JP3334333B2 - Control unit for parts supply 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 device for controlling a component feeder for taking out an arbitrary component box from a component box group having a plurality of rows of component boxes in which a plurality of component boxes are stacked. The present invention relates to a control device for a component supply device capable of accurately recognizing component storage information by taking out one component box and correcting the changed component box information when the position of another component box changes. Things.

[0002]

2. Description of the Related Art Conventionally, polyethylene boxes containing a plurality of small parts are stored one by one on each shelf of a parts warehouse having a plurality of rows of shelves arranged in a plurality of rows. Then, the control device stores the position of each shelf and the type of the component stored in the plastic box arranged on the shelf, and when an arbitrary component is required, the control device Move the stacker crane to the placement shelf of the stored poly box,
A plastic box containing necessary parts was taken out and placed on a parts supply table, which is a part taking-out opening. Then, the operator takes out necessary parts from the plastic box on the parts supply table. If the plastic box is not empty after the necessary parts have been removed after the parts have been removed, the control device has returned the plastic box to the original shelf by the stacker crane.

[0003] However, if the plastic boxes are stored one by one on each shelf, there is a lot of wasted space and the storage efficiency is poor. Therefore, it has been attempted to store a plurality of plastic boxes in a stacked state. In this case, parts of the same type are stored in the stacked parts box stages. This is because the plastic box located in the middle of the component box stage cannot be taken out, and the component box has always been taken out from the top or bottom stage. Also, unless the plastic box is taken out from the uppermost or lowermost row and returned to the same place, the stored parts cannot be identified. With this method, even if you pile up plastic boxes to reduce wasteful space and increase storage efficiency,
Since only the same type of plastic boxes were stored, it was not possible to respond to the demand for storing various types of parts on the premise of high-mix low-volume production.

In order to solve the problem, the present applicant has
Japanese Patent Application No. 6-42632 proposes a component supply device that takes out a component box containing an arbitrary component from a component box group in which a plurality of component box stages in which component boxes containing arbitrary components are stacked are arranged. I have. FIG. 2 shows the configuration of the component supply device.
Description will be made based on a front view of the entire configuration shown in FIG. 5 and a side view of the entire configuration shown in FIG. The component supply device has a frame box type structure in which frames 101 are connected. A poly box base 102 is fixed on the lower surface, and a positioning protrusion 114 is provided on the upper surface of the poly box base 102 to position the lowermost poly box P. The upper poly box P is positioned by the lower poly box P and is stacked six to form a component box stage. Four rows of component box stages are provided to form a component box group. In FIG. 25, the rightmost row of component boxes forming the fifth row is a component box level for supply.

At the four corners of the frame 101, a lifting belt 1
03 is stretched up and down by pulleys 112 and 113. The pulley 113 is driven to rotate by a motor 118. An elevating slide 120 is slidably fitted on a guide shaft parallel to the elevating belt 103. The elevating slide 120 is connected to the elevating belt 103, and is moved up and down by driving the elevating belt 103. Also, the lifting bracket 1 with the lifting slide 120 at both ends is used.
09 is attached. Four pairs of lever rotation mechanisms 110 are provided at positions corresponding to the parts box stages of the lifting bracket 109. An upper plastic box lifting lever 111 is attached to each lever rotating mechanism 110, and the upper plastic box lifting lever 111 is rotated by the lever rotating mechanism 110 into an engagement state or an avoidance state with respect to the poly box P.

[0006] The lifting bracket 109 has a structure shown in FIG.
A pair of left and right belts 105 are stretched in the left and right direction. Further, a pair of left and right brackets 10 are slidable with respect to a guide shaft attached to the lifting bracket 109.
7 is attached. The pair of left and right brackets 107
Each is connected to the left and right belts 105 and is always driven to a symmetric position. A plastic box lever 108 is attached to the left and right brackets 107 via a lever rotation mechanism 116. The plastic box lever 108 is connected to the lever rotating mechanism 11.
6, the box P is rotated to the engagement state or the avoidance state. Below the left center of the frame 101,
A component supply table 104 for placing the removed plastic box P is fixedly provided. Further, a cylinder 115 is attached to a lower right portion of the frame 101, and a movable table 117 is attached to a rod end of the cylinder 115.

Next, the operation of the component supply device having the above configuration will be described. As an example, an operation of taking out the plastic box PA at the position of the fifth row from the top in the third row from the left in the drawing and moving it to the component take-out table 104 will be described. First, as shown in FIGS. 25 and 26, the upper poly box lifting lever 111 is engaged with the upper frame of each poly box P in the fourth row from the top from the first row to the fourth row from the left. Then, the lifting bracket 109 is raised by the lifting belt 103. Thereby, all the poly boxes P from the first row to the fourth row from the top to the first row to the fourth row are lifted up. At the same time, the plastic box lever 108
Engages with the third-row fifth-stage poly box P, and the elevating belt 103 is moved up and down by the elevating bracket 109 until the lower surface of the poly box P and the upper surface of the other fifth-stage poly box P are at a predetermined distance. To rise. Here, as shown in FIG. 26, before lifting the plastic box P, the distance between the plastic box lever 108 and the plastic box P is longer than the distance between the upper plastic box lifting lever 111 and the plastic box P. When the box is lifted, a predetermined space is formed between the upper surface of the box P held by the box lever 108 and the lower surface of the box P held by the upper box lift lever 111.

Next, the left and right belts 105 are driven, and the left and right brackets 107 are moved right above the component supply table 104. Then, the plastic box P held by the left and right brackets 107
Of the lifting belt 1 to a height at which the
03, the lifting bracket 109 is lowered. next,
When the lever rotation mechanism 116 is driven, the
From the plastic box P. Next, the lifting / lowering bracket 109 is lowered by the lifting / lowering belt 103 to a position where the lower surfaces of the first, second, and fourth rows of the fourth-stage plastic boxes P are completely in contact with the upper surfaces of the fifth-stage. Next, the first, second, and fourth rows of the upper box lifting levers 111 are retracted by the lever rotation mechanism 110. Next, the lifting / lowering bracket 109 is lowered by the lifting / lowering belt 103 to a position where the lower surface of the fourth row of the poly boxes P in the third row completely contacts the upper surface of the sixth row. Next, the third row of upper box lifting levers 111 is retracted by the lever rotating mechanism 110. As a result, the number of stages of the poly box P in the third row changes, but after the parts are taken out of the poly box P placed on the component supply table 104, when the poly box P is returned, Since you only need to put it on the first stage,
It can be returned in a short time.

