CN117135897A - Component feeder and component supply system - Google Patents

Abstract

The invention provides a component feeder and a component supply system, which can make the orientations of various components consistent. The component feeder comprises: a 1 st belt for conveying the component falling to the receiving position to the 1 st axial direction side and supplying to the 1 st path position; a 1 st return guide for guiding the component to supply the component supplied to the 1 st path position to an adjacent 2 nd path position on the 2 nd axis direction side of the 1 st path position; a 2 nd belt for conveying the component supplied to the 2 nd path position to the other side of the 1 st axis direction and supplying to the pick-up position; a 2 nd return guide that guides the component so that the component supplied to the pickup position falls to an adjacent receiving position on the other side in the 2 nd axial direction of the pickup position; and a height adjustment mechanism for adjusting the height of the receiving and conveying surface of the 1 st belt including the receiving position.

Description

Component feeder and component supply system

Technical Field

The technology disclosed in this specification relates to a component feeder and a component supply system.

Background

In the production of electronic devices, component mounting apparatuses that mount components to a substrate are used. As disclosed in patent document 1, a member accommodated in a tray may be mounted on a substrate. As disclosed in patent document 2, a technique of conveying members by the 1 st belt and the 2 nd belt is known.

Patent document 1: japanese patent laid-open No. 2018-186192

Patent document 2: japanese patent application laid-open No. 2021-052059

Disclosure of Invention

When a plurality of components are stored in a tray, it is preferable to align the orientations of the plurality of components.

The object of the technology disclosed in the present specification is to provide a component feeder capable of aligning various components.

According to the technology disclosed in the present specification, there is provided a component feeder including: a 1 st belt for conveying the component falling to the receiving position to the 1 st axial direction side and supplying to the 1 st path position; a 1 st return guide for guiding the component to supply the component supplied to the 1 st path position to an adjacent 2 nd path position on the 2 nd axis direction side of the 1 st path position; a 2 nd belt for conveying the component supplied to the 2 nd path position to the other side of the 1 st axis direction and supplying to the pick-up position; a 2 nd return guide that guides the component so that the component supplied to the pickup position falls to an adjacent receiving position on the other side in the 2 nd axial direction of the pickup position; and a height adjustment mechanism for adjusting the height of the receiving and conveying surface of the 1 st belt including the receiving position.

According to the technology disclosed in the present specification, a component feeder capable of aligning various components is provided.

Drawings

Fig. 1 is a perspective view showing a component supply system according to an embodiment.

Fig. 2 is a diagram schematically showing components of the embodiment.

Fig. 3 is a perspective view of the component feeder according to the embodiment, as viewed from the +x side.

Fig. 4 is a perspective view of the component feeder according to the embodiment, as viewed from the +x side.

Fig. 5 is a perspective view of the component feeder according to the embodiment, as seen from the-X side.

Fig. 6 is a perspective view of the component feeder according to the embodiment, as seen from the-X side.

Fig. 7 is a plan view of the component feeder according to the embodiment as viewed from the +z side.

Fig. 8 is a side view of the component feeder of the embodiment with the 1 st plate omitted, as seen from the-Y side.

Fig. 9 is a perspective view of the height adjustment mechanism according to the embodiment, as viewed from the +x side.

Fig. 10 is a perspective view of the height adjustment mechanism according to the embodiment, as seen from the-X side.

Fig. 11 is a perspective view of the component feeder according to the embodiment, as viewed from the +x side.

Fig. 12 is a side view from the-Y side showing the operation of the component feeder in the state where the 1 st plate is omitted in the embodiment.

Fig. 13 is a block diagram showing a component supply system according to the embodiment.

Fig. 14 is a flowchart showing a component supply method according to the embodiment.

Fig. 15 is a diagram schematically showing components at a pickup position in the embodiment.

Fig. 16 is a diagram schematically showing a state in which the components of the embodiment are accommodated in the divided spaces of the tray.

Fig. 17 is a diagram schematically showing a member that falls on the receiving and conveying surface in the embodiment.

Detailed Description

Embodiments relating to the technology disclosed in the present specification will be described below with reference to the drawings. The constituent elements of the embodiments described below can be appropriately combined. In addition, some of the constituent elements may not be used.

In the embodiment, an XYZ rectangular coordinate system is set, and the positional relationship of each part is described with reference to the XYZ rectangular coordinate system. The direction parallel to the X axis (1 st axis) of the predetermined surface is referred to as an X axis direction (1 st axis direction), the direction orthogonal to the X axis and parallel to the Y axis (2 nd axis) of the predetermined surface is referred to as a Y axis direction (2 nd axis direction), and the direction parallel to the Z axis (3 rd axis) orthogonal to the X axis and the Y axis is referred to as a Z axis direction (3 rd axis direction). In the embodiment, the predetermined plane is parallel to the horizontal plane, and the Z-axis direction is the up-down direction. The +Z side is the upper side and the-Z side is the lower side. The predetermined surface may be inclined with respect to the horizontal plane. In the embodiment, the predetermined plane including the X axis and the Y axis is appropriately referred to as an XY plane.

[ parts supply System ]

Fig. 1 is a perspective view showing a component supply system 1 according to an embodiment. As shown in fig. 1, the component supply system 1 includes a component feeder 2, a robot manipulator 3, and a control device 4.

The component feeder 2 transports components. The component feeder 2 has a 1 st belt 5, a 1 st return guide 6, a 2 nd belt 7, a pickup guide 8, a 2 nd return guide 9, and a drop guide 10. The 1 st belt 5 conveys the member in the-X direction. The 2 nd belt 7 conveys the member in the +x direction. The receiving position P1, the input position P2, and the 1 st path position P3 are defined in the conveyance path of the 1 st belt 5. The 2 nd path position P4 and the pickup position P5 are defined in the conveyance path of the 2 nd belt 7.

The robot manipulator 3 has a suction nozzle 11, and the suction nozzle 11 sucks the component supplied to the pickup position P5 of the component feeder 2. The robot manipulator 3 moves the suction nozzle 11. The robot manipulator 3 comprises a multi-joint robot. In an embodiment, the robot manipulator 3 is a vertical multi-joint robot. The robot manipulator 3 may be a horizontal multi-joint robot. The robot manipulator 3 includes a base member 3A, a pivoting member 3B supported by the base member 3A, a 1 st arm 3C connected to the pivoting member 3B, a 2 nd arm 3D connected to the 1 st arm 3C, and a 3 rd arm 3E connected to the 2 nd arm 3D.

