CN116529186A - Separation device and separation method - Google Patents

Separation device and separation method Download PDF

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Publication number
CN116529186A
CN116529186A CN202280007531.6A CN202280007531A CN116529186A CN 116529186 A CN116529186 A CN 116529186A CN 202280007531 A CN202280007531 A CN 202280007531A CN 116529186 A CN116529186 A CN 116529186A
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CN
China
Prior art keywords
pressing
loading
movement
moving
component
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202280007531.6A
Other languages
Chinese (zh)
Inventor
原田幸一
小川拓人
山浦宏贵
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Brother Industries Ltd
Original Assignee
Brother Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Brother Industries Ltd filed Critical Brother Industries Ltd
Publication of CN116529186A publication Critical patent/CN116529186A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/02—Separating articles from piles using friction forces between articles and separator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/12—Suction bands, belts, or tables moving relatively to the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/44—Simultaneously, alternately, or selectively separating articles from two or more piles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/46—Supplementary devices or measures to assist separation or prevent double feed
    • B65H3/54—Pressing or holding devices

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Abstract

The present invention provides a separating device and a separating method, which can reliably separate a predetermined number of parts from a part bundle formed by loading parts even when the sheet-shaped parts have welding parts at the periphery cut by laser or the like. The separating device disposes the pressing plate at an abutting position (S5), wherein the abutting position is a position where the pressing surface abuts against an abutting member, and the abutting member is a member located at a position in the first loading direction and at a position closest to the first loading direction in the member bundle, the position being a position closer to the first loading direction than an opening of a containing portion of the member bundle containing the loading member. The separating device drives the moving mechanism to move the pressing member a first distance in a first moving direction in a state in which the pressing surface of the pressing plate at the abutting position applies a pressing force in a second loading direction opposite to the first loading direction to the abutting member (S8). The separating device drives the moving mechanism to move the pressing plate in a second moving direction by a second distance longer than the first distance, and separates a predetermined number of target components from the abutting components in the first loading direction in the component bundle from the component bundle (S11).

Description

Separation device and separation method
Technical Field
The present invention relates to a separation apparatus and a separation method.
Background
The conventional separating device includes a pressing member and a driving unit. The pressing member transmits a driving force to the sheet-like member by moving the member in parallel in the conveying direction while applying a predetermined force to the surface of the member. The separating device drives the driving part to move the pressing member in parallel in the conveying direction, and then lifts the pressing member to separate the pressing member from the component.
Prior art literature
Patent literature
Patent document 1: japanese patent laid-open No. 1-187138
Disclosure of Invention
Problems to be solved by the invention
When the member has a welded portion at the outer periphery cut by the laser, for example, the above-mentioned separating device has difficulty in separating a predetermined number of members from the loaded member bundle.
The present invention aims to provide a separating device and a separating method which can reliably separate a predetermined number of parts from a part bundle formed by loading parts, even when the sheet-shaped parts have welded parts on the outer periphery cut by laser or the like, compared with the prior art.
Solution for solving the problem
The 1 st aspect provides a separation device, wherein the separation device includes: a housing portion capable of housing a component bundle formed by loading a plurality of sheet-like components, the housing portion having a loading surface for loading the component bundle and an opening provided in a first loading direction with respect to the loading surface; a lifting mechanism capable of changing a relative position of the component bundle accommodated in the accommodating portion and the opening in the first loading direction; a pressing member having a pressing surface; a moving mechanism configured to move the pressing member in a first moving direction and a second moving direction which intersect the first loading direction and are different from each other; a placement control unit that places the pressing member at an abutment position where the pressing surface abuts against an abutment member that is the member of the member bundle that is located closer to the first loading direction than the opening and that is located closest to the first loading direction; a first movement control unit that drives the movement mechanism to move the pressing member in the first movement direction by a first distance in a state in which the pressing surface of the pressing member at the contact position applies a pressing force in a second loading direction opposite to the first loading direction to the contact member; and a second movement control unit that, after the pressing member is moved by the first drive control unit by a first distance, drives the movement mechanism to move the pressing member by a second distance longer than the first distance in the second movement direction, and separates a predetermined number of target components from the abutting components in the first loading direction in the component bundle from the component bundle.
In the separating device according to claim 1, even when the sheet-like member has a welded portion on the outer periphery cut by the laser beam, the welded portion can be separated from the target member by the movement by the first movement control unit, and then the target member can be moved in the second movement direction by the movement by the second movement control unit. Since the first distance is shorter than the second distance, when the object member and the adjacent member adjacent to the object member in the second loading direction have the welded portion, the end portions of the adjacent member are less likely to be rolled up when the object member and the adjacent member are moved by the first movement control portion. Therefore, the separating device can separate the target member from the loaded member bundle more easily than the conventional one.
The separation device according to claim 2 further includes: an information acquisition unit that acquires information on the number of pieces of the target member; and a distance setting unit that sets the first distance according to the information acquired by the information acquisition unit, wherein the first movement control unit moves the pressing member in the first movement direction by the first distance set by the distance setting unit. Therefore, in the separating device, when the thickness of the target member is smaller than when the thickness of the target member is larger, warpage tends to occur in the adjacent member adjacent to the target member in the second loading direction when the first movement control unit moves. The separation device can suppress the end portion of the adjacent member from rolling up when the separation device moves based on the first movement control unit by setting the first distance according to the thickness of the target member.
In the separation device according to claim 3, the first moving direction and the second moving direction are opposite directions. Therefore, the separating device can reliably separate the target member from the member bundle, compared to when the first moving direction and the second moving direction are not opposite directions.
The housing portion of the separation device according to claim 4 includes: a first wall disposed in the first moving direction with respect to the component bundle and capable of facing a first side surface of the opening on the first moving direction side; and a second wall disposed in the second moving direction with respect to the opening so as to be capable of facing a second side surface of the component beam on the second moving direction side, wherein a first end portion of the first wall in the first moving direction is positioned closer to the first loading direction than a second end portion of the second wall in the second moving direction. Therefore, in the separating device, when the object member and the adjacent member adjacent to the object member in the second loading direction are not separated from each other in the movement by the second movement control unit, the object member and the adjacent member can be moved by the second distance in the second movement direction. In the separation apparatus, the following can be reduced: in a state where the object member and the adjacent member are not separated from each other when the movement is performed by the second movement control unit, a failure occurs due to the contact between the adjacent member and the second end portion of the second wall.
The pressing means of the separation device according to claim 5 includes a holding mechanism capable of holding the target member, and the separation device further includes a holding control unit that controls the holding mechanism to hold the target member after the first movement control unit moves the pressing means in the first movement direction by the first distance, so that the pressing force applied to the abutment member is lower than the pressing force applied to the abutment member when moving in the first movement direction, and the second movement control unit moves the pressing member in the second movement direction by the second distance while the holding control unit holds the target member and so that the pressing force applied to the abutment member is lower than the pressing force applied to the abutment member when moving in the first movement direction. Accordingly, the separating device can remove the pressing force applied to the abutting member by the pressing member after separating the target member from the adjacent member adjacent to the target member in the second loading direction by the movement performed by the first movement control unit, by making the pressing force applied to the abutting member by the pressing member lower than the pressing force applied to the abutting member when the movement performed by the first movement control unit. Therefore, in the separating apparatus, friction between the target member and the adjacent member can be reduced when the second movement control unit moves, and the target member can be smoothly moved relative to the adjacent member.
The holding mechanism of the separation device according to claim 6 sucks and holds the target member by using a negative pressure generated between the pressing surface and the abutment member. Accordingly, the separating device can hold the target member by the negative pressure without damaging the target member or leaving a mark on the target member.
The separating device according to claim 7 is characterized in that the plurality of accommodating portions are provided in correspondence with each of the plurality of sets of component bundles, the pressing surface of the pressing member has a size capable of covering an upper portion of the opening of each of the plurality of accommodating portions at one time, and the arrangement control portion drives the moving mechanism to arrange the pressing member at the contact position where the contact member and the pressing surface can be contacted at one time, each of the plurality of accommodating portions. Therefore, in the separating device, the work of separating the component from the component bundle can be made more efficient than the device of separating the component from the component bundle for one component bundle.
