JP4674892B2 - Parts assembly equipment - Google Patents

Parts assembly equipment Download PDF

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JP4674892B2
JP4674892B2 JP2004360643A JP2004360643A JP4674892B2 JP 4674892 B2 JP4674892 B2 JP 4674892B2 JP 2004360643 A JP2004360643 A JP 2004360643A JP 2004360643 A JP2004360643 A JP 2004360643A JP 4674892 B2 JP4674892 B2 JP 4674892B2
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individual parts
parts
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JP2006168861A (en
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浩司 松本
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日本輸送機株式会社
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Description

本発明は、個別部品を組立部品に組立てる部品組立装置に関する。   The present invention relates to a component assembly apparatus that assembles individual components into assembly components.

典型的な組立部品であるフォークリフトのフレームは複数種類の個別部品を仮組治具上で組合せ、仮溶接した後、本溶接して一体化するという方法で製造されている。   A frame of a forklift that is a typical assembly part is manufactured by a method in which a plurality of types of individual parts are combined on a temporary assembly jig, temporarily welded, and then finally welded and integrated.

各個別部品は、それぞれ専用のパレットに載置されて、複数機種のフォークリフトのフレームの組立に用いられる個別部品と一緒に自動倉庫（以下、共用自動倉庫という。）に保管されている。組立てが行われる機種が上位装置などから指定されると、自動搬送車などの搬送手段は、各機種のフレームの組立てに用いられる個別部品が保管されている場所をデータベースを参照して認識し、指定された機種のフレームの組立てに用いられる指定個別部品が載置されたパレットを共用自動倉庫から部品組立装置に設けた自動倉庫（以下、専用自動倉庫という。）の搬入ステージに１つずつ搬入する。   Each individual part is placed on a dedicated pallet and stored in an automatic warehouse (hereinafter referred to as a shared automatic warehouse) together with individual parts used for assembling frames of a plurality of types of forklifts. When the model to be assembled is specified from the host device, the transport means such as an automatic transport vehicle recognizes the location where the individual parts used for the assembly of the frame of each model are stored with reference to the database, Carry one pallet with designated individual parts used for assembling the frame of the designated model from the shared automatic warehouse to the import stage of the automatic warehouse (hereinafter referred to as the dedicated automatic warehouse) provided in the parts assembly equipment. To do.

搬入された個別部品が、指定された機種の指定個別部品であるか否かを確認するために、各パレットには当該パレットに載置されている個別部品を識別するためのバーコードなどの標識が貼付されている。   In order to confirm whether or not the individual parts that have been brought in are designated individual parts of the designated model, each pallet is labeled with a bar code or the like for identifying the individual parts placed on the pallet. Is affixed.

搬入ステージには、標識を読み取る検知手段が設けられ、搬入ステージに１つの個別部品が搬入される度に、検知手段に読み取られた標識に基づいて搬入された個別部品が指定個別部品であるか否かの判定が行われる。全ての指定個別部品が搬入ステージに搬入されると、部品組立装置は、搬入された指定個別部品を用いて組立部品の組立てを行う。
特開２０００−９５３１１号公報 The loading stage is provided with detection means for reading the sign, and each time one individual part is loaded into the loading stage, is the individual part carried in based on the sign read by the detection means being the designated individual part? A determination is made whether or not. When all the designated individual parts are carried into the carry-in stage, the parts assembling apparatus assembles the assembled parts using the carried designated individual parts.
JP 2000-95311 A

この従来技術によれば、搬入ステージに１つの個別部品が搬入される度に、検知手段に読み取られた標識に基づいて搬入された個別部品が指定個別部品であるか否かの判定が行われる。指定個別部品でないと判定された場合、作業員等が、フォークリフト等を用いて指定個別部品でないと判定された個別部品を搬入ステージから取り出すまで搬送手段の搬入作業が停止する。   According to this prior art, each time one individual part is carried into the carry-in stage, it is determined whether or not the individual part carried in is a designated individual part based on the sign read by the detection means. . When it is determined that it is not the designated individual part, the carrying-in operation of the transfer means is stopped until the worker or the like takes out the individual part that is judged not to be the designated individual part from the carry-in stage using a forklift or the like.