The pivoting member 3B is rotatably supported by the base member 3A about the pivoting axis TX. The rotation axis TX is parallel to the Z axis. The 1 st arm 3C is coupled to the pivoting member 3B so as to be pivotable about the 1 st pivot axis AX 1. The 1 st rotation axis AX1 is orthogonal to the Z axis. The 2 nd arm 3D is connected to the 1 st arm 3C so as to be pivotable about the 2 nd pivot axis AX 2. The 2 nd rotation axis AX2 is parallel to the 1 st rotation axis AX 1. The 3 rd arm 3E is connected to the 2 nd arm 3D so as to be rotatable about the 3 rd rotation axis AX 3. The 3 rd rotation axis AX3 is parallel to the 2 nd rotation axis AX 2. The suction nozzle 11 is mounted to the 3 rd arm 3E.

The robot manipulator 3 includes a swing actuator configured to swing the swing member 3B, a 1 st rotation actuator configured to rotate the 1 st arm 3C, a 2 nd rotation actuator configured to rotate the 2 nd arm 3D, and a 3 rd rotation actuator configured to rotate the 3 rd arm 3E.

The control device 4 controls the component feeder 2 and the robot manipulator 3, respectively. The control device 4 controls the robot manipulator 3 so that the components suctioned by the suction nozzles 11 at the pickup position P5 are stored in the tray 12. The tray 12 has a partitioned space 12A for accommodating components. The tray 12 is provided with a plurality of partitioned spaces 12A. The control device 4 controls the robot manipulator 3 so that the components are stored in the plurality of divided spaces 12A. The control device 4 controls the robot manipulator 3 so that the orientations of the components stored in the plurality of divided spaces 12A are identical.

[ parts ]

Fig. 2 is a diagram schematically showing a component C according to an embodiment. In the embodiment, the component C is a lead component (plug-in type electronic component). As shown in fig. 2, the component C has a main body D and a lead E protruding from the main body D.

The main body D includes a synthetic resin case member. A coil, for example, is disposed in the internal space of the main body D. The lead E is a metal protrusion. The lead E is connected to a coil disposed in the internal space of the main body D, for example.

In the embodiment, the main body D is rectangular parallelepiped. The main body D has an upper surface Da, a lower surface Db facing in a direction opposite to the upper surface Da, a pair of 1 st side surfaces Dc connecting a part of a peripheral edge portion of the upper surface Da with a part of a peripheral edge portion of the lower surface Db, and a pair of 2 nd side surfaces Dd connecting a part of a peripheral edge portion of the upper surface Da with a part of a peripheral edge portion of the lower surface Db.

The lead E protrudes from the lower surface Db of the main body D. A plurality of leads E are provided in the main body D.

The suction nozzle 11 sucks the suction surface defined in the component C. In the embodiment, the suction surface of the member C is at least one of the upper surface Da, the 1 st side surface Dc, and the 2 nd side surface Dd of the main body D.

[ parts feeder ]

Fig. 3 and 4 are perspective views of the component feeder 2 according to the embodiment, as viewed from the +x side. Fig. 4 is a diagram showing a part of fig. 3 by a broken line. Fig. 5 and 6 are perspective views of the component feeder 2 according to the embodiment, as viewed from the-X side. Fig. 6 is a diagram showing a part of fig. 5 by a broken line. Fig. 7 is a plan view of the component feeder 2 according to the embodiment as viewed from the +z side.

As shown in fig. 3, 4, 5, 6, and 7, the component feeder 2 includes a 1 st belt 5, a 1 st pulley 13, a 2 nd belt 7, a 2 nd pulley 14, a bottom plate 15, a 1 st plate 16, an intermediate plate 17, a 2 nd plate 18, a motor 19, a 1 st return guide 6, a pickup guide 8, a 2 nd return guide 9, a drop guide 10, a height adjustment mechanism 20, and a tension adjustment mechanism 21.

The 1 st belt 5 has a conveying surface 50 of the conveying member C. The conveying surface 50 of the 1 st belt 5 is substantially oriented toward the +z side. The conveying surface 50 of the 1 st belt 5 moves in the-X direction. The 1 st belt 5 conveys the member C in the-X direction. The receiving position P1, the input position P2, and the 1 st path position P3 are defined in the conveyance path of the 1 st belt 5. The receiving position P1 is defined as a part of the conveyance path of the 1 st belt 5. The input position P2 is defined at the-X side of the receiving position P1 in the conveying path of the 1 st belt 5. The 1 st path position P3 is defined at a position on the-X side of the input position P2 in the conveyance path of the 1 st belt 5. The 1 st belt 5 conveys the component C dropped to the receiving position P1 to the-X side, thereby supplying the component C to the 1 st path position P3. The component C dropped to the receiving position P1 is supplied to the 1 st path position P3 via the input position P2. The 1 st belt 5 conveys the component C placed in the input position P2 to the-X side and supplies the component C to the 1 st path position P3.

In the embodiment, in the conveying surface 50 of the 1 st belt 5, a part of the area including the receiving position P1 is appropriately referred to as a receiving conveying surface 51, a part of the area including the input position P2 is appropriately referred to as an input conveying surface 52, and a part of the area including the 1 st path position P3 is appropriately referred to as a 1 st path conveying surface 53.

The receiving conveyance surface 51 of the 1 st belt 5 including the receiving position P1 is substantially parallel to the XY plane. The input conveying surface 52 shown in the 1 st belt 5 including the input position P2 is inclined in the +z direction (upward) toward the-X side. The 1 st path conveying surface 53 of the 1 st belt 5 including the 1 st path position P3 is substantially parallel to the XY plane.

The 1 st support plate 22 is disposed below the 1 st belt 5 including the input conveying surface 52 and the 1 st path conveying surface 53. The 1 st support plate 22 supports at least a part of the 1 st belt 5 from below.

The 1 st pulley 13 supports the 1 st belt 5. The 1 st pulley 13 is provided in plurality. The 1 st belt 5 is an endless belt. A part of the 1 st pulley 13 is disposed inside the 1 st belt 5. A part of the 1 st pulley 13 is disposed outside the 1 st belt 5.

The 2 nd belt 7 has a conveying surface 70 of the conveying member C. The conveying surface 70 of the 2 nd belt 7 is substantially oriented toward the +z side. The conveying surface 70 of the 2 nd belt 7 moves in the +x direction. The 2 nd belt 7 conveys the member C in the +x direction. The 2 nd path position P4 and the pickup position P5 are defined in the conveyance path of the 2 nd belt 7. The 2 nd path position P4 is defined as a part of the conveyance path of the 2 nd belt 7. The 2 nd path position P4 is defined beside the +y side of the 1 st path position P3. The pickup position P5 is defined at a position on the +x side of the 2 nd path position P4 in the conveyance path of the 2 nd belt 7. The pickup position P5 is specified beside the +y side of the receiving position P1. The 2 nd belt 7 conveys the component C supplied to the 2 nd path position P4 to the +x side, and supplies the component C to the pickup position P5. At least a part of the component C supplied to the pickup position P5 is suctioned by the suction nozzle 11, and supplied to the tray 12 by the robot manipulator 3. At least a part of the component C supplied to the pickup position P5 falls down to a receiving position P1 beside the-Y side of the pickup position P5.