The separation device according to claim 8 includes: a first container and a second container which are arranged in the second moving direction with respect to the accommodating portion and can accommodate the member; a detector that detects a thickness of the target member held by the holding mechanism; and a discriminating control unit that drives the moving mechanism to move the pressing member in the second moving direction based on a detection result of the detector after the second moving control unit moves the pressing member in the second moving direction, when the thickness is greater than a threshold value, and conveys the target component held by the holding mechanism to the first container, and when the thickness is equal to or less than the threshold value, drives the moving mechanism to move the pressing member in the second moving direction, and conveys the target component held by the holding mechanism to the second container. Accordingly, the separating device can accommodate the object member in the first container or the second container separately according to the detection result of the detector.
The housing portion of the separation device according to claim 9 includes: a first wall disposed in the first moving direction with respect to the opening and capable of facing a first side surface of the component beam on the first moving direction side; a second wall disposed in the second moving direction with respect to the opening, the second wall being capable of facing a second side surface of the component beam on the second moving direction side; and an end position changing unit configured to be able to change at least a position of the first loading direction of the variable end portion of the first wall in the first loading direction, wherein the separating device further includes a change control unit configured to drive the end position changing unit to move the position of the variable end portion of the second wall to a position closer to the second loading direction than a position of the end portion of the first wall in the first loading direction when the first movement control unit moves the pressing member in the first movement direction after the first movement control unit moves the variable end portion of the second wall in the first movement direction, and wherein the second movement control unit moves the pressing member in the second movement direction after the change control unit moves the variable end portion of the second wall. Therefore, in the separating device, when the object member and the adjacent member adjacent to the object member in the second loading direction are not separated from each other in the movement by the second movement control unit, the object member and the adjacent member can be moved by the second distance in the second movement direction. In the separation apparatus, the following can be reduced: in a state where the object member and the adjacent member are not separated from each other when the movement is performed by the second movement control unit, a failure occurs due to the contact between the adjacent member and the variable end portion of the second wall.
A 10 th aspect provides a separation method performed by a control unit of a separation apparatus, the separation apparatus comprising: a housing portion capable of housing a component bundle formed by loading a plurality of sheet-like components, the housing portion having a loading surface for loading the component bundle and an opening provided in a first loading direction with respect to the loading surface; a lifting mechanism capable of changing a relative position of the component bundle accommodated in the accommodating portion and the opening in the first loading direction; a pressing member having a pressing surface; and a moving mechanism configured to move the pressing member in a first moving direction and a second moving direction intersecting the first loading direction and different from each other, wherein the separation method includes: a placement control step of driving the moving mechanism to place the pressing member at an abutment position where the pressing surface abuts against an abutment member which is the member of the member bundle located closer to the first loading direction than the opening and is located closest to the first loading direction; a first movement control step of driving the movement mechanism to move the pressing member in the first movement direction by a first distance in a state where the pressing force of the pressing member at the contact position is applied to the contact member in a second loading direction opposite to the first loading direction; and a second movement control step of, after the first movement control step has moved a first distance, driving the movement mechanism to move the pressing member in the second movement direction by a second distance longer than the first distance, and separating a predetermined number of target components from the contact components in the first loading direction in the component bundle from the component bundle.
By performing the separation method according to claim 10, even when the sheet-like member has the welded portion on the outer periphery cut by the laser beam, the separation device can move the target member in the second movement direction by the movement performed by the second movement control portion after the welded portion is separated from the target member by the movement performed by the first movement control portion. Since the first distance is shorter than the second distance, when the object member and the adjacent member adjacent to the object member in the second loading direction have the welded portion, the end portions of the adjacent member are less likely to be rolled up when the object member and the adjacent member are moved by the first movement control portion. Therefore, the separating device can separate the target member from the loaded member bundle more easily than the conventional one.
Drawings
Fig. 1 is a perspective view of a separation device 1.
Fig. 2 is a perspective view of the separation device 1 with the housing 2 omitted.
Fig. 3 is a left side view of the separating apparatus 1 with the housing 2 omitted.
Fig. 4 is a perspective view of the moving mechanism 5, the housing 4 placed on the placement surface 21, and the first container 91 and the second container 93 placed on the placement surface 22.
Fig. 5 is a perspective view of the moving mechanism 5, the pressing plate 7, and the holding mechanism 8.
Fig. 6 is a perspective view of the housing portion 4.
Fig. 7 is a block diagram showing an electrical configuration of the separation device 1.
Fig. 8 is a flowchart of the separation process.
Fig. 9 is a cross-sectional view of the separating device 1 when the support plate 62 is in the standby position and the pressing plate 7 is in the abutting position.
Fig. 10 is a cross-sectional view of the separating apparatus 1 when the pressing plate 7 presses the component bundle D in the second loading direction.
Fig. 11 is a cross-sectional view of the separation device 1 after the first movement control.
Fig. 12 is a cross-sectional view of the separation device 1 when the support plate 62 after the first movement control is lowered.
Fig. 13 is a cross-sectional view of the separation device 1 after the second movement control.
Fig. 14 is a cross-sectional view of the separation device 1 after the pressing plate 7 is moved to the second release position.
Fig. 15 is a cross-sectional view of the separation device 1 after the pressing plate 7 is moved to the first release position.
Fig. 16 is a schematic plan view of two housing portions 4 and a pressing plate 7 of the separation device 1 of the modification.
Fig. 17 is a block diagram showing an electrical configuration of a separation device 101 according to a modification.
Fig. 18 is a flowchart of a separation process of a modification.
Fig. 19 is a schematic cross-sectional view showing transition of the position of the variable end portion 90 in the first loading direction of the second wall 89 in the separation process of the modification.
Detailed Description
A separation apparatus 1 and a separation method according to an embodiment of the present invention will be described in order with reference to the drawings. In the following description, the left and right, front and back, up and down, and the arrows in the figures are used.
As shown in fig. 1 to 6, the separating device 1 is a device that separates a component C, which is a target component C, from a component bundle D in a predetermined number of pieces. The member C is a resin sheet having an annular shape in plan view and has an outer periphery cut by laser light. The component bundle D is a bundle on which a plurality of components C are loaded. The component bundle D of the present embodiment is a bundle in which the component C is loaded from bottom to top. The predetermined number of sheets in this embodiment is one. When the member C is cut by the laser beam, the member C may be welded to the adjacent member C that is vertically overlapped with each other, so that the outer peripheral portion is connected to the adjacent member C. The separating device 1 separates the uppermost abutment member C of the member bundle D from the member bundle D, accommodates one abutment member C in the container when separating the abutment member C, and accommodates the plurality of members C in the second container 93 when separating two or more members C including the abutment member C from the member bundle D, thereby realizing sorting.
