JP6679375B2 - Parts supply device, robot system, and parts supply method - Google Patents

Description

  The present invention relates to a component supply device, a robot system and a component supply method for supplying a component to a robot performing an assembly work.

  Generally, as a component supply device for supplying a component to a robot performing an assembly operation, a component is stored in a tray, the component is taken out from the tray, and the robot is made to perform the assembly operation.

  In recent years, automatic assembly by a robot has been promoted manually, reducing the installation area so that it can be installed in a limited space while reducing costs, and a highly productive parts supply device capable of producing with a short tact, a robot system and a parts supply method. Is required.

JP, 9-208057, A JP, 2011-240456, A

  In the component supply device of Patent Document 1, the robot is arranged so that the robot can take out the components from the uppermost stage of the trays in which the components are stored and stacked, and the empty tray is moved by the transfer device to stack the empty trays. It is configured to stack.

  However, in Patent Document 1, empty trays must be transferred and then stacked in order to take out the components from the trays on which the components are stored and stacked, and the empty tray stacking unit is arranged at another place. Therefore, there is a problem that the installation area increases. In addition, there is a problem that the drive cost for increasing the apparatus cost must be provided because the drive mechanism for separating the steps, the drive mechanism for transferring the empty trays, and the drive mechanism for stacking the empty trays.

  In the component supply device and the assembly system of Patent Document 2, there is a storage shelf for storing the tray and a mechanism for taking out the tray from the storage shelf. By assembling on the storage shelf, the installation area is reduced.

  However, in order to put an empty tray in the storage rack and then put out a new tray, it is necessary to operate the two axes of the horizontal movement mechanism and the vertical movement mechanism, so it takes time to replace the trays and the productivity is low. There was a problem.

  Therefore, the object of the present invention is to suppress the increase in the installation area of the supply tray stacking unit and the empty tray stacking unit, to eliminate the need for a drive source for stacking empty trays on the empty tray stacking unit, and to reduce the cost. It is an object to provide a component supply device, a robot system, and a component supply method that can reduce the number of components.

In order to achieve the above object, the component supply device of the present invention,
A supply tray stacking unit parts are staked two or more supply trays that will be housed,
Tray elevating means movable in the Z direction for separating one supply tray from the supply tray stacking section;
A tray holding means for holding the separated supply tray, which is provided in the tray elevating means,
After the component supply, and an empty tray stacking unit for stacking stage the feed tray becomes empty,
In the component supply device equipped with
The empty tray stacking unit is arranged above the supply tray stacking unit in the vertical direction.

In order to achieve the above object, the robot system of the present invention is
A supply tray stacking unit parts are staked two or more supply trays that will be housed,
Tray elevating means movable in the Z direction for separating one supply tray from the supply tray stacking section;
Tray holding means provided in the tray elevating means and holding the separated shared tray ;
An empty tray stacking unit that stacks the empty supply trays after supplying components ,
And a parts supply device,
Robot and
A robot system including
The robot has no drive means of the Z-axis direction, and characterized in that it has a gripping means which is movable in the X-axis direction and the Y-axis direction.

Further, in order to achieve the above object, the component supply method of the present invention,
A supply tray stacking unit that stacks two or more supply trays containing components, a tray elevating unit that can move the supply trays in the Z direction, and a tray elevating unit that hold the supply trays. a tray holding unit, a component supplying method for supplying parts by previous component supply device having a tray moving means capable of moving bellflower feed tray in the X-axis direction, and
By moving the tray elevating means to the Z-axis direction, a front Symbol supply tray stacking unit or al before Symbol supply tray and one separated, to retain the supply tray, which is the separation by the tray holding means step ,
A step by moving the tray moving means to the X-axis direction, moving said separated supply tray, in a position to supply the previous SL components,
Comprising the steps of loading stage to the empty tray stacking unit before Symbol supply tray is empty,
Equipped with
The empty tray stacking unit is arranged above the supply tray stacking unit in the vertical direction.