In the embodiment, the conveying surface 70 of the 2 nd belt 7 is substantially parallel to the XY plane. The receiving position P1 is defined at a position on the-Z side of the pickup position P5. The receiving conveyance surface 51 is disposed on the-Z side of the conveyance surface 70 of the 2 nd belt 7. The 1 st path position P3 and the 2 nd path position P4 are substantially the same in height. The 1 st path conveying surface 53 and the 2 nd belt 7 conveying surface 70 are substantially the same in height. In the embodiment, the height refers to a position in the Z-axis direction.

A 2 nd support plate 23 is disposed below the 2 nd belt 7 including the conveying surface 70. The 2 nd support plate 23 supports at least a part of the 2 nd belt 7 from below.

The 2 nd pulley 14 supports the 2 nd belt 7. The 2 nd pulley 14 is provided in plurality. The 2 nd belt 7 is an endless belt. A part of the 2 nd pulley 14 is disposed inside the 2 nd belt 7. A part of the 2 nd pulley 14 is disposed outside the 2 nd belt 7.

The bottom plate 15 supports the 1 st plate 16, the intermediate plate 17, and the 2 nd plate 18, respectively. The 1 st plate 16 is disposed on the-Y side of the intermediate plate 17. The intermediate plate 17 is disposed on the-Y side of the 2 nd plate 18.

The 1 st plate 16 is disposed on the-Y side of the 1 st belt 5. The 1 st plate 16 rotatably supports the end portion on the-Y side of each of the plurality of 1 st pulleys 13.

The intermediate plate 17 is disposed on the +y side of the 1 st belt 5 and on the-Y side of the 2 nd belt 7. The intermediate plate 17 rotatably supports the +y side end of each of the 1 st pulleys 13. The intermediate plate 17 rotatably supports the end portion on the-Y side of each of the plurality of 2 nd pulleys 14.

The 2 nd plate 18 is disposed on the +y side of the 2 nd belt 7. The 2 nd plate 18 rotatably supports the +y side end of each of the 2 nd pulleys 14.

The motor 19 generates power to move the 1 st belt 5 and the 2 nd belt 7, respectively. A motor pulley 24 is mounted on the output shaft of the motor 19. The motor pulley 24 supports a motor belt 25. The motor belt 25 is supported by a plurality of pulleys 26. The motor belt 25 is an endless belt. The 1 st pulley 26 is connected to the 1 st pulley 13. The 1 st pulley 26 is connected to the 1 nd pulley 14. The 1 st pulley 26 connected to the 1 st pulley 13 is in contact with one surface of the motor belt 25. The 1 st pulley 26 connected to the 2 nd pulley 14 is in contact with the other face of the motor belt 25. The motor belt 25 is rotated by the motor 19. The pulley 26 connected to the 1 st pulley 13 rotates in one direction, and the pulley 26 connected to the 2 nd pulley 14 rotates in the opposite direction to the 1 st pulley 13. Thus, the conveying surface 50 of the 1 st belt 5 can be moved in the-X direction, and the conveying surface 70 of the 2 nd belt 7 can be moved in the +x direction by the power generated from the 1 st motor 19.

The 1 st return guide 6 guides the component C so that the component C supplied to the 1 st path position P3 is supplied toward the 2 nd path position P4 beside the +y side of the 1 st path position P3. the-Z-side end of the 1 st return guide 6 faces the 1 st path conveying surface 53. The 1 st return guide 6 is separated from the 1 st belt 5. The 1 st return guide 6 has its base end fixed to the 1 st plate 16. The guide surface 6A of the 1 st return guide 6 is substantially oriented toward the +x side. The guide surface 6A of the 1 st return guide 6 is inclined in the +y direction toward the-X side. The component C supplied from the 1 st belt 5 to the 1 st path position P3 moves toward the 2 nd path position P4 while contacting the guide surface 6A of the 1 st return guide 6.

The 1 st plate 16 has a guide groove 6B that guides the 1 st return guide 6 in the X-axis direction. The guide groove 6B is formed to extend in the X-axis direction. The user of the component feeder 2 can adjust the position of the 1 st return guide 6 in the X-axis direction while guiding the 1 st return guide 6 in the guide groove 6B. After adjusting the position of the 1 st return guide 6 in the X-axis direction, the user of the component feeder 2 can fix the 1 st return guide 6 to the 1 st plate 16 by a fixing member such as a screw.

The pickup guide 8 guides the component C so that the component C supplied to the 2 nd path position P4 is supplied toward the pickup position P5. In the conveying path of the 2 nd belt 7, the pickup guide 8 is arranged between the 2 nd path position P4 and the pickup position P5. the-Z-side end of the pick-up guide 8 is opposed to the conveying surface 70 of the 2 nd belt 7. The pick-up guide 8 is separated from the 2 nd belt 7. The base end portion of the pick-up guide 8 is fixed to the intermediate plate 17.

In the embodiment, the pickup position P5 is defined at the +y side end of the conveying surface 70 of the 2 nd belt 7. The guide surface 8A of the pick-up guide 8 is directed substantially to the-X side. The guide surface 8A of the pickup guide 8 is inclined in the +y direction toward the +x side. The component C supplied to the 2 nd path position P4 moves toward the pickup position P5 while contacting the guide surface 8A of the pickup guide 8.

The 2 nd return guide 9 guides the component C so that the component C supplied to the pickup position P5 falls down to the receiving position P1 beside the-Y side of the pickup position P5. In the conveyance path of the 2 nd belt 7, the 2 nd return guide 9 is disposed at a position on the +x side of the pickup position P5. the-Z-side end of the 2 nd return guide 9 faces the conveying surface 70 of the 2 nd belt 7. The 2 nd return guide 9 is separated from the 2 nd belt 7. The base end portion of the 2 nd return guide 9 is fixed to the 2 nd plate 18. The guide surface 9A of the 2 nd return guide 9 is substantially oriented to the-X side. The guide surface 9A of the 2 nd return guide 9 is inclined in the-Y direction toward the +x side. The component C having passed the pickup position P5 without being suctioned by the suction nozzle 11 at the pickup position P5 falls down to the receiving position P1 while contacting the guide surface 9A of the 2 nd return guide 9.

The 2 nd plate 18 has a guide groove 9B that guides the 2 nd return guide 9 in the X-axis direction. The guide groove 9B is formed to extend in the X-axis direction. The user of the component feeder 2 can adjust the position of the 2 nd return guide 9 in the X-axis direction while guiding the 2 nd return guide 9 in the guide groove 9B. After adjusting the position of the 2 nd return guide 9 in the X-axis direction, the user of the component feeder 2 can fix the 2 nd return guide 9 to the 2 nd plate 18 by a fixing member such as a screw.