The separating apparatus 1 includes a housing 2, a display 17, an operating unit 18, a housing 3, a housing 4, a moving mechanism 5, a lifting mechanism 6, a pressing plate 7, a holding mechanism 8, a first container 91, a second container 93, and a guide plate 95. As shown in fig. 1 and 2, the housing 2 accommodates the frame body 3, the accommodation portion 4, the moving mechanism 5, the lifting mechanism 6, the pressing plate 7, the holding mechanism 8, the first container 91, and the second container 93 therein, and has an L-shaped box shape when viewed from the left. The housing 2 includes a front surface 20, mounting surfaces 21, 22, and doors 23, 26. The display 17 and the operation 18 are provided on the left part of the front surface 20. The display unit 17 displays an image. The operation unit 18 includes a switch or a dial for inputting various instructions to the separation device 1. The mounting surfaces 21, 22 extend rearward from the upper end of the front surface 20 in parallel with the horizontal direction. The mounting surfaces 21, 22 have a rectangular shape in plan view. The mounting surfaces 21, 22 extend from the front end to the rear end of the separation device 1 in the front-rear direction. The portions of the mounting surfaces 21, 22 on the front sides of the doors 23, 26 are exposed to the outside, and the portions of the mounting surfaces 21, 22 on the rear sides of the doors 23, 26 are located inside the housing 2. The placement surface 21 is provided on the left side of the placement surface 22. The placement surface 21 includes a pair of left and right outer guides 29 extending in the front-rear direction. The pair of right and left outer guides 29 guide the movement of the plate 41 supporting the housing 4 in the front-rear direction. The placement surface 21 supports the housing portion 4 via the plate 41. The placement surface 22 places the first container 91 and the second container 93 in a portion rearward of the door 26. The first container 91 is disposed between the housing 4 and the second container 93 in the left-right direction. The doors 23 and 26 are plate-like and long in the left-right direction in a front view, and the doors 23 and 26 extend vertically with respect to the front-rear direction above the mounting surfaces 21 and 22 and forward of the centers of the mounting surfaces 21 and 22 in the front-rear direction. The left end of the door 23 is connected to the left end of the housing 2 by a pair of upper and lower hinges 25. The door 23 has a grip 24 at its right end. The operator grips the grip portion 24 to open and close the door 23. The operator opens the door 23 during work such as replacement of the housing 4. The right end portion of the door 26 is connected to the right end portion of the housing 2 by a pair of upper and lower hinges 28. The door 26 has a grip 27 at its left end. The operator grips the grip portion 27 to open and close the door 26. The operator opens the door 26 when exchanging the first container 91, the second container 93, and the like.
As shown in fig. 2 and 3, the frame 3 is formed by combining a plurality of rod-shaped materials made of iron or aluminum. The plurality of rod-shaped materials include a rod-shaped material extending in the front-rear direction, a rod-shaped material extending in the left-right direction, and a rod-shaped material extending in the up-down direction. The housing 3 supports the housing 2 and the moving mechanism 5.
As shown in fig. 4 and 6, the housing 4 can house the component bundle D on which the plurality of sheet-like components C are mounted. The housing 4 includes a peripheral wall 43, a rim 44, a bottom 39, a cylindrical portion 45, a support plate 62, a plate 41, a pair of left and right grip portions 30, four ribs 49, and four screws 50. The peripheral wall 43 has an opening 40 at an end in the first loading direction, and can abut against a side surface of the component bundle D. The opening 40 is provided in the first loading direction (upward) with respect to the loading surface 69 of the support plate 62. The top view shape of the opening 40 is a shape along the outer periphery of the top view shape of the member C. The end (upper end) of the peripheral wall 43 in the first loading direction is a flange portion 59 protruding in the radial direction. The radial direction is a direction perpendicular to and radially extending from the planar center M of the housing portion 4. The edge 44 made of a rigid metal is fixed to the left upper portion of the flange 59 by seven screws 42 from above. The edge 44 of the present embodiment is formed of a member independent of the peripheral wall 43 and has an arc shape in plan view. The friction force generated between the friction member 82 of the pressing surface 71 on the back surface of the pressing plate 7 and the component C is greater than the friction force generated between the component C and the component C. The bottom 39 is connected to the lower end of the peripheral wall 43. The bottom 39 has a hole through which the lifting mechanism 6 passes. The cylindrical portion 45 extends cylindrically upward from the planar center M of the bottom portion 39 of the housing portion 4. The side surface of the cylindrical portion 45 has a plurality of slits extending in the up-down direction. The shape, arrangement, etc. of the cylindrical portion 45 in plan view may be appropriately changed according to the shape of the member C. The cylindrical portion 45 penetrates a hole of the annular member C accommodated in the accommodating portion 4. The upper surface of the support plate 62 is a loading surface 69 on which the component bundle D is placed. The top view of the loading surface 69 is annular and substantially matches the top view of the component C. The support plate 62 penetrates the cylindrical portion 45 from above and is disposed above the bottom portion 39. The outer periphery of the support plate 62 is shaped along the inner periphery of the peripheral wall 43. The left side portion of the peripheral wall 43 and the rim portion 44 are also referred to as a first wall 88. The right side of the peripheral wall 43 is also referred to as a second wall 89. The first wall 88 is disposed in the first movement direction with respect to the component bundle D, and faces a first side surface (left side surface) of the component bundle D on the first movement direction side. The second wall 89 is disposed in the second movement direction with respect to the component bundle D, and faces a second side surface (right side surface) on the second movement direction side of the component bundle D.
The plate 41 has a rectangular shape in plan view larger than the bottom 39, and supports the bottom 39 from below. The pair of left and right grip portions 30 are fixed to left and right portions of the plate 41. When performing work on the housing portion 4, the operator grips the grip portion 30 and moves the housing portion 4. Four ribs 49 protrude outward from the outer periphery of the peripheral wall 43. Each rib 49 has a slit 60 extending in the up-down direction and penetrating in the radial direction. The lower end portion of each rib 49 is fixed to the plate 41 by a corresponding screw 50. That is, the peripheral wall 43 is fixed to the plate 41 by four screws 50.
As shown in fig. 3 to 5, the moving mechanism 5 moves the pressing plate 7 in a first moving direction and a second moving direction intersecting the first loading direction. The first movement direction and the second movement direction are opposite directions. The first movement direction of the present embodiment is the left direction, and the second movement direction is the right direction opposite to the first movement direction. The moving mechanism 5 includes a pair of rails 51, a column 52, a harness 53, and a driving unit 54. The pair of rails 51 extend in the left-right direction above the housing 4, the first container 91, and the second container 93. A pair of rails 51 are spaced apart from each other in the front-rear direction and are disposed at the same height as each other. The right and left end portions of the pair of rails 51 are supported by the frame 3. The pillar portion 52 is located between the pair of rails 51 in the front-rear direction, and extends in the left-right direction above the pair of rails 51. One end of the wire harness 53 is connected to the driving portion 54. The harness 53 transmits a command from the control unit 10 (see fig. 7) to the driving unit 54, and supplies electric power to the driving unit 54. The driving portion 54 is fixed to the upper surface 73 of the pressing plate 7. The driving unit 54 moves the pressing plate 7 in the first movement direction or the second movement direction in response to the instruction from the control unit 10. When the driving unit 54 is driven, the pressing plate 7 moves along the pair of rails 51 in the first movement direction or the second movement direction. The rail 51 is held by a frame not shown.
As shown in fig. 3, the elevating mechanism 6 is capable of changing the relative position of the component bundle D accommodated in the accommodating portion 4 and the opening 40 in the first loading direction. The elevating mechanism 6 of the present embodiment is provided below the accommodating portion 4, and can move the support plate 62 in the first loading direction and the second loading direction. The elevating mechanism 6 includes a driving unit 65 (see fig. 7), and is a well-known elevating device capable of elevating the support plate 62 by the power of the driving unit 65. The driving method of the driving unit 65 may be any method such as electrohydraulic method or electric ball screw method.