On the other hand, the empty plastic boxes P are sequentially stacked in the fourth row. When empty poly boxes P are stacked in a plurality of stages in the fourth row, the cylinder 115 is driven to
7 moves to the position of the fifth column. The operator takes out the empty plastic box P and places the same number of stacked plastic boxes P as the taken-out plastic box P on the movable base 117. Next, the cylinder 115 is driven to return the movable table 117 to the position in the fourth row. Thereby, a new component box group is formed.

[0010]

However, according to the conventional method, for example, Japanese Patent Application No. 6-426 proposed by the present applicant.
When controlling No. 32, there were the following problems. (1) In the conventional control device, when a new plastic box P is placed on a shelf or the like, the shelf position of the plastic box P and information on the parts to be stored are registered. Since there was no means for changing the information such as the position of the box P and the other poly box P, the positions of the poly box P and the other poly box P taken out by the component supply device proposed in Japanese Patent Application No. 6-42632. Could not respond to the change. (2) In the conventional control device, since the position of the shelf from which the plastic box P is taken out and the position of the shelf to be returned are always the same, as in the component supply device proposed in Japanese Patent Application No. 6-42632,
The component supply device that changes the position where the plastic box P is taken out and the position where it is returned cannot be controlled. (3) In the conventional control device, the empty plastic box P is replaced one by one with the plastic box P in which the parts are stored,
Since replenishment was performed, when a plurality of plastic boxes P were replenished, it was not possible to efficiently process position information and storage component information of the plurality of plastic boxes P.

[0011] The present invention solves the above problems,
By controlling a parts supply device that takes out an arbitrary part box from a parts box group having a plurality of rows of parts boxes in which a plurality of parts boxes are stacked, by taking out one part box, the position of another parts box changes. It is another object of the present invention to provide a control device for a component supply device that can accurately correct changed component box information.

[0012]

In order to achieve the above object, a control device for a component supply device according to the present invention comprises a component box group comprising a plurality of rows of component box stacks in which a plurality of component boxes are stacked. A part supply device for controlling a part supply device that takes out a part box without temporarily placing the part box on the part box, and (1) the number of rows and the number of rows where the part box is located, and the number of rows stored in the part box. Component storage means for storing a type of a component, and (2) component search means for searching a component box in which the component is stored in accordance with given component information;
(3) a component box determining means for determining a component box to be taken out based on search information of the component searching means; and (4) an upper part of the component box determined by the component box determining means by driving the component supply device.
Lift the parts boxes of each row in the row
Lift up integrally with the upper surface of the parts box determined by the determination means
A space is formed between the bottom of the parts box of each row
The parts box determined by the box determination means is moved in space in the row direction.
And drive control means for taking out by moving, (5) the component supply device is one or more parts box component box determining means has determined is taken out by driving, retrieved position of the component box other than parts box When the number of rows and columns in which the removed parts box is located, and the number of rows and columns in which the removed parts box is located, and the type of parts stored in that parts box, A part storage correcting means for correcting the number and the type of the parts stored in the parts box and storing the corrected parts in the parts box storage means.

In the above apparatus, the parts box determining means may include a plurality of parts boxes detected by the parts searching means.
It is characterized in that a component box in which components with a long storage period are stored is preferentially determined.

Further, according to the present invention, there is provided a control device for a component supply device, wherein an arbitrary component box is selected from a component box group having a plurality of rows of component box stages in which a plurality of component boxes are stacked without temporarily placing an upper component box. A component supply device control device for controlling a component supply device to be taken out, comprising: (1) component storage means for storing the number of steps and the number of rows in which a component box is located, and the type of components contained in the component box; (2) There is no longer a row in a plurality of parts boxes to be replenished than in a row in which
On the same row as the top row of the unnecessary parts boxes
Judge the presence or absence of a parts box and transfer the parts based on the judgment result
Decide the number of boxes and supply the determined number of parts boxes
In the row direction at the top of the parts box in the row on the part box side
Is dynamic and transported, the component supply means for exchanging a plurality of component box to be supplied, (3) supplying parts means, a plurality of parts box that are no longer required when exchanging a plurality of component box to be replenished , The number of rows and rows where multiple unnecessary component boxes are located,
And the type of the parts stored in the parts box is changed to the number of rows and the number of rows where the parts boxes of the plurality of parts boxes to be replenished are located, and the type of the parts stored in the parts box. Component storage changing means for storing in the storage means.

[0015]

The component supply device to be controlled by the component supply device control device of the present invention is a device for taking out an arbitrary component box from a component box group including a plurality of rows of component box stages in which a plurality of component boxes are stacked. . The component storage means of the control device stores, for each component box, the number of rows and the number of rows where the component box is located, and the type and number of components contained in the component box. Further, when the component information is provided to the component supply device, the component search means searches for a component box in which the component is stored according to the provided component information. Here, when there are a plurality of component boxes in which the components are stored, all the component boxes are searched. Further, the component box determining means determines a component box to be taken out based on the component box searched by the component searching means.

Here, when there are a plurality of component boxes detected by the component search means, the component box determining means preferentially determines a component box in which components having a long storage period are stored. This is to comply with the first-in, first-out principle. The drive control means drives the component supply device to take out the component box determined by the component box determination means. When the component supply device to be controlled by this control device takes out a component box in a stage other than the uppermost stage, the positions of other component boxes change. Therefore, when the position of the picked-up component box and other component boxes is changed by the driving of the component supply device, the component storage correcting means changes the number of rows and rows of each changed component box and the number of the components. The type of the parts stored in the box is stored in the parts box storage means. Further, the component supply means of the control device for the component supply device of the present invention exchanges a plurality of unnecessary component boxes with a plurality of component boxes to be supplied. Further, the part storage changing means changes the storage of the part storage means relating to the number of rows and the number of rows in which the plurality of supply parts boxes replaced by the parts supply means are located, and the type of parts contained in each part box. .