The drop guide 10 guides the component C so that the component C drops from the conveying surface 70 of the 2 nd belt 7 to the receiving conveying surface 51. The drop guide 10 is disposed on the +x side of the receiving conveyance surface 51. the-Z-side end of the drop guide 10 faces the 1 st belt 5. The drop guide 10 is separated from the 1 st belt 5. At least a portion of the drop guide 10 is secured to the 1 st plate 16. The drop guide 10 suppresses the component C dropped from the conveying surface 70 of the 2 nd belt 7 from dropping to a position on the +x side of the receiving conveying surface 51.

The 1 st plate 16 has a guide groove 10B that guides the drop guide 10 in the X-axis direction. The guide groove 10B is formed to extend along the X-axis direction. The user of the component feeder 2 can adjust the position of the drop guide 10 in the X-axis direction while guiding the drop guide 10 in the guide groove 10B. After adjusting the position of the drop guide 10 in the X-axis direction, the user of the component feeder 2 can fix the drop guide 10 to the 1 st plate 16 by a fixing member such as a screw.

The drop guide 10 has a base guide 101 fixed to the 1 st plate 16 and a movable guide 102 movable in the Z-axis direction with respect to the base guide 101. The base guide 101 has a guide groove 102B that guides the movable guide 102 in the Z-axis direction. The guide groove 102B is formed to extend along the Z-axis direction. The user of the component feeder 2 can adjust the position of the movable guide 102 in the Z-axis direction while guiding the movable guide 102 in the guide groove 102B. By adjusting the position of the movable guide 102 in the Z-axis direction, the height of the-Z-side end of the drop guide 10 is adjusted. The user of the component feeder 2 can fix the movable guide 102 to the base guide 101 by a fixing member such as a screw after adjusting the position of the movable guide 102 in the Z-axis direction.

The height adjustment mechanism 20 adjusts the height of the receiving and conveying surface 51 of the 1 st belt 5 including the receiving position P1. The height of the receiving conveyor surface 51 is adjusted to adjust the falling height of the component C falling from the conveyor surface 70 of the 2 nd belt 7 to the receiving conveyor surface 51. In the embodiment, the height of the receiving conveyance surface 51 refers to the position of the receiving conveyance surface 51 in the Z-axis direction. The falling height of the member C is a difference between the position of the conveying surface 70 of the 2 nd belt 7 and the position of the receiving conveying surface 51 in the Z-axis direction.

Fig. 8 is a side view of the component feeder 2 in the embodiment, with the 1 st plate 16 omitted, as seen from the-Y side. Fig. 9 is a perspective view of the height adjustment mechanism 20 according to the embodiment, as viewed from the +x side. Fig. 10 is a perspective view of the height adjustment mechanism 20 according to the embodiment, as seen from the-X side. Fig. 9 shows a main part of the height adjusting mechanism 20 in a state of the 1 st plate 16 by a broken line. Fig. 10 shows a main part of the height adjusting mechanism 20 in a state of the intermediate plate 17 by a broken line.

The height adjustment mechanism 20 adjusts the height of the receiving and conveying surface 51 while maintaining the angle of the receiving and conveying surface 51 with respect to the XY plane at a constant value. In the embodiment, the height adjusting mechanism 20 adjusts the height of the receiving and conveying surface 51 in a state where the receiving and conveying surface 51 and the XY plane are maintained in a substantially parallel state.

The height adjustment mechanism 20 includes a 1 st movable sheave 27, a 2 nd movable sheave 28, a 1 st lever 29, a 2 nd lever 30, a 1 st guide groove 31, a 2 nd guide groove 32, and a coupling member 33.

The 1 st movable sheave 27 supports the 1 st portion 5A of the 1 st belt 5 from below.

The 2 nd movable sheave 28 supports the 2 nd portion 5B of the 1 st belt 5 on the-X side of the 1 st portion 5A from below.

The 1 st lever 29 has a 1 st support portion 29A that supports the 1 st movable sheave 27, and a 1 st handle portion 29B that is disposed on the-Y side of the 1 st plate 16.

The 2 nd lever 30 has a 2 nd support portion 30A for supporting the 2 nd movable sheave 28, and a 2 nd handle portion 30B disposed on the-Y side of the 1 st plate 16.

The receiving conveyance surface 51 is defined between the 1 st part 5A and the 2 nd part 5B. The 1 st movable sheave 27 and the 2 nd movable sheave 28 support the 1 st belt 5 from below so that the receiving transport surface 51 is substantially parallel to the XY plane, respectively.

The 1 st guide groove 31 guides the 1 st lever 29. The 1 st guide groove 31 is formed in the 1 st plate 16 and the intermediate plate 17, respectively.

The 2 nd guide groove 32 guides the 2 nd lever 30. The 2 nd guide groove 32 is formed in the 1 st plate 16 and the intermediate plate 17, respectively.

The 1 st guide groove 31 is substantially parallel to the 2 nd guide groove 32. The 1 st guide groove 31 and the 2 nd guide groove 32 are substantially linear. The 1 st guide groove 31 and the 2 nd guide groove 32 are inclined in the +z direction (upward) toward the-X side, respectively.

The coupling member 33 couples the 1 st lever 29 and the 2 nd lever 30 to maintain the relative positions of the 1 st lever 29 and the 2 nd lever 30. By maintaining the relative positions of the 1 st lever 29 and the 2 nd lever 30, the relative positions of the 1 st movable sheave 27 and the 2 nd movable sheave 28 are maintained. In the embodiment, the coupling member 33 includes a 1 st coupling member 33A that couples the-Y-side end of the 1 st support portion 29A to the-Y-side end of the 2 nd support portion 30A, and a 2 nd coupling member 33B that couples the +y-side end of the 1 st support portion 29A to the +y-side end of the 2 nd support portion 30A.

A thread is formed at the +y side end of the 1 st lever 29. The 1 st nut 29C is disposed on the +y side of the intermediate plate 17. The +y side end of the 1 st lever 29 is screwed with the 1 st nut 29C via the 1 st guide groove 31 formed in the intermediate plate 17. The user of the component feeder 2 can operate the 1 st handle portion 29B to rotate the 1 st lever 29. The 1 st lever 29 is fixed to the intermediate plate 17 via the 1 st nut 29C by rotating the 1 st lever 29 in one direction. This suppresses a change in the relative position between the 1 st lever 29 and the intermediate plate 17. The 1 st lever 29 is rotated in the other direction, and the fixation between the 1 st lever 29 and the intermediate plate 17 is released. By releasing the fixing of the 1 st lever 29 to the intermediate plate 17, the user of the component feeder 2 can move the 1 st lever 29 relative to the 1 st plate 16 and the intermediate plate 17. The 1 st movable sheave 27 moves by the 1 st lever 29 moving.

