CN115246134A

CN115246134A - Part disassembling device and control method of part disassembling device

Info

Publication number: CN115246134A
Application number: CN202210451798.6A
Authority: CN
Inventors: 大谷和史; 铃木孝典; 宫坂正辉; 小林正一
Original assignee: Seiko Epson Corp
Current assignee: Seiko Epson Corp
Priority date: 2021-04-26
Filing date: 2022-04-24
Publication date: 2022-10-28
Also published as: JP2022168424A

Abstract

A part disassembling apparatus and a control method of the part disassembling apparatus are provided, which can move parts in a plurality of directions and turn the parts over. A component disassembling device (6) is provided with: a mounting table (18) having a mounting surface (19) on which a component (21) is mounted; a first motor (16) and a second motor (17) that vibrate by rotating a rotating shaft; and a support unit (12) that supports the mounting table (18), the first motor (16), and the second motor (17), and transmits the vibration of the first motor (16) and the second motor (17) to the mounting table (18), wherein the axial directions of the rotating shafts of the first motor (16) and the second motor (17) are parallel to the mounting surface (19), and intersect each other in a plan view viewed from a direction perpendicular to the mounting surface (19), and the resonance frequency of the support unit (12) is higher in the direction perpendicular to the mounting surface (19) than in the direction parallel to the mounting surface (19).

Description

Part disassembling device and control method of part disassembling device

Technical Field

The present invention relates to a part disassembling apparatus and a control method of the part disassembling apparatus.

Background

When the industrial robot picks up the part, the linear feeder moves the part into the motion range of the robot hand. Such a linear feeder is disclosed in, for example, patent document 1. According to this document, in the linear feeder, a motor and a parts conveying chute are connected by a link mechanism. When the motor is rotated, reciprocating vibration in one direction is excited in the parts conveying groove, and the parts are conveyed in one direction.

Further, when the industrial robot picks up the parts, the parts disassembling apparatus may be disposed within the operation range of the robot hand. The parts separating device is a device for reducing the overlapping of each part when a plurality of parts are overlapped on the carrying surface.

According to the component separation apparatus, the components stacked on each other are dispersed on the same plane, so that the robot can be easily picked up by the robot hand and can be stably operated. In addition, when picking up a component by inverting it, if the robot performs an operation of inverting the component, the operation takes time, and productivity is reduced.

Documents of the prior art

Patent literature

Patent document 1: japanese patent laid-open publication No. 2019-064825

The linear feeder of patent document 1 can move the parts only in one direction. Further, there is a problem that the parts cannot be turned upside down.

Disclosure of Invention

A component disassembling device is provided with: a mounting table having a mounting surface on which a component is mounted; two motors for rotating and vibrating the rotating shaft; and a support unit that supports the mounting table and the two motors and transmits vibration of the motors to the mounting table, wherein axial directions of the rotating shafts of the two motors are parallel to the mounting surface and intersect each other in a plan view viewed in a direction perpendicular to the mounting surface, and a resonance frequency of the support unit is higher in the direction perpendicular to the mounting surface than in the direction parallel to the mounting surface.

A method for controlling a component separation device, the component separation device including: a mounting table having a mounting surface on which a component is mounted; two motors for rotating and vibrating the rotating shaft; a support unit that supports the mounting table and the two motors and transmits vibration of the motors to the mounting table; and a control unit that controls rotation of the motors, wherein axial directions of the rotating shafts of the two motors are parallel to the mounting surface, and intersect each other in a plan view viewed from a direction perpendicular to the mounting surface, and a resonance frequency of the support unit is higher in the direction perpendicular to the mounting surface than in the direction parallel to the mounting surface, wherein the control unit controls rotation speeds, rotation directions, or rotation phases of the two motors independently.

Drawings

Fig. 1 is a schematic diagram showing a configuration of a parts supply system according to a first embodiment.

Fig. 2 is a schematic perspective view showing the structure of the component disassembling apparatus.

Fig. 3 is a schematic plan view showing the configuration of the component disassembling apparatus.

Fig. 4 is a schematic side view showing the constitution of the parts disassembling apparatus.

Fig. 5 is a schematic side view showing the constitution of the parts disassembling apparatus.

Fig. 6 is a principal part schematic diagram showing a configuration of the motor.

Fig. 7 is a schematic plan view for explaining the arrangement of the rubber foot.

Fig. 8 is a schematic diagram for explaining the position of the center of gravity of the constituent elements.

Fig. 9 is a diagram for explaining the operation of the mounting table.

Fig. 10 is a diagram for explaining the operation of the mounting table.

Fig. 11 is a diagram for explaining the operation of the mounting table.

Fig. 12 is a diagram for explaining the operation of the mounting table.

Fig. 13 is a diagram for explaining the operation of the mounting table.

Fig. 14 is a diagram for explaining the operation of the mounting table.

Fig. 15 is a block diagram of a circuit.

Fig. 16 is a schematic diagram for explaining the operation of the components on the mounting surface.