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A parts box management controller 23 according to an embodiment of the present invention will be described in detail with reference to the drawings. The component supply device to be controlled by the component box management controller 23 is the same as the device described with reference to FIGS. 25 and 26, and a description thereof will be omitted. The component supply device of the present embodiment is a device for supplying components required for a manufacturing process of an automobile. First, FIG. 1 shows a hardware configuration of the component box management controller 23 and peripheral devices. The sequencer 20, which is a drive control device that drives the component supply device and takes out the determined plastic box P,
3 is connected to the sub CPU 7 via a sequencer signal input / output interface 11. Further, in order to input the work information stored in the plastic box P to be replenished, the barcode reader 19 for reading the type and the number of the replenishment parts as the work information in the plastic box P is provided by the barcode input interface 10. It is connected to the sub CPU 7 via the CPU. On the other hand, the sub CPU 7 controls the control bus 15
ROM 8, data bus 16 and address bus 17
The RAM 9 and the shared memory 4 are connected. ROM8
Stores a program for transmitting and receiving input / output signals of a sequencer and a barcode reader, and the RAM 9 temporarily stores respective data and is used as a working area for calculation.

A display device 18 with a data input function is connected to the main CPU 1 via the display input / output interface 5. Further, a history data collection device 22 is connected to the main CPU 1 via the history data output interface 6. Here, the display device with data input function 18
Displays the work information in the plastic box in the replenishing section, stock section, and take-out section in the component supply device, sets and changes various parameters, and turns ON / OFF the input / output signal with the sequencer 20. Monitor the status, and record the history of the plastic box P (work) delivered to the take-out unit, the history of the plastic box P (work) carried into the replenishing unit, and the history of the contents of the abnormality via the display input / output interface 5. indicate. The data input of the replenishment parts is not limited to the bar code data, but may be an input method using a push button switch or an input method using the display device 18 with a data input function. The history data collection device 22 stores history data and prints out the history data.

In the parts box management controller 23 of this embodiment, two CPUs, a main CPU 1 and a sub CPU 7, are used. This is for the purpose of speeding up the processing. Sub CPU 8, ROM 8, R
There is no problem if the bar code reader input interface 10 and the sequencer signal input interface 11 are directly taken into the main CPU 1 without using the AM 9 and the shared memory 4, and there is no problem.

Next, the operation of the component box management controller 23 having the above configuration will be described in detail with reference to flowcharts. FIG. 2 shows a general flowchart of the entire process of the parts box management controller 23, and FIG. 3 to FIG. 19 show detailed processes for various request processes in the general flowchart. When turning on the power, the parts box management controller 23 performs an initial hardware check, a memory initialization, a sequencer 2
An initialization process (S31) such as initialization of output to 0 or the like is performed. Next, a man-machine interface for updating various data displayed on the display device with data input function 18 and switching display screens corresponding to various display screen switching request keys input from the display device with data input function 18. The process (S32) is performed. Next, various parameter setting values input by the display device with data input function 18 are received, and parameter setting / storage for rewriting data stored in the internal RAM 3 or the shared memory 4 or performing new registration is performed. The processing (S33) is performed. Next, sequencer input / output signal processing (S34) for taking in various kinds of poly-box movement request signals, such as removing empty poly-boxes P, and transmitting a completion signal in response thereto is performed.

Next, a search is made as to where in the parts box group or the replenishing section the plastic box containing the work required to manufacture the vehicle model specified from the outside is located.
A plastic box take-out request process (S35) for updating the work data in the apparatus at the time of transport to the apparatus is performed. The details will be described later. Next, the presence / absence of a work in the plastic box on the parts supply table 104 is determined, and thereby the return position is searched by each method, and the work data in the apparatus is updated when the plastic box is returned. Return request processing (S
Perform 36). The details will be described later. Next, when supplying the refillable plastic boxes in the replenishing section to the replenishing section, a search is made to find out how many plastic boxes in the replenishing section are to be received from which position in the replenishing section and to which location in the replenishing section. When a plastic box is delivered to the copy unit, a plastic box supply request process (S37) for updating work data in the apparatus is performed. The details will be described later.

Next, the plastic box in the take-out section is forcibly made an empty plastic box, and returned to any position of the supply section (or the stock section if the supply section has a filled poly box or the empty poly box is full). Forcibly empty plastic box return request processing to update the work data in the device when the plastic box is returned (S3
Perform 8). Here, when returning the empty plastic box to the replenishment department,
If there is a plastic box in the replenishment section or the empty plastic box is full, it is temporarily evacuated to an empty area in the stock section. The details will be described later. The position of the temporarily evacuated empty plastic box and the return position of the replenishing unit are searched, and when returned, the empty plastic box collection request processing (S39) for updating the work data in the apparatus is performed. The details will be described later.
Next, in the last row of the stock section (the row closest to the replenishing section), in the case of an empty area in which neither a filled poly box nor an empty poly box is present (if there are multiple rows, the front row in the empty area) When one or more poly-boxes are stacked, search for all the poly-boxes in the replenishing section to which location in the stock section can be moved at once. A process for requesting batch replenishment of poly-poly box for updating work data in the apparatus (S40) is performed. The details will be described later.

Next, as a component supply device, in order to deliver the plastic box in the stock section to the take-out section as soon as possible,
I want to transfer the plastic box in the stock section as little as possible (closer to the take-out section) when the machine is idle. For that purpose, search the receiving position and the transfer position of the number of the poly boxes in the uppermost rear row that can be simultaneously transported to the row with the empty area ahead of it, and search the work data in the device at the time of the poly box transfer. A poly-box front-justification request process for updating (S41) is performed. The details will be described later. Next, the type of work in the plastic box carried into the replenishing section, the number of works in the plastic box, and the like are captured by a barcode reader.
A work information input process (S42) in the replenishing unit poly box for transferring to the lowermost stage in the empty area of the replenishing unit is performed. The details will be described later. Finally, when there is a request from the history data collection device 22 for the various history data described above (S43, YES), a history data output process (S44) for transmitting each data stored in the file format in the RAM 3 is performed. Do. The details will be described later. The parts box management controller 23 performs the processing in S32 described above.
To S44 are repeatedly executed.

Next, the detailed operation of each of the aforementioned blocks S35 to S42 will be described in detail with reference to the flowcharts of FIGS. As shown in FIG. 3, the plastic box removal request processing S35 is performed when a “poly box removal request instruction” signal is input from the sequencer 20 (S46, Y
ES), since the corresponding poly box position search completion storage is OFF (S47, YES), the input vehicle type data signal is read at the same time, and the work data D2 corresponding to the vehicle type is read.
(Representing the type of work) is read out in accordance with preset parameters (S48). Next, the poly box data (showing the poly box position data, the work data in the poly box, the number of remaining works in the poly box, and the same work storage order) corresponding to the read work data D2 is shown in FIG. All are extracted from the table (S49). At this time, if there is no corresponding poly box (S50, NO), a "No corresponding car type poly box" signal is output (S56), and the search ends.