従って、複数回指定個別部品でないと判定された場合、指定個別部品でないと判定された個別部品を搬入ステージから取り出す作業が複数回発生する。   Therefore, when it is determined that the component is not the designated individual component a plurality of times, an operation of taking out the individual component determined not to be the designated individual component from the carry-in stage occurs a plurality of times.

そのため、複数回の指定個別部品でないとの判定があると、全ての指定個別部品の搬入に時間がかかり、組立部品の組立てが大幅に遅れ、部品組立装置の稼動率が低下する。   Therefore, if it is determined that the designated individual part is not a plurality of times, it takes time to carry in all the designated individual parts, the assembly of the assembled parts is significantly delayed, and the operation rate of the part assembling apparatus is lowered.

本発明は、このような事情を考慮して、個別部品の誤搬入による稼動率の低下が少ない部品組立装置を提供することを目的とする。   In consideration of such circumstances, an object of the present invention is to provide a component assembling apparatus in which a decrease in operating rate due to erroneous loading of individual components is small.

この目的を達成するため、本発明に係る部品組立装置は、組立部品の組立てに必要な数の個別部品の搬入があると、搬入された個別部品で組立部品の組立てを行う組立ロボットを備えた部品組立装置において、上記組立部品の組立てに用いられる個別部品の数と種類を記憶する個別部品記憶手段と、上記搬入された個別部品の種類を検知する検知手段と、上記検知手段の検知数をカウントするカウント手段と、上記個別部品記憶手段に記憶された数と上記検知数が一致すると、上記検知手段に検知された種類と上記個別部品記憶手段に記憶された種類とが一致するか否かを判定する正否判定手段とを備え、上記正否判定手段による判定が一致と判定された場合、上記組立ロボットによる組立てが行われ、一致しないと判定された場合、上記組立ロボットによる組立てが行われないという技術的手段を採用する。 In order to achieve this object, the parts assembling apparatus according to the present invention includes an assembly robot that assembles an assembly part using the individual parts that are carried in when the number of individual parts necessary for assembling the assembly parts is brought in. In the component assembling apparatus, individual component storage means for storing the number and type of individual parts used for assembling the assembly parts, detection means for detecting the type of the individual parts carried in, and detection number of the detection means Whether the type detected by the detection unit and the type stored in the individual component storage unit match when the count unit for counting and the number stored in the individual component storage unit match the number detected and a determining propriety determining means for, when the determination by the propriety determining means determines a match, the assembly according to the assembly robot is performed, if it is not a match, the group Adopt the technical means that is not performed assembling by a robot.

よって、指定個別部品でない個別部品が搬入されていても、組立てに必要な個別部品の数と同じ回数の搬入があるまで個別部品の搬入が続けられる。組立てに必要な個別部品の数と同じ回数の搬入が行われると、その時点で初めて、搬入された個別部品全てについて、組立てに用いられる個別部品（以下、指定個別部品という。）であるか否かの判定が行われる。搬入された個別部品に１つでも指定個別部品でない個別部品が混ざっていると、組立てが中止される。組立てが中止されると、例えば作業員が、指定個別部品でない全ての個別部品を指定個別部品に交換する。   Therefore, even if an individual part that is not a designated individual part is carried in, the individual part is continued to be carried in until the same number of times as the number of individual parts necessary for assembly is received. When the number of times of carrying in is equal to the number of individual parts required for assembling, it is not until that point in time that all the individual parts carried in are individual parts used for assembling (hereinafter referred to as designated individual parts). Is determined. If at least one individual part that is not a designated individual part is mixed with the individual parts that are carried in, assembly is stopped. When the assembly is stopped, for example, an operator replaces all individual parts that are not designated individual parts with designated individual parts.

以上に説明した技術的手段を採用する本発明によれば、指定個別部品でない個別部品の数に関係なく、組立てに必要な数の個別部品の搬入が行われたときに、指定個別部品でない全ての個別部品を指定個別部品に交換することとなるので、従来のように、指定個別部品でない個別部品が搬入される度に交換を行うことに比べて、交換を効率的に行うことができるので、組立部品の組立てを効率的に行うことができる。   According to the present invention that employs the technical means described above, regardless of the number of individual parts that are not designated individual parts, all the parts that are not designated individual parts when the required number of individual parts are carried in Since the individual parts are replaced with designated individual parts, the replacement can be performed more efficiently than when the individual parts that are not designated individual parts are carried in as in the past. Assembling parts can be efficiently assembled.

