JP2008302488A - Part feeding method and part feeding head - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a part feeding head increasing an operating range of an operation device. <P>SOLUTION: In a nut feeding method in which a nut 800 is fed into a spot welding machine 200, whenever an initial nut 800A in a nut containing path in a nut feeding part 1 is fed into the spot welding machine 200, an initial nut 800B in a nut containing path 41 in a magazine 4 is moved to a rear end of the nut containing path 12 in the nut feeding part 1. When the nut 800 in the nut containing path 41 in the magazine 4 is used and then the magazine 4 is emptied, the magazine 4B is separated by the magazine fitting part 2, and thereafter a magazine 4A filled with a nut 800 is fitted by the magazine fitting part 2. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a component supply method for supplying a component such as a nut to a working apparatus such as a spot welder, and a component supply head used in the component supply method.

  Generally, the nut supply method for supplying nuts to the spot welder is to supply nuts to the nut supply head from the parts feeder via the supply hose, and supply nuts from the nut supply head to the upper electrode or lower electrode of the spot welder. It is configured to

However, according to the conventional nut supply method, the parts feeder and the nut supply head are connected by the feed hose, so the parts feeder and the nut supply head are often placed relatively close to each other, and the stationary type When nuts are supplied to the spot welder, there is a problem that the working range of the stationary spot welder is narrowed. In particular, the fixed work area of the stationary spot welder in automated equipment using robots increases the time required to set the workpiece, which is the object to be welded with the nut, on the electrode, resulting in lower work efficiency. Will be invited. In addition, when prior art was investigated prior to the present application, Patent Documents 1 and 2 were found.
Japanese Patent No. 2533396 No. 7-37797

  The present invention is not limited to the nut supply method as described above, and is widely applied as a component supply method. However, the present invention solves the above-described problems of the prior art and provides a feeding hose. It is an object of the present invention to provide a component supply method capable of expanding the work range of a work device by supplying the component to the work device without using it. Another object of the present invention is to provide a component supply head that can expand the working range of the working device.

  The component supply method of the present invention is a component supply method in which components are supplied one by one from a component supply head to a working device, and includes a magazine having a component storage passage capable of filling a predetermined number M of components, and the component supply The head is a component supply unit having a component storage passage capable of storing a predetermined number N of components, the component supply unit supplying components one by one to the working device in order from the first component, and the components of the component supply unit A magazine mounting portion for removably mounting the magazine so that a rear end portion of the storage passage and a front end portion of the component storage passage of the magazine are in communication with each other; Each time the leading part in the part accommodating passage of the part supplying part is supplied to the working device, the leading part in the part accommodating path of the magazine is transferred to the rear end of the part accommodating path of the part supplying part, When the parts in the magazine's parts storage passage are consumed and the magazine is empty, the empty magazine is removed by the magazine mounting part, and then the parts are filled by the magazine mounting part. It is characterized by mounting a magazine in a filled state.

  According to the component supply method of the present invention, when a magazine filled with a component is mounted, the component supply unit supplies the component to the working device, and when the magazine becomes empty, the empty magazine is Since the magazine that is detached and filled with parts is mounted and the parts are supplied from the parts supply unit to the work equipment, the work equipment can be used without connecting the supply hose to the parts supply head as in the past. Therefore, it is possible to supply parts to the work apparatus, and therefore, the work range of the work device can be expanded.

  Here, the height of each of the parts is set to be smaller than the width, and the predetermined number M of parts is filled in the part receiving passage of the magazine in a vertically stacked state, and the predetermined number N of parts is filled. Are accommodated in a row in the component accommodating passage of the component supply unit. In this way, by vertically stacking parts in the direction of small height dimensions, the dimensions in the stacking direction are smaller than in the case of horizontally stacking parts in the direction of large width dimensions, and the dimensions in the longitudinal direction of the magazine are small. Become.

  Further, the working device and the component supply head are fixed to a movable part of a portable robot, and the empty magazine is transported to a magazine exchanger installed independently of the portable robot, In the magazine changer, the magazine is exchanged with a filled magazine, and the filled magazine is loaded by the magazine loading section. By configuring the portable robot to move and replace the magazine in this way, the empty magazine is transported from the component supply head to the magazine changer, and the filled magazine is supplied from the magazine changer. There is no need to provide a special magazine transport device for transporting to the head.

  Further, the magazine exchange machine fills the empty magazine with a predetermined number M of parts. By creating a filled magazine from an empty magazine in the magazine exchanger in this way, it becomes possible to continuously supply parts by repeatedly using a predetermined number of magazines. Compared to the case where a plurality of magazines are prepared in advance, and each empty magazine is transported, each filled magazine is transported to the component supply head one by one. It can be carried out.

  The working device is, for example, a spot welder, and the component is, for example, a perforated component.

  The component supply head of the present invention is a component supply head that supplies components one by one to the working device, and has a component accommodating passage that accommodates a predetermined number N of components. A component supply unit for supplying to the apparatus, and a magazine mounting unit for removably mounting a magazine having a component storage passage filled with a predetermined number M of components, the rear end portion of the component storage passage of the component supply unit; A magazine mounting portion for detachably mounting the magazine and a leading component in the component storage passage of the component supply portion are supplied to the working device so that the tip of the component storage passage of the magazine is in communication. And a component replenishing means for transferring the leading component in the component storage passage of the magazine to the rear end portion of the component storage passage of the component supply section.

  According to the component supply head of the present invention, since the magazine is mounted and the component is supplied from the magazine to the component supply unit, the component can be attached to the work device without connecting the supply hose to the component supply head as in the past. As a result, the working range of the working device can be expanded.

  Here, the part is set such that the height dimension is smaller than the width dimension, the magazine accommodates the predetermined number M of parts in a vertically stacked state in a part accommodation passage, and the part supply unit includes: The predetermined number N of components are accommodated in the component accommodating passage in a horizontal row. In this way, by vertically stacking parts in the direction of small height dimensions, the dimensions in the stacking direction are smaller than in the case of horizontally stacking parts in the direction of large width dimensions, and the dimensions in the longitudinal direction of the magazine are small. Become.

  The working device is fixed to the movable part of the portable robot, and the component supply head is fixed to the movable part of the portable robot. By fixing the component supply head to the movable part of the portable robot in this way, if you want to replace the empty magazine with a filled magazine when the magazine is empty, the portable robot moves to the magazine changer. Since the magazine can be exchanged, a special magazine transport device is used to transport an empty magazine from the component supply head to the magazine changer and to transfer a filled magazine from the magazine changer to the component supply head. Need not be provided separately.

  The working device is, for example, a spot welder, and the component is a perforated component such as a nut.

  The component replenishing means includes a push block capable of reciprocating movement, and when the push block moves backward, the leading component in the component receiving passage of the magazine extends to the rear end portion of the component receiving passage of the component supply portion. When it is guided and becomes the last part in the part accommodation passage of the parts supply part, and the pushing block advances, the last part receives a pressing force from the front surface of the pushing block, and the parts supply part contains the parts. While moving forward by a distance of one part toward the tip of the passage, the leading part in the part storage passage of the magazine is received by the upper surface of the push block and stays at the tip of the part storage passage of the magazine. . Thus, by reciprocating the pushing block by a distance corresponding to one part, the parts in the magazine can be replenished one by one to the part supply unit.

  In addition, the component supply head includes component restraining means, and when the push block advances, the component restraining means restrains the leading part in the component housing passage of the magazine and holds it in the component housing passage. When the pushing block moves backward, the restraint on the leading part is released. In this way, the pushing block is smoothly advanced by restraining the leading part in the magazine by the parts restraining means.

  Here, the component restraining means is a nut in which the component has a nut main body portion and a plurality of weld legs protruding outward from the bottom portion of the nut main body portion, and in the component accommodating passage of the magazine. When the welding state of each nut is the housing form in which the weld leg is closer to the pushing block than the nut main body, the side of the nut main body of the leading nut is pressed to restrain the leading nut. Thus, when the component restraining means presses the side surface of the nut main body of the leading nut, the leading nut is in an inclined state, and the pushing block is advanced more smoothly.

  The component supply head includes component pressing means, and the component pressing means presses the rearmost component in the component storage passage of the magazine in the direction toward the leading component in the component storage passage. In this way, when the component pressing means presses the last component in the magazine, the component can be smoothly transferred from the magazine to the component supply unit.

  The magazine includes a guide pin that can be inserted into the hole of the perforated component on the center line of the component receiving passage. By providing the guide pins in this way, the guide pins are inserted into the holes of the perforated parts in the magazine, and an orderly alignment state can be obtained.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  1 is a block configuration diagram of a component supply system in which a component supply method according to an embodiment of the present invention is used, FIG. 2 is a schematic configuration diagram of a nut supply system, and FIG. 3 is a side view of a main portion of a nut supply head. 4 and FIG. 4 are plan views of main parts of the nut supply head, FIGS. 5 to 8 are operation explanatory views of the nut supply head, and FIG. 9 is an operation explanatory view of the nut supply portion of the nut supply head. 10 is an explanatory diagram of a welding operation of a spot welder, FIG. 11 is a plan view of a magazine mounting portion, FIG. 12 is a configuration diagram of the magazine exchanger, and FIG. 13 is a partial front sectional view of a magazine filling device of the magazine exchanger. 14 shows side views of the magazine filling apparatus, respectively.

  In FIG. 1, the component supply system according to the present embodiment includes a parts feeder 100, a work device 200, a component supply head 300, a magazine changer 400, and a magazine filling device 500.

  The parts feeder 100 is a nut feeder that feeds perforated parts such as nuts.

  The working device 200 is, for example, a spot welder that welds a nut to a workpiece, but may be a caulking device or the like.

  The component supply head 300 supplies components to the working device 200. When the working device 200 is a spot welder, a nut as a perforated component is supplied.

  The component supply head 300 includes a component supply unit 1, a magazine mounting unit 2, and a component supply unit 3.

  The component supply unit 1 supplies components to the work device 200. As will be described later, the component supply unit 1 has a component accommodating passage 12 that can accommodate a predetermined number N of components, and supplies the components one by one to the working device 200 in order from the first component in the component accommodating passage 12.

  The magazine mounting unit 2 mounts a filled magazine 4 that supplies components to the component supply unit 1, that is, a filling magazine 4A, and then removes an empty magazine, that is, an empty magazine 4B. As will be described later, the magazine 4 has a part accommodating passage 41 filled with a predetermined number M of parts.

  The component supply means 3 performs an operation of supplying the components in the magazine 4 to the component supply unit 1.

  The magazine changer 400 is for exchanging the empty magazine 4B with the filling magazine 4A.

  The magazine filling device 500 performs an operation of filling the empty magazine 4B with the parts fed from the parts feeder 100.

  Next, a component supply method using the component supply system configured as described above will be described.

  Before the working device 200 starts work, the magazine mounting portion 2 of the component supply head 300 is in a state where the front end portion of the component storage passage 41 of the filling magazine 4A and the rear end portion of the component storage passage 12 of the component supply portion 1 are in communication. The filling magazine 4A is detachably mounted so as to be.

  Thereafter, when the work device 200 starts work, components are supplied one by one from the component supply unit 1 of the component supply head 300 to the work device 200 at a predetermined timing, and the work device 200 performs predetermined processing on the supplied components. For example, a welding operation is performed.

  When the leading component in the component accommodating passage 12 of the component supplying unit 1 is supplied to the working device 200, the component replenishing means 3 uses the leading component in the component accommodating passage 41 of the magazine 4 as the component accommodating passage 12 of the component supplying unit 1. The parts transferred to the rear end are replenished, and the transferred parts are moved so that the parts following the supplied leading parts move to the position of the leading parts before supply.

  After that, when all the M parts in the magazine 4 are supplied to the parts supply unit 1 and the magazine 4 becomes an empty magazine 4B, the magazine mounting unit 2 leaves the empty magazine 4B, and the empty magazine 4B is conveyed to the magazine exchange 400. The Then, the empty magazine 4B is exchanged with the filling magazine 4A in the magazine exchange 400. The filling magazine 4 </ b> A is conveyed to the component supply head 300 and is mounted by the magazine mounting unit 2. Thereafter, the supply of parts to the work apparatus 200 is resumed. Note that the empty magazine 4B conveyed to the magazine exchange 400 is filled with M parts of the parts fed from the parts feeder 100 by the magazine filling device 500, and then another empty magazine 4B conveyed. It will be in a standby state until it is replaced.

  According to such a component supply method, components are supplied from the component supply unit 1 to the working device 200 with the filling magazine 4A mounted, and when the magazine 4 becomes empty, the empty magazine 4B is detached and filled. Since the magazine 4A is mounted and the parts are supplied from the parts supply unit 1 to the working device 200, the parts can be supplied to the working device 200 without connecting the feeding hose to the parts supply head 300 as in the prior art. Therefore, the work range of the work device 200 can be expanded.

  The component supply system shown as a block configuration diagram in FIG. 1 is configured as shown in FIG. 2 as a nut supply system.

  In FIG. 2, the nut supply system includes a spot welder as the working device 200, a nut supply head as the component supply head 300, a magazine changer 400, and a nut feeder as the parts feeder 100.

(i) Spot welder 200 (FIGS. 2, 3, 6, and 10)
The spot welder 200 and the nut supply head 300 are disposed on a movable part (C-type gun) 600 of a portable robot. The movable unit 600 of the portable robot can move in the X, Y, and Z axis directions and can rotate about any axis.

  The spot welder 200 includes a lower fixed electrode 201 on which the workpiece 700 is set and an upper movable electrode 202 that can be lowered toward the lower fixed electrode 201 while holding the nut 800, and welds the nut 800 to the workpiece 700. . The upper movable electrode 202 is provided with a guide shaft 202a that can be moved up and down. The nut 800 includes a main body portion 800a and a weld leg portion 800b, and the height dimension is set smaller than the width dimension.

  Further, the movable part 600 of the portable robot is provided with a nut pressing means as a part pressing means 6 described later.

(ii) Nut supply head 300 (FIGS. 2 to 11)
The nut supply head 300 is disposed on the movable portion 600 of the portable robot so as to be positioned on the side of the upper movable electrode 202.

  The nut supply head 300 includes a nut supply unit as a component supply unit 1 that supplies the nut 800 to the upper movable electrode 202, a magazine 4 that is detachably attached to the nut supply unit 1, and the magazine 4 to the nut supply unit 1. The magazine mounting portion 2 to be attached and detached, the nut replenishing means 3 as the component replenishing means 3 for replenishing the nut supply portion 1 with the nut 800 in the magazine 4, and the inside of the magazine 4 to assist the operation of the nut replenishing means 3 The nut restraining means as the part restraining means 5 for restraining the nut 800 and the nut pressing means as the part pressing means 6 for preventing the nut 4 from clogging in the magazine 4 are provided.

  Here, the relative positional relationship among the nut supply unit 1, the magazine mounting unit 2, the nut supply unit 3, the magazine 4, the nut restraining unit 5, and the nut pressing unit 6 is as follows. The nut holding means 6 is on the fixed side, the nut supply part 1 and the nut supply means 3 are movable on the fixed side, and the nut supply means 3 is movable on the nut supply part 1. It becomes the movable side.

A. Nut supply part 1 (Figs. 2 to 10)
The nut supply unit 1 can be reciprocated in the longitudinal direction a by the air cylinder 11 shown in FIG. The nut supply unit 1 has a nut housing passage as the component housing passage 12 for housing a predetermined number N (N = 5 in the present embodiment) of nuts 800. Nuts 800 are accommodated in a row in the nut accommodating passage 12, and the nuts 800 are supplied to the upper movable electrode 202 one by one in order from the leading nut 800A as the leading component.

  The distal end of the nut housing passage 12 is open, and the lower portion of the distal end opening can be opened and closed by a dam portion 13 a of the gate mechanism 13.

  As shown in FIG. 9, the gate mechanism 13 can come into contact with a coil spring 13 c mounted on a horizontal shaft 13 b held by the nut supply unit 1 and a roller 13 d held on the fixed side of the nut supply head 300. A lever portion 13e is provided. The coil spring 13c constantly applies a counterclockwise turning force about the horizontal shaft 13b to the lever portion 13e.

  When the nut supply portion 1 is in the retracted position, the lever portion 13e maintains a contact state with the roller 13d and regulates the clockwise rotation of the dam portion 13a. Keep the lower part of the opening in a strong closed state. Further, when the nut supply portion 1 is in the forward position, the lever portion 13e maintains a separated state from the roller 13d, and the weir portion 13a is not restricted in the clockwise rotation, and is counterclockwise due to the elastic force of the coil spring 13c. Only the rotational force in the direction is received, and the dam portion 13a keeps the end opening of the nut housing passage 12 in a weakly closed state.

  The rear end portion of the nut housing passage 12 can be connected to the front end portion of the magazine 4.

  As shown in FIG. 4, the ceiling 12 a at the tip of the nut housing passage 12 has a front-rear cutout 12 b that allows the tip of the guide shaft 202 a to enter the nut housing passage 12. .

  Although not shown, the nut supply portion 1 includes a next nut (next nut) that follows the leading nut 800A when the leading nut 800A in the nut accommodating passage 12 is taken out of the nut accommodating passage 12 as will be described later. A nut pressing mechanism is provided for pressing the next nut 800 so that the 800 does not go out of the nut housing passage 12.

  The nut supply unit 1 and the spot welder 200 perform operations as shown in FIGS.

  10A to 10F, before the start of spot welding, as shown in FIG. 10A, the nut supply unit 1 is in the retracted position, and the upper movable electrode 202 is in the raised position.

  First, in order to supply the nut 800 to the upper movable electrode 202, the nut supply unit 1 is advanced to a forward position where the tip is located directly below the upper movable electrode 202 (corresponding to the state shown in FIG. 10B). .)

  Next, the guide shaft 202a inside the upper movable electrode 202 is lowered, and the tip end portion of the guide shaft 202a is press-fitted into the hole 800c of the leading nut 800A in the nut housing passage 12, thereby elastically holding the leading nut 800A. Next, the nut supply unit 1 is retracted to the retracted position. At this time, the leading nut 800A elastically held by the guide shaft 202a pushes and opens the weir 13a of the gate mechanism 13, and the leading nut 800A goes out of the nut receiving passage 12 (corresponding to the state shown in FIG. 10C). To do.) During this time, the workpiece 700 is set on the lower fixed electrode 201, and spot welding is started.

  Next, the upper movable electrode 202 is lowered, and the work 700 and the nut 800 between the upper movable electrode 202 and the lower fixed electrode 201 are energized while being pressurized, and the nut 800 is welded to the work 700 (FIG. 10D). Corresponds to the state shown in the figure).

  Next, the upper movable electrode 202 is raised (corresponding to the state shown in FIG. 10E).

  Next, the nut supply unit 1 and the upper movable electrode 202 are operated in the same manner as described above to hold the next nut 800 (800A) on the upper movable electrode 202 and move the workpiece 700 to the next welding position to fix the lower part. It is set on the electrode 201 (corresponding to the state shown in FIG. 10F). Thereafter, the same operation as described above is repeated.

B. Magazine 4 (Figs. 2-8, 11)
The magazine 4 is detachably mounted at a predetermined position located above the rear end portion of the nut housing passage 12 of the nut supply portion 1 by the magazine mounting portion 2, and is connected to the rear end portion of the nut housing passage 12 of the nut supply portion 1. The front end of the nut housing passage 41 of the magazine 4 can communicate.

  The magazine 4 has a bottomed cylindrical shape having a bottom 42 and an upper end opening 43. The inside of the magazine 4 constitutes a nut accommodating passage 41 as a component accommodating passage, and a predetermined number M (M = 7 in this embodiment) of nuts 800 are accommodated in the nut accommodating passage 41 in a vertically stacked state. The

  On the upper surface of the bottom 42 of the magazine 4, guide pins 44 are vertically extended upward from the center thereof, and the nut 800 is received in the nut receiving passage 41 in a state where the guide pin 44 is inserted into the hole 800 c of the nut 800. Is done. The guide pin 44 extends along the center line of the nut housing passage 41.

  The nut 800 is housed in the magazine 4 in an upside down state, i.e., with the nut body portion 800a on the lower side and the welding leg portion 800b on the upper side, and the magazine 4 is in an upside down state, i.e., the bottom portion. 42 is mounted at the predetermined position with the upper end opening 43 positioned on the upper side and the upper end opening 43 positioned on the lower side.

  A plurality of through holes 45 are provided in the bottom portion 42 of the magazine 4 so as to surround the extended portion of the guide pins 44. Each through hole 45 is located on the upper side when the magazine 4 is mounted on the nut supply unit 1, and the nut pressing pin 61 of the nut pressing means 6 is inserted into the through hole 45 from above the magazine 4. . The nut pressing pin 61 is for pressing the nut 800 accommodated in the magazine 4 downward to prevent the nut 4 from being clogged in the magazine 4.

  The front wall 46 of the magazine 4 is provided with an opening that allows the restraining lever 51 of the nut restraining means 5 to enter the nut housing passage 41.

  Although not shown, near the bottom 42 of the magazine 4, the presence or absence of the leading nut 800B in the magazine 4 is detected by a photoelectric conversion method or other methods when nuts are supplied to detect that the magazine 4 has become empty. A nut sensor is provided.

C. Magazine mounting part 2 (Figs. 4 and 11)
The magazine mounting unit 2 performs an operation of mounting the magazine 4 on the nut supply unit 1 and detaching it from the nut supply unit 1.

  The magazine mounting portion 2 includes an air cylinder 21 fixed to the fixing bracket 14, a linear motion member 22 fixed to the distal end portion of the rod 21 a of the air cylinder 21, and one end pin coupled to the linear motion member 22. A “H” shaped member 23 whose end is pin-coupled to the nut supply portion 1, and a rotating member 25 whose one end is pin-coupled to the nut supply portion 1 and has a magazine pressing member 24 disposed at the other end. And a link member 26 whose one end is pin-coupled to the bent portion 23 a of the “H” -shaped member 23 and whose other end is pin-coupled to the intermediate portion 25 a of the rotating member 25.

  When the rod 21a of the air cylinder 21 is in the forward position, the magazine mounting portion 2 maintains the state shown by the solid line in FIG. 11, applies a pressing force to the rear surface 47 of the magazine 4, and fixes the magazine 4 at a predetermined position. To do.

  In addition, when the rod 21a of the air cylinder 21 starts to retract, the magazine mounting portion 2 moves away from the rear surface 47 of the magazine 4 so that the “h” -shaped member 23 contacts the stopper 14 of the nut supply portion 1. When contact is made, the state becomes as shown by a two-dot chain line in FIG. 11, and the magazine 4 can be detached from the predetermined position.

D. Nut replenishing means 3 (FIGS. 3 to 8)
The nut replenishing means 3 is arranged on the extension of the nut housing passage 12 of the nut supply portion 1 and is a push block 31 that can reciprocate in the front-rear direction, and an air that is fixed to the nut supply portion 1 and drives the push block 31 to reciprocate. And a cylinder 32 (FIG. 3).

  The pushing block 31 moves forward by a distance of approximately one nut (a distance corresponding to the width dimension of the nut 800), thereby moving the nut row in the nut receiving passage 12 of the nut supply unit 1 by a distance corresponding to one nut. The leading nut 800B in the nut receiving passage 41 of the magazine 4 is guided to the space generated by the retreat by moving toward the weir 13a and retreating by a distance of about one nut. The guided leading nut 800B becomes the rearmost nut 800C in the nut receiving passage 12 of the nut supply unit 1.

  Thus, the movement amount of the pushing block 31 is a small movement amount that is substantially the distance of one nut.

E. Nut restraining means 5 (FIGS. 3 to 8)
The nut restraining means 5 can be reciprocated in the front-rear direction and can be reciprocated in the opening of the front wall portion 46 of the magazine 4. An air cylinder 52.

  When the restraining lever 51 enters the opening of the front wall portion 46 of the magazine 4, the restraining lever 51 pushes the side surface of the main body 800 a of the leading nut 800 B in the nut accommodating passage 41 of the magazine 4 to move the leading nut 800 B to the nut accommodating passage. Fasten in 41. Here, as will be described later, a downward pressing force by the nut pressing means 6 acts on the leading nut 800B. However, the nut restraining means 5 overcomes the pressing force and removes the leading nut 800B from the nut housing passage 41. It is configured to be able to remain inside. Note that, as in the present embodiment, the restraining lever 51 has a posture in which the nut 800 has the main body 800a on the upper side and the welding leg 800b on the lower side, in other words, the welding leg 800b has the nut main body 800a. When the push-in block 31 moves forward, the head nut 800B, which acts effectively when it is housed in the nut housing passage 41 in a posture closer to the push-in block 31, is inclined as shown in FIG. Interference between the weld leg portion 800b of the nut 800B and the upper surface of the push block 31 is less likely to occur, and the push block 31 can smoothly advance.

F. Nut presser means 6 (Figs. 2 and 3)
The nut pressing means 6 is fixed to a nut pressing pin 61 that can be inserted into the through hole 45 of the bottom portion 42 of the magazine 4 that is mounted upside down on the nut supply portion 1 and the movable portion 600 of the portable robot. And an air cylinder 62 that reciprocates the nut pressing pin 61 in the vertical direction.

  When the nut presser pin 61 is inserted through the through hole 45 of the magazine 4, the nut presser pin 61 is held in a state in which the upper surface of the rearmost nut 800 </ b> D in the magazine 4 is constantly pressed downward by the air cylinder 62. The leading nut 800B acts so as to be smoothly transferred (pressed) to the rear end portion of the nut receiving passage 41 of the nut supply portion 1.

  Further, the nut pressing pin 61 removes the empty magazine 4B from a predetermined position for exchanging the magazine 4, and when the filling magazine 4A is mounted at a predetermined position, the nut pressing pin 61 is moved to the retracted position (upward position) by the air cylinder 62. Retained.

(iii) Magazine switch 400 (FIGS. 2, 12 to 14)
The magazine changer 400 includes a magazine filling device 500 held by a column 402 fixed to the machine base 401, and a magazine attaching / detaching apparatus 900 provided on the upper surface of the turntable 403 fixed to the shaft portion 401a of the machine base 401. Prepare. Here, although only one magazine attaching / detaching device 900 is shown in FIG. 2, a plurality of magazine attaching / detaching devices 900 are provided on the upper surface of the turntable 403.

A. Magazine detaching device 900
The magazine attaching / detaching apparatus 900 includes a receiving base 901 as shown in FIG. 12 in a side view and a plan view (a part surrounded by a broken line), and the receiving base 901 is a square that matches the planar shape of the bottom 42 of the magazine 4. The bottom surface portion 901a has a shape and a side surface portion 901b having an L shape in plan view. The bottom surface portion 901a receives the bottom portion 42 of the magazine 4 and the side surface portion 901b receives two adjacent side wall portions. One opened side wall portion of the cradle 901 is opened and closed by a first movable plate 903 that is reciprocated by the first air cylinder 902, and the other opened side wall portion of the cradle 901 is a first side wall portion. 2 Opened and closed by a second movable plate 905 that is driven to reciprocate by an air cylinder 904.

  By controlling the movement of the movable portion 600 of the portable robot, the magazine 4 mounted at a predetermined position of the nut supply head 300 is reversed in the upside down direction when nuts are supplied. To be placed. The first movable plate 903 and the second movable plate 905 approach the magazine 4, and the magazine 4 is firmly held by the L-shaped side surface portion 901 b of the receiving base 901 and the first and second movable plates 903 and 905. The Thereafter, the magazine 4 is released from a predetermined position by the magazine mounting portion 2 of the nut supply head 300, and the nut supply head 300 is separated from the magazine 4.

  Thereafter, as will be described later, the nut 800 is filled by the magazine filling device 500. The filling magazine 4A filled with the nut 800 is mounted at a predetermined position by the magazine mounting portion 2 of the nut supply head 300 approaching the filling magazine 4A, and then the first and second movable plates 903 and 905 are removed from the magazine 4. By separating the magazine 4, the magazine 4 can be detached from the cradle 901. Thereafter, the movement of the movable portion 600 of the portable robot is controlled to return the magazine 4 to the posture at the time of nut supply.

B. Magazine filling device 500
As shown in FIGS. 13 and 14, the magazine filling apparatus 500 includes an air cylinder 501, a lifting member 502 that is driven up and down by the air cylinder 501, a guide member 503 that guides the lifting operation of the lifting member 502, and a lifting member. A support member 504 is provided directly below the lower end portion of 502 and supports the nut 800 sent from the feed tube 101 connected to the nut feeder 100 from below.

  The elevating member 502 includes a cylindrical portion 502a connected to the rod 501a of the air cylinder 501, and an axis alignment member 502b and a spring member 502c are disposed inside the cylindrical portion 502a.

  The cylindrical portion 502a is located directly above the nut 800 supported by the support member 504, and acts to push down the nut 800 when the elevating member 502 is lowered by the air cylinder 501.

  When the elevating member 502 is in the raised position, the axis aligning member 502b is held at the advanced position by the urging force of the spring member 502c. However, the elevating member 502 is lowered by the air cylinder 501, and the lower end of the axis aligning member 502b is After the leading end portion of the guide pin 44 of the magazine 4 is fitted into the formed fitting hole 502d, the guide pin 44 is retracted against the urging force of the spring member 502c, and the connection state between the guide pin 44 and the shaft alignment member 502b is maintained. To act.

  The support member 504 forms a receiving portion that can support the nut 800 from below by an urging means (not shown) when the elevating member 502 is in the raised position. When the pressing force of the cylindrical portion 502a is applied, the cylindrical portion 502a is expanded as shown by the broken line in FIG. 14 against the urging force of the urging means, and acts to pass the nut 800 downward. The nut 800 that has passed downward through the expanded support member 504 is accommodated in the magazine 4 with the guide pin 44 inserted through the hole 800c.

  Completion of filling of the nut 800 in the magazine 4 is detected by a sensor 505 (FIGS. 2 and 12) such as a light reflection type or a light transmission type. When the sensor 505 detects completion of filling, the nut filling operation by the magazine filling device 500 is finished.

(iv) Nut feeder 100 (Fig. 2)
The nut feeder 100 is configured to continuously feed the stored nut 800 to the magazine filling device 500 of the magazine exchange 400. The nut feeder 100 includes an escapement 102, and the escapement 102 cuts the nuts 800 that are continuously fed out one by one and supplies them to the flexible feeding tube 101.

  Next, an example of the nut supply method by the nut supply system comprised as mentioned above is demonstrated in order.

(1) Before starting the nut supply The magazine mounting unit 2 mounts the filling magazine 4A at a predetermined position. Here, N nuts 800 are filled in the nut accommodating passage 12 of the nut supply unit 1, and M nuts 800 are filled in the nut accommodating passage 41 of the filling magazine 4A (see FIG. 3).

  The rod of the air cylinder 11 of the nut supply unit 1 is in the forward position, the nut supply unit 1 is in the retracted position, and the tip of the nut supply unit 1 is separated from the upper movable electrode in the horizontal direction (see FIG. 3). ).

  The rod of the air cylinder 32 of the nut replenishing means 3 is in the forward position, the pushing block 31 is in the backward position, and the rearmost nut 800C is located at the rear end of the nut receiving passage 12 of the nut supply part 1 (see FIG. 3).

  The rod of the air cylinder 52 of the nut restraining means 5 is in the retracted position, the restraining lever 51 is in the retracted position, and the restraining lever 51 does not press the side surface of the leading nut 800B in the nut accommodating passage 41 of the filling magazine 4A. The leading nut 800B is placed on the rearmost nut 800C in the nut receiving passage 12 of the nut supply portion 1 in a state where the leading nut 800B is not restrained by the restraining lever 51 (see FIG. 8).

  The rod of the air cylinder 62 of the nut pressing means 6 receives a biasing force in the forward direction, and the nut pressing pin 61 passes through the through hole 45 of the bottom portion 42 of the magazine 4 and the rearmost nut 800D (see FIG. 3) is pressed downward.

  A workpiece 700 is set on the lower fixed electrode 201 of the spot welder 200.

(2) When nuts are supplied
A. The rod of the air cylinder 11 of the nut supply unit 1 is retracted, the nut supply unit 1 is advanced, and the leading nut 800A in the nut housing passage 12 is positioned directly below the upper movable electrode 202. At this time, the push block 31 moves forward with the advancement of the nut supply unit 1, and the guide shaft 202a of the upper movable electrode 202 is in the raised position.

    B. Lower the guide shaft 202a and insert the elastic tip of the guide shaft 202a into the hole 800a of the leading nut 800A (see FIG. 5).

    C. The rod of the air cylinder 11 of the nut supply part 1 is moved forward, and the nut supply part 1 and the pushing block 31 are moved backward. When the nut supply portion 1 is retracted, the leading nut 800A elastically held by the guide shaft 202a opens the weir portion 13a against the urging force of the coil spring 13c of the gate mechanism 13, and the leading nut 800A is in the nut receiving passage 12. (See Fig. 6). The weir part 13a returns to the closed state by the urging force of the coil spring 13c after the leading nut 800A comes out.

    D. The upper movable electrode 202 holding the nut 800A (800) is lowered, and the nut 800 is spot welded to the workpiece 700 set on the lower fixed electrode 201. The guide shaft 202a is raised at a predetermined timing when the upper movable electrode 202 is lowered. After welding is completed, the workpiece 700 is taken out from the lower fixed electrode 201.

    E. After the leading nut 800A has gone out, the rod of the air cylinder 52 of the nut restraining means 5 is advanced to advance the restraining lever 51, and the restraining lever 51 moves to the leading nut 800B in the nut receiving passage 41 of the magazine 4. By pressing the side surface, the lowering of the leading nut 800B is regulated, and in this state, the rod of the air cylinder 32 of the nut replenishing means 3 is retracted, and the pushing block 31 is advanced. As the pushing block 31 moves forward, the nut 800 in the nut receiving passage 12 is pushed toward the weir 13a, and the succeeding nut 800 of the leading nut 800A becomes a new leading nut 800A (see FIG. 7).

    F. The rod of the air cylinder 52 of the nut restraining means 5 is retracted to retract the restraining lever 51 to release the pressing of the leading nut 800B by the restraining lever 51 and the rod of the air cylinder 32 of the nut replenishing means 3 is advanced. The pushing block 31 is moved backward. When the pushing block 31 is retracted, the leading nut 800B in the nut accommodating passage 41 of the magazine 4 enters the space formed at the rear end portion of the nut accommodating passage 12 of the nut supply unit 1, and this nut enters the nut accommodating passage 12. It becomes the new last tail nut 800C in (see FIG. 8). The leading nut 800B enters the nut housing passage 12 smoothly because the rearmost nut 800D in the nut housing passage 41 of the magazine 4 is pressed downward by the nut pressing pin 61.

    G. Thereafter, the above A to F are repeated until all the nuts 800 in the magazine 4 are replenished to the nut supply unit 1.

    H. When it is detected by the nut sensor that the magazine 4 has become the empty magazine 4B, the movable part 600 of the portable robot moves the empty magazine 4B upside down from when the nut is supplied. Place on cradle 901.

    I. The first and second air cylinders 902 and 904 bring the first and second movable plates 903 and 905 closer to the empty magazine 4B, and the L-shaped side surface portion 901b of the cradle 901 and the first and second movable plates The empty magazine 4B is firmly held by 903 and 905.

    J. The rod 21a of the air cylinder 21 of the magazine mounting portion 2 is retracted, and the magazine pressing member 24 is separated from the rear surface 47 of the empty magazine 4B. As a result, the empty magazine 4B can be detached from the predetermined position, and the movable portion 600 of the portable robot is operated in a state where the empty magazine 4B is fixed to the receiving base 901 to separate the nut supply head 300 from the magazine attaching / detaching device 900. The empty magazine 4B is filled with M nuts 800 by the magazine filling device 500.

    K. The filling magazine 4A is mounted at the mounting position of the nut supply unit 1 by the magazine mounting unit 2. Here, the filling magazine 4A is obtained by filling the empty magazine 4B set on the receiving base 901 of the magazine attaching / detaching device 900 (not shown) on the turntable 403 with the nut 800 by the magazine filling device 500. The mounting method of 4A is performed in the reverse procedure to the above-described method of removing the empty magazine 4B.

    L. After the filling magazine 4A is mounted at a predetermined position, the filling magazine 4A is turned upside down, and thereafter, the above A to K are repeated.

  As described above, according to the nut supply method (component supply method) of the present embodiment, the nut (component) 800 is supplied from the nut supply head (component supply head) 300 to the spot welder (working device) 200 one by one. In the nut supply method, a magazine 4 having a nut housing passage (part housing passage) 41 capable of filling a predetermined number M of nuts 800 is provided, and the nut supply head 300 is a nut capable of storing a predetermined number N of nuts 800. A nut supply unit (component supply unit) 1 having a storage passage (component storage passage) 12, and a nut supply unit 1 that supplies the nuts 800 one by one to the spot welder 200 in order from the top nut (head component) 800A; The rear end portion of the nut housing passage 12 of the nut supply unit 1 and the front end portion of the nut housing passage 41 of the magazine 4 are in communication with each other. When the nut 800 is supplied to the spot welder 200, the leading nut 800A in the nut receiving passage 12 of the nut supply unit 1 is supplied to the spot welder 200. Each time, the leading nut 800B in the nut housing passage 41 of the magazine 4 is transferred to the rear end portion of the nut housing passage 12 of the nut supply section 1, and the nut 800 in the nut housing passage 41 of the magazine 4 is consumed, and the magazine 4 When the magazine becomes empty, the magazine mounting portion 2 removes the empty magazine 4B, and then the magazine mounting portion 2 mounts the filled magazine 4A filled with the nut 800.

  According to the nut supply method of the present embodiment, the nut 4 is supplied from the nut supply unit 1 to the spot welding machine 200 with the filled magazine 4A filled with the nut 800, and the magazine 4 becomes empty. At this time, the empty magazine 4B is detached, the filled magazine 4A filled with the nut 800 is mounted, and the nut 800 is supplied from the nut supply unit 1 to the spot welder 200. The nut can be supplied to the spot welder without connecting a feed hose to the nut supply head. For this reason, the working range of the spot welder can be expanded.

  Further, the height of the nut 800 is set to be smaller than the width, and the predetermined number M of nuts 800 is filled in the nut receiving passage 41 of the magazine 4 in a vertically stacked state, and the predetermined number N of nuts 800 is filled. Are accommodated in a row in the nut accommodating passage 12 of the nut supply unit 1. Thus, by vertically stacking the nuts 800 in the direction of the small height dimension, the dimension in the stacking direction becomes smaller than when the nuts 800 are horizontally stacked in the direction of the large width dimension. Dimensions are reduced.

  Further, the spot welder 200 and the nut supply head 300 are fixed to the movable part 600 of the portable robot, and the empty magazine 4B is transported to the magazine exchange 400 installed independently of the portable robot. Then, the magazine 4A is replaced with the magazine 4A in the filled state, and the magazine 4A in the filled state is mounted by the magazine mounting portion 2. By configuring the magazine 4 to be exchanged by moving the portable robot in this way, the empty magazine 4B can be transported from the nut supply head 300 to the magazine changer 400, and the magazine 4A in the filled state can be changed. In order to carry from the magazine changer 400 to the nut supply head 300, it is not necessary to provide a special magazine carrying device.

  Further, the magazine changer 400 fills an empty magazine 4B with a predetermined number M of nuts 800. In this way, by creating the filled magazine 4A from the empty magazine 4B in the magazine exchange 400, it becomes possible to continuously supply nuts by repeatedly using a predetermined number of magazines 4, and therefore the magazine exchange Compared to the case where a plurality of filled magazines 4A are prepared in advance in 400, and each filled magazine 4A is conveyed to the nut supply head 300 one by one each time an empty magazine 4B is conveyed. The nut 4 can be continuously supplied with the magazine 4.

  Further, the nut supply head 300 of the present embodiment has a nut receiving passage 12 in which a predetermined number N of nuts 800 are stored in the nut supply head 300 that supplies the nuts 800 to the spot welding machine 200 one by one. A magazine mounting section for detachably mounting a nut supply section 1 for supplying nuts 800 to the spot welder 200 one by one from the nut 800A and a magazine 4 having a nut receiving passage 41 filled with a predetermined number M of nuts 800. A magazine mounting portion 2 for detachably mounting the magazine 4 so that the rear end portion of the nut receiving passage 12 of the nut supply portion 1 and the front end portion of the nut receiving passage 41 of the magazine 4 are in communication with each other. When the leading nut 800A in the nut receiving passage 12 of the nut supply unit 1 is supplied to the spot welder 200, the nut of the magazine 4 A nut replenishing means (part replenishing means) 3 for transferring the leading nut 800A in the accommodating passage 41 to the rear end portion of the nut accommodating passage 12 of the nut supply portion 1 is provided.

  According to the nut supply head 300 of the present embodiment, since the magazine 4 is mounted and the nut 800 is replenished from the magazine 4 to the nut supply unit 1, a feed hose is not connected to the nut supply head as in the conventional case. In addition, nuts can be supplied to the spot welder, and therefore the working range of the spot welder can be expanded.

  Further, the height of the nut 800 is set to be smaller than the width, the magazine 4 accommodates a predetermined number M of nuts 800 in a vertically stacked state in the nut accommodating passage 41, and the nut supply unit 1 A predetermined number N of nuts 800 are housed in the nut housing passage 12 in a horizontal row. Thus, by vertically stacking the nuts 800 in the direction of the small height dimension, the dimension in the stacking direction becomes smaller than when the nuts 800 are horizontally stacked in the direction of the large width dimension. Dimensions are reduced.

  The spot welder 200 is fixed to the movable part 600 of the portable robot, and the nut supply head 300 is fixed to the movable part 600 of the portable robot. By fixing the nut supply head 300 to the movable part 600 of the portable robot in this way, when it is desired to replace the empty magazine 4B with the filled magazine 4A when the magazine 4 becomes empty, the portable robot Can move to the magazine changer 400 to exchange the magazine 4, so that the empty magazine 4B is transported from the nut supply head 300 to the magazine changer 400, and the filled magazine 4A is supplied from the magazine changer 400 to the nut. In order to carry to the head 300, it is not necessary to provide a special magazine carrying device. In addition, when installing the nut supply head 300 with respect to a fixed-type welding machine, magazine replacement | exchange will be performed by a dedicated conveying apparatus or a hand.

  The nut replenishing means 3 includes a push block 31 that can reciprocate. When the push block 31 moves backward, the leading nut 800B in the nut receiving passage 41 of the magazine 4 is connected to the nut receiving passage 12 of the nut supply section 1. When guided to the rear end and becomes the rearmost nut 800C in the nut housing passage 12 of the nut supply unit 1, when the pushing block 31 moves forward, the last nut 800C receives a pressing force from the front surface of the pushing block 31, and the nut While moving forward by a distance of one nut toward the weir portion (tip portion) 13 a of the nut housing passage 12 of the supply unit 1, the leading nut 800 B in the nut housing passage 41 of the magazine 4 is on the upper surface of the pushing block 31. It is received and stays at the tip of the nut housing passage 41 of the magazine 4. In this manner, the nut 800 in the magazine 4 can be replenished to the nut supply unit 1 one by one by reciprocating the pushing block 31 by