  According to the present invention, since the empty tray stacking section is arranged above the supply tray stacking section, it is possible to suppress an increase in the installation area. Further, since the supply trays emptied by the tray elevating means are stacked on the empty tray stacking section, it is possible to reduce the drive source and the cost.

  Also, after stacking supply trays that have been emptied by the tray elevating means into the empty tray stacking section, a new tray is taken out from the supply tray stacking section, so the trays can be replaced with a short tact, improving productivity. can do.

  According to the present invention, the following effects can be obtained. The tray moving means moves up and down with respect to the robot to move the supply tray up and down, thereby supplying components. For this reason, the inertial moment of the moving joint is smaller than that of the normal component taking-out robot provided with the elevating means. Therefore, it is possible to suppress the vibration when the parts are delivered. Further, even when the X-axis direct-acting joint and the Y-axis direct-acting joint operate at high speed, since the inertia moment of the robot is small, it is possible to suppress the vibration of the component gripping means that grips the component to be small.

  Therefore, it is possible to prevent the gripping deviation of the gripped component and the occurrence of scratches caused by the friction between the component and the claw due to the vibration, the number of axes can be reduced, and the component supply device can be provided at low cost.

  By eliminating the need for lifting means in the robot, it is no longer necessary to place guides for actuators on top of the parts. As a result, it is possible to reduce the risk that the grease is scattered during the vertical movement of the actuator and adheres to the component.

  Since the supply tray is raised by the elevating means for separating one supply tray from the supply tray stacking section, the number of axes can be reduced and the component supply apparatus can be provided at low cost.

  As the supply tray moves up and down, the supply tray positioning unit is placed on the trajectory of the vertical movement of the supply tray, and the tray is positioned by using the vertical movement of the supply tray to reduce the number of axes and reduce the cost. A supply device can be provided.

It is a schematic perspective view of the component supply apparatus which shows 1st Embodiment of this invention. It is a schematic diagram explaining the method of separating one supply tray from the supply tray stacking part of a 1st embodiment. It is a schematic diagram of a method of stacking and storing empty trays in an empty tray stacking unit of the first embodiment. It is a schematic front view of the empty tray stacking part in which a plurality of empty trays of the first embodiment are stacked. It is a figure showing the operation | movement flow of 1st Embodiment of this invention. It is a schematic perspective view of the component supply apparatus which comprises some robot systems of 2nd Embodiment of this invention. It is a schematic front view explaining the method of isolate | separating one supply tray from the supply tray stacking part of 2nd Embodiment. It is a schematic front view and side view at the time of moving a supply tray from the supply tray stacking part of a 2nd embodiment, positioning a supply tray, and delivering to a parts picking robot. It is a schematic front view explaining the method of stacking and storing the empty tray in the empty tray stacking part of 2nd Embodiment. It is a perspective view showing a robot used for a robot system according to a second embodiment.

(First embodiment)
Hereinafter, a first embodiment according to the present invention will be specifically described with reference to the drawings. The same parts are denoted by the same reference numerals in the drawings.

  FIG. 1 is a schematic perspective view of a component supply device showing a first embodiment of the present invention. The component supply device 1 includes a supply tray stacking unit 3 that stacks one or more supply trays 21 in which components are stored, and a supply tray 22 that is empty when all the components have been taken out from the supply tray 21. An empty tray stacking unit 7 is provided. The empty tray stacking unit 7 is arranged above the supply tray stacking unit 3 in the vertical direction.

  The component supply device 1 supplies the tray elevating means 4 for separating one (one stage) supply tray 21 from the supply tray stacking section 3 and the separated supply tray 21 to the component gripping means 10 provided in the component extraction robot section 9. It is composed of moving tray moving means 5. The component supply device 1 further comprises a tray holding means 6 provided in the tray elevating means 4 and an empty tray stacking means 8 for holding an empty supply tray 22 in which the supply tray 21 in which the components are stored is empty. There is.