As shown in fig. 4 and 5, the pressing plate 7 includes a pressing surface 71, an upper surface 73, a friction member 82, four support members 75, and two support members 74. The pressing plate 7 has a rectangular shape long in the front-rear direction in plan view. The moving mechanism 5 supports the pressing plate 7 so as to be able to move the pressing plate 7 in a first moving direction and a second moving direction intersecting the first loading direction. The pressing plate 7 is movable by the moving mechanism 5 to a contact position above the housing 4, a first release position above the first container 91, and a second release position above the second container 93. The pressing surface 71 of the pressing plate 7 is a lower surface of the pressing plate 7, which is larger than the opening 40 of the accommodating portion 4. When the pressing plate 7 is in the abutting position, the opening 40 of the housing portion 4 is positioned inside the outline of the pressing plate 7 in a plan view. The friction member 82 is provided in a circular shape in a center portion of the pressing surface 71 when viewed from the back. At a predetermined timing when the pressing plate 7 is at the abutment position, the friction member 82 faces the edge 44 of the housing portion 4 (the upper end of the inner periphery of the housing portion 4), and the friction member 82 is provided at a portion of the pressing surface 71 that abuts against the edge (the outer periphery) of the abutment member C, and when the pressing plate 7 is moved from the abutment position in the first movement direction, a friction force is generated between the friction member 82 and the abutment member C. When the pressing plate 7 is in the abutting position, the edge portion 44 of the housing portion 4 is slightly spaced apart from the pressing surface 71 and the friction member 82 in the up-down direction. The distance between the edge 44 and the friction member 82 (pressing surface 71) is a value corresponding to the component C. The separation distance is, for example, a distance greater than the thickness of one piece of the member C and less than the thickness of two pieces of the member C. When the pressing plate 7 is in the abutting position, the opening 40 of the housing portion 4 is positioned inside the contour of the friction member 82 in a plan view. That is, at a predetermined timing when the pressing plate 7 is at the abutment position, the friction member 82 abuts against the upper surface of the abutment member C including the entire edge 44 of the abutment member C of the pressing surface 71. The friction member 82 of the present embodiment is an elastic member such as rubber. The predetermined time is a time when the lifting mechanism 6 lifts the support plate 62 so that the contact member C is pressed against the pressing surface 71. Four support members 75 are provided at the right front, left front, right rear, left rear of the upper surface 73, and extend in the left-right direction. The upper surface of each support member 75 has a groove 76 recessed downward. The groove 76 extends from the left end to the right end of the support member 75 in the left-right direction. The groove 76 of the right front support member 75 and the groove 76 of the left front support member 75 of the upper surface 73 of the pressing plate 7 are engaged with the front rail 51, respectively. The groove 76 of the right rear support member 75 and the groove 76 of the left rear support member 75 of the upper surface 73 of the pressing plate 7 are engaged with the rear rail 51, respectively. The two support members 74 are inverted U-shaped plate members that are open at the bottom in a left side view. Two support members 74 are fixed to the left and right sides of the driving portion 54. The two support members 74 and the upper surface 73 of the pressing plate 7 enclose the column portion 52. One end of the wire harness 53 is fixed to the upper surface of the left support member 74.
As shown in fig. 4 and 5, the holding mechanism 8 includes four flow paths 83 communicating with four holes 81 provided in the pressing surface 71 of the pressing plate 7, and sucks the fluid from each hole 81 by the negative pressure introduced from each flow path 83, thereby sucking and holding the abutment member C by the negative pressure generated between the pressing surface 71 and the abutment member C. The fluid of the present embodiment is air, and a vacuum ejector that supplies negative pressure to each of the channels 83 and a pipe that connects the channels 83 are not shown. The four holes 81 are holes opening downward, and the four holes 81 are provided at the following positions: the positions of the pressing surface 71 apart from the center of the pressing surface 71 in the portion where the friction member 82 is provided are the right front portion, the left front portion, the right rear portion, and the left rear portion of the friction member 82. When the pressing plate 7 is in the abutting position, the four holes 81 are located inside the opening 40 of the housing portion 4.
As shown in fig. 2 and 4, the first container 91 and the second container 93 are disposed in the second movement direction (right direction) with respect to the housing 4, and can house the component C. The first container 91 and the second container 93 are rectangular box-like with an upper side open. The first container 91 and the second container 93 are the same shape as each other. The first container 91 and the second container 93 are placed on the placement surface 22. The front surface lower portion of the first container 91 is provided with a grip 92. The second container 93 has a grip 94 at a lower portion of a front surface thereof. The operator holds the holding portions 92 and 94 to perform replacement work of the first container 91 and the second container 93.
As shown in fig. 4 and 9, the guide plate 95 is provided between the housing 4 and the first container 91 in the left-right direction. The guide plate 95 extends rightward from the right side of the edge 44 of the housing 4 at a position slightly lower than the height of the edge 44, and is bent downward in the left direction of the first container 91. The upper end of the guide plate 95 is located slightly higher than the upper end of the first container 91. The guide plate 95 prevents the member C held by the pressing plate 7 and the holding mechanism 8 from falling down between the housing 4 and the first container 91. Even when the object member C held by the holding mechanism 8 moves in the second moving direction together with the adjacent member C, a part of the adjacent member C is prevented from hanging down from the object member C.
The electrical structure of the separation device 1 is described with reference to fig. 7. As shown in fig. 7, the control unit 10 includes a CPU9, a ROM12, a RAM13, a storage device 14, and an input/output interface (I/F) 15. The CPU9, ROM12, RAM13, and storage device 14 are electrically connected to the input/output I/F15 via signal lines 16. The CPU9 is responsible for control of the separation apparatus 1, and executes processing in accordance with various programs stored in the ROM 12. The ROM12 stores various programs including a separate program, various initial setting parameters, and the like. The RAM13 temporarily stores the operation result of the CPU9, various data, and the like.
The input/output I/F15 is electrically connected to the driving circuits 31 to 33, the on-off valve 38, the Switch (SW) 34, the detectors 35 to 37, and the operation unit 18, respectively. The driving circuit 31 is electrically connected to the driving section 54 of the moving mechanism 5. The driving circuit 32 is electrically connected to the driving section 65 of the elevating mechanism 6. The driving circuit 33 is electrically connected to the display unit 17, and displays an image on the display unit 17 according to an instruction of the CPU 9. The on-off valve 38 is provided in a supply path of the fluid supplied from the air compressor to the four flow paths 83 of the holding mechanism 8. The CPU9 opens and closes the opening/closing valve 38 to control the driving and non-driving of the holding mechanism 8. The detector 35 is an arbitrary sensor for detecting the number of pieces of the member C held by the holding mechanism 8. The detector 35 is, for example, a sensor that detects the thickness disposed between the housing 4 and the first container 91. The sensor may be, for example, a laser displacement meter or a sensor for detecting the transmittance of ultrasonic waves. The detector 35 detects the number of pieces based on the thickness of the member C held by the holding mechanism 8 disposed at the detection position between the abutment position and the first release position. The detector 36 is provided inside the housing 4, and detects whether the component C is present in the housing 4. The detector 37 is provided on the pressing surface 71, and detects whether the holding mechanism 8 holds the component C. The detectors 36, 37 are, for example, proximity sensors. As the proximity sensor, a known proximity sensor such as an optical type using infrared rays, laser light, or the like, or a capacitive type may be used, and in the case of using the optical type proximity sensor, a transmission portion through which the detection light passes may be provided at the installation site so as to transmit the detection light of the proximity sensor. The proximity sensor detects that the member C approaches when detection light emitted from the light projecting unit to the light receiving unit so as to pass through the track is blocked by the member C.
The separation process performed by the separation apparatus 1 will be described with reference to fig. 8 to 15. When the operator inputs a start instruction to the control section 10 via the operation section 18, the CPU9 reads the separation program from the ROM12 to the RAM13, and executes the process. At the start of the process, the on-off valve 38 is closed.
As shown in fig. 8, the CPU9 controls the lifting mechanism 6 and the moving mechanism 5 to move the support plate 62 and the pressing plate 7 to the standby position (S1). The standby position of the support plate 62 is the lowest position in the movable range of the support plate 62. When the support plate 62 is in the standby position, the support plate 62 abuts against the bottom 39 of the housing 4. The standby position of the pressing plate 7 is a position in which the pressing plate 7 does not face the edge 44 of the housing 4 in the movable range of the pressing plate 7. The CPU9 acquires information on the number of pieces of the object member C (S2). The target member C is a predetermined number of members C counted from the abutment member C in the first loading direction in the member bundle D. The object member C of the present embodiment is a single piece of abutment member C. The information on the number of pieces of the target member C may be the thickness of the target member C, the number of pieces of the target member C itself, or the information on the number of pieces of the target member C may be information specifying the type of the target member C when the storage device 14 stores the relationship between the type of the target member C and the number of pieces (or thickness) of the target member C. The information on the number (or thickness) of pieces of the target member C may be a value input by the operator or may be a detection result by the detector 35 or the like. The CPU9 sets the first distance in accordance with the information acquired in S2, based on the correspondence between the information on the number of pieces of the target member C stored in the storage device 14 and the first distance (S3). The correspondence relationship between the information on the number of pieces of the target member C and the first distance may be information represented by a calculation formula or information stored in a table. For example, the CPU9 sets the first distance to a larger value as the value indicated by the information on the number of pieces of the target member C is larger.