Fig. 17 is a schematic diagram for explaining the operation of the components on the mounting surface.

Fig. 18 is a schematic diagram for explaining the operation of the component on the mounting surface.

Fig. 19 is a schematic diagram for explaining the operation of the components on the mounting surface.

Fig. 20 is a schematic diagram for explaining the operation of the components on the mounting surface.

Fig. 21 is a schematic diagram for explaining the position of the center of gravity of the components according to the second embodiment.

Fig. 22 is a schematic diagram of a main portion showing a configuration of a motor according to a third embodiment.

Fig. 23 is a schematic diagram for explaining the position of the motor according to the fifth embodiment.

Description of the symbols

8. A control unit; 11. a rubber foot as an elastomer; 12. a support portion; 12a, a center of gravity of the support portion as a center of gravity of the support portion; 16. a first motor as a motor; 16a, a first rotation axis as a rotation axis; 16b, a first motor center of gravity as a center of gravity of the motor; 17. a second motor as a motor; 17a, a second rotation axis as a rotation axis; 17b, a second motor center of gravity as a center of gravity of the motor; 18. a mounting table; 18b, a center of gravity of the table as a center of gravity of the table; 19. a carrying surface; 21. a part; 22. a first eccentric weight as an eccentric weight; 24. a second eccentric weight as an eccentric weight.

Detailed Description

First embodiment

In the present embodiment, a characteristic example of a component disassembling apparatus and a control method of the component disassembling apparatus will be described. As shown in fig. 1, a parts supply system 1 is a system in which a robot 2 picks up a plurality of parts. The robot 2 uses a horizontal articulated robot, a vertical articulated robot, an orthogonal robot, or the like. The robot 2 includes a robot controller 3. The robot controller 3 controls the posture of the robot 2.

The robot 2 includes a pickup mechanism 4 and a camera 5. The robot controller 3 controls the operation of the pickup mechanism 4 to grip the part. The robot controller 3 causes the camera 5 to photograph the part and recognizes the position of the part. The camera 5 may be mounted on the robot 2, or may be fixed to an upper part of a component detaching apparatus other than the robot 2.

The component supply system 1 includes one or more component separation devices 6 and a work table 7. The parts are placed on the respective parts disassembling apparatuses 6. A plurality of types of parts may be placed on one part disassembling apparatus. The robot 2 holds the parts of each part singulating device 6 and moves them to the work table 7. The robot 2 supplies the parts to the work table 7. The robot 2 may perform the work of assembling parts on the work table 7.

Each component disassembling apparatus 6 includes a control unit 8. Each control unit 8 is electrically connected to the component disassembling apparatus 6 and the robot controller 3. The control unit 8 inputs an instruction signal from the robot controller 3 to operate the component disassembling apparatus 6.

The camera 5 images the component mounted on the component mounter 6. The robot controller 3 analyzes the captured image and determines whether or not the pickup mechanism 4 is in a state capable of gripping the component. In addition, the orientation of the component when the pickup mechanism 4 grips is set. For example, in the present embodiment, the parts are disc-shaped, and there is a difference between the front and the back. The pickup mechanism 4 grips the parts in a state where the front side of the parts faces the pickup mechanism 4.

When the robot controller 3 analyzes the image and determines that there is no component with an appropriate posture, the robot controller 3 transmits an instruction signal for changing the posture of the component to the control unit 8. The control unit 8 receives the instruction signal and drives the component disassembling apparatus 6.

The parts disassembling device 6 shown in fig. 2 has the cover removed and the inside can be seen. The component separation apparatus 6 includes a base 9. The base 9 is a rectangular metal plate. In a plan view of the base 9, the longitudinal direction is defined as an X direction, and a direction orthogonal to the longitudinal direction is defined as a Y direction. The thickness direction of the base 9 is defined as the Z direction.

Four rubber legs 11 as elastic bodies are arranged on the base 9. The rubber leg 11 is provided with a support portion 12. The rubber foot 11 vibratably supports the support portion 12. According to this configuration, since the rubber foot 11 vibratably supports the support portion 12, the support portion 12 can vibrate in all directions of up and down, front and rear, and right and left. Further, since the rubber foot 11 damps the vibration, the rubber foot 11 can be made to function as a damper.

The support portion 12 is composed of a lower structure 13, an intermediate structure 14, and an upper structure 15. The lower structure 13 is located on the negative Z direction side and connected to the rubber leg 11. The upper structure 15 is located on the Z-positive direction side. The intermediate structure 14 has a columnar shape, and 4 intermediate structures 14 stand between the lower structure 13 and the upper structure 15. The material of the support portion 12 is metal, and the rigidity of the support portion 12 is high.