If there is a corresponding plastic box (S50, Y
ES) re-extracts the poly box (D4 (x, y) = 1) having the oldest storage order of the same work in the work data, and converts the poly box position data (indicating the column number and the column number) to “poly”. Box receiving position data ”signal D1 (x1, y1)
After outputting the unloading section poly box position data to the sequencer 20 as a "poly box delivery position data" signal D1 (0,0), a "data read instruction" signal is output as a trigger signal for reading the same data (S52) ( This signal output is omitted in the following description.) In addition, since the number of poly boxes to be simultaneously conveyed is one, the number n = 1 of simultaneously conveyed poly boxes is stored (S53).

After this processing, the first processing of the plastic box data transfer is performed (S54). FIG. 15 shows the details of the first processing of the poly box data.
Is shown in the flowchart of FIG. According to an instruction from the sequencer 20 (S206), when the transport unit of the component supply device receives the poly box PA of the stock unit (or the replenishing unit), the update of the received data of the poly box in the stock unit has not been completed (S207, NO), the number of transport poly boxes n is read (S2).
08). Here, since the number of the plastic boxes to be simultaneously conveyed is one, the column number x and the stage number y of the poly box receiving position data
Is read for n = 1 minute (S209) and transferred to the plastic box data area of the transport unit (S210). Here, DTz (m) indicates the transport unit poly box data. Next, the plastic box P located on the upper stage of the plastic box PA received by the transport unit from the stock unit (or the replenishing unit)
The data of the poly box is transferred downward by n = 1 (S211). Then, the plastic box data of the removed plastic box PA is cleared (S212). In the component supply device of the present embodiment, when the plastic box PA is taken out, the plastic box PA from which the plastic box P located on the upper stage of the plastic box PA is taken out is taken out.
This is because it is necessary to change the information of the plastic box step by step because the container is unloaded to the position where there was.

For example, when the plastic box PA at the position of the fifth row from the top in the third column from the left is taken out, the column number x = 3 and the row number y = 5 of the plastic box receiving position data of the plastic box PA are set. The data is read (S209) and transferred to the poly box data area of the transport unit (S210). Next, the poly-box data of the poly-boxes P of the first to fourth tiers located at the upper tier of the poly-boxes PA received from the stock unit (or the replenishing unit) to the transport unit are transferred by n = 1 in the lower direction. (S21
1). Then, the plastic box data D of the removed plastic box PA
z (3, 4) is cleared (S212). Next, "Updating of the receiving data of the plastic box in the stock unit (or replenishment unit)"
The signal is output to the sequencer 20 (S213). According to the processing described above, even if the position of another poly box is changed when an arbitrary poly box P is taken out, the changed data of the poly box can be automatically changed. Even if an arbitrary part box is taken out from a part box group having a plurality of rows, parts information can always be accurately grasped.

Next, the second processing of the plastic box data transfer (S5)
Perform 5). FIG. 16 shows the details of the second processing of the plastic box data transfer.
Is shown in the flowchart of FIG. When the transport unit moves to the take-out unit with the plastic box PA and delivers and receives the plastic box, a "take-out unit poly box delivery instruction" signal is input from the sequencer 20 (S215, YES), and The box data DTz (1) is transferred to the box data area of the take-out unit (S216 to S218). After the transfer, a "take-out section plastic box delivery completed" signal is output (S21).
9), check that the same processing is not performed continuously (S
216). Also, when the signal of "take-out section plastic box delivery instruction" is turned off, the "take-out section plastic box delivery completed" signal is turned off (S220).

In the plastic box return request processing S36, as shown in FIG. 4, when the "support for the plastic box return request" signal is input from the sequencer 20 (S58, YES), the search for the plastic box return position signal is not completed. (S59, NO), it is checked whether the plastic box of the take-out section has been delivered to supply the final work (S60). In the case of the final work, the plastic box in the take-out section is determined to be empty, and the empty plastic box is returned to the supply section, so the supply section empty plastic box return is performed to determine whether there is an area to be returned to the supply section. A check is made by a search process (S69). The details of the supply unit empty plastic box return search process are shown in FIG. 5 as a flowchart of the supply unit empty plastic box return location search process. Note that the replenishing unit also serves as an area for replenishing a newly-filled plastic box into the apparatus and for removing an empty box outside the apparatus when there is no filled box.

In the replenishing section plastic box return point search processing S69, it is checked whether or not the replenishing section has a filled poly box (S76).
If there is any (S76, NO), there is no area for returning the empty plastic box in the replenishing unit, and "memory without replenishing unit return location"
Is turned on (S81), and the process of FIG. 5 is completed and the process returns to S70.
If there is no filled poly box (S76, YES), then it is checked whether the empty plastic box is full (S77), and if it is full (S77, YES), the "store without supply unit return location" is set to O.
N (S81), the process ends, and the process returns to S70. If it is not full (S77, NO), it is checked which area of the supply section is empty (S78-80), the supply section return plastic box position data is stored (S82), and the processing is terminated. I do.

As a result of the replenishment unit empty plastic box return location search processing shown in FIG. 5, if the replenishment unit has no area for returning an empty plastic box (S70), or if the plastic box in the unloading unit is not the final work If there is no area, a search is made for an empty area in the stock section from the bottom row of the front row (row closest to the take-out section) to the top row, and then to the back row (S61 to S61).
67), if there is no empty area in any one place (S67,
YES), there is no place to return the empty box, and a "no return place" signal is output to the sequencer 20 (S6).
8). If there is an empty area (S63, YE
S), the position is output as a "poly box receiving position data" signal, and the take-out unit is output as a "poly box receiving position data" signal together with a "data reading instruction" signal (S7).
1). At this time, since the number of the poly boxes to be conveyed is n = 1, 1 is stored in the "number of simultaneously conveyed poly boxes" (S72).