The CPU9 determines whether or not the component C is present in the housing section 4 based on the detection result of the detector 36 (S4). When the component C is not present in the housing section 4 (S4: NO), the CPU9 performs a component replenishment process for replenishing the component C (S23). Specifically, the CPU9 causes the display unit 17 to display a message prompting replenishment of the component C to the housing unit 4, for example. The operator supplies the component C to the housing 4 in response to the message displayed on the display unit 17, and operates the operation unit 18 to input an instruction that the replenishment of the component C is completed. After detecting the completed instruction, the CPU9 moves the process to S21.
When the component C is present (S4: yes), the CPU9 drives the moving mechanism 5 so that the pressing surface 71 faces at least a portion of the edge (the inner upper end of the edge portion 44) of the opening 40 of the housing portion 4 on the first moving direction (left side) side with respect to the component bundle D, and places the pressing plate 7 at an abutment position (a position where the abutment member C overlaps the pressing surface 71 in a plan view) (S5) where the pressing surface 71 can abut against the component C, which is the component C located at the position closest to the first loading direction. As shown in fig. 9, when the moving mechanism 5 is driven to place the pressing plate 7 at the abutment position, the pressing surface 71 faces the entire edge of the opening 40 of the housing 4. The pressing surface 71 of the pressing plate 7 is slightly separated from the edge 44 of the housing 4 in the up-down direction. The pressing surface 71 is vertically spaced apart from the abutment member C.
The CPU9 drives the lifting mechanism 6 to raise the support plate 62 from the standby position, and the abutment member C abuts against the pressing surface 71 (friction member 81) of the pressing plate 7 (S6). When the contact member C contacts the pressing surface 71 of the pressing plate 7 and a predetermined pressing force is applied to the member bundle D between the pressing plate 7 and the support plate 62, the CPU9 stops the raising of the support plate 62 (S7). The method of detecting whether or not a predetermined pressing force is applied to the component bundle D may be appropriately set, and for example, a sensor such as a load sensor that detects torque may be used to determine the torque of the driving unit 65. As shown in fig. 10, in S5 to S7, the CPU9 places the pressing plate 7 at the contact position where the pressing surface 71 contacts the contact member C, which is the member C located in the first loading direction and located closest to the first loading direction than the opening 40 of the housing 4 in the member bundle D. The CPU9 drives the lifting mechanism 6 to adjust the pressing force applied to the contact member C by the pressing surface 71 of the pressing plate 7.
The CPU9 drives the movement mechanism 5 to perform the first movement control (S8). As shown in fig. 11, in the first movement control, the CPU9 moves the pressing plate 7 in the first movement direction by a first distance in a state where the pressing surface 71 of the pressing plate 7 in the abutment position applies a pressing force in the second loading direction opposite to the first loading direction to the abutment member C. The CPU9 moves the pressing plate 7 in the first movement direction in a state where the pressing plate 7 is in contact with the entire edge of the abutment member C. The first distance is a value set in S3, which is shorter than the radial length of the rim 44 of the upper end of the accommodating portion 4. Therefore, after the first movement control, the left end of the abutment member C is located between the edge 44 and the pressing surface 71 (friction member 82). The friction member 82 is provided at a portion of the pressing surface 71 that abuts against the edge of the abutment member C. When the pressing plate 7 is moved in the moving direction, a friction force is generated between the friction member 82 and the abutment member C. By S8, a predetermined number of target components C counted from the abutting component C in the first loading direction in the component bundle D are moved in the first moving direction together with the pressing plate 7 and separated from the component bundle D. Specifically, since the target member C is located above the edge portion 44 and is not blocked by the edge portion 44, the target member C can move in the first movement direction along with the pressing plate 7. On the other hand, at this time, since the member bundle D other than the target member C has a portion below the edge portion 44, the portion is blocked by the peripheral wall 43 and the inner side of the edge portion 44. When there is a welded portion on the outer periphery of the abutting member C, the separating device 1 peels off the welded portion of the abutting member C and the adjacent member C by the first movement control.
The CPU9 controls the on-off valve 38, switches the on-off valve 38 from the closed state to the open state, and drives the holding mechanism 8 (S9). The holding mechanism 8 sucks the fluid from the four holes 81, and sucks and holds the abutment member C by the negative pressure generated between the pressing surface 71 and the abutment member C. The CPU9 controls the lifting mechanism 6 to lower the support plate 62 (S10). As shown in fig. 12, the uppermost component C of the component bundle D is separated from the abutment component C sucked and held by the holding mechanism 8. In S10, the CPU9 controls the holding mechanism 8 to hold the target member C after moving the pressing plate 7 a first distance in the first moving direction, so that the pressing force applied to the contact member C is lower than the pressing force applied to the contact member C when moving in the first moving direction in S8. In the present embodiment, the pressing force applied to the contact member C is set to 0 at S10.
The CPU9 drives the movement mechanism 5 to perform the second movement control (S11). As shown in fig. 13, in the second movement control, the CPU9 moves the pressing plate 7 in the second movement direction by a second distance longer than the first distance. The CPU9 moves the pressing plate 7 a second distance in the second moving direction and is disposed at the detection position in a state where the holding mechanism 8 holds the target member C in S9 and the support plate 62 is lowered in S10 so that the pressing force applied to the abutment member C is lower than the pressing force applied to the abutment member C when moving in the first moving direction. When the pressing plate 7 is at the detection position, the left end of the pressing plate 7 is positioned right of the opening 40 of the housing 4. In the left-right direction, the center of the pressing plate 7 in the left-right direction is located between the housing portion 4 and the first container 91.
The CPU9 determines whether the thickness of the component C held by the holding mechanism 8 is greater than 0 based on the detection result of the detector 35 (S12). When the thickness is not greater than 0 (S12: NO), the CPU9 performs abnormality processing (S18). The CPU9 causes the display unit 17 to display a warning, for example. After confirming the warning displayed on the display unit 17, the operator performs a necessary operation, and operates the operation unit 18 to input an instruction to restart the separation process or an instruction to end the separation process. After detecting the instruction input by the operator, the CPU9 proceeds to S21.
When the thickness is greater than 0 (S12: "Yes"), the CPU9 judges whether or not it is smaller than the threshold value stored in the storage device 14 based on the detection result of the detector 35 (S13). The threshold value is set in advance in consideration of the number of pieces and the thickness of the target member C. In the present embodiment, since one abutting member C is set as the target member C, the threshold value is a value that is greater than the thickness of one member C and less than the thicknesses of both members C. When the thickness is not less than the threshold value (S13: no), it can be considered that in S8, only the target component C is not separated from the component bundle D, and therefore, as shown in fig. 14, the CPU9 controls the moving mechanism 5 to convey the pressing plate 7 to the second release position above the second container 93 (S14). When the thickness is smaller than the threshold value (S13: YES), as shown in FIG. 15, the CPU9 controls the moving mechanism 5 to convey the pressing plate 7 to the first release position above the first container 91 (S15). The first container 91 is located closer to the housing 4 than the second container 93.