Similarly, a thread is formed at the +y side end of the 2 nd rod 30. The 2 nd nut 30C is disposed on the +y side of the intermediate plate 17. The +y side end of the 2 nd rod 30 is screwed with the 2 nd nut via the 2 nd guide groove 32 formed in the intermediate plate 17. The user of the component feeder 2 can operate the 2 nd handle portion 30B to rotate the 2 nd lever 30 in one direction. The 2 nd rod 30 is fixed to the intermediate plate 17 via the 2 nd nut 30C by rotating the 2 nd rod 30 in one direction. Thereby, the change in the relative position of the 2 nd lever 30 and the intermediate plate 17 is suppressed. The 2 nd lever 30 is rotated in the other direction, and the fixation between the 2 nd lever 30 and the intermediate plate 17 is released. By releasing the fixation of the 2 nd bar 30 and the intermediate plate 17, the user of the component feeder 2 can move the 2 nd bar 30 with respect to the 1 st plate 16 and the intermediate plate 17. The 2 nd movable sheave 28 moves by the 2 nd lever 30 moving.

The tension adjustment mechanism 21 adjusts the tension of the 1 st belt 5. The tension adjustment mechanism 21 includes a tension pulley 34 that supports a part of the 1 st belt 5, a tension lever 35 that supports the tension pulley 34, and tension guide grooves 36 that are formed in the 1 st plate 16 and the intermediate plate 17, respectively, and guide the tension lever 35.

The tension pulley 34 supports a part of the 1 st belt 5 from the inside of the 1 st belt 5.

The tension lever 35 has a tension supporting portion 35A for supporting the tension pulley 34, and a tension handle portion 35B disposed on the-Y side of the 1 st plate 16.

The tension guide groove 36 guides the tension rod 35. Tension guide grooves 36 are formed in the 1 st plate 16 and the intermediate plate 17, respectively. The tension guide groove 36 is substantially linear. The tension guide groove 36 is formed to extend in the X-axis direction.

A thread is formed at the +y side end of the tension rod 35. The tension nut 35C is disposed on the +y side of the intermediate plate 17. The +y side end of the tension rod 35 is screwed with a tension nut via a tension guide groove 36 formed in the intermediate plate 17. The user of the component feeder 2 can operate the tension handle portion 35B to rotate the tension lever 35. The tension rod 35 is rotated in one direction, and the tension rod 35 is fixed to the intermediate plate 17 via the tension nut 35C. Thereby, the change in the relative position of the tension rod 35 and the intermediate plate 17 is suppressed. The tension rod 35 is rotated in the other direction, and the fixation between the tension rod 35 and the intermediate plate 17 is released. By releasing the fixation of the tension rod 35 to the intermediate plate 17, the user of the component feeder 2 can move the tension rod 35 with respect to the 1 st plate 16 and the intermediate plate 17. The tension pulley 34 is moved by the movement of the tension lever 35. The tension pulley 34 moves in the X-axis direction to adjust the tension of the 1 st belt 5.

[ height adjustment of receiving conveying surface ]

Fig. 11 is a perspective view of the component feeder 2 according to the embodiment, as viewed from the +x side. Fig. 12 is a side view from the-Y side of the operation of the component feeder 2 in the embodiment with the 1 st plate 16 omitted. Fig. 3 to 10 each show a state in which the receiving and conveying surface 51 is disposed at the lowest position within the movable range of the receiving and conveying surface 51. Fig. 11 and 12 each show a state in which the receiving and conveying surface 51 is disposed uppermost in the movable range of the receiving and conveying surface 51.

The movable range of the receiving and conveying surface 51 is defined by the 1 st guide groove 31 and the 2 nd guide groove 32. The 1 st lever 29 is disposed at the-Z side end of the 1 st guide groove 31, and the 2 nd lever 30 is disposed at the-Z side end of the 2 nd guide groove 32, so that the receiving conveying surface 51 is disposed at the lowest position within the movable range of the receiving conveying surface 51. The 1 st lever 29 is disposed at the +z side end of the 1 st guide groove 31, and the 2 nd lever 30 is disposed at the +z side end of the 2 nd guide groove 32, so that the receiving conveying surface 51 is disposed uppermost within the movable range of the receiving conveying surface 51.

When adjusting the height of the receiving and conveying surface 51, the user of the component feeder 2 can rotate the 1 st handle portion 29B to release the fixation of the 1 st lever 29 and the intermediate plate 17, and rotate the 2 nd handle portion 30B to release the fixation of the 2 nd lever 30 and the intermediate plate 17. After the fixation of the 1 st lever 29 and the 2 nd lever 30 to the intermediate plate 17 is released, the user of the component feeder 2 moves the 1 st lever 29 along the 1 st guide groove 31 and moves the 2 nd lever 30 along the 2 nd guide groove 32 in a state of holding the 1 st handle portion 29B and the 2 nd handle portion 30B, respectively. When the user of the component feeder 2 wants to lower the height of the receiving and conveying surface 51, the user moves the 1 st lever 29 toward the-Z-side end of the 1 st guide groove 31 and moves the 2 nd lever 30 toward the-Z-side end of the 2 nd guide groove 32. When the user wants to raise the height of the receiving and conveying surface 51, the user of the component feeder 2 moves the 1 st lever 29 toward the +z-side end of the 1 st guide groove 31 and moves the 2 nd lever 30 toward the +z-side end of the 2 nd guide groove 32. Since the 1 st lever 29 and the 2 nd lever 30 are coupled together by the coupling member 33, the user of the component feeder 2 can move the 1 st lever 29 and the 2 nd lever 30 together.

After the receiving conveying surface 51 is disposed at a desired height, the user of the component feeder 2 rotates the 1 st handle portion 29B to fix the 1 st lever 29 to the intermediate plate 17, and rotates the 2 nd handle portion 30B to fix the 2 nd lever 30 to the intermediate plate 17. Thereby, the positions of the 1 st movable sheave 27 and the 2 nd movable sheave 28 are fixed.

In the embodiment, the 1 st guide groove 31 and the 2 nd guide groove 32 are inclined upward toward the-X side. Therefore, when the position of the receiving conveyance surface 51 in the Z-axis direction changes, the position of the receiving conveyance surface 51 in the X-axis direction also changes.

After the receiving conveyance surface 51 is disposed at a desired height, the user of the component feeder 2 adjusts the position of the 2 nd return guide 9 so that the position of the +x side end of the receiving conveyance surface 51 coincides with the position of the +x side end of the 2 nd return guide 9 in the X axis direction. In addition, the user of the component feeder 2 adjusts the position of the drop guide 10 so that the position of the +x side end of the receiving conveying surface 51 in the X axis direction coincides with the position of the drop guide 10. Thereby, the member can drop from the conveying surface 70 of the 2 nd belt 7 to the receiving conveying surface 51. That is, the member can be prevented from falling to the +x side of the receiving and conveying surface 51.