After these processes, the data transfer of the poly-box 3
Processing is performed (S73). FIG. 17 shows the third data transfer of the plastic box.
4 shows a processing flowchart. In response to an instruction from the sequencer 20 (S221, YES), when the transport unit of the component supply device receives the plastic box of the take-out unit, the data of the poly box is transferred to the transport unit poly box data area (S223). At this timing, it was confirmed that one work was taken out of the plastic box in the take-out section, so the number of remaining works in the plastic box is reduced by one (S224).

As a result, when there is no more work in the plastic box (S225, YES), "the same work storage order update processing S226 in the stock unit and the supply unit" is performed. The details of this process are shown in the flowchart of FIG. Following the replenishing section, a poly box containing the same type of work as the work of the transfer unit section is searched from the bottom row to the top row in the front row of the stock section and then to the rear row (S240), and the storage order of the poly boxes Is older than the storage order of the transport unit (S241, YES), the storage order is updated to a new one (S242). This is sequentially performed for the entire area of the replenishing section and subsequently the stock section (S
243-S246).

Thereafter, all the poly box data in the transport unit are cleared except for the poly box position data (S227).
At the time when all the processes are completed, the "extracting unit plastic box receiving data update completed" signal is turned on (S228), and the above process is avoided (S222). Also, when the signal of "instruction to take out plastic box receiving instruction" is turned off, the signal of "updating part to take out plastic box data update completed" signal is turned off.

Next, the flow advances to S74 in FIG. 4 to perform a fourth processing of the poly box data transfer. For details of this processing, see FIG.
FIG. 8 is a flowchart. In accordance with the instruction signal from the sequencer 20 (S230), the transport unit reads the number n of the plastic boxes simultaneously transported (S232), and then reads the row number and the row number of the stock unit (or replenishment unit) for delivering the poly boxes. (S223). Next, all the plastic box data of the transport unit is transferred to the stock unit (or replenishing unit) (S234). Next, the transport unit poly box data is cleared (S235). Finally, a signal of "updating of the delivery data of the plastic box in the stock unit (or supply unit)" is output to the sequencer 20 (S236). Also, when the "instruction to deliver plastic box in stock unit (or replenishing unit)" signal is turned off (S230, NO), the "update of plastic box data in stock unit (or replenishing unit) complete" signal is turned off (S237).

Next, a plastic box supply requesting process S3 shown in FIG.
7 will be described based on the flowchart of FIG. In response to an instruction from the sequencer 20 (S83, YE
S), the inside of the stock section is moved from the bottom row of the front row to the top row (S8).
5 to 89), and then to the rear row (S90 to 91), an empty area is searched. If there is an empty area, the replenishment unit removal position data and the number of simultaneously transported poly boxes are searched (S93). Details of this processing are shown in the flowchart of FIG. In the processing of FIG. 7, first, whether plastic boxes in the replenishing portion is charged plastic boxes of the empty or plastic boxes for the, or check whether a no plastic boxes (S98), when the charge and plastic boxes are not (S9 8, YES), a "supply section filled poly box no" signal is output to the sequencer 20 (S107), the number of simultaneously conveyed poly boxes is cleared (S108), and the process of FIG. 7 ends, returning to S94.

If the replenishment section has a chargeable plastic box (S98,
NO), it is checked whether or not there is a plastic box in the next upper row in the rear row of the empty area in the stock section (S99 to S10).
6). That is, if there is a plastic box in the upper row of the same row in the rear row, the poly box cannot be transported from the replenishing section to the stock section through that level, so the number of simultaneously transported poly boxes is reduced by one. Processing needs to be performed. Further, if a plastic box is present in the next higher row in the rear row, the same check is performed for the upper row after reducing the number of simultaneously transporting poly boxes. If there is a poly box up to the top, the number of simultaneously conveyed poly boxes becomes one, and the process proceeds to the receiving position search processing of the refilled poly box in the supply unit (S99 to S106).

Next, a search is made for the number of the uppermost row of the refillable plastic box in the replenishing section (S109-111), and the number of the rows is compared with the number n of simultaneously transporting polyboxes obtained in the above processing ( S11
2) If the number of stages y4 is larger, that is, if there are more poly boxes in the replenishing section than the number of transports, the operation of the poly box receiving position data is performed (S115), and the process is terminated. When the number n of simultaneously transporting poly boxes is larger than the number y4 of steps (S112, YE
S), the number y4 of simultaneously transporting poly boxes is set to the number n of filled poly boxes in the replenishing section (S113), and the receiving position is also changed to the lowermost level of the replenishing section y4 = 1 (S114). After the processing of FIG. 7 is completed, the process returns to S94 of FIG. For sequencer 20,
The plastic box position data of the stock section is output as a "poly box delivery position data" signal, the poly box position data of the supply section is output as a "poly box receiving position data" signal, and then a "data reading instruction" signal is output ( S94). After this processing, the above-described first processing of the plastic box data transfer (S95),
The fourth processing of the plastic box data transfer (S96) is executed and the processing is terminated. Since the plastic box replenishment request processing S37 has been performed, the number of empty boxes and the presence or absence of the same level of poly boxes behind the row are determined to determine the maximum number of poly boxes that can be conveyed, and that number of poly boxes is determined. Since the boxes can be transported at the same time, the plastic boxes can be efficiently moved from the supply section to the stock section.

The details of the forced empty plastic box return request processing S38 are shown in the flowchart of FIG. When the signal from the sequencer 20 is input (S116, YES), the empty plastic box return position search completion storage is OFF (S117, S117).
YES), first, the number of works remaining in the plastic box in the take-out section is set as the final work (S118).
Next, it is checked whether or not the replenishing section is filled with the filled poly box (S119).
19, YES), from the lower row to the upper row in the front row of the stock section,
Next, in the rear row direction, and when there is no poly box, a search is made for an empty area where the empty poly box can be returned in the same manner as above from the bottom of the replenishing section to the upper section, and then the stock section (S).
120-126, 128).

If an empty area is found during the search (S1)
22, NO), terminates the search processing, and returns to the
Is stored as one (S129). Then, the retrieved empty area position data is output to the sequencer 20 together with the "data reading instruction" signal as the "poly box receiving position data" signal and the takeout position data as the "poly box receiving position data" signal (S130). If no empty area is found even after all searches have been completed (S1
26, YES), the "no return location" signal is sent to sequencer 2
0 (S127) to end the search. After these processes, the above-described third process of the plastic box data transfer (S13)
1), execute the fourth processing of the plastic box data transfer (S132) and end. The "poly box receiving (and delivery) position data" signal and the "data reading instruction" signal are turned off when each request instruction signal from the sequencer is turned off (S117).