  The supply tray 21 and the empty supply tray 22 are the same tray although different reference numerals are attached for convenience of description. The supply tray 21 includes a main body portion 21a surrounded by a side surface portion 21c on all sides. A holding portion 21b, which extends outward and is held by the tray holding mechanism, is provided in a flange shape on the upper portion of the side surface portion 21c, as described later. Similarly, the empty supply tray 22 includes a main body portion 22a surrounded by side surfaces 22c on all sides. A holding portion 22b, which extends outward and is held by a tray holding mechanism, is provided in a flange shape on the upper portion of the side surface portion 22c. The side surface portions 21c and 22c have a tapered shape that spreads upward, but may have a shape that rises vertically.

  One supply tray 21 is separated from the supply tray stacking unit 3 by the tray elevating means 4, and one supply tray 21 is transferred to the parts unloading robot unit 9 so that parts are supplied and the supply tray becomes empty. The operation of stacking 22 on the empty tray stacking unit 7 will be described below.

  In FIG. 1, the tray elevating means 4 including the tray holding means 6 descends and rises with respect to the supply tray stacking portion 3 to separate one supply tray 21. The separating method will be described with reference to FIG. 2 (FIG. 2 is a schematic view seen from the direction A in the arrow of FIG. 1). In FIG. 2A, a plurality of supply trays 21 are stacked on the supply tray stacking unit 3. In FIG. 2, only two supply trays 21 are shown for convenience of description.

  In FIG. 2A, the tray holding means 6 having the tray holding anti-back mechanism 11 stands by above the supply tray stacking portion 3 in the vertical direction with respect to the supply tray 21 in which the uppermost components are stored. It shows the state. 2B shows a state in which the tray elevating means 4 descends from the state of FIG. 2A and the lower surface of the tray holding anti-back mechanism 11 contacts the upper surface of the holding portion 21b of the supply tray 21. As will be described later, the tray holding anti-back mechanism 11 and the empty tray stacking anti-back mechanism 12 are configured to rotate in one direction (upward), but not in the reverse direction (downward).

  Next, when the tray elevating means 4 further descends, the tray holding anti-back mechanism 11 turns while following the holding portion 21b of the supply tray 21. This state is shown in FIG. The tray elevating means 4 is further lowered, and the tray holding means 6 is in a state of scooping up the supply tray 21. This is the mode shown in FIG. In the state of FIG. 2D, the tray elevating means 4 is sufficiently lowered and the tray holding anti-back mechanism 11 is positioned below the holding portion 21b of the supply tray 21 with a predetermined clearance. In this state, the lowering of the tray elevating means 4 is stopped.

  Next, from the state of FIG. 2D, the tray elevating means 4 moves up, the tray holding anti-back mechanism 11 of the tray holding means 6 contacts the lower surface of the holding portion 21b of the supply tray 21, and As shown in e), one supply tray 21 can be separated from the supply tray stacking section 3.

  Next, a method of moving the single supply tray 21 to the part taking-out robot unit 9 will be described. As shown in FIG. 1, with the tray holding means 6 holding the single separated supply tray 21, the tray elevating means 4 ascends to a height at which the supply tray 21 is moved to the component taking-out robot section 9. As shown in FIG. 1, the tray holding anti-back mechanism 11 of the tray holding means 6 is provided at two locations on both ends of the tray holding means 6 in the X-axis direction, for a total of four locations. The supply tray 21 is held by the four tray holding anti-back mechanisms 11. The tray holding anti-back mechanism 11 extends inside the tray holding means 6.

  The tray moving means 5 moves forward in the X-axis direction to move the supply tray 21 held by the tray holding means 6 to the range where the component take-out robot section 9 can take out. This state is shown by a broken line in FIG. In this state, the component gripping means 10 provided in the component take-out robot unit 9 takes out a component (not shown) from the supply tray 21. When all the components are taken out from the supply tray 21 and the supply tray 21 becomes empty, the tray moving means 5 retracts in the X-axis direction and returns to a predetermined position in the component supply device 1. The above is the tray moving method.