以下、本発明を実施するための最良の形態に係る部品組立装置を図面に基づいて具体的に説明する。   Hereinafter, a component assembling apparatus according to the best mode for carrying out the present invention will be specifically described with reference to the drawings.

複数機種のフォークリフトのフレームの組立てに用いられる複数種の個別部品は、所定数ずつ専用のパレットに載置されて共用自動倉庫の各個別物品専用の荷棚に収納されている。上記パレットの所定位置には、当該パレットに載置された個別部品を識別するためのバーコードなどからなる標識が付されている。   A plurality of types of individual parts used for assembling the frames of a plurality of types of forklifts are placed on a dedicated pallet by a predetermined number and stored in a load rack dedicated to each individual article in a shared automatic warehouse. At a predetermined position of the pallet, a label made up of a barcode or the like for identifying individual parts placed on the pallet is attached.

図３に模式的に示すように、本実施の形態に係る部品組立装置は、共用自動倉庫１００から自動搬送車（ＡＧＶ）からなる搬送手段１により搬送されたパレットに載置された個別部品をパレットごと受取って収納する専用自動倉庫２と、専用自動倉庫２に収納された個別部品で組立作業を行う組立ロボット３と、作業者の指示等を受け付ける端末５等が備えられている。   As schematically shown in FIG. 3, the parts assembling apparatus according to the present embodiment is configured so that individual parts placed on a pallet transported from a shared automatic warehouse 100 by a transport means 1 including an automatic transport vehicle (AGV). A dedicated automatic warehouse 2 that receives and stores the pallets together, an assembly robot 3 that performs assembly work with individual parts stored in the dedicated automatic warehouse 2, a terminal 5 that receives instructions from the operator, and the like are provided.

この専用自動倉庫２には、搬送手段１から個別部品が載置されたパレットを受取る搬入ステージ２１と、個別部品をパレットごと収納する所定数の荷棚を備えるラック２２と、搬入ステージ２１からラック２２への個別部品の搬入及びラック２２からの個別部品の取出しに用いるトラバーサ２３が設けられている。   In this dedicated automatic warehouse 2, a carry-in stage 21 for receiving a pallet on which individual parts are placed from the transport means 1, a rack 22 having a predetermined number of loading shelves for storing the individual parts together with the pallets, and a rack from the carry-in stage 21 to the rack A traverser 23 is provided that is used to carry individual parts into 22 and take out individual parts from the rack 22.

作業者によって部品組立装置に入力されたフレームの組立てジョブは、図１（ａ）に示されたジョブ管理手段２０２に記憶される。本実施の形態では、ジョブ管理手段２０２には、図１（ｂ）に示すように、ジョブ番号が１〜３の３つのジョブが記憶されている。   The frame assembly job input by the operator to the component assembling apparatus is stored in the job management unit 202 shown in FIG. In the present embodiment, the job management unit 202 stores three jobs with job numbers 1 to 3 as shown in FIG.

ジョブ管理手段２０２は、作業員のジョブ開始の指示があると、まずジョブ番号の小さい機種１のフレームの組立てジョブを処理するために、各機種のフレームの組立てに必要な指定個別部品の種類と数が管理された個別部品記憶手段２０３を参照して、機種１の指定個別部品の種類と数を認識する。上記個別部品記憶手段２０３は、図１（ｃ）に示すように、各機種のフレームの指定個別部品の種類と数が記述されたテーブルを保持している
。 When the job management means 202 is instructed to start the job by the worker, first, in order to process the assembly job of the frame of the model 1 having the smaller job number, the type of designated individual parts necessary for the assembly of the frame of each model The type and number of designated individual parts of model 1 are recognized with reference to the individual part storage means 203 in which the number is managed. As shown in FIG. 1C, the individual component storage unit 203 holds a table in which the types and number of designated individual components of the frame of each model are described.