A first motor 16 as a vibrating motor and a second motor 17 as a vibrating motor are disposed between the lower structure 13 and the upper structure 15. The control unit 8 controls the rotation of the first motor 16 and the second motor 17. The first motor 16 is fixed to the surface of the lower structure 13 on the Z-positive direction side. The second motor 17 is fixed to the surface of the upper structure 15 on the Z negative direction side. A mounting table 18 is disposed on the positive Z-direction side of the upper structure 15. The mounting table 18 is fixed to the upper structure 15. The material of the mounting table 18 is resin or metal, and the mounting table 18 has high rigidity. The mounting table 18 has a recess 18a formed on the positive Z-direction side. The bottom surface of the recess 18a is a mounting surface 19.

As shown in fig. 3, a component 21 is placed on the placement surface 19. Some of the parts 21 are such that the front side 21a faces the positive Z-direction side. Some of the parts 21 are such that the back side 21b faces the positive Z-direction side. In the figure, the part 21 with the back side 21b facing the positive Z direction side is hatched. The part 21 is placed in the recess 18a, and the recess 18a has a sufficient depth so that the part 21 does not fly out.

As shown in fig. 4, the first motor 16 includes a first eccentric weight 22 on the first rotating shaft 16a, and the first eccentric weight 22 is an eccentric weight eccentric with respect to the first rotating shaft 16a as a rotating shaft. According to this configuration, the first eccentric weight 22 can vibrate the first motor 16 with a simple structure. The vibration of the first motor 16 is transmitted to the mounting table 18 via the support portion 12.

The first motor 16 includes first eccentric weights 22 on both sides of the first rotating shaft 16 a. According to this configuration, the same centrifugal force acts on the first motor 16 on both sides of the first rotation shaft 16a by the rotation of the first eccentric weight 22. Therefore, both sides of the first rotation shaft 16a can supply the same vibration energy to the support portion 12. As a result, the first motor 16 can be suppressed from generating vibration in which the support portion 12 swings about the X direction. On the positive Y direction side of the first eccentric weight 22 on the positive Y direction side, a first sensor 23 is disposed on the lower structure 13. The first sensor 23 may be disposed on the Y negative direction side.

As shown in fig. 5, the second motor 17 includes a second eccentric weight 24 on the second rotation shaft 17a, and the second eccentric weight 24 is an eccentric weight eccentric with respect to the second rotation shaft 17a as a rotation shaft. With this configuration, the second eccentric weight 24 can vibrate the second motor 17 with a simple structure. The vibration of the second motor 17 is transmitted to the mounting table 18 via the support portion 12.

The second motor 17 includes second eccentric weights 24 on both sides of the second rotation shaft 17 a. According to this configuration, the same centrifugal force acts on both sides of the second rotation shaft 17a on the second motor 17 by the rotation of the second eccentric weight 24. Therefore, both sides of the second rotation shaft 17a of the second motor 17 can supply the same vibration energy to the support portion 12. As a result, the second motor 17 can be suppressed from generating vibration in which the support portion 12 swings about the Y direction. On the X negative direction side of the second eccentric weight 24 on the X negative direction side, a second sensor 25 is arranged on the upper structural body 15. The second sensor 25 may be disposed on the X positive direction side.

The component disassembling apparatus 6 includes a first motor 16 that vibrates by rotating a first rotating shaft 16a and a second motor 17 that vibrates by rotating a second rotating shaft 17 a. The support unit 12 supports the mounting table 18, the first motor 16, and the second motor 17, and transmits vibrations of the first motor 16 and the second motor 17 to the mounting table 18. The resonance frequency of the support portion 12 is higher in the direction perpendicular to the mounting surface 19 than in the direction parallel to the mounting surface 19.

Fig. 6 shows the relative positions of the first motor 16 and the second motor 17. As shown in fig. 6, the axial direction of the first rotating shaft 16a is the Y direction, and the axial direction of the second rotating shaft 17a is the X direction. The mounting surface 19 is a plane including the X direction and the Y direction. Therefore, the axial direction of the first rotating shaft 16a of the first motor 16 and the axial direction of the second rotating shaft 17a of the second motor 17 are parallel to the mounting surface 19, and intersect each other in a plan view viewed from a direction perpendicular to the mounting surface 19. Specifically, the axial direction of the first rotating shaft 16a of the first motor 16 and the axial direction of the second rotating shaft 17a of the second motor 17 are orthogonal to each other in a plan view viewed from a direction perpendicular to the mounting surface 19.

The first eccentric weight 22 on the positive Y direction side connected to the first motor 16 includes a first convex portion 26 protruding toward the positive Y direction side. The first sensor 23 has a first slit 23a. An LED (Light Emitting Diode) and a phototransistor are disposed on the first sensor 23 with a first slit 23a interposed therebetween. When the first projection 26 passes through the first slit 23a, the first projection 26 blocks light emitted from the LED. The first sensor 23 detects the timing at which the first projection 26 passes through the first slit 23a.

The second eccentric weight 24 connected to the second motor 17 on the X negative direction side includes a second convex portion 27 protruding toward the X negative direction side. The second sensor 25 has a second slit 25a. An LED and a phototransistor are arranged on the second sensor 25 with the second slit 25a interposed therebetween. When the second projection 27 passes through the second slit 25a, the second projection 27 blocks light emitted from the LED. Second sensor 25 detects the timing at which second projection 27 passes through second slit 25a.