  A method of stacking empty supply trays 22, which are empty supply trays 21 after all the components have been supplied, in the empty tray stacking section 7 is shown in FIG. It is a figure.). In the state shown in FIG. 3A, the tray holding means 6 for holding the empty supply tray 22 stands by below the empty tray stacking means 8 including the empty tray stacking anti-back mechanism 12 in the vertical direction. ing. In the state of FIG. 3A, one empty supply tray 22 is already held in the empty tray stacking section 7.

  Next, in the state shown in FIG. 3 (b), the tray elevating means 4 moves up and the lower empty feed tray 22 contacts the lower surface of the upper empty feed tray 22. There is. When the tray elevating means 4 is further raised from this state, the upper surface of the holding portion 22b of the empty supply tray 22 comes into contact with the lower surface of the empty tray stacking anti-back mechanism 12. This state is shown in FIG. In FIG. 3C and the subsequent drawings, the illustration of the empty empty supply tray 22 is omitted in order to make the drawings easy to see.

  At this point, the tray holding means 6 and the tray holding anti-back mechanism 11 that hold the empty supply tray 22 do not planarly interfere with the empty tray stacking means 8 and the empty tray stacking anti-back mechanism 12. It has a positional relationship. Here, the empty tray stacking means 8 is fitted inside the tray holding means 6 like a nest. Further, the tray holding means 6 for holding the empty supply tray 22 and the tray holding anti-back mechanism 11 are omitted in FIGS. 3 (c) to 3 (f) for the sake of clarity.

  The state in which the tray elevating means 4 is further raised from the state of FIG. 3C and the empty tray stacking anti-back mechanism 12 is swiveling while following the holding portion 22b of the empty supply tray 22 is shown in FIG. d). After that, the tray elevating means 4 further rises, and the empty tray stacking means 8 becomes able to hold the empty supply tray 22 from below (the state shown in FIG. 3E). Finally, the tray elevating means 4 descends, and the empty tray stacking means 8 stacks one empty supply tray 22 as shown in FIG. 3 (f). The above is the empty tray stacking method.

  FIG. 4 shows a state in which the empty tray stacking means 8 holds the empty supply trays 22 stacked in this way. The tray elevating means 4 stacks the empty supply trays 22 rising from the bottom, and the empty tray stacking means 8 holds the empty supply tray 22 at the bottom. In FIG. 4, five empty supply trays 22 are stacked, but this is merely an example, and the number is not limited.

  The tray holding anti-back mechanism 11 of the tray holding means 6 and the empty tray stacking anti-back mechanism 12 of the empty tray stacking means 8 are horizontal to the holding portion 21b of the supply tray and the holding portion 22b of the empty supply tray 22. It is set longer than the length in the direction. Therefore, with the supply tray 21 or the empty supply tray 22 being held, the vertical portion of the tray holding means 6 and the vertical portion of the empty tray stacking means 8 and the outer edge portions of the holding portions 21b and 22b are held. A predetermined clearance is created between them as shown in FIGS. 2 to 4. Due to this clearance, the tray holding anti-back mechanism 11 and the empty tray stacking anti-back mechanism 12 can swivel.

  As can be seen from the above description, the empty tray stacking means 8 does not rise or descend, and is positioned above the supply tray stacking section 3 in the vertical direction in a fixed state. Therefore, the supply trays 22 emptied by the tray elevating means 4 are stacked, and a separate drive source is not required for stacking the empty supply trays 22 in the empty tray stacking section 7.

  Further, as shown in FIG. 1, since the empty tray stacking section 7 is arranged above the supply tray stacking section 3 in the vertical direction, it is possible to suppress an increase in the installation area.