FIG. 9 shows details of the empty plastic box collection request processing S39.
Is shown in the flowchart of FIG. When the signal from the sequencer 20 is input (S134, YES), the output of the data read signal is OFF (S135, YES). It is checked whether the box is full (S137). If any of them (S136, NO or S13
7, YES), and outputs a "no supply section return location" signal. (S141). Otherwise (S136, YE
(S and S137, NO), the position of the empty area of the replenishment unit is sequentially searched from the lowest row (S138 to 140), and when the location is found, the row number is stored, and the process proceeds to S142.

Next, the presence / absence of an empty plastic box temporarily placed in the stock unit and the search for the position of the empty plastic box are performed in accordance with the empty plastic box position search processing in the stock unit (S142). FIG. 10 is a flowchart showing details of the search process. The front row x7 of the stock section (S147), the bottom row y7
From (S148), it is sequentially checked whether or not there is an empty plastic box in the area of the stock section (S149). If there is not (S149, NO), it sequentially goes to the upper stage (S150-15
1) Then, a search is performed for the rear row (S152 to S153). When an empty plastic box is found (S149, YE
S), the position data of the area is stored (S155),
The number of simultaneous transported works is set to 1 (S156), and the search process is terminated. Also, as a result of searching all areas in the stock section, if no empty plastic box was found (S15
(3, YES), and output the "no empty poly box in stock section" signal (S154), and terminate the process. Based on the result, the position of the empty plastic box in the stock unit is set as a "poly box receiving position data" signal, and the empty area of the replenishing unit is set as a "poly box receiving position data" signal. (S143). After these series of processes, the above-described polybox data transfer first process (S144) and the polybox data transfer fourth process (S145)
And exit.

FIG. 11 is a flowchart showing the details of the filling / replenishing box collective supply request processing S40. When the signal from the sequencer 20 is input (S157, YES), the data read signal output is OFF (S158, YE).
S), it is checked whether or not the replenishing section is replenished with the refillable boxes (S159). If not (S159, YE
S), outputs a “no filled poly box” signal and ends the processing (S)
165). If there is (S159, NO), it is checked whether there is any plastic box in the last row of the stock section (the row closest to the supply section) (S160 to 161). If there is a plastic box (S161, NO), a "no supply location" signal is output and the process is terminated (S165).

If there is no plastic box (S161, YE
S), and the check is repeated in the front row direction (S1)
62-164). On the way, if a row in which a plastic box is present is found or the check is performed up to the front row (S16)
(2, NO or S163, NO), the column number of the empty area is stored (S162A). Then, the position data at the bottom of the empty area row is used as a "poly box receiving position data" signal, the position data at the bottom of the replenishing section is used as a "poly box receiving position data" signal, and these are used as "data read instruction" signals. The data is output to the sequencer 20 (S166). At this time, since the number of simultaneously conveyed plastic boxes is all in one row, Y pieces are set (S167). After these series of processes, the first processing of the poly-box data transfer (S168) and the fourth processing of the poly-box data transfer (S169) are executed and the processing is terminated. By performing the filling / replenishing of the filled boxes, the part information can be converted even when a plurality of unnecessary boxes are replaced with a plurality of new boxes. You can figure out.

FIG. 1 shows the details of the plastic box front justification request processing S41.
2 is shown in the flowchart. When the signal from the sequencer 20 is input (S171, YES), since the data read signal output is OFF (S172, YES),
An empty area in the stock section is searched for in the stock area empty area position search process (S173). FIG. 13 is a flowchart showing details of this search processing. In this search process,
Stock unit front row x10 (S188), bottom row y10
The search for empty areas in the stock section is performed sequentially from (S189) (S190). If an empty area is found ( S190 , YES), the position data is temporarily stored (S196), the number of plastic boxes that can be stacked on the empty area is calculated, and the value is simultaneously conveyed. The number is temporarily stored as the number of poly boxes (S197), and the search process ends. If the area is not an empty area (S190, NO), the upper area is searched sequentially (S191 to 192), and if the search is completed up to the uppermost area, the search is further continued in the next row direction (S193 to 194). . If no empty area is found in the stock section at the time when the search of all areas is completed (S194, YES), a "no empty area in stock section" signal is output (S195), and the search process is terminated and S1 is performed.
Return to 74.

As a result of this search, if there is no empty area in the stock section (S174, NO), a "no front-fillable plastic box available" signal is output (S183), and the search for the plastic box ends, and the flow proceeds to S186. . If there is an empty area (S174, YES), the last row (S175) determines whether or not there is a plastic box in the stock section in the rear row of the row with the empty area.
The search is performed from the top row (S177) (S178). However, if the row to be searched is the same row as the empty area searched by the stock area empty area position search processing, a "no front-fillable poly box available" signal is output (S183), and the search for the poly box ends.

The search is performed gradually from the upper stage to the lower stage. When the search is performed up to the lowermost stage (S179 to S180), the next row is searched. When a poly box is found (S178, YE
S), comparing the number of steps y9 with the number n of simultaneously transported poly boxes temporarily stored in the above-mentioned stock part empty area position search processing, and if the number of steps y9 is equal to or greater than the number n of simultaneously transported poly boxes, receiving the poly box; The position is stored as a stage number below the number of simultaneous transport poly boxes temporarily stored from the searched stage, and if the stage number n is less than the number of simultaneous transport poly boxes y9, the stage number is the lowest stage, and the number n of simultaneous transport poly boxes is determined by the number. It is the number of poly boxes stacked in the row (S18
4). As a result, the position data of the empty area as "plastic boxes transfer position data" signal, the plastic boxes position data of the person issuing taken as "plastic boxes receiving position data" signals, they output with a "data reading instruction" signal ( S18
5). After this process, the above-described polybox data transfer first process (S186) and the polybox data 1 transfer fourth process (S18)
Execute 7) and end. Polybox front justification request processing S41
By performing the above operation, the parts supply device can take out the parts because the plastic boxes in the rear row farther from the parts take-out port can be moved forward during the idle time when the parts supply apparatus is not performing operations such as taking out parts. Time can be reduced.