Fig. 7 shows the configuration of the rubber foot 11. As shown in fig. 7, four rubber legs 11 are arranged on the base 9. The rubber legs 11 are arranged symmetrically with respect to the first rotation axis 16 a. Further, the rubber leg 11 is disposed symmetrically with respect to the second rotation axis 17 a. With this arrangement, the amplitude of the X-direction vibration of the support portion 12 is equal on both sides, and the amplitude of the Y-direction vibration is also equal on both sides, so that the control of the direction in which the component is conveyed is facilitated.

Fig. 8 shows the arrangement of the centers of gravity of the components constituting the component separation apparatus 6. In fig. 8, the first counterweight center of gravity 22a is the center of gravity of the two first eccentric counterweights 22. The second counterweight center of gravity 24a is the center of gravity of both second eccentric counterweights 24. The center of gravity 12a of the support portion, which is the center of gravity of the support portion, is the center of gravity of the support portion 12. The center of gravity 18b of the table, which is the center of gravity of the table, is the center of gravity of the table 18. The first weight center of gravity 22a, the second weight center of gravity 24a, the table center of gravity 18b, and the support center of gravity 12a are arranged on a first imaginary line 28 extending in the Z direction. The first virtual line 28 is a line extending in a direction perpendicular to the mounting surface 19. Therefore, in a plan view viewed from a direction perpendicular to the placement surface 19, the first counterweight center of gravity 22a, the second counterweight center of gravity 24a, the placement table center of gravity 18b, and the support unit center of gravity 12a overlap.

First counterweight center of gravity 22a becomes the center of vibration of first motor 16. The second counterweight center of gravity 24a becomes the center of vibration of the second motor 17. According to this configuration, the center of the vibration generated by the first motor 16, the center of the vibration generated by the second motor 17, the center of gravity of the mounting table 18, and the center of gravity of the support portion 12 overlap each other in a plan view viewed in a direction perpendicular to the mounting surface 19. Therefore, the first motor 16 and the second motor 17 can vibrate the mounting surface 19 in the same manner.

Next, a control method of the component separation apparatus 6 will be explained. Fig. 9 to 14 show the relationship between the rotation of the first eccentric weight 22 and the vibration of the mounting surface 19 in the first motor 16. The rotation speed of the first motor 16 per 1 second is set to N. Rv represents the resonance frequency of the support portion 12 in the direction perpendicular to the mounting surface 19. The resonance frequency of the support portion 12 in the direction parallel to the mounting surface 19 is Rh.

The first motor 16 rotates clockwise about the first rotation shaft 16a as viewed from the Y negative direction side. When N = Rh, the mounting surface 19 vibrates so as to reciprocate in the X positive direction and the X negative direction, as shown in fig. 9. Since the component 21 is kept in contact with the mounting surface 19, the component 21 is hard to move. Even if the part 21 moves, the moving distance is short.

When Rh < N < Rv, the mounting surface 19 vibrates so as to reciprocate in the X and Z positive directions and the X and Z negative directions, as shown in fig. 10. Since the component 21 moves in the X-positive direction while leaving the mounting surface 19, the component 21 moves in the X-positive direction. The component disassembling apparatus 6 is controlled such that the controller 8 rotates the first motor 16 in a range of Rh < N < Rv when moving the component 21 in the X-positive direction along the mounting surface 19.

The values of Rh and Rv are not particularly limited, but in the present embodiment, for example, rv =40Hz and Rh =10Hz. When the component 21 is moved along the mounting surface 19, N =25 to 30Hz is preferable. The component 21 can be reliably moved.

When N = Rv, the mounting surface 19 vibrates so as to reciprocate in the Z positive direction and the Z negative direction as shown in fig. 11. The component 21 jumps on the carrier surface 19. Several parts 21 are turned inside out. For example, when the back side 21b is visible to all the parts 21, several parts 21 are turned upside down and the front side 21a is visible.

Next, the first motor 16 rotates the first rotation shaft 16a counterclockwise as viewed from the Y negative direction side. When N = Rh, the mounting surface 19 vibrates so as to reciprocate in the X positive direction and the X negative direction, as shown in fig. 12. Since the component 21 is kept in contact with the mounting surface 19, the component 21 is hard to move. Even if the part 21 moves, the moving distance is short.

When Rh < N < Rv, the mounting surface 19 vibrates so as to reciprocate in the X negative direction and the Z positive direction and the X positive direction and the Z negative direction, as shown in fig. 13. Since the component 21 is separated from the mounting surface 19 while moving in the X negative direction, the component 21 moves in the X negative direction. The component mounting/dismounting device 6 is controlled such that the control unit 8 rotates the first motor 16 in a range of Rh < N < Rv when the component 21 is moved in the X negative direction along the mounting surface 19.