After S14 or S15, the CPU9 determines whether the holding mechanism 8 holds the component C based on the detection result of the detector 37 (S16). When the holding means 8 does not hold the component C (S16: no), the CPU9 performs the abnormality processing in S18, and thereafter, proceeds to S21. When the holding means 8 does not hold the component C (S16: no), the CPU9 performs the abnormality processing in S18, and thereafter, proceeds to S21. When the holding mechanism 8 holds the member C (S16: yes), the CPU9 controls the opening/closing valve 38, switches the opening/closing valve 38 from the open state to the closed state, and stops the holding mechanism 8 from holding the abutment member C (S17). The abutment member C held by the holding mechanism 8 is dropped to the first container 91 or the second container 93 located below the pressing plate 7 by S16. After the pressing plate 7 is moved a second distance in the second moving direction by the processing of S13 to S18 (S11), the CPU9 drives the moving mechanism 5 to move the pressing plate 7 in the second moving direction and conveys the object member C held by the holding mechanism 8 to the first container 91 based on the detection result of the detector 35 when the thickness is smaller than the threshold value (S13: yes) (S15). When the thickness is not smaller than the threshold value (S13: NO), the CPU9 drives the moving mechanism 5 to move the pressing plate 7 in the second moving direction, and conveys the object part C held by the holding mechanism 8 to the second container 93, thereby discriminating.
As in S3, the CPU9 determines whether or not the component C is present in the housing portion 4 based on the detection result of the detector 36 (S19). When the component C is not present (S19: NO), the CPU9 performs the component replenishment processing in the same manner as in S23 (S20), and thereafter, the process proceeds to S21. When the component C is present (S19: YES), the CPU9 judges whether or not an end instruction is acquired (S21). When the operator wants to end the separation process, he or she operates the operation unit 18 to input an end instruction. When the CPU9 does not detect the end instruction (S21: no), the CPU9 returns the process to S5. When the end instruction is detected (S21: YES), the CPU9 drives the lifting mechanism 6 and the moving mechanism 5 in the same manner as in S1 to move the support plate 62 and the pressing plate 7 to the standby position (S22). To this end, the CPU9 completes the processing.
In the above embodiment, the separating device 1, the housing 4, the moving mechanism 5, the lifting mechanism 6, the pressing plate 7, and the holding mechanism 8 are examples of the separating device, the housing, the moving mechanism, the lifting mechanism, the pressing member, and the holding mechanism of the present invention, respectively. The detector 35, the opening 40, the loading surface 69, the pressing surface 71, the hole 81, the first wall 88, the second wall 89, the first container 91, and the second container 93 are examples of the detector, the opening, the loading surface, the pressing surface, the hole, the first wall, the second wall, the first container, and the second container of the present invention, respectively. S5 is an example of the arrangement control process of the present invention, and the CPU9 that performs S5 is an example of the arrangement control unit of the present invention. S8 is an example of the first movement control step of the present invention, and the CPU9 that performs S8 is an example of the first movement control unit. S11 is an example of the second movement control process of the present invention, and S11 is an example of the second movement control unit of the present invention. The CPU9 performing S2 is an example of the information acquisition unit of the present invention. The CPU9 performing S3 is an example of the distance setting unit of the present invention. The CPU9 performing S9 and S10 is an example of the hold control unit of the present invention. The CPU9 performing S13 to S15 is an example of the discrimination control unit of the present invention.
The separating apparatus 1 of the above embodiment includes a housing portion 4, a lifting mechanism 6, a pressing plate 7, a moving mechanism 5, and a CPU9. The housing 4 is capable of housing a component bundle D formed by loading a plurality of sheet-like components C, and the housing 4 has a loading surface 69 on which the component bundle D is loaded and an opening 40 provided in a first loading direction with respect to the loading surface 69. The elevating mechanism 6 is capable of changing the relative position of the component bundle D accommodated in the accommodating portion 4 and the opening 40 in the first loading direction. The pressing plate 7 has a pressing surface 71. The moving mechanism 5 can move the pressing plate 7 in a first moving direction and a second moving direction which intersect with the first loading direction and are different from each other. The CPU9 places the pressing plate 7 at an abutment position (S5) where the pressing surface 71 abuts against the abutment member C, which is the member C located in the first loading direction from the opening 40 and located closest to the first loading direction in the member bundle D. The CPU9 drives the moving mechanism 5 to move the pressing plate 7 in the first moving direction by a first distance in a state where the pressing surface 71 of the pressing plate 7 at the contact position applies a pressing force in a second loading direction opposite to the first loading direction to the contact member C (S8). The CPU9 drives the moving mechanism 5 to move the pressing plate 7 in the second moving direction by a second distance longer than the first distance, and separates a predetermined number of target components C from the abutting components C in the first loading direction in the component bundle D from the component bundle D (S11).
In the separating apparatus 1, even when the sheet-like member C has a welded portion on the outer periphery cut by the laser beam, the welded portion can be separated from the target member C by the movement performed by the first movement control unit, and thereafter, the target member C can be moved in the second movement direction by the movement performed by the second movement control unit. Since the first distance is shorter than the second distance, even in the case where there is a welded portion between the object member C and the adjacent member C adjacent to the object member C in the second loading direction at the time of the movement in S8, the end portions of the adjacent member C are not easily rolled up. Therefore, the separating apparatus 1 can separate the target component C from the bundle of the loaded components C more easily than the conventional one.
The separating apparatus 1 acquires information on the thickness of the target member C (S2). The CPU9 sets the first distance accordingly based on the information acquired in S2 (S3). The CPU9 moves the pressing plate 7 in the first movement direction by the first distance set in S3 (S8). When the thickness of the target member C is smaller, warpage tends to occur in the adjacent member C adjacent to the target member C in the second loading direction when the movement is performed by the first movement control unit, as compared with when the thickness of the target member C is larger. The separating apparatus 1 can suppress the end portion of the adjacent member C from rolling up when moving based on the first movement control portion by setting the first distance according to the thickness of the target member C.
In the separating apparatus 1, the first moving direction and the second moving direction are opposite directions. The separating apparatus 1 easily and reliably separates the target component C from the bundle of components C, compared to when the first moving direction and the second moving direction are not opposite directions.
The housing section 4 of the separation device 1 includes: a first wall 88 disposed in the first moving direction with respect to the component beam D, the first wall 88 being opposed to a first side surface of the component beam D on the first moving direction side; and a second wall 89 disposed in the second moving direction with respect to the component beam D, the second wall 89 being opposed to a second side surface on the second moving direction side of the component beam D. The first end (left end) of the first wall 88 in the first moving direction is located closer to (above) the first loading direction than the second end (right end) of the second wall in the second moving direction. In the separating apparatus 1, at the time of the movement of S11, even in a state where the object member C and the adjacent member C adjacent to the object member C in the second loading direction are not separated, the object member C and the adjacent member C can be moved by the second distance in the second movement direction. In the separation apparatus 1, the following can be reduced: when the movement is performed by the second movement control unit, the object member C and the adjacent member C are not separated, and a defect occurs due to the contact between the adjacent member C and the second end portion of the second wall.
The pressing plate 7 has a holding mechanism 8 capable of holding the target member C. After the pressing plate 7 is moved a first distance in the first moving direction in S8, the separating apparatus 1 controls the holding mechanism 8 to hold the target member C such that the pressing force applied to the abutment member C is lower than the pressing force applied to the abutment member C when moving in the first moving direction (S10). The CPU9 causes the holding control unit to hold the target member C and move the pressing plate 7 a second distance in the second movement direction while the pressing force applied to the abutment member C is made lower than the pressing force applied to the abutment member C when moving in the first movement direction (S11). The separating device 1 can remove the pressing force on the member bundle D including the adjacent member C by moving the target member C and the adjacent member C adjacent to the target member C in the second loading direction in S8 and then making the pressing force applied to the abutting member C by the pressing plate 7 lower than the pressing force applied to the abutting member C when moving in S8. Accordingly, in the separating apparatus 1, friction between the target member C and the adjacent member C can be reduced during the movement in S11, and the target member C can be smoothly moved with respect to the adjacent member C.
The holding means 8 has a hole 81 for sucking fluid. The CPU9 sucks and holds the target member C by the negative pressure generated between the pressing surface 71 and the abutment member C by the suction of the fluid from the hole 81 (S9). The separating apparatus 1 can hold the target member C without damaging the target member C and leaving a holding mark on the target member C by using negative pressure.