Inputting of work information in the supply section plastic box S42
Are shown in a flowchart of FIG. When there is a data transmission request from the barcode reader 19 (S19)
8, YES), the work type and the number of works in the plastic box sent from the barcode reader 19 are temporarily stored (S199). Next, the refillable box is searched for an empty area of the replenishing section or a row with an empty box from the bottom (S200). Then, if it is not an empty area or empty poly box (S201, NO), the search is sequentially performed on the upper stage (S202 to 203). If neither empty area nor empty poly box is found even after searching all rows (S203, YE
S), and outputs a signal indicating that there is no empty area in the supply section (S20).
4), end the process. If an empty area or empty poly box is found (S201, YES), the data read by the barcode reader is stored at the position of that row (S2).
05), the work data, the number of remaining works, and the storage order are cleared for the replenishment section data area above that level (S205A), and the process ends.

On the other hand, the history data collecting device 22 stores and prints out the history data. Also,
The display unit 18 with a data input function displays workpiece information in a plastic box in a replenishing unit, a stocking unit, and an unloading unit in the component supply device, sets and changes various parameters, and communicates with the sequencer 20. ON / OFF of input / output signal
The plastic box P (work) that has been monitored for status and has been delivered to the take-out unit stored in the history data collection device 22
And the history of the plastic box P (work) carried into the replenishing section and the history of the occurrence of the abnormality are displayed via the display input / output interface 5. 21 to 24 show an embodiment of the history display of the plastic box. FIG. 21 shows a menu screen on which any one of an error history, a supply history, and a removal history can be selected.

FIG. 22 shows a display screen of the error history. An error code indicating the error content and the date and time of occurrence are displayed for each plastic box. FIG. 23 shows the supply history display screen.
Shown in The replenishment method, vehicle type, and replenishment date and time are displayed for each plastic box. FIG. 24 shows a display screen of the retrieval history. The vehicle type, serial number, unloading number, and unloading date and time are displayed for each plastic box. In the control device for the component supply device of this embodiment, since the history can be displayed for each plastic box, it is possible to grasp the frequency of use of the component,
Since it is possible to easily know data such as what kind of parts were replenished and when, the replenishment timing can be reviewed and the component supply device can be operated efficiently.

As described above in detail, according to the control device for the component supply device of the present embodiment, (1) the number of rows and the number of rows where the component box is located, and the type of the component stored in the component box (2) component search means for searching a component box in which the component is stored according to given component information; and (3) component search information based on search information of the component search means. Component box determining means for determining a component box to be taken out; (4) driving control means for driving the component supply device to take out the component box determined by the component box determining means; and (5) driving by the component feeding device. When the position of a component box other than the changed component box is changed, the number of rows and the number of rows of each changed component box and the type of the component stored in the component box are stored in the component box storage means. Because it has memory correction means, one When taking out the component box, even if the position of the other component box is changed, since the correcting data of the changed component box, it is possible to accurately grasp the data component box. Further, even if the taken out part box is returned to a position different from the position where it was taken out, the data of the part box can be grasped accurately.

When there are a plurality of component boxes detected by the component searching means, the component box determining means preferentially determines a component box in which components having a long storage period are stored. Can adhere to. Further, the control device for a component supply device of the present invention includes: (1) a component storage means for storing the number of rows and rows in which the component box is located, and the type of component stored in the component box; (3) the number of rows and the number of rows where the plurality of parts boxes replaced by the parts supply means replace the plurality of parts boxes replaced with the plurality of parts boxes to be replenished; Since there is a part storage changing means for changing the storage of the part storage means relating to the type of the parts stored in the box, even if a plurality of empty part boxes are replaced with the replenishment parts box, the data of the parts box is not changed. Can be quickly and accurately grasped.

The present invention is not limited to the embodiment described in detail above, and various applications are possible. For example, in the present embodiment, the description is limited to the parts box, but a book box containing books stored in a library or the like is stacked to form a book box group, and a book for taking out a book box containing an arbitrary book is taken out. It goes without saying that the control device for a component supply device of the present invention can be applied to a take-out device as it is. Further, in this embodiment, a plastic box is used, but a metal box or a slit containing a plurality of various plastic boxes can be similarly used. Further, in the component supply apparatus of the present embodiment, four middle front rows of the five rows are used as stock sections, and the fifth row is used as a supply section. The fifth row may be used as a replacement work section as a supply section.
In this case, when the empty plastic box is full in the replenishing section, the empty plastic box located on the moving table 117 is moved to the replacement section by the cylinder 115. Thus, the operator can perform the replacement work without touching the movable part of the component supply device. Therefore, without stopping the component supply device,
The replacement work of the plastic box can be performed safely.

[0054]

As is apparent from the above description,
ADVANTAGE OF THE INVENTION According to the control apparatus for component supply apparatuses of this invention, the component supply apparatus which takes out an arbitrary component box from the component box group provided with several rows of component box steps which piled up the several component box, without temporarily placing the upper component box A component storage device for storing (1) the number of rows and the number of rows in which a component box is located, and the type of component stored in the component box; Parts search means for searching a parts box in which the parts are stored according to the obtained part information;
(3) a component box determining means for determining a component box to be taken out based on search information of the component searching means; and (4) an upper part of the component box determined by the component box determining means by driving the component supply device.
Lift the parts boxes of each row in the row
Lift up integrally with the upper surface of the parts box determined by the determination means
A space is formed between the bottom of the parts box of each row
The parts box determined by the box determination means is moved in space in the row direction.
And drive control means for taking out by moving, (5) the component supply device is one or more parts box component box determining means has determined is taken out by driving, retrieved position of the component box other than parts box When the number of rows and columns in which the removed parts box is located, and the number of rows and columns in which the removed parts box is located, and the type of parts stored in that parts box, Means for correcting the number and the type of the parts stored in the parts box and storing the parts in the parts box storage means, so that when one part box is taken out, other parts are corrected. Even if the position of the box changes,
Since the changed data of the parts box is corrected, the data of the parts box can be accurately grasped. Further, even if the taken out part box is returned to a position different from the position where it was taken out, the data of the part box can be grasped accurately. Therefore, according to the control device for a parts supply device of the present invention, since any part can be stored in any box of the parts box group, the number of parts boxes for each model can be changed according to the change of the production plan. It is possible to flexibly respond to the plan.

