prior art]

A device has been proposed that combines a conveyance means such as a conveyor or a conveyance robot with an automatic work means, and automatically performs everything from supplying workpieces to the automatic work means to discharging finished objects.

However, in most of the devices of this type that have been proposed in the past, only one automatic working means for performing the same work on the workpiece is provided along one conveyor.

Therefore, by operating this automatic working means to its fullest capacity,
However, since the required amount of work could not be met, it was necessary to increase the number of automatic working devices consisting of existing transport means and automatic working means.

This requires a large amount of equipment cost and also requires a large installation area.

If it is possible to install multiple automatic work means that perform the same work on a single work line, and if it is possible to rationally supply workpieces to these automatic work means, the conveyor can be shared and equipment costs are reduced. It also saves installation space.

[Purpose of the invention]

The present invention has been made in view of these points, and its purpose is to install a plurality of automatic work means for performing the same work on a single work line. The object of the present invention is to construct an automatic working device that can rationally supply objects to be worked to these automatic working means.

[Summary of the invention]

That is, in the present invention, a main transport means, a sub-transport means, a plurality of automatic working means, and a selection means are provided.

Among these, the main conveyance means has a plurality of workpiece receivers and transfer stations along the conveyance direction, and the workpiece is transferred to the selected station without stopping through stations not selected by the selection means. The structure is configured to stop conveyance of the workpiece.

It is convenient to use a free flow conveyor as such a main conveyance means.

The sub-transport means is located at each station and transports the workpiece between the main transport means and the automatic working means.

The plurality of automatic working means each receive and take a workpiece from the sub-transfer means and are configured to automatically perform the same work on the workpiece.

The selection means determines a station for stopping the conveyance of some of the plurality of work objects on the main conveyance means and a sub-transfer means to be activated, based on the conveyance status on the main conveyance means and the work progress status of the automatic work means. Pressure them to choose.

It is possible to divide and arrange a plurality of automatic working devices each for performing different tasks along the direction of movement of the main conveyance means in blocks. In such a case, the selection means issues a signal to stop the progress of the operated means only once at the station corresponding to the automatic working means performing the same work.

Even if the main conveyance means transports the workpiece, it is conceivable that none of the automatic work means will be able to accept the supply of the workpiece, depending on the progress of the work of the automatic work means. In such a case, the selection means does not select the station at which the workpiece is to be stopped. In other words, it is conceivable that a certain workpiece passes through all stations without being worked on. If the transport speed of the main transport means, the work cycle of the automatic working means, and the transport means of the sub-transport means are well controlled, the above-mentioned problems will not occur. The main conveyance means has a plurality of conveyance tables each having an unworked workpiece placement section and a completed workpiece placement section, and this conveyance table is configured to be able to stop at a station selected by the selection means. It is desirable to do so. At this time, when the time of the conveyance table stopping at a station is t, and the speed of the conveyance table while traveling is V, the minimum distance t between adjacent stations is t=
If it is set to vt, there is no fear that the conveyance table will collide with a stopped conveyance table located in front of it, and the workpiece can be smoothly supplied to the automatic working means.

[Embodiments of the invention]

Embodiments of the present invention shown in the figures will be described below.

1 is a main conveyance means composed of a free flow conveyor. Workpiece loading position tKt along this main conveyance means 1
2. Stations 3a, 3b, 3c and workpiece unloading position 4 are provided.

Each station 5a! +1), 30' are provided with welding robots as automatic working means 5a, 5b, 5c, and articulated transfer robots as auxiliary transfer means 6a, 6b, 6c.

The selection means 7 determines the transport status of the workpiece 8 on the main transport means 1 and the work progress status of the automatic work means 5a, 5b, 5c. Let them choose their bodies.

The main conveyance means 1 includes conveyance tables 9a, 9b, 9c,
9ci.

Contains a plurality of 9e, .

These conveyors are usually used for each station from the workpiece loading position 2! +'a, 3b, 3c at a constant speed V and progresses to the workpiece unloading position 4, but when a stop signal is received from the selection means 7 and the stoppers 10 to 14 are activated, the stoppers are activated. It is configured so that it stays in that position only while it is in contact with the stopper.

The time during which the stoppers 11, 12.13 are activated is determined by the automatic working means 5a, 5b, 5 of the auxiliary transport means 6a, 6b, 6c, respectively.
The receiver picks up the finished workpiece from c and places it on the conveyor stand represented by number 9. The receiver picks up the unworked workpiece from the conveyor stand and transfers it to the automatic working means 5a, 5b, It is the time t until it is delivered to 5c.

Loading position 2, each station 3a, 3b,
The adjacent spacing t between 3C and the unloading position 4 is made to satisfy at least t=vt.

At workpiece unloading position 4, unloading of the workpiece is completed,
When the stopper 14 leaves the carriage, the carriage passes under the conveyor and is transported to workpiece loading position #2.