続いて、ジョブ管理手段２０２は、機種１の指定個別部品が収納されている共用自動倉庫１００の荷棚を共用倉庫管理手段２０１を参照して認識する。共用倉庫管理手段２０１は、図１（ｄ）に示すように、各機種の指定個別部品が収納された共用自動倉庫１００の荷棚が記述されたテーブルを保持している。   Subsequently, the job management unit 202 recognizes the cargo rack of the shared automatic warehouse 100 in which the designated individual parts of model 1 are stored with reference to the shared warehouse management unit 201. As shown in FIG. 1D, the shared warehouse management means 201 holds a table in which a loading shelf of the shared automatic warehouse 100 in which designated individual parts of each model are stored is described.

上記ジョブ管理手段２０２は、機種１の指定個別部品の種類と数と収納された荷棚を認識すると、正否判定手段２０４に種類と数とこれからフレームの組立てを行う機種（ここでは、機種１）を通知すると共に（図２、Ｓ２０１）、収納された荷棚を搬送手段１に通知する。   When the job management unit 202 recognizes the type and number of designated individual parts of the model 1 and the loaded shelves, the model for determining whether the frame is assembled to the correctness determination unit 204 (model 1 in this case). (S201 in FIG. 2), and notifies the conveying means 1 of the stored shelves.

搬送手段１は、荷棚が通知されると、通知された全ての荷棚から個別部品をパレットごと取り出して搬入ステージ２１に１つずつ搬入する。   When notified of the cargo rack, the transport means 1 takes out the individual parts from the notified cargo racks together with the pallets and carries them one by one to the carry-in stage 21.

搬入ステージ２１には、搬送手段１によって搬入されたパレットの標識を読取って、搬入された個別部品の種類を検知する検知手段２０５が設けられている。   The carry-in stage 21 is provided with a detection unit 205 that reads the sign of the pallet carried in by the carrying unit 1 and detects the type of the individual component carried in.

検知手段２０５は、個別部品の種類を検知すると、搬入ステージ２１に搬入された個別部品の種類をラック管理手段２０７に通知する（図２、Ｓ２０２）。ラック管理手段２０７は、個別部品の種類が通知されると、種類が通知された個別部品を収納するラック２２の荷棚を決定し、決定した荷棚への収納をトラバーサ２３に指示する。   When detecting the type of the individual component, the detection unit 205 notifies the rack management unit 207 of the type of the individual component carried into the carry-in stage 21 (S202 in FIG. 2). When notified of the type of the individual component, the rack management means 207 determines the load shelf of the rack 22 that stores the individual component for which the type has been notified, and instructs the traverser 23 to store it in the determined load shelf.

トラバーサ２３は、収納の指示があると、搬入ステージ２１に搬入された個別部品をラック管理手段２０７に指示された荷棚に収納する。トラバーサ２３は、個別部品を収納すると、ラック管理手段２０７に収納の完了した旨を通知する。   When there is a storage instruction, the traverser 23 stores the individual parts carried into the carry-in stage 21 in the cargo rack designated by the rack management means 207. When the traverser 23 stores the individual parts, it notifies the rack management means 207 that the storage has been completed.

ラック管理手段２０７は、収納の完了した旨が通知されると、図１（ｅ）に示すように、個別部品の種類と収納された荷棚を対応付けて記憶する。   When notified that the storage is completed, the rack management means 207 stores the type of the individual component and the stored storage rack in association with each other as shown in FIG.

以上のように、搬送手段１にて搬入ステージ２１に搬入された個別部品は、ラック２２の所定の荷棚に収納され、ラック管理手段２０７によって収納された荷棚が管理される。   As described above, the individual parts carried into the carry-in stage 21 by the transport unit 1 are stored in the predetermined load rack of the rack 22, and the load rack stored by the rack management unit 207 is managed.