The separation device 1 includes: the first container 91 and the second container 93 are disposed in the second moving direction with respect to the housing 4, and can house the member C; and a detector 35 that detects the thickness of the target member C held by the holding mechanism 8. After the pressing plate 7 is moved in the second movement direction by the second distance in S11, the CPU9 drives the movement mechanism 5 to move the pressing plate 7 in the second movement direction and conveys the target component C held by the holding mechanism 8 to the first container 91 when the thickness is smaller than the threshold value based on the detection result of the detector 35 (S13: yes). When the thickness is equal to or greater than the threshold value (S13: NO), the moving mechanism 5 is driven to move the pressing plate 7 in the second moving direction, and the target member C held by the holding mechanism 8 is conveyed to the second container 93. The separating apparatus 1 can accommodate the target member C in the first container 91 or the second container 93 separately according to the detection result of the detector 35.
In addition to the above embodiments, the separation device and the separation method of the present invention can be variously modified. The above-described embodiments and the following modifications may be appropriately combined within a range where there is no contradiction. In the drawings used in the following description of the modification, the same components as those of the above-described embodiment are denoted by the same reference numerals, and the description of the same components as those of the above-described embodiment is omitted. In the separating apparatus 1, the holding mechanism 8 may not be provided to the pressing plate 7. In this case, for example, the separating apparatus 1 may omit S9 and S10 after moving the contact member C in the first movement direction by the first movement control and then move the contact member C in the second movement direction by the second movement control. The holding mechanism 8 may be appropriately modified, and may be a suction mechanism using a negative pressure pump other than a vacuum ejector, a mechanism using bernoulli suction, a mechanism for holding the member C, or a mechanism for holding the member C by a needle or the like. The moving mechanism 5 may move the pressing plate 7 in only one direction, or may move the pressing plate 7 in two directions intersecting each other. The structure of the moving mechanism 5 for holding the pressing plate 7 may be changed as appropriate, and the pressing plate 7 may be held by rollers or the like in addition to the pair of rails 51. The number, shape, arrangement, etc. of the pair of rails 51 may be changed as appropriate. The pair of rails 51 may be arranged in the second loading direction with respect to the pressing plate 7, for example. The moving direction of the pressing plate 7 may be defined by a guide member or the like, in addition to the rail 51. The shape of the housing portion 4 may be changed to a rectangular shape in a plan view, an elliptical shape, or the like as appropriate according to the shape of the component C housed in the housing portion 4. The shape, size, and material of the pressing plate 7 can be changed as appropriate. The material, shape, arrangement, etc. of the friction member 82 may be changed as appropriate, and the friction member 82 may be a member having a concave-convex surface on a surface formed of a member other than an elastic member. The pressing plate 7 may not be provided with the friction member 82. The pressing plate 7 may have the pressing surface 71, and may not be plate-shaped. The target member C may be any member C including at least one piece of the contact member C, and the number of pieces of the member C included in the target member C may be changed. The structure of the elevating mechanism 6 may be changed as appropriate, for example, in the elevating mechanism 6, when the vertical position of the support plate 62 is fixed, the peripheral wall 43 may be moved in the first loading direction and the second loading direction. The first loading direction, the second loading direction, the first moving direction, and the second moving direction may be appropriately changed according to the structure of the separating apparatus 1. The housing 4 may not be fixed to the plate 41. The positions in the first loading direction of the end portions of the first loading direction of both the first wall 88 and the second wall 89 of the accommodating portion 4 may be identical to each other. The first container 91 and the second container 93 may be omitted. In this case, the processing in S12 to S18 may be omitted or modified as appropriate. The first container 91 may be disposed at a position farther from the housing 4 than the second container 93. When the detector 35 is a sensor (for example, an imaging device) capable of directly detecting the number of pieces of the target component C held by the holding mechanism 8, the CPU9 may determine in S12 whether the number of pieces of the target component C held by the holding mechanism 8 is greater than 0 pieces, and in S13 whether the number of pieces of the target component C held by the holding mechanism 8 is less than a threshold value indicating the number of pieces.
As shown in fig. 16, the separating device 1 may include a plurality of accommodating portions 4 corresponding to the respective component bundles D of the plurality of component bundles D. At this time, the pressing surface 71 of the pressing plate 7 may have a size that can cover the upper side of the opening 40 of each of the plurality of storage units 4 at one time, and the CPU9 may drive the moving mechanism 5 at S5 to place the pressing plate 7 at an abutment position where the abutment member C and the pressing surface 71 of each of the plurality of storage units 4 are in one-time abutment. In the separating apparatus 1, the work of separating the component C from the component bundle D can be made more efficient than the apparatus of separating the component C from the component bundle D for one component bundle D. When the separating apparatus 1 includes the plurality of storage portions 4, the arrangement of the plurality of storage portions 4 may be changed as appropriate. The plurality of storage portions 4 may be the same or different in size and shape.
The program including the instruction for causing the separation device 1 to perform the separation process may be stored in the storage device of the separation device 1 before the CPU9 performs the program. Thus, the program obtaining method, the obtaining path, and the device storing the program can be changed as appropriate. The program executed by the CPU9 may be received from another device via a cable or wireless communication, and stored in a storage device such as a flash memory. Other devices include, for example, PCs and servers connected via a network.
Some or all of the processing performed by the separation apparatus 1 may be performed by another electronic device (for example, ASIC) other than the CPU 9. The processing performed by the separation apparatus 1 may be distributed processing by a plurality of electronic devices (e.g., a plurality of CPUs). The steps of the process performed by the separation apparatus 1 can be changed in order, omitted, and added as needed. The protection scope of the invention also comprises the following modes: some or all of the respective processes are performed by an Operating System (OS) or the like running on the separation apparatus 1 under the instruction of the separation apparatus 1. For example, the above-described embodiment may be modified as in the following modification.
A separation device 101 according to a modification will be described with reference to fig. 17 to 19. As shown in fig. 17 and 19, the separating device 101 is different from the separating device 1 of the above embodiment in that it is provided with at least an end position changing portion 103 capable of changing the position of the first loading direction of the variable end portion of the second wall 89, and a driving circuit 102 for driving the end position changing portion 103, and other structures are the same as those of the separating device 1. In the separation device 101 according to the modification, the left side portion of the peripheral wall 43 is the first wall 88, and the right side portion of the peripheral wall 43 is the second wall 89. The end position changing portion 103 may be a known mechanism such as a cylinder, for example, and may be configured to be capable of moving at least the second wall 89.
The separation device 101 performs the separation process of fig. 18 instead of the separation process of fig. 8. In fig. 18, the same processes as those of the separation process of fig. 9 are denoted by the same reference numerals. As shown in fig. 18, in the separation processing of the modification, the CPU9 omits the processing of S2 and S3, processes the first distance of S8 as a fixed value, and S31 between S10 and S11, and S32 between S17 and S19, which are different from the separation processing of fig. 8. As shown in fig. 19 a, the CPU9 moves the pressing plate 7 in the first movement direction by the first distance in S8, and then drives the holding mechanism 8 (S9). As shown in fig. 19B, after the support plate 62 is lowered (S10), the CPU9 drives the end position changing unit 103 to move at least the position of the variable end 90 of the second wall 89 to a position closer to the second loading direction than the position of the end of the first wall 88 in the first loading direction when the pressing plate 7 is moved in the first moving direction in S8 (S31). As shown in fig. 19 (C), the separation device 101 according to the modification lowers the entire peripheral wall 43 including the first wall 88 and the second wall 89 from the raised position to the lowered position at the time of the first movement control. After S31, the CPU9 moves the pressing plate 7 a second distance in the second movement direction (S11). After stopping the driving of the holding mechanism 8 (S17), the CPU9 drives the end position changing unit 103 to move at least the position of the variable end 90 of the second wall 89 to the position of the second wall 89 when the pressing plate 7 is moved in the first moving direction in S8 (S32). The separation device 101 according to the modification example lifts the entire peripheral wall 43 including the first wall 88 and the second wall 89 to a lifted position (a) of fig. 19) at the time of the first movement control.