Each conveyor table 9a, 9b, . . . is shown in detail in FIG.
Unfinished work will be suspended +! A15 and a work-completed workpiece placement section 16. These mounting parts 15 and 16 extend upward from the substrates of the transport tables 9a, 9b, . . .
The workpieces 19 are roughly positioned and placed using book pins 17 and 18, respectively.

The automatic working means 5a, 5b, 5c are the robot main body 20a,
20b, 20c and positioner 21a*211)+21c
It consists of

The positioners 31 a, 2 i b, 21 c receive the workpieces 19 from the sub-transfer means 6 a, 6 b, 6 c, and transfer them to the robot bodies 20 a, 20 b, 2 Q.
Q serves to change the orientation of the workpiece 19 to facilitate welding work.

In this embodiment, when the workpiece 19 is supplied at the loading position 2, a plurality of members are already joined together by temporary welding, and the automatic work means 5a, 5b, 5c
An example of actual welding is shown below. Fully automatic work device 5a
, 5b and 5c are taught to perform the same welding on the workpiece.

The sub-transporting means 6a, 6b, 6c have the function of receiving the unworked workpiece 19a from the unworked workpiece 1515 on the transport platform and placing it on the positioners 21a, 21b, 2Ic, The workpiece after the work is moved to the positioner 21
It functions to take the receivers from a, 2lb, and 21c and transfer them to the finished workpiece placement section 16 on the conveyor table.

The selection means 7 includes three projectors 22a, 22a, 22a, 22a, 22a, 22a, 22a, 22a, 22a, 22a, 22a, 22a, 22a, 22a, 22a, 22a, 22a, 22a, 22a, 22a, 22a, 22a, 2b, 22a, 22a, 2c, 22a, 2c, and at each of the stations 3a, 3b, 3c and the unloading position 4, respectively, at positions in front of the stoppers 11, 12, 13°14.
23a, 24a, 22b, 23b, 24b.

22c, 23c, lc, 22d, 23d, 246 and three light receivers 22a', 2Sa', 24a', 22b'
, 25b', 24b'.

22c', 25c', 24C', 22d', 23d:
24 (1').The projectors 22a to 24d and the receivers 22a' to 24d' are arranged across the main transport means 1, and the tips of the transport tables 9a, 9b, ... When the light entering the light receivers 22a' to 22d' from the light emitters 24a to 22/ld is blocked, if there is a workpiece 19 on the mounting section 15 on the conveyance table, this will pass from the light emitters 24a to 2/ld to the light receivers 24a' to 24d'. If there is a workpiece 19 on the mounting section 16 on the conveyor table, the projector 23a-
It is configured to block light entering the light receivers 23a'-25d' from 23d. The light receiver outputs the second signal L when no light enters from the emitter.The 0 selection means 7 is the light receiver 22.
The signals issued by a' to 24d' and the automatic working means 5a and 5b
, 5c output signals according to the progress of the work, and the sub-transport means 6a.

The signals output from the stoppers 11 to 14 and the sub-transport means 6a and 6 are logically operated by the selection means logic operation section 71 on the signals outputted from the stoppers 11 to 14 and the sub-transfer means 6a and 6.
b, 6c.

Details of the logic operation section 71 are shown in FIG. In other words, the signal sources 25a, 25b, and 25c are the automatic working means 5a.

When 5b and 5c are working, signal H is output, signal source 2
6a, 26b, 26c are automatic working means 5a, 5b.

Although positioner 5c has finished its work, positioner 21a.

When the workpiece that has completed the work is placed on 21b and 2Ic, a signal (■) is output. Also signal sources 27C927b, 27
C outputs a signal H when the sub-transport means 6a+6b*6c is holding the workpiece. In Figure 6, N,
-N is a NOT circuit, A, to A7 are AND circuits, and 0 is an OR circuit.

This circuit operates as shown in the following table.

That is, in the case of item numbers 1 to 12, a signal is output from the OR circuit O, the stopper 11 is inactivated, and the carrier 9d is allowed to pass over the station 3a.

In the case of item number 16, a signal is output from the AND circuit A6 to stop the transport platform 9d on the station 5a by the stopper 11, and move the workpiece on the automatic working means 5a to the sub-transfer means 6a.
and place it on the conveyor table 9d. Then, instead, the unworked object placed on the conveyor table 9d is grabbed and placed on the automatic working means 5a.

In the case of item number 14, a signal is output from the AND circuit A, the transport platform 9d is stopped on the station 3a by the stopper 11, the workpiece on the automatic working means 5a is grabbed by the sub-transfer means 6a, and the transport stage is moved. Place it on 9d.

In the case of item numbers 15 and 16, a signal is output from the AND circuit A, and the stopper 11 moves the carrier 9d to the station 3a.
The unworked workpiece placed on the conveyor table 9d is grabbed and placed on the automatic work means 5a.