When N = Rv, the mounting surface 19 vibrates so as to reciprocate in the Z positive direction and the Z negative direction as shown in fig. 14. The component 21 jumps on the carrier surface 19. Several parts 21 are turned inside out.

When the second motor 17 rotates the second rotation shaft 17a, the mounting surface 19 also operates in the same manner as when the first motor 16 rotates the first rotation shaft 16 a. The rotation speed of the second motor 17 per 1 second is set to N.

The second motor 17 rotates clockwise about the second rotation shaft 17a as viewed from the X positive direction side. When N = Rh, the mounting surface 19 vibrates in a reciprocating manner in the Y positive direction and the Y negative direction. Since the component 21 is kept in contact with the mounting surface 19, the component 21 is hard to move. Even if the part 21 moves, the moving distance is short.

When Rh < N < Rv, the mounting surface 19 vibrates so as to reciprocate in the Y positive direction and the Z positive direction, and in the Y negative direction and the Z negative direction. Since the component 21 leaves the mounting surface 19 while moving in the Y-positive direction, the component 21 moves in the Y-positive direction. The component disassembling apparatus 6 is controlled such that the controller 8 rotates the second motor 17 in a range of Rh < N < Rv when moving the component 21 in the Y positive direction along the mounting surface 19.

When N = Rv, the mounting surface 19 vibrates so as to reciprocate in the Z positive direction and the Z negative direction. The component 21 jumps on the carrier surface 19. Several parts 21 are turned inside out.

Next, the second motor 17 rotates the second rotation shaft 17a counterclockwise as viewed from the X positive direction side. As shown when N = Rh, the mounting surface 19 vibrates so as to reciprocate in the Y positive direction and the Y negative direction. Since the component 21 is kept in contact with the mounting surface 19, the component 21 is hard to move. Even if the part 21 moves, the moving distance is short.

When Rh < N < Rv, the mounting surface 19 vibrates in a reciprocating manner in the Y negative direction and the Z positive direction, and in the Y positive direction and the Z negative direction. Since the component 21 is separated from the mounting surface 19 while moving in the Y negative direction, the component 21 moves in the Y negative direction. The component mounting/dismounting device 6 is controlled such that the control unit 8 rotates the second motor 17 within a range of Rh < N < Rv when the component 21 is moved in the Y negative direction along the mounting surface 19.

When the control unit 8 drives the first motor 16 and the second motor 17 at the same time, the height at which the component 21 jumps on the placement surface 19 can be adjusted to be higher than when only one of the first motor 16 and the second motor 17 is driven. When the component 21 is heavy and difficult to turn over, the control unit 8 drives the first motor 16 and the second motor 17 at the same time at the same rotational speed. Even if the parts 21 are heavy, the parts disassembling apparatus 6 can be turned upside down.

Specifically, by shifting the rotational phase difference between the first eccentric weight 22 and the second eccentric weight 24 between 0 degrees and 180 degrees, the amplitude in the vertical direction can be enlarged or eliminated, and the turning strength of the component 21 can be adjusted. If the mutual phase difference is 0 degrees, the flip strength is multiplied, and if 180 degrees, the flip strength is substantially zero. The rotational phase of the first eccentric weight 22 is determined by an angle from the position where the first protrusion 26 passes through the first slit 23a of the first sensor 23. The rotational phase of the second eccentric weight 24 is determined by an angle from the position where the second protrusion 27 passes through the second slit 25a of the second sensor 25. The rotational phase difference of the first eccentric weight 22 and the second eccentric weight 24 is preferably adjusted according to the weight of the part 21.

According to the constitution of the part disassembling apparatus 6, two motors vibrate. The vibration of the motor is transmitted to the mounting table 18 via the support portion 12. The support portion 12 vibrates in a direction parallel to the mounting surface 19 and in a direction perpendicular to the mounting surface. When the motor rotates the rotation shaft at a rotation speed close to the resonance frequency in the direction perpendicular to the mounting surface 19, the support unit 12 and the mounting table 18 vibrate in the direction perpendicular to the mounting surface 19. At this time, the component 21 jumps up on the mounting surface 19. Thus, the part 21 can be turned upside down.

When the motor rotates the rotation shaft at an intermediate rotation speed between the resonance frequency in the parallel direction and the resonance frequency in the perpendicular direction with respect to the mounting surface 19, the support unit 12 and the mounting table 18 vibrate in the parallel direction with respect to the mounting surface 19 and in the direction perpendicular to the rotation shaft of the motor. At this time, the component 21 moves along the mounting surface 19. The part disassembling device 6 can change the moving direction of the part 21 by controlling the rotating speed and the rotating direction of the two motors. As a result, the component disassembling apparatus 6 can perform the turning of the component 21 and the control of the moving direction of the component 21.

When the parts 21 are lumped on the mounting surface 19, the parts disassembling apparatus 6 can disassemble and disperse the blocks of the parts 21 by repeating the movement and the turning of the parts 21.