ラック管理手段２０７に収納された荷棚と対応付けて記憶された個別部品の種類の数は、カウント手段２０６がカウントしている。正否判定手段２０４は、カウント手段２０６がカウントした数が、ジョブ管理手段２０２から通知された指定個別部品の数と一致すると、ラック管理手段２０７に記憶された個別部品の種類と、ジョブ管理手段２０２から通知された指定個別部品の種類が一致するか否かを判定する（図２、Ｓ２０３→Ｓ２０５）。   The counting means 206 counts the number of types of individual parts stored in association with the loading shelves stored in the rack management means 207. When the number counted by the counting means 206 matches the number of designated individual parts notified from the job management means 202, the correctness determination means 204 determines the type of individual parts stored in the rack management means 207 and the job management means 202. It is determined whether or not the types of designated individual parts notified from (FIG. 2, S203 → S205).

ここで、正否判定手段２０４は、ジョブ管理手段２０２から通知された全種類の指定個別部品がラック管理手段２０７に記憶されている場合、一致と判定する。   Here, the correctness determination unit 204 determines that they match if all types of designated individual parts notified from the job management unit 202 are stored in the rack management unit 207.

正否判定手段２０４は、一致と判定すると、個別部品を位置決め治具４に移すようにトラバーサ２３に指示する。この指示があると、トラバーサ２３は、ラック管理手段２０７を参照して、各個別部品に対応する位置決め治具４にラック２２の各棚に収納された各個別部品を移す。トラバーサ２３が全ての個別部品を位置決め治具４に移すと、正否判定手段２０４は、組立ロボット３に機種１の組立てを指示する（図２、Ｓ２０６）。   If the correctness determination unit 204 determines that they match, the corrector determination unit 204 instructs the traverser 23 to move the individual component to the positioning jig 4. When this instruction is given, the traverser 23 refers to the rack management means 207 and moves each individual component stored in each shelf of the rack 22 to the positioning jig 4 corresponding to each individual component. When the traverser 23 moves all the individual parts to the positioning jig 4, the correctness determination unit 204 instructs the assembly robot 3 to assemble the model 1 (FIG. 2, S206).

組立ロボット３は、機種１の組立て指示があると、予め定められた機種１の組立て順序
に従って、位置決め治具４から個別部品を取得して、個別部品相互の組み付けを行って、機種１のフレームを組立てる。 When the assembly robot 3 is instructed to assemble the model 1, the assembly robot 3 acquires individual parts from the positioning jig 4 according to a predetermined assembly order of the model 1, and assembles the individual parts to each other. Assemble.

組立ロボット３は、組立てが終わると、ラック管理手段２０７に組立ての終了した旨を通知する。ラック管理手段２０７は、組立ての終了した旨が通知されると、
現在ラック２２の荷棚に収納されている全部の個別部品を所定の順序で搬出する指示をトラバーサ２３と搬送手段１に出す。 When the assembly is completed, the assembly robot 3 notifies the rack management means 207 that the assembly is completed. When the rack management means 207 is notified that assembly has been completed,
The traverser 23 and the conveying means 1 are instructed to carry out all the individual parts currently stored in the rack 22 of the rack 22 in a predetermined order.

トラバーサ２３は、搬出が指示されると、指示された順序で個別部品を荷棚から搬入ステージ２１に移し、搬出手段１は、搬入ステージに移された個別部品を共用自動倉庫１００の所定の荷棚に搬送する。この搬出によってラック２２は、個別部品が搬入される前の状態に戻る。ラック管理手段２０７は、トラバーサ２３によって全ての個別部品が搬出されると、ジョブ管理手段２０２に機種１の組立てジョブが完了したことを通知する。   When the traverser 23 is instructed to carry out, the traverser 23 moves the individual parts from the loading rack to the carry-in stage 21 in the instructed order, and the carry-out means 1 transfers the individual parts moved to the carry-in stage to a predetermined load in the shared automatic warehouse 100. Transport to the shelf. By this carry-out, the rack 22 returns to the state before the individual parts are carried in. When all the individual parts are carried out by the traverser 23, the rack management unit 207 notifies the job management unit 202 that the assembly job of the model 1 has been completed.

一方、ステップ２０５の判定において、一致しないと判定すると、正否判定手段２０４は、一致しない旨をトラバーサ２３に通知する。トラバーサ２３は、一致しない旨が通知されると、組立ての中止を組立ロボット３に指示する（図２、Ｓ２０７）。   On the other hand, if it is determined in step 205 that they do not match, the correctness determination unit 204 notifies the traverser 23 that they do not match. When the traverser 23 is notified of the mismatch, the traverser 23 instructs the assembly robot 3 to stop the assembly (S207 in FIG. 2).