  As described above, one supply tray 21 is separated from the supply tray stacking unit 3 and one supply tray 21 is taken out to the parts take-out robot unit 9, and after the supply of parts is completed, the supply becomes empty. The trays 22 are stacked on the empty tray stacking unit 7. All the operations are completed by repeating these operations for the number of stages (number) of the supply trays 21 stacked in the supply tray stacking unit 3.

  The above operation will be described with reference to FIG. FIG. 5 is a diagram showing an operation flow of the first embodiment of the present invention. When the operation is started, the tray elevating means 4 descends to a height at which one supply tray 21 is separated (taken out) in step S1. This state is described in FIGS. 2 (a) to 2 (e).

  When the tray holding means 6 holds the supply tray 21, the tray elevating means 4 moves up to a height at which the parts can be moved to the parts taking-out robot section 9 in step S2. When the ascent is completed, in step S3, the tray moving means 5 advances to the position where the parts take-out robot unit 9 can take out the parts (the position shown by the broken line in FIG. 1).

  In step S4, the parts take-out robot unit 9 takes out all the plurality of parts stored in the supply tray 21, and the supply tray 21 becomes empty. In step S5, the presence or absence of a component in the supply tray 21 is determined by a sensor (not shown). If there is no component, the process proceeds to the next step, and if there is a component, the process returns to step S4.

  If there is no component in step S5, the tray moving means 5 retracts and returns to the initial position in step S6. After the parts are supplied, the empty supply tray 22 returned above the supply tray stacking unit 3 reaches the height at which the empty supply trays 22 are stacked by stacking the tray elevating means 4 in step S7. The supply trays 22 that have been raised and emptied are stacked on the empty tray stacking means 8. After that, the separation of the supply tray 21 of the next stage from the supply tray stacking unit 3 is repeated. In step S8, the presence or absence of the supply tray 21 is determined, and if the supply tray 21 is exhausted, the operation ends. If the supply tray 21 is still present, the process returns to step S1 and the above operation is repeated.

  In the above-described first embodiment of the present invention, the tray moving means 5 for moving the separated supply tray 21 to the component taking-out robot unit 9 (moving to the position for supplying the component) is provided. However, the tray moving means 5 does not necessarily have to be provided, and the component take-out robot unit 9 may take out the component directly from the uppermost supply tray 21 of the supply tray stacking unit 3. Even in this case, it goes without saying that the empty tray stacking section 7 is arranged above the supply tray stacking section 3 in the vertical direction.

(Second embodiment)
A second embodiment to which the present invention is applied will be specifically described below with reference to the accompanying drawings. In the drawings, the same parts are designated by the same reference numerals.

  In the second embodiment, the “supply tray” and the “empty tray” are the same tray, but they are functionally defined as follows. The “supply tray” means a tray in a state where components are stored in the tray, a state where components are stacked in the supply tray stacking unit 103, a state where components are supplied to the robot 109, and a tray in each state. The "empty tray" means an empty tray in which all parts are supplied.

FIG. 6 is a schematic perspective view of a component supply device forming a part of the robot system of the second embodiment.
The second embodiment relates to a robot system including the component supply device described in the first embodiment and a robot described below. The component supply device 101 includes a supply tray stacking unit 103 that stacks supply trays 121 that store components 114 (not shown in FIG. 6) and an empty tray stage that stacks empty trays 122 in which the supply trays 121 are empty. The stacking unit 107 is provided. The empty tray stacking unit 107 is arranged above the supply tray stacking unit 103 in the vertical direction.

  The component supply apparatus 101 includes a tray elevating unit 104 that separates the supply tray 121 from the supply tray stacking unit 103 by one stage, and a tray holding unit 106 provided in the tray elevating unit 104. The component supply apparatus 101 further includes tray moving means 105 for moving the separated supply tray 121 to an area where the robot 109 can take it out. After the supply tray 121 is moved by the tray moving means 105, the supply tray positioning for determining the position of the supply tray 121 in the X-axis direction and the Y-axis direction according to the raising / lowering operation of the tray raising / lowering means 104 (during rising in this embodiment). It has a section 111. The supply tray positioning part 111 can be provided in the tray moving means 105.