Note that the judgment items in the logical operation are shown surrounded by thick lines in the table above.

The logic operation circuit 7a configured as described above is shown as 7b.

Also provide each station 5b and 3c as shown in 7c.

Reference numeral 50 denotes a transport robot that receives and places the workpiece to be worked on from the storage area 51 on the unworked workpiece placement section 15 of the transport platform at the loading position 2;
0 is a transport robot that unloads the workpiece from the transport platform at the unloading position 4 and transfers it to the storage area 61.

At the unloading position 4, all workpieces placed on the conveyor table are unloaded.

The present invention is not limited to the above embodiments, and various conversions are possible.

For example, if the sub-transport means is provided with two workpiece holding parts each holding a workpiece, one holding part holds the unworked workpiece and moves it to the automatic working means, and the other holding part holds the workpiece. The completed workpiece can be received from the automatic work means 72-, and the unworked workpiece can be installed. Therefore, by doing so, the operating rate of the automatic working device can be increased.

In addition, if a temporary placement position is provided to temporarily place the workpiece while it is being transported by the sub-transportation means, in the case of Item No. 12 of the above-mentioned clothing, the automatic work device will receive the work that has been completed. Temporarily place the workpiece on the mounting table, receive the unworked workpiece from the conveyance table, set it on the automatic work device, and when the conveyance table without the completed workpiece comes, A workpiece that has been temporarily placed on the mounting table can be placed on it. Therefore, the operating rate is improved, which is advantageous.

Further, the conveyance status of the conveyed means on the main conveyance means can also be detected using something such as a television camera.

Furthermore, the required working time for automatic working means often differs depending on the type of workpiece to be worked on. In such a case, it is convenient to be able to change the conveyance speed by the main conveyance means and to change the conveyance speed to suit the required working time.

〔Effect of the invention〕

As is clear from the above explanation, according to the present invention, when the workpiece is transported to the station requested by the selection means, the workpiece is transported to the station requested by the selection means, regardless of the working conditions at the previous and subsequent stations. Since the workpiece can be fed without interference, the workpiece can be smoothly supplied to a plurality of automatic work means performing the same work.

[Brief explanation of drawings]

FIG. 1 is a layout diagram showing an embodiment of the automatic working device of the present invention, FIG. 2 is an enlarged view showing a part shown in FIG. 1 in more detail, and FIG. 6 is an example of a logic operation section. FIG. 1 is the main conveyance means, 3a, 3b, 3c are stations, 5
a, 5b, and 5c are automatic working means; 6a, 6b, and 6c are sub-transporting means; and 7 is a selection means. Agent Patent Attorney Taka A HA Husband 2nd Figure 3

Claims (1)

[Scope of Claims] 1. A plurality of workpiece receivers have transfer stations along the conveyance direction, and a main conveyance means for conveying the workpieces and a main conveyance means located at the stations, and A sub-transfer means for transporting the workpiece between the main transport means and the automatic working means, and a plurality of units for receiving and taking the work-piece from the sub-transport means and automatically working on the workpiece. In the apparatus having the automatic working means, one of the station and the sub-transport body that stops the conveyance of some of the plurality of objects to be worked on the main conveyance means,
and a selection means for determining and selecting based on the transport status of the workpiece on the main transport means and the work progress status of the automatic working means, and the main transport means selects the workpieces not selected by the selection means. An automatic working device characterized in that the automatic working device is configured to be able to stop the transportation of the workpiece located at the selected station without stopping the transportation of the workpiece through the stations. 2. The automatic working device according to claim 1, wherein the main conveyance means is constituted by a free flow conveyor. 3. The automatic working device according to claim 1 or 2, wherein the main conveyance means is configured to be able to change a conveyance speed. 4. The plurality of automatic work means are configured to perform the same work on the workpiece, and the selection means:
A signal necessary for applying a predetermined number of each of the objects to be worked to the automatic working means is output, and the main transport means and the sub-transport means are configured to operate in response to the signal. An automatic working device according to any one of claims 1 to 3. 5. The main conveyance means has a plurality of conveyance tables each having an unworked workpiece placement section and a finished workpiece placement section, and this conveyance table is used for the station selected by the selection means. 6. The automatic work equipment according to any one of claims 1 to 4, characterized in that it is configured to be able to stop at 6. Claims characterized in that the minimum interval t between stations is t=V·t, where t is the time of the conveyance table stopping at the station and V is the traveling speed of the conveyance table. The automatic working device according to item 5. 7. The automatic operation according to claim 5 or 6, wherein each of the sub-transport bodies has two workpiece holding parts that respectively hold the workpieces. Device. 8. The automatic working device according to any one of claims 1 to 6, wherein the sub-transport means has a temporary placement position on the way.