Further, when there are a plurality of component boxes detected by the component search means, the component box determining means preferentially determines the component box in which components having a long storage period are stored. Can adhere to. In addition, the control device for a component supply device of the present invention can be configured such that (1) an arbitrary component box is not temporarily placed from a component box group including a plurality of rows of component box stages in which a plurality of component boxes are stacked, A component supply device control device for controlling a component supply device to be taken out, comprising: (1) component storage means for storing the number of steps and the number of rows in which a component box is located, and the type of components contained in the component box; (2) Supply from a row with multiple unnecessary parts boxes
Multiple rows that are no longer required
Determines if there is a component box on the same level as the top level of the component box
The number of parts boxes to be conveyed is determined from the judgment result, and the decision is made.
The required number of parts boxes are to be replenished.
A part replenishing means for moving in a row direction at the upper part of the parts box to be conveyed, and for replacing a plurality of parts boxes to be replenished;
(3) When the parts supply means replaces a plurality of unnecessary component boxes with a plurality of component boxes to be replenished, the number of rows and the number of rows where the plurality of unnecessary component boxes are located, and the component boxes Is changed to the number of rows and the number of rows where the component boxes of a plurality of component boxes to be replenished are located, and the type of the components stored in the component box, and stored in the component box storage means. The parts storage data changing means can change the data of the parts box even if a plurality of empty parts boxes are replaced with the spare parts boxes, so that the data of the parts boxes can be grasped quickly and accurately. it can.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating an overall configuration of a control device for a component supply device according to an embodiment of the present invention.

FIG. 2 is a general flowchart of a control device for a component supply device.

FIG. 3 is a flowchart of a plastic box removal request process.

FIG. 4 is a flowchart of a plastic box return request process.

FIG. 5 is a flowchart of a replenishment unit empty plastic box return location search process.

FIG. 6 is a flowchart of a plastic box supply request process.

FIG. 7 is a flowchart of a simultaneous transport plastic box and supply unit removal position search process.

FIG. 8 is a flowchart of a forced empty plastic box return request process.

FIG. 9 is a flowchart of empty plastic box collection request processing.

FIG. 10 is a flowchart of an empty plastic box search process in the stock section.

FIG. 11 is a flowchart of a process for requesting a batch of refillable poly-boxes;

FIG. 12 is a flowchart of a process for requesting front-filling of a plastic box.

FIG. 13 is a flowchart of a process of searching for an empty area position in a stock unit;

FIG. 14 is a flowchart of a work information input process in a replenishing unit poly box.

FIG. 15 is a flowchart of a first process of transferring a plastic box data.

FIG. 16 is a second processing flowchart of the plastic box data transfer.

FIG. 17 is a third processing flowchart of the plastic box data transfer.

FIG. 18 is a flowchart of a fourth processing of the plastic box data transfer.

FIG. 19 is a flowchart of a process for updating the same work storage order in the stock unit and the supply unit.

FIG. 20 is an explanatory diagram showing an in-apparatus plastic box data table.

FIG. 21 is an explanatory diagram showing a menu screen for history display.

FIG. 22 is an explanatory diagram showing an error history screen.

FIG. 23 is an explanatory diagram showing a supply history screen.

FIG. 24 is an explanatory diagram showing an extraction history screen.

FIG. 25 is a front view showing the configuration of the component supply device.

FIG. 26 is a side view showing the configuration of the component supply device.

[Explanation of symbols]

 1 Main CPU 4 Shared Memory 18 Display Device with Data Input Function 19 Barcode Reader 20 Sequencer 22 History Data Collection Device 23 Parts Box Management Controller P Poly Box

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-5-201504 (JP, A) JP-A-5-208715 (JP, A) JP-A-48-20252 (JP, A) JP-A-48-1982 9476 (JP, A) JP-A-7-133023 (JP, A) JP-B-55-34722 (JP, B2) JP-B-58-51853 (JP, B2) (58) Fields investigated (Int. Cl. ⁷ , DB name) B65G 1/137

Claims (3)

(57) [Claims] 1. A component supply device for controlling a component supply device that takes out an arbitrary component box from a component box group including a plurality of rows of component box stacks in which a plurality of component boxes are stacked without temporarily placing an upper component box. In the control device, component storage means for storing the number of rows and rows in which the component box is located, and the type of component stored in the component box, and the component is stored according to given component information. Parts box search means for searching a parts box; parts box determination means for determining a parts box to be taken out based on the search information of the parts box search means; and driving the parts supply device, wherein the parts box determination means The parts boxes in each row in the upper row of the determined parts box are integrated
To the parts box determined by the parts box determination means.
Under the top surface and the parts box of each row that has been integrally lifted
A space is formed between the component box and the component box.
Drive control means for moving the component box moved in the column direction in the space and taking out the component box; and one or more component boxes determined by the component box determination means by driving the component supply device. Taken out,
When the position of a component box other than the removed component box changes, according to the number of rows and rows where the removed component box is located, and the type of component stored in the component box, the And a component storage correcting means for correcting the number of rows and rows in which the component boxes other than the specified component box are located, and the type of the components stored in the component box, and storing the corrected components in the component box storage device. Control device for the component supply device. 2. The apparatus according to claim 1, wherein said parts box determination means gives priority to a parts box in which parts with a long storage period are stored when there are a plurality of parts boxes detected by said parts box search means. A control device for a component supply device, wherein the control device is determined in a specific manner. 3. A component supply device for controlling a component supply device that takes out an arbitrary component box from a component box group including a plurality of rows of component box stacks in which a plurality of component boxes are stacked without temporarily placing an upper component box. In the control device, a component storage means for storing the number of rows and rows in which the component box is located, and the type of component stored in the component box, and a plurality of unnecessary component boxes to be replenished from a row in which the component box is located
In the row on the side of the parts box, a plurality of unnecessary parts
Judge whether there is a parts box at the same level as the top row of the box,
Determine the number of parts boxes to be conveyed from the judgment result, and
Number of parts boxes in the rows on the side of the plurality of parts boxes to be replenished.
A part replenishing means for moving and transporting in the column direction at the upper part of the parts box to be replaced and replacing the parts box with a plurality of parts boxes to be replenished, and the parts replenishing means for replenishing the unnecessary parts boxes. When replaced with a plurality of parts boxes, the number of rows and rows where the unnecessary parts boxes are located, and the type of parts stored in the parts boxes are changed to the number of parts boxes to be replenished. A part storage changing means for changing the number of rows and the number of rows in which the parts box is located, and the type of the parts stored in the parts box, and storing the parts in the parts box storage means. Control device.