In the separating device 101 of the modification described above, in the second movement control in S11, even in a state where the target member C and the adjacent member C adjacent to the target member C in the second loading direction are not separated, the target member C and the adjacent member C can be moved by the second distance in the second movement direction. In the separation apparatus 1, the following can be reduced: in the state where the object member C and the adjacent member C are not separated at the time of the second movement control in S11, a failure occurs due to the contact of the adjacent member C with the variable end portion 90 of the second wall 89. In S31 and S32, the separating device 101 may move only the second wall 89.
Description of the reference numerals
1. 101, a separating device; 4. a housing part; 5. a moving mechanism; 6. a lifting mechanism; 7. pressing the wall; 89. a second wall; 103. an end position changing unit.

Claims (10)

1. A separating device is characterized in that,
the separation device is provided with:
a housing portion capable of housing a component bundle formed by loading a plurality of sheet-like components, the housing portion having a loading surface for loading the component bundle and an opening provided in a first loading direction with respect to the loading surface;
a lifting mechanism capable of changing a relative position of the component bundle accommodated in the accommodating portion and the opening in the first loading direction;
A pressing member having a pressing surface;
a moving mechanism configured to move the pressing member in a first moving direction and a second moving direction which intersect the first loading direction and are different from each other;
a placement control unit that places the pressing member at an abutment position where the pressing surface abuts against an abutment member that is the member of the member bundle that is located closer to the first loading direction than the opening and that is located closest to the first loading direction;
a first movement control unit that drives the movement mechanism to move the pressing member in the first movement direction by a first distance in a state in which the pressing surface of the pressing member at the contact position applies a pressing force in a second loading direction opposite to the first loading direction to the contact member; and
and a second movement control unit that, after the pressing member is moved by the first drive control unit by a first distance, drives the movement mechanism to move the pressing member by a second distance longer than the first distance in the second movement direction, and separates a predetermined number of target components from the contact components in the first loading direction in the component bundle from the component bundle.
2. A separation device as claimed in claim 1, wherein,
the separation device further comprises:
an information acquisition unit that acquires information on the number of pieces of the target member; and
a distance setting unit that sets the first distance based on the information acquired by the information acquisition unit,
the first movement control unit moves the pressing member in the first movement direction by the first distance set by the distance setting unit.
3. A separation device as claimed in claim 1 or 2, characterized in that,
the first movement direction and the second movement direction are opposite directions.
4. A separation device according to any one of claims 1 to 3, wherein,
the housing section is provided with:
a first wall disposed in the first moving direction with respect to the opening and capable of facing a first side surface of the component beam on the first moving direction side; and
a second wall disposed in the second moving direction with respect to the opening and capable of facing a second side surface of the component beam on the second moving direction side,
the first end of the first wall in the first moving direction is located closer to the first loading direction than the second end of the second wall in the second moving direction.
5. A separation device as claimed in any one of claims 1 to 4, characterized in that,
the pressing member has a holding mechanism capable of holding the object component,
the separating device further includes a holding control unit that controls the holding mechanism to hold the target member after the first movement control unit moves the pressing member in the first movement direction by the first distance so that the pressing force applied to the abutment member is lower than the pressing force applied to the abutment member when moving in the first movement direction,
the second movement control unit moves the pressing member in the second movement direction by the second distance in a state in which the holding control unit holds the target member and the pressing force applied to the abutment member is lower than the pressing force applied to the abutment member when moving in the first movement direction.
6. A separation device as claimed in claim 5, wherein,
the holding mechanism sucks and holds the object member by using a negative pressure generated between the pressing surface and the abutment member.
7. A separation device as claimed in any one of claims 1 to 5, characterized in that,
The separating device is provided with a plurality of accommodating parts corresponding to each group of component bundles in the plurality of groups of component bundles,
the pressing surface of the pressing member has a size capable of covering an upper portion of the opening of each of the plurality of accommodating portions at one time,
the arrangement control unit drives the moving mechanism to arrange the pressing member at the contact position where the contact member and the pressing surface can be contacted at one time, in each of the plurality of accommodating units.
8. A separation device as claimed in claim 5 or 6, characterized in that,
the separation device is provided with:
a first container and a second container which are arranged in the second moving direction with respect to the accommodating portion and can accommodate the member;
a detector that detects a thickness of the target member held by the holding mechanism; and
and a distinguishing control unit that drives the moving mechanism to move the pressing member in the second moving direction based on a detection result of the detector after the second moving control unit moves the pressing member in the second moving direction, when the thickness is greater than a threshold value, and conveys the target component held by the holding mechanism to the first container, and when the thickness is equal to or less than the threshold value, drives the moving mechanism to move the pressing member in the second moving direction, and conveys the target component held by the holding mechanism to the second container.
9. A separation device as claimed in claim 1 or 2, characterized in that,
the housing section is provided with:
a first wall disposed in the first moving direction with respect to the opening and capable of facing a first side surface of the component beam on the first moving direction side;
a second wall disposed in the second moving direction with respect to the opening, the second wall being capable of facing a second side surface of the component beam on the second moving direction side; and
an end position changing unit capable of changing at least a position of the first loading direction variable end of the second wall,
the separating device further includes a change control unit that drives the end position changing unit to move the position of the variable end of the second wall to a position closer to the second loading direction than the position of the end of the first wall in the first loading direction when the first movement control unit moves the pressing member in the first movement direction after the first movement control unit moves the pressing member in the first movement direction by the first distance,
after the change control portion moves the variable end portion of the second wall, the second movement control portion moves the pressing member in the second movement direction by the second distance.
10. A separation method performed by a control unit of a separation apparatus, the separation apparatus comprising: a housing portion capable of housing a component bundle formed by loading a plurality of sheet-like components, the housing portion having a loading surface for loading the component bundle and an opening provided in a first loading direction with respect to the loading surface; a lifting mechanism capable of changing a relative position of the component bundle accommodated in the accommodating portion and the opening in the first loading direction; a pressing member having a pressing surface; and a moving mechanism capable of moving the pressing member in a first moving direction and a second moving direction which are different from each other and intersect with the first loading direction, the separating method being characterized in that,
the separation method comprises the following steps:
a placement control step of driving the moving mechanism to place the pressing member at an abutment position where the pressing surface abuts against an abutment member which is the member of the member bundle located closer to the first loading direction than the opening and is located closest to the first loading direction;
A first movement control step of driving the movement mechanism to move the pressing member in the first movement direction by a first distance in a state where the pressing force of the pressing member at the contact position is applied to the contact member in a second loading direction opposite to the first loading direction; and
and a second movement control step of, after the first movement control step has moved a first distance, driving the movement mechanism to move the pressing member in the second movement direction by a second distance longer than the first distance, and separating a predetermined number of target components from the abutting components in the first loading direction in the component bundle from the component bundle.
CN202280007531.6A 2021-01-29 2022-01-21 Separation device and separation method Pending CN116529186A (en)

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JP2021-013956 2021-01-29
JP2021013956A JP2022117332A (en) 2021-01-29 2021-01-29 Separation device and separation method
PCT/JP2022/002146 WO2022163519A1 (en) 2021-01-29 2022-01-21 Separation device and separation method

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JPS55117444U (en) * 1979-02-13 1980-08-19
JPS58140919U (en) * 1982-03-16 1983-09-22 三和エンジニアリング株式会社 automatic feeding device
JPS61282234A (en) * 1985-06-07 1986-12-12 Fujitsu Ltd Lapped adsorption preventing system
JPH01187138A (en) * 1988-01-18 1989-07-26 Mitsubishi Paper Mills Ltd Separation method of stacked sheet material
JP5458859B2 (en) * 2009-12-15 2014-04-02 株式会社リコー Sheet feeding device

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