As shown in fig. 15, the control unit 8 includes a central processing unit 29, a first motor driving unit 30, and a second motor driving unit 31. The central processing unit 29 is electrically connected to the first motor driving unit 30 and the second motor driving unit 31. The central processing unit 29 sends signals indicating the start and end of rotation to the first motor driving unit 30 and the second motor driving unit 31. The central processing unit 29 sends signals indicating the number of rotations and the direction of rotation to the first motor driving unit 30 and the second motor driving unit 31. The central processing unit 29 sends an instruction signal of an angle from the reference position of the rotational phase to the first motor driving unit 30 and the second motor driving unit 31.

The first motor drive unit 30 is electrically connected to the first motor 16 and the first sensor 23. When the first motor 16 is driven, the first motor driving unit 30 drives the first motor 16 in accordance with the rotation speed, the rotation direction, and the rotation phase indicated by the instruction signal. The first motor driving unit 30 rotates the first rotation shaft 16a, and receives a signal indicating a reference position of the first rotation shaft 16a detected by the first sensor 23. Then, the first rotation shaft 16a is rotated from the reference position at which the signal is received by the instructed rotation phase. Then, the first rotating shaft 16a is rotated at the instructed rotation speed and rotation direction.

The second motor driving unit 31 is electrically connected to the second motor 17 and the second sensor 25. When the second motor 17 is driven, the second motor driving unit 31 drives the second motor 17 in accordance with the rotation speed, the rotation direction, and the rotation phase indicated by the instruction signal. The second motor driving unit 31 rotates the second rotation shaft 17a, and receives a signal indicating the reference position of the second rotation shaft 17a detected by the second sensor 25. Then, the second rotation shaft 17a is rotated from the reference position at which the signal is received by the instructed rotation phase. Then, the second rotation shaft 17a is rotated at the instructed rotation speed and rotation direction.

Next, the operation of the component 21 on the mounting surface 19 will be described. As shown in fig. 16, the back side 21b is visible for all the components 21 on the mounting surface 19. When the picking mechanism 4 of the robot 2 holds the part 21 with the front side 21a visible, the robot controller 3 transmits an instruction signal for inverting the part 21 to the control unit 8.

The control unit 8 drives at least one of the first motor 16 and the second motor 17 at a rotation speed N exceeding Rv. When the component is turned upside down, the rotation speed N of at least one of the first motor 16 and the second motor 17 is set to be N > Rv. The mounting surface 19 reciprocates in the positive Z direction and the negative Z direction to vibrate. The parts 21 jump on the mounting surface 19, and several parts 21 are turned over. As a result, as shown in fig. 17, the front side 21a can be seen from some parts 21. Then, the picking mechanism 4 moves the part 21 with the front side 21a visible.

As shown in fig. 18, when the part 21 is biased in the negative X direction, the pickup mechanism 4 is difficult to hold the part 21. When the pickup mechanism 4 of the robot 2 grips the part 21, the robot controller 3 transmits an instruction signal for moving the part 21 in the X positive direction to the control unit 8.

The control section 8 drives the first motor 16 at a rotational speed Rh < N < Rv. The first motor 16 rotates clockwise about the first rotation shaft 16a as viewed from the negative Y direction. The mounting surface 19 vibrates reciprocally in the positive Z and positive X directions and in the negative Z and negative X directions. The component 21 moves in the X-direction while jumping on the mounting surface 19. As a result, as shown in fig. 3, since the parts 21 are scattered, the pickup mechanism 4 moves while gripping the parts 21.

As shown in fig. 19, when the parts 21 are biased in the Y positive direction, the pickup mechanism 4 is difficult to hold the parts 21. When the pickup mechanism 4 of the robot 2 grips the part 21, the robot controller 3 transmits an instruction signal for moving the part 21 in the Y negative direction to the control unit 8.

The control section 8 drives the second motor 17 at a rotation speed Rh < N < Rv. The second motor 17 rotates counterclockwise about the second rotation shaft 17a as viewed from the positive X direction. The mounting surface 19 vibrates back and forth in the Z-positive direction and the Y-negative direction, and in the Z-negative direction and the Y-positive direction. The component 21 moves in the negative Y direction while jumping on the mounting surface 19. As a result, as shown in fig. 3, since the parts 21 are scattered, the pickup mechanism 4 moves while gripping the parts 21.

As shown in fig. 20, when the parts 21 are biased in the X negative direction and the Y positive direction, the pickup mechanism 4 is difficult to hold the parts 21. When the pickup mechanism 4 of the robot 2 grips the part 21, the robot controller 3 transmits an instruction signal for moving the part 21 in the X positive direction and the Y negative direction to the control unit 8.