[ control device ]

Fig. 13 is a block diagram showing the component supply system 1 according to the embodiment. As shown in fig. 13, the component supply system 1 includes a camera 37, a robot manipulator 3, and a control device 4.

The camera 37 photographs the components supplied to the pickup position P5. The camera 37 is disposed at least in part of the robot manipulator 3. The camera 37 may not be disposed in the robot manipulator 3.

The control means 4 comprise a computer system. The control device 4 has a processor such as CPU (Central Processing Unit), a main memory, a storage unit, and an interface including an input/output circuit, and is characterized in that the main memory includes a nonvolatile memory such as ROM (Read Only Memory) and a volatile memory such as RAM (Random Access Memory).

The control device 4 includes: a robot control unit 41 that controls the robot manipulator 3 so that the components suctioned by the suction nozzles 11 are stored in the tray 12; and an image processing unit 42 that discriminates the suction surface defined in the component based on the captured data of the camera 37. The robot control unit 41 controls the robot manipulator 3 so that the suction nozzle 11 sucks the suction surface of the component, based on the position and the orientation of the suction surface of the component determined by the image processing unit 42.

[ method of feeding parts ]

Fig. 14 is a flowchart showing a component supply method according to the embodiment. In the embodiment, the user of the component feeder 2 inputs the dispersed plurality of components C to the input position P2. The plurality of components C placed in the input position P2 are transported to the-X side by the 1 st belt 5 by driving the motor 19, and are supplied to the 1 st path position P3.

The plurality of components C supplied to the 1 st path position P3 are guided by the 1 st return guide 6 to be supplied to the 2 nd path position P4 of the 2 nd belt 7. The plurality of components C supplied to the 2 nd path position P4 are conveyed to the +x side by the 2 nd belt 7 and supplied to the pickup guide 8. The pickup guide 8 guides the component to supply the component C from the 2 nd path position P4 to the pickup position P5.

The camera 37 photographs the component C supplied to the pickup position P5. The image processing unit 42 acquires the imaging data of the camera 37 (step S1).

The image processing unit 42 determines the position and orientation of the suction surface of the component C based on the captured data of the camera 37 (step S2).

The image processing unit 42 determines whether or not the suction nozzle 11 can suction the component C based on the position and orientation of the suction surface of the component C (step S3).

When it is determined in step S3 that the suction nozzle 11 is capable of sucking the component C (step S3: yes), the robot controller 41 controls the robot manipulator 3 so that the suction nozzle 11 sucks the suction surface of the component C (step S4).

When it is determined in step S3 that the suction nozzle 11 cannot suction the component C (step S3: no), the robot control unit 41 does not cause the suction nozzle 11 to suction the component C.

Fig. 15 is a diagram schematically showing a component C at the pick-up position P5 in the embodiment.

The image processing unit 42 determines the position and orientation of the suction surface of the component C based on the captured data of the camera 37.

As shown in fig. 15, for example, when the 1 st side Dc is upward or when the upper surface Da is +y side, the suction nozzle 11 may suck the upper surface Da or the 1 st side Dc. In the embodiment, the suction nozzle 11 is disposed at the front end portion of the robot manipulator 3. Therefore, the suction nozzle 11 can suck at least one of the upper surface Da and the 1 st side Dc.

As shown in fig. 15, when the suction nozzle 11 sucks the upper surface Da facing the +y side, the robot control unit 41 controls the robot manipulator 3 so that the suction nozzle 11 approaches the upper surface Da from a position closer to the +y side than the upper surface Da. In the embodiment, a recess 38 is formed at the upper end portion of the 2 nd plate 18 so that the pickup position P5 is opened to the +y side. The recess 38 is formed as: the suction nozzle 11 enters the pickup position P5 via the concave portion 38. The robot controller 41 controls the robot manipulator 3 so that the suction nozzle 11 enters the pickup position P5 via the concave portion 38. Thereby, the upper surface Da facing the +y side is sucked by the suction nozzle 11.

After the suction surface of the component C is sucked by the suction nozzle 11 in step S4, the robot controller 41 controls the robot manipulator 3 so that the component C sucked by the suction nozzle 11 is accommodated in the divided space 12A of the tray 12. The component C is accommodated in the partitioned space 12A of the tray 12 with the upper surface Da facing upward and the lead E facing downward. (step S5).

Fig. 16 is a diagram schematically showing a state in which the component C according to the embodiment is accommodated in the partitioned space 12A of the tray 12. Fig. 16 shows an example in which the 1 st side Dc of the component C is sucked by the suction nozzle 11.

An opening 12B into which the lead E is inserted is formed in the bottom surface of the partitioned space 12A of the tray 12. The robot control unit 41 controls the robot manipulator 3 so that the component C suctioned by the suction nozzle 11 is stored in the divided space 12A of the tray 12. The robot manipulator 3 stores the component C suctioned by the suction nozzle 11 in the partitioned space 12A of the tray 12 so that the upper surface Da faces upward and the lead E faces downward.

The component C that has passed the pickup position P5 without being suctioned by the suction nozzle 11 is supplied to the 2 nd return guide 9. The 2 nd return guide 9 guides the component C so that the component C passing through the pickup position P5 falls down to the receiving position P1.

Fig. 17 is a diagram schematically showing a member C falling onto the receiving and conveying surface 51 in the embodiment. The component C falls from the conveying surface 70 of the 2 nd belt 7 to the receiving conveying surface 51, and the orientation of the component C changes. That is, even if the component C is in a posture where it cannot be suctioned by the suction nozzle 11 at the pickup position P5, it can be changed to a posture where it can be suctioned by the suction nozzle 11 by falling down to the receiving and conveying surface 51.

The component C having changed posture on the receiving and conveying surface 51 is conveyed to the pickup position P5 via the 1 st path position P3 and the 2 nd path position P4 while maintaining the posture. The robot manipulator 3 can suck the suction surface of the component C conveyed to the pickup position P5 with the suction nozzle 11.

If the drop height indicating the difference between the height of the conveying surface 70 and the height of the receiving conveying surface 51 is too small, it may be difficult to change the posture of the component C by dropping the component C from the conveying surface 70 to the receiving conveying surface 51. When the posture of the component C is changed by dropping the component C from the conveying surface 70 to the receiving conveying surface 51, the dropping height is preferably, for example, half or more of the short side of the main body D. On the other hand, if the drop height is too large, there is a possibility that the member C is damaged by the impact of the drop. That is, when the posture of the component C is changed by dropping the component C from the conveying surface 70 to the receiving conveying surface 51, the dropping height is preferably set to an appropriate value based on the outer dimension of the component C.