  As shown in FIG. 10, the robot 109 has a Y-axis moving means 132 installed on a base 130 via columns 131. The X-axis moving means 133 is attached to the guide rail of the Y-axis moving means 132 so as to be movable in the X-axis direction. Further, the component gripping means 110 is attached to the guide rail of the X-axis moving means 133 so as to be movable in the Y-axis direction.

  The robot 109 has, on the base 130, a supply tray positioning unit 111 that positions the supply tray 121 sent from the component supply apparatus 101. The robot 109 has a component holding means (hand) 110 provided for the robot 109. The component gripping unit 110 includes a chuck unit 118 that grips a component (not shown).

  As described above, since the robot 109 has the X-axis and Y-axis actuators, the component can be supplied to any position on the XY plane. Further, this can increase the degree of freedom of the device layout such as the arrangement of the units. Moreover, the robot 109 does not have a drive unit in the Z-axis direction. Therefore, the weight of the robot 109 can be reduced as compared with a robot having a drive unit in the Z-axis direction.

  Further, in FIG. 6, after the parts 114 are taken out from the supply tray 121 by the robot 109, the empty tray 122 is stacked on the empty tray stacking unit 107 by the empty tray stacking means 108.

  The supply tray 121 is separated from the supply tray stacking unit 103 by one stage (one unit), and one supply tray 121 separated by the tray moving unit 105 is delivered to the robot 109. After that, the operation until stacking in the empty tray stacking unit 107 will be described below.

  The tray elevating means 104 provided with the tray holding means 106 descends with respect to the supply tray stacking section 103, thereby separating one supply tray 121. The separation method will be described with reference to FIG. 7 (FIG. 7 is a view seen from the direction of arrow A in FIG. 6). FIG. 7 is a schematic front view illustrating a method of separating one supply tray from the supply tray stacking unit. The supply tray 121 (the same applies to the empty tray 122) is a box that houses the component 114, and has an outer peripheral edge 121a that projects outward from the side surface of the box on the upper periphery.

  In FIG. 7A, with respect to the uppermost supply tray 121 of the supply tray stacking unit 103, the tray holding means 106 including the tray holding anti-back mechanism 112 is waiting above the supply tray stacking unit 103. It shows the state. Next, in FIG. 7B, the tray elevating means 104 descends and the tray holding anti-back mechanism 112 contacts the upper surface of the outer peripheral edge 121 a of the supply tray 121. FIG. 7C shows a state in which the tray elevating means 104 is further lowered and the tray holding anti-back mechanism 112 is swiveling while following the outer peripheral edge 121 a of the supply tray 121.

  In FIG. 7D, the tray elevating means 104 is further lowered, and the tray holding means 106 becomes capable of holding the supply tray 121 from below. In this state, the protrusion 112a of the tray holding anti-back mechanism 112 is located below the outer peripheral edge 121a of the supply tray 121. Finally, from the state of FIG. 7D, the tray elevating means 104 moves up, and the projection 112a of the tray holding anti-back mechanism 112 contacts the lower surface of the outer peripheral edge 121a of the supply tray 121. As a result, the tray holding means 106 can separate one supply tray (one stage) from the supply tray stacking unit 103. FIG. 7E shows the state where the supply tray 121 is completely separated. As a result, one supply tray is separated.

  A method of transferring the single supply tray 121 to the robot 109 by the tray moving means 105 will be described with reference to FIG. 8 (a view seen from the arrow B direction in FIG. 6). FIG. 8 is a schematic front view and a side view when the supply tray is moved from the supply tray stacking section, the supply tray is positioned, and the part is delivered to the component taking-out robot. In FIGS. 8A to 8F, the left side is a front view and the right side is a side view.