The control unit 8 drives the first motor 16 and the second motor 17 at a rotation speed Rh < N < Rv. The first motor 16 rotates clockwise about the first rotation shaft 16a as viewed from the negative Y direction. The second motor 17 rotates counterclockwise about the second rotation shaft 17a as viewed from the positive X direction. The mounting surface 19 vibrates reciprocally in the Z-positive direction and the X-positive direction and the Y-negative direction, and in the Z-negative direction and the X-negative direction and the Y-positive direction. The component 21 moves in the X positive direction and the Y negative direction while jumping on the mounting surface 19. As a result, as shown in fig. 3, since the parts 21 are scattered, the pickup mechanism 4 moves while gripping the parts 21.

The control unit 8 controls the rotation speed, rotation direction, or rotation phase of the two motors independently, and vibrates the two motors. The vibration of the motor is transmitted to the mounting table 18 via the support portion 12. The support portion 12 vibrates in a direction parallel to the mounting surface 19 and in a direction perpendicular to the mounting surface. When the motor rotates the rotation shaft at a rotation speed close to the resonance frequency in the direction perpendicular to the mounting surface 19, the support unit 12 and the mounting table 18 vibrate in the direction perpendicular to the mounting surface 19. At this time, since the component 21 jumps on the mounting surface 19, the component 21 can be reversed. By shifting the rotational phase difference between the two motors between 0 and 180 degrees, the force with which the part 21 jumps can be changed. Therefore, the motor can vibrate the mounting surface 19 with an appropriate amplitude in accordance with the weight of the component 21.

When the motor rotates the rotation shaft at a rotation speed between the resonance frequency in the parallel direction and the resonance frequency in the perpendicular direction with respect to the mounting surface 19, the support portion 12 and the mounting table 18 vibrate in the parallel direction with respect to the mounting surface 19 and in the direction perpendicular to the rotation shaft of the motor. At this time, the component 21 moves along the mounting surface 19. By independently controlling the rotation directions of the two motors, the component disassembling apparatus 6 can change the vibration direction of the mounting table 18, and thus can change the moving direction of the component 21.

In a plan view viewed from a direction perpendicular to the mounting surface 19, the axial directions of the rotary shafts of the two motors are orthogonal to each other. With this configuration, the movement direction of the component 21 can be controlled by combining two orthogonal directions. Therefore, the component disassembling apparatus 6 can easily control the moving direction of the component 21. Specifically, the component disassembling apparatus 6 can move the component 21 in an X positive direction, an X negative direction, a Y positive direction, a Y negative direction, an X positive direction and a Y positive direction, an X positive direction and a Y negative direction, an X negative direction and a Y positive direction, and an X negative direction and a Y negative direction.

Preferably, the rotational speed of at least one of the motors can be changed with the resonance frequency of the support portion 12 in the vertical direction. With this configuration, the component separation device 6 can reduce the rotational speed of the motor below the resonance frequency of the support portion 12 in the vertical direction. At this time, the component removing apparatus 6 can move the component 21 along the mounting surface 19. The component disassembling apparatus 6 can make the rotation speed of the motor higher than the resonance frequency of the support portion 12 in the vertical direction. At this time, the component removing apparatus 6 can flip the component 21 by jumping it on the mounting surface 19.

Second embodiment

In the first embodiment, the first weight center of gravity 22a, the second weight center of gravity 24a, the table center of gravity 18b, and the support unit center of gravity 12a overlap each other in a plan view viewed from a direction perpendicular to the placement surface 19.

In fig. 21, the first motor center of gravity 16b as the center of gravity of the motor is the center of gravity of the first motor 16. The second motor center of gravity 17b as the center of gravity of the motor is the center of gravity of the second motor 17. The first motor center of gravity 16b, the second motor center of gravity 17b, the table center of gravity 18b, and the support center of gravity 12a are arranged on a first imaginary line 28 extending in the Z direction. The first virtual line 28 is a line extending in a direction perpendicular to the mounting surface 19. Therefore, in a plan view viewed in a direction perpendicular to the placement surface 19, the first motor center of gravity 16b, the second motor center of gravity 17b, the placement table center of gravity 18b, and the support unit center of gravity 12a overlap. According to this configuration, the center of the vibration generated by the first motor 16, the center of the vibration generated by the second motor 17, the center of gravity of the mounting table 18, and the center of gravity of the support portion 12 overlap each other in a plan view viewed from a direction perpendicular to the mounting surface 19. Therefore, the first motor 16 and the second motor 17 can vibrate the mounting surface 19 in the same manner.

Third embodiment

In the first embodiment, first eccentric weights 22 are provided on both sides of the first rotating shaft 16 a. Second eccentric weights 24 are provided on both sides of the second rotation shaft 17 a. The eccentric weights may also be on only one side of the axis of rotation.

As shown in fig. 22, in the first motor 16 of the parts disassembling apparatus 34, the first eccentric weight 22 is provided only on one side of the first rotation shaft 16 a. The first sensor 23 detects a timing when the first eccentric weight 22 passes through the first slit 23a. In the second motor 17, a second eccentric weight 24 is provided only at one side of the second rotation shaft 17 a. The second sensor 25 detects the timing when the second eccentric weight 24 passes through the second slit 25a.