次に、正否判定手段２０４は、ラック管理手段２０７に種類が記憶された指定個別部品でない個別部品の収納された荷棚を特定すると共に、ラック管理手段２０７に種類が記憶されていない指定個別部品を特定して作業者に通知する（図２、Ｓ２０８）。この通知は、例えば、端末５に付属の操作パネルに種類が記億されていない指定個別部品を表示したりする等して行う。   Next, the correct / incorrect determination unit 204 specifies a loading shelf in which an individual component that is not a specified individual component whose type is stored in the rack management unit 207 is stored, and a specified individual component whose type is not stored in the rack management unit 207. Is identified and notified to the worker (FIG. 2, S208). This notification is performed, for example, by displaying a designated individual part whose type is not recorded on the operation panel attached to the terminal 5.

正否判定手段２０４は、荷棚を特定すると、特定した荷棚から搬入ステージ２１に個別部品を移動させる指示をトラバーサ２３に出す。この移動の指示があると、トラバーサ２３は、特定された荷棚から搬入ステージ２１に個別部品を移動させる。   The correctness determination means 204, when specifying the load shelf, issues an instruction to the traverser 23 to move individual parts from the specified load shelf to the carry-in stage 21. When this movement instruction is given, the traverser 23 moves the individual parts from the specified loading rack to the carry-in stage 21.

作業者は、トラバーサ２３によって搬入ステージ２１に移動させられた個別部品を例えばフォークリフトを使って専用自動倉庫２外に取出する。   The operator takes out the individual parts moved to the carry-in stage 21 by the traverser 23 out of the dedicated automatic warehouse 2 using, for example, a forklift.

更にこの後、作業者は、ラック管理手段２０７に種類が記憶されていない指定個別部品をフォークリフトを使って搬入ステージ２１に搬入し、トラバーサ２３を手動操作で制御して指定個別部品をラック２２の所定の荷棚に収納する。作業者は、手動操作によって指定個別部品を荷棚に収納した場合は、手動操作で指定個別部品と収納した荷棚とを対応付けてラック管理手段２０７に記憶させる。   After this, the operator carries in the designated individual parts whose types are not stored in the rack management means 207 to the carry-in stage 21 using a forklift, and manually controls the traverser 23 to move the designated individual parts into the rack 22. Store in a predetermined load shelf. When the operator stores the designated individual part in the load shelf by manual operation, the operator associates the designated individual part with the stored load shelf and stores it in the rack management means 207.

このようにして、指定個別部品をラック２２の荷棚に搬入し、指定個別部品と収納した荷棚との対応付けをラック管理手段２０７に記憶させると、作業員は、端末５に設けられた解除スィッチを押下する（図２、Ｓ２０９）。   In this way, when the designated individual part is carried into the load shelf of the rack 22 and the correspondence between the designated individual part and the stored load shelf is stored in the rack management means 207, the worker is provided in the terminal 5. The release switch is pressed (FIG. 2, S209).

トラバーサ２３は、解除スイッチが押下されると、ステップ２０５の判定で一致と判定された際に正否判定手段２０４が出す個別部品を位置決め治具４に移す指示を、正否判定手段２０４に代わってトラバーサ２３に出す。個別部品を位置決め治具４に移す指示が出された以降の処理については、ステップ２０５の判定で一致と判定された場合と同様に行われる。   When the release switch is pressed, the traverser 23 instructs the traverser 23 to transfer, to the positioning jig 4, an individual part issued by the correctness determination unit 204 when it is determined to match in the determination of step 205. 23. The processing after the instruction to move the individual component to the positioning jig 4 is performed in the same manner as in the case where the determination in step 205 determines that they match.

以上に説明したように、この部品組立装置によれば、フレームの組立て用いられる指定個別部品と同じ数の搬入があると、初めて、指定個別部品でない個別部品が搬入されているか否かを判定する。   As described above, according to this component assembling apparatus, when there are the same number of carry-in as the designated individual components used for assembling the frame, it is determined whether or not individual components that are not designated individual components are carried in for the first time. .