  The state shown in FIG. 8A is a state in which the tray holding means 106 holds the single separated supply tray 121 and the tray elevating means 104 is raised to the tray take-out height.

  In the state shown in FIG. 8B, the tray moving means 105 advances in the X-axis direction (see FIG. 6) to take out the tray holding means 106, and take out the supply tray 121 to the range in which the robot 109 can be taken out. Next, in the state of FIG. 8C, after the supply tray 121 is taken out, the supply tray 121 is moved to a height at which the supply tray positioning unit 111 positions the supply tray 121 by the tray elevating means 104. To rise. In the state of FIG. 8D, after the positioning of the supply tray 121, the supply tray 121 is further raised, and the robot 109 raises the supply tray 121 to a height at which it can be taken out.

  In the state of FIG. 8D, the component gripping means 110 provided in the robot 109 grips the component 114 in the supply tray 121. In the state of FIG. 8E, after gripping the component 114, the tray elevating means 104 lowers the supply tray 121 to the take-out height of the supply tray 121.

  In the state of FIG. 8F, all the components 114 are taken out from the supply tray 121, the tray moving means 105 retracts the empty tray 122 in the X-axis direction, and the empty tray 122 can be stacked in the empty tray stacking unit 107. Move to position. The above is the method of transferring the supply tray 121 to the robot 109. After that, the robot 109 moves while holding the component 114, and the automatic assembly work is started.

  Next, a method for stacking and storing the empty trays 122 in the empty tray stacking unit 107 will be described with reference to FIG. 9 (a view seen from the direction of arrow C in FIG. 6). FIG. 9 is a schematic front view illustrating a method of stacking and storing empty trays in the empty tray stacking unit.

  FIG. 9A shows a state in which the tray holding means 106 holding the empty tray 122 stands by below the empty tray stacking means 108 including the empty tray stacking anti-back mechanism 113 in the vertical direction.

  In FIG. 9B, the tray elevating means 104 is raised, and the upper surface of the outer peripheral edge 122 a of the empty tray 122 is in contact with the lower surface of the protrusion 113 a of the empty tray stacking anti-back mechanism 113. 9 (b) to 9 (e), the tray holding means 106 for holding the empty tray 122 is omitted in view of viewability of the drawings.

  In FIG. 9C, the tray elevating means 104 is further raised, and the protrusion 113 a of the empty tray stacking anti-back mechanism 113 is swiveling while following the outer peripheral edge 122 a of the empty tray 122. Further, FIG. 9D shows a state in which the tray elevating means 104 is further raised and then the empty tray stacking means 108 is in a position where it can receive the empty trays 122.

  FIG. 9E shows a state where the tray elevating means 104 is lowered and the empty tray stacking means 108 is stacking one empty tray 122. When a plurality of empty trays 122 are stacked, they are stacked on the empty tray 122 in FIG. However, for convenience of explanation, illustration is omitted here, and only one empty tray 122 is shown. The above is the method of stacking and storing empty trays.

  One supply tray 121 is separated from the supply tray stacking unit 103 described above, and one supply tray 121 is taken out by the robot 109. When the supply of the components 114 is completed, the empty supply trays 121 are stacked in the empty tray stacking unit 107 as empty trays 122. The above operation is completed by repeating the operation for the number (number of stages) of the supply trays 121 stacked in the supply tray stacking unit 103.

  The tray holding anti-back mechanism 112 and the empty tray stacking anti-back mechanism 113 are the same mechanism, and the respective protrusions 112a and 113a can pivot upward but cannot pivot downward.

  INDUSTRIAL APPLICABILITY The present invention can be used as a component supply device for an automatic assembly device, but can also be used to supply components to other devices.