In the configuration of the component disassembling apparatus 34, the component disassembling apparatus 34 can perform the control of the turning of the component 21 and the moving direction of the component 21, as in the component disassembling apparatus 6 of the first embodiment.

Fourth embodiment

In the first embodiment, the axial direction of the first rotary shaft 16a of the first motor 16 and the axial direction of the second rotary shaft 17a of the second motor 17 are orthogonal to each other in a plan view viewed from a direction perpendicular to the placement surface 19. The axial direction of the first rotating shaft 16a and the axial direction of the second rotating shaft 17a may not necessarily be orthogonal to each other in a plan view viewed from a direction perpendicular to the placement surface 19. For example, the intersection angle of the first rotation axis 16a and the second rotation axis 17a may be 70 degrees or 80 degrees. The component 21 can be moved in a predetermined direction by independently controlling the rotation of the first rotation shaft 16a and the second rotation shaft 17 a.

Fifth embodiment

In the first embodiment, the first motor 16 and the second motor 17 are arranged in parallel in the Z direction. The first motor 16 and the second motor 17 may be disposed at the same position in the Z direction. As shown in fig. 23, in the component disassembling apparatus 37, the pair of first eccentric weights 22 are coupled by a first coupling rod 38. The pair of second eccentric weights 24 are connected by a second connecting rod 39.

A first pulley 41 is provided on the first rotation shaft 16a of the first motor 16. The first motor 16 rotates the first eccentric weight 22 via the first pulley 41 and the first connecting rod 38. A second pulley 42 is provided on the second rotary shaft 17a of the second motor 17. The second motor 17 rotates the second eccentric weight 24 via the second pulley 42 and the second connecting rod 39.

By arranging the two motors at the same height, the height of the parts disassembling apparatus 37 can be reduced even if a large motor having power is used. The center of gravity of the part disassembling apparatus 37 can be lowered.

Claims

1. A component disassembling device is characterized by comprising:

a mounting table having a mounting surface on which a component is mounted;

two motors for rotating and vibrating the rotating shaft;

a support unit for supporting the mounting table and the two motors and transmitting vibration of the motors to the mounting table,

the axial directions of the rotating shafts of the two motors are parallel to the mounting surface, and intersect each other in a plan view viewed from a direction perpendicular to the mounting surface,

the resonance frequency of the support portion is higher in a direction perpendicular to the mounting surface than in a direction parallel to the mounting surface.

2. The part disassembling apparatus according to claim 1,

the axial directions of the rotating shafts of the two motors are orthogonal in a plan view viewed from a direction perpendicular to the mounting surface.

3. The parts disassembling apparatus according to claim 1 or 2,

the motor includes an eccentric weight on the rotating shaft, the eccentric weight being eccentric with respect to the rotating shaft.

4. The parts disassembling apparatus according to claim 3,

the motor is provided with the eccentric weights on both sides of the rotating shaft.

5. The part disassembling apparatus according to claim 4,

in a plan view viewed in a direction perpendicular to the mounting surface, the centers of gravity of the two eccentric weights, the center of gravity of the mounting table, and the center of gravity of the support portion, which are provided in the two motors, overlap each other.

6. The part disassembling apparatus according to claim 1,

in a plan view seen in a direction perpendicular to the mounting surface, the center of gravity of each of the two motors, the center of gravity of the mounting table, and the center of gravity of the support portion overlap each other.

7. The part disassembling apparatus according to claim 1,

the elastic body is also provided for vibratably supporting the support portion.

8. The part disassembling apparatus according to claim 1,

the rotational speed of at least one of the motors can be changed with the resonance frequency of the support portion in the vertical direction.

9. A control method of a part splitting device is characterized in that,

the component disassembling device is provided with: a mounting table having a mounting surface on which a component is mounted; two motors for rotating and vibrating the rotating shaft; a support unit that supports the mounting table and the two motors and transmits vibration of the motors to the mounting table; and a control unit that controls rotation of the motors, wherein axial directions of the rotating shafts of the two motors are parallel to the mounting surface, and intersect each other in a plan view viewed from a direction perpendicular to the mounting surface, and a resonance frequency of the support unit is higher in the direction perpendicular to the mounting surface than in the direction parallel to the mounting surface,

wherein the control section independently controls the rotation speed or the rotation direction or the rotation phase of the two motors.

10. The method for controlling a parts disassembling apparatus according to claim 9,

wherein N is a rotational speed of the motor per 1 second, rv is a resonance frequency of the support portion in a direction perpendicular to the mounting surface, rh is a resonance frequency of the support portion in a direction parallel to the mounting surface,

the control unit rotates the motor within a range of Rh < N < Rv when moving the component along the mounting surface.

11. The method of controlling a parts disassembling apparatus according to claim 9 or 10,

the turning strength is adjusted by making the rotation speeds of the two motors the same and controlling the rotation phase difference between 0 and 180 degrees.

12. The method of controlling a parts disassembling apparatus according to claim 10,

when the part is turned over in place, N > Rv is set.