従って、指定個別部品でない個別部品が複数個搬入されている場合でも、組立てに必要な数の搬入が行われたときに、指定個別部品でない全ての個別部品を指定個別部品に交換することとなるので、従来のように、指定個別部品でない個別部品が搬入される度に交換を行うことに比べて、交換を効率的に行うことができるので、組立部品の組立てを効率的に行うことができる。   Accordingly, even when a plurality of individual parts that are not designated individual parts are carried in, all the individual parts that are not designated individual parts are replaced with designated individual parts when the necessary number of parts are loaded. Therefore, as compared with the conventional case, the replacement can be performed more efficiently than when the individual parts that are not designated individual parts are carried in, so that the assembly parts can be efficiently assembled. .

本発明は、フォークリフトの部品組立装置に限らず、複数の個別部品で組立部品を組立てる部品組立装置に広く適用される。   The present invention is not limited to a forklift component assembling apparatus, and is widely applied to a part assembling apparatus that assembles an assembling part with a plurality of individual parts.

本実施の形態の部品組立装置の機能ブロック図である。It is a functional block diagram of the component assembly apparatus of this Embodiment. 本実施の形態の部品組立装置における個別部品の搬入から組立て開始までの手順を示すフロー図である。It is a flowchart which shows the procedure from carrying in of the individual components to the assembly start in the components assembly apparatus of this Embodiment. 実施の形態の部品組立装置の平面図である。It is a top view of the component assembly apparatus of embodiment.

符号の説明Explanation of symbols

１ 搬送手段
３ 組立ロボット
１００ 共用自動倉庫
２０１ 共用倉庫管理手段
２０２ ジョブ管理手段
２０３ 個別部品記憶手段
２０４ 正否判定手段
２０５ 検知手段
２０６ カウント手段
２０７ ラック管理手段
DESCRIPTION OF SYMBOLS 1 Conveyance means 3 Assembly robot 100 Shared automatic warehouse 201 Shared warehouse management means 202 Job management means 203 Individual part storage means 204 Correct / incorrect judgment means 205 Detection means 206 Count means 207 Rack management means

Claims (1)

組立部品の組立てに必要な数の個別部品の搬入があると、搬入された個別部品で組立部品の組立てを行う組立ロボットを備えた部品組立装置において、
上記組立部品の組立てに用いられる個別部品の数と種類を記憶する個別部品記憶手段と、
上記搬入された個別部品の種類を検知する検知手段と、
上記検知手段の検知数をカウントするカウント手段と、
上記個別部品記憶手段に記憶された数と上記検知数が一致すると、上記検知手段に検知された種類と上記個別部品記憶手段に記憶された種類とが一致するか否かを判定する正否判定手段とを備え、
上記正否判定手段による判定が一致と判定された場合、上記組立ロボットによる組立てが行われ、一致しないと判定された場合、上記組立ロボットによる組立てが行われないことを特徴とする部品組立装置。 In a parts assembly apparatus equipped with an assembly robot for assembling assembly parts with the individual parts that have been brought in when the required number of individual parts has been brought into the assembly parts,
Individual component storage means for storing the number and type of individual components used for assembling the assembly component;
Detection means for detecting the type of the individual parts carried in;
Counting means for counting the number of detections of the detection means;
When the number stored in the individual component storage means matches the number of detections, the correctness determination means for determining whether the type detected by the detection means matches the type stored in the individual component storage means And
A component assembling apparatus characterized in that assembly by the assembly robot is performed when the determination by the correctness determination means is coincident, and assembly by the assembly robot is not performed when it is determined that they do not coincide .
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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08169511A (en) * 1994-12-19 1996-07-02 Fuji Xerox Co Ltd Tray part supply device
JP2003181728A (en) * 2001-12-19 2003-07-02 Hitachi Communication Technologies Ltd Equipment for automatically assembling component

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08169511A (en) * 1994-12-19 1996-07-02 Fuji Xerox Co Ltd Tray part supply device
JP2003181728A (en) * 2001-12-19 2003-07-02 Hitachi Communication Technologies Ltd Equipment for automatically assembling component

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