1, 101 parts supply device 3, 103 supply tray stacking part 4, 104 tray elevating means 5, 105 tray moving means 6, 106 tray holding means 7, 107 empty tray stacking part 8, 108 empty tray stacking means 9 parts Take-out robot section 10,110 Component gripping means 11,112 Tray holding anti-back mechanism 12,113 Empty tray stacking anti-back mechanism 21,121 Supply tray
22, 122 Empty tray 109 Robot 112a Projection 113 Empty tray stacking anti-back mechanism 113a Projection 114 Parts

Claims (13)

A supply tray stacking unit parts are staked two or more supply trays that will be housed,
Tray elevating means movable in the Z-axis direction for separating one of the supply trays from the supply tray stacking section;
A tray holding means for holding the separated supply tray, which is provided in the tray elevating means,
An empty tray stacking unit that stacks the empty supply trays after supplying components ,
In the component supply device equipped with
The component supply device, wherein the empty tray stacking unit is arranged above the supply tray stacking unit in the vertical direction. The component supply device according to claim 1, further comprising tray moving means capable of moving the separated supply tray in the X- axis direction . The component supply device according to claim 2, wherein the tray moving means is movable in the Z-axis direction by the tray elevating means. The component supply device according to any one of claims 1 to 3, wherein the empty feed trays are stacked on the empty tray stacking section by the tray elevating means. The component supply device according to any one of claims 1 to 4, wherein the tray holding unit has an anti-back mechanism for separating and moving the supply tray. A supply tray stacking unit that stacks two or more supply trays in which parts are stored,
Tray elevating means movable in the Z-axis direction for separating one of the supply trays from the supply tray stacking section;
A tray holding means for holding the separated supply tray, which is provided in the tray elevating means,
An empty tray stacking unit that stacks the empty supply trays after supplying components,
And a parts supply device ,
A robot ,
A robot system including
The robot, a robot system which comprises said without a Z-axis direction of the driving means, the gripping means movable in X-axis and Y-axis directions. The robot is provided on a base,
The robot system according to claim 6 , further comprising: a supply tray positioning unit that positions the supply tray on the base. A supply tray stacking unit that stacks two or more supply trays containing components, a tray elevating unit that can move the supply trays in the Z-axis direction, and a tray elevating unit that holds the supply trays. a tray holding unit that, the supply tray to a component supplying method for supplying components by the component supply device having a tray moving means movable in X-axis direction,
By moving the tray elevating means to the Z-axis direction, and the front SL and one separating the feed tray from the feed tray stacking unit, for holding a supply tray which is the separation by the tray holding means step,
A step by moving the tray moving means to the X-axis direction, moving said separated supply tray, in a position to supply the previous SL components,
Stacking the empty supply trays on an empty tray stacking section,
Equipped with
The component feeding method, wherein the empty tray stacking unit is arranged vertically above the supply tray stacking unit. In the step of staked to the empty tray stacking unit, according to claim, characterized in that the staked the feed tray of the air to the empty tray stacking unit by moving the tray elevating means to the Z-axis direction 8. The component supply method according to item 8 . A supply tray stacking unit that stacks two or more supply trays containing components, a tray elevating unit that can move the supply trays in the Z-axis direction, and a tray elevating unit that holds the supply trays. A component supply method using a robot system comprising: a component holding device that includes a tray holding unit that moves the supply tray in the X-axis direction; and a robot that receives the component.
Moving the tray elevating means in the Z-axis direction to separate one of the supply trays from the supply tray stacking section, and holding the separated supply tray by the tray holding means;
Moving the separated trays below the robot by moving the tray moving means in the X-axis direction;
Moving the tray elevating means in the Z-axis direction to a height at which the robot can receive the parts housed in the separated supply trays;
A component supply method comprising: 11. The component supply method according to claim 10, wherein the robot does not move in the Z-axis direction when the robot receives the components stored in the supply tray. The component according to claim 10 or 11, further comprising a step of stacking the empty supply trays on an empty tray stacking unit after the robot receives all the parts placed on the separated supply trays. Supply method. 13. The component supplying method according to claim 12, wherein the empty tray stacking unit is arranged above the supply tray stacking unit in the vertical direction.

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