In the embodiment, the user of the component feeder 2 can adjust the receiving and conveying surface 51 to an arbitrary height by the height adjustment mechanism 20. The height of the receiving conveyor surface 51 is adjusted to adjust the falling height of the component C. The user of the component feeder 2 can set the falling height to an appropriate value based on the outer dimensions of the component C to suppress damage of the component C and change the posture of the component C. Since the drop height can be adjusted, the component feeder 2 can change the posture of the component C of various shapes. The component feeder 2 can align the orientations of the various components C.

[ Effect ]

As described above, the component feeder 2 of the embodiment includes: a 1 st belt 5 that conveys the component C dropped to the receiving position P1 to the-X side, which is the X-axis direction side, and supplies the component C to the 1 st path position P3; the 1 st return guide 6 guides the component C so that the component C supplied to the 1 st path position P3 is supplied to the adjacent 2 nd path position P4 on the Y-axis direction side, i.e., the +y side of the 1 st path position P3; a 2 nd belt 7 for feeding the component C fed to the 2 nd path position P4 to the +x side which is the other side in the X axis direction and to the pickup position P5; a 2 nd return guide 9 for guiding the component C to drop the component C supplied to the pickup position P5 toward an adjacent receiving position P1 on the other side in the Y-axis direction of the pickup position P5, i.e., the-Y side; and a height adjustment mechanism 20 for adjusting the height of the receiving and conveying surface 51 of the 1 st belt 5 including the receiving position P1.

According to the embodiment, the receiving and conveying surface 51 is adjusted to an arbitrary height by the height adjusting mechanism 20. By adjusting the height of the receiving conveying surface 51, the falling height of the member C is adjusted. The falling height can be set to an appropriate value based on the outer shape of the component C to suppress damage of the component C and change the posture of the component C. Since the drop height can be arbitrarily adjusted, the component feeder 2 can change the posture of the component C of various shapes. The component feeder 2 can align the orientations of the various components C.

The height adjustment mechanism 20 adjusts the height of the receiving and conveying surface 51 while maintaining the angle of the receiving and conveying surface 51 at a constant value. If the angle of the receiving and conveying surface 51 with respect to the horizontal plane is steep, for example, the component C may slide on the receiving and conveying surface 51, and the component feeder 2 may not smoothly convey the component C. In the embodiment, even if the height of the receiving and conveying surface 51 is changed, the angle of the receiving and conveying surface 51 with respect to the horizontal plane can be maintained at a constant value. Thereby, the component feeder 2 can smoothly convey the component C.

The component feeder 2 includes: a 1 st pulley 13 supporting the 1 st belt 5; a 1 st plate 16 which is disposed on the-Y side of the 1 st belt 5 and rotatably supports the-Y side end of the 1 st pulley 13; and an intermediate plate 17 disposed on the +y side of the 1 st belt 5 and rotatably supporting the +y side end of the 1 st pulley 13. The height adjustment mechanism 20 includes: a 1 st movable pulley 27 supporting the 1 st portion 5A of the 1 st belt 5 from below; a 2 nd movable pulley 28 for supporting a 2 nd portion 5B of the 1 st belt 5 on the-X side of the 1 st portion 5A from below; a 1 st lever 29 supporting the 1 st movable pulley 27; a 2 nd lever 30 supporting the 2 nd movable pulley 28; the 1 st guide groove 31 formed in the 1 st plate 16 and the intermediate plate 17, respectively, guides the 1 st lever 29; and a 2 nd guide groove 32 formed in the 1 st plate 16 and the intermediate plate 17, respectively, for guiding the 2 nd rod 30. The receiving conveyance surface 51 is defined between the 1 st part 5A and the 2 nd part 5B. Thus, the height of the receiving conveyor surface 51 is adjusted while the angle of the receiving conveyor surface 51 is maintained at a constant value.

The 1 st guide groove 31 is parallel to the 2 nd guide groove 32. Thus, the height of the receiving conveyor surface 51 is adjusted while the angle of the receiving conveyor surface 51 is maintained at a constant value.

The 1 st guide groove 31 and the 2 nd guide groove 32 are inclined upward toward the-X side. Thus, the height of the receiving conveyor surface 51 is adjusted while the angle of the receiving conveyor surface 51 is maintained at a constant value.

The height adjusting mechanism 20 has a coupling member 33, and the coupling member 33 couples the 1 st lever 29 and the 2 nd lever 30 to maintain the relative positions of the 1 st lever 29 and the 2 nd lever 30. Thus, the height of the receiving conveyor surface 51 is adjusted while the angle of the receiving conveyor surface 51 is maintained at a constant value. The user of the parts feeder 2 can easily operate the 1 st lever 29 and the 2 nd lever 30.

The pickup position P5 is defined at the +y side end of the 2 nd belt 7. The component feeder 2 is provided with a pickup guide 8, and the pickup guide 8 guides the component C so that the component C supplied to the 2 nd path position P4 is supplied to the pickup position P5. By the pickup guide 8, the component C can be smoothly supplied to the pickup position P5.

The component feeder 2 includes a 2 nd plate 18 disposed on the +y side of the 2 nd belt 7. A recess 38 is formed at the upper end portion of the 2 nd plate 18 so that the pickup position P5 is opened toward the +y side. The robot manipulator 3 can smoothly adsorb the component C via the recess 38. The suction nozzle 11 of the robot manipulator 3 can suck the component C from the side via the recess 38. The 2 nd plate 18 can suppress the component C conveyed by the 2 nd belt 7 from falling from the 2 nd belt 7 to the +y side at a portion where the recess 38 is not formed.

The suction surface defined in the component C is sucked by the suction nozzle 11. The concave portion 38 is formed so that the suction nozzle 11 enters the pickup position P5 via the concave portion 38. Thereby, the suction nozzle 11 of the robot manipulator 3 can suck the component C from the side via the concave portion 38.

The component supply system 1 includes: a component feeder 2; a robot manipulator 3 having a suction nozzle 11 for sucking the component C supplied to the pickup position P5 of the component feeder 2; and a robot control unit 41 that controls the robot manipulator 3 so that the component C suctioned by the suction nozzle 11 is stored in the divided space 12A of the tray 12. According to the embodiment, since the orientations of the components C are identical in the component feeder 2, the robot manipulator 3 can store the plurality of components C in the tray 12 in a state where the orientations of the components C are identical.

The component supply system 1 includes: a camera 37 that photographs the component C supplied to the pickup position P5; and an image processing unit 42 that discriminates the suction surface defined in the component C based on the captured data of the camera 37. The robot controller 41 controls the robot manipulator 3 so that the suction nozzle 11 sucks the suction surface of the component C. The robot manipulator 3 includes an articulated robot, and therefore, can adsorb the adsorbing surfaces of the components C even if the orientations of the adsorbing surfaces of the components C are not uniform at the pickup position P5.

The robot control unit 41 controls the robot manipulator 3 based on the orientation of the suction surface of the component C so that the suction nozzle 11 sucks the suction surface of the component C from the side of the 2 nd belt 7. Even if the directions of the suction surfaces of the plurality of components C are not uniform at the pickup position P5, the robot manipulator 3 can suck the suction surfaces of the components C and store the plurality of components C in the tray 12 in a state where the directions of the components C are uniform.

Reference numerals illustrate:

1: a component supply system; 2: a component feeder; 3: a robot manipulator; 3A: a base member; 3B: a rotating member; 3C: arm 1; 3D: arm 2; 3E: arm 3; 4: a control device; 5: 1 st belt; 5A: part 1; 5B: part 2; 6: 1 st return guide; 6A: a guide surface; 6B: a guide groove; 7: a 2 nd belt; 8: pick up the guide; 8A: a guide surface; 9: a 2 nd return guide; 9A: a guide surface; 9B: a guide groove; 10: a drop guide; 10B: a guide groove; 11: adsorbing a suction nozzle; 12: a tray; 12A: dividing the space; 12B: an opening; 13: 1 st belt wheel; 14: a 2 nd belt wheel; 15: a bottom plate; 16: plate 1; 17: an intermediate plate; 18: plate 2; 19: a motor; 20: a height adjusting mechanism; 21: a tension adjusting mechanism; 22: a 1 st support plate; 23: a 2 nd support plate; 24: a motor pulley; 25: a motor belt; 26: a belt wheel; 27: a 1 st movable pulley; 28: a 2 nd movable pulley; 29: a 1 st rod; 29A: a 1 st support part; 29B: a 1 st handle portion; 29C: a 1 st nut; 30: a 2 nd rod; 30A: a 2 nd support part; 30B: a 2 nd handle portion; 30C: a 2 nd nut; 31: a 1 st guide groove; 32: a 2 nd guide groove; 33: a connecting member; 33A: a 1 st connecting member; 33B: a 2 nd connecting member; 34: a tension pulley; 35: a tension rod; 35A: a tension support portion; 35B: zhang Lishou handle; 35C: a tension nut; 36: a tension guide groove; 37: a camera; 38: a concave portion; 41: a robot control unit; 42: an image processing section; 50: a conveying surface; 51: receiving a conveying surface; 52: inputting a conveying surface; 53: a 1 st path conveying surface; 70: a conveying surface; 101: a base guide; 102: a movable guide; 102B: a guide groove; AX1: a 1 st rotation shaft; AX2: a 2 nd rotation shaft; AX3: a 3 rd rotation shaft; c: a component; d: a main body; da: an upper surface; db: a lower surface; dc: a 1 st side; dd: a 2 nd side; e: a lead wire; p1: a receiving location; p2: inputting a position; p3: a 1 st path position; p4: a 2 nd path position; p5: a pick-up location; TX: and a rotating shaft.

Claims (12)

1. A component feeder, comprising:

a 1 st belt for conveying the component falling to the receiving position to the 1 st axial direction side and supplying to the 1 st path position;

a 1 st return guide for guiding the component to supply the component supplied to the 1 st path position to an adjacent 2 nd path position on the 2 nd axis direction side of the 1 st path position;

a 2 nd belt for conveying the component supplied to the 2 nd path position to the other side of the 1 st axis direction and supplying the component to a pick-up position;

a 2 nd return guide that guides a component so that the component supplied to the pickup position falls to an adjacent receiving position on the other side in the 2 nd axial direction of the pickup position; and

and a height adjustment mechanism for adjusting the height of the receiving and conveying surface of the 1 st belt including the receiving position.

2. The component feeder of claim 1, wherein,

the height adjustment mechanism adjusts the height of the receiving and conveying surface while maintaining the angle of the receiving and conveying surface at a constant value.

3. The component feeder of claim 2, wherein,

the component feeder includes:

A 1 st belt pulley supporting the 1 st belt;

a 1 st plate which is disposed on the other side in the 2 nd axial direction from the 1 st belt and rotatably supports the other end in the 2 nd axial direction of the 1 st pulley; and

an intermediate plate disposed on the 2 nd axial side of the 1 st belt, rotatably supporting the 2 nd axial side end of the 1 st pulley,

the height adjustment mechanism has:

a 1 st movable pulley supporting a 1 st portion of the 1 st belt from below;

a 2 nd movable pulley for supporting a 2 nd portion of the 1 st belt on a 1 st axial direction side of the 1 st portion from below;

a 1 st lever supporting the 1 st movable pulley;

a 2 nd lever supporting the 2 nd movable pulley;

a 1 st guide groove formed in the 1 st plate and the intermediate plate, respectively, for guiding the 1 st rod;

a 2 nd guide groove formed in the 1 st plate and the intermediate plate, respectively, for guiding the 2 nd rod,

the receiving conveying surface is defined between the 1 st and 2 nd portions.

4. The component feeder of claim 3, wherein,

the 1 st guide groove is parallel to the 2 nd guide groove.

5. The component feeder of claim 4, wherein,

The 1 st guide groove and the 2 nd guide groove are inclined upward toward one side in the 1 st axial direction.

6. The component feeder of claim 5, wherein,

the height adjustment mechanism has a coupling member that couples the 1 st lever and the 2 nd lever to maintain the relative positions of the 1 st lever and the 2 nd lever.

7. The component feeder of claim 1, wherein,

the pickup position is defined at an end portion of the 2 nd tape on the 2 nd axial direction side,

the component feeder is provided with a pickup guide that guides the component to supply the component supplied to the 2 nd path position to the pickup position.

8. The component feeder of claim 7, wherein,

the component feeder comprises a 2 nd plate, wherein the 2 nd plate is arranged at a position closer to one side of the 2 nd belt in the 2 nd axial direction,

a recess is formed in the upper end portion of the 2 nd plate so that the pickup position is opened to the 2 nd axis direction side.

9. The component feeder of claim 8, wherein,

the suction surface defined in the component is sucked by the suction nozzle,

The recess is formed such that the suction nozzle enters the pickup position via the recess.

10. A component supply system is characterized by comprising:

the component feeder of claim 1;

a robot manipulator having a suction nozzle that sucks the component supplied to the pickup position of the component feeder; and

and a robot control unit that controls the robot manipulator so as to store the components suctioned by the suction nozzles in a tray.

11. The component supply system of claim 10, wherein the component supply system comprises,

the component supply system includes:

a camera that photographs components supplied to the pickup position; and

an image processing unit that determines a suction surface defined in the component based on the imaging data of the camera,

the robot control unit controls the robot manipulator so that the suction nozzle sucks the suction surface.

12. The component supply system of claim 11, wherein the component supply system comprises,

the robot control unit controls the robot manipulator based on the orientation of the suction surface so that the suction nozzle sucks the suction surface from the side of the 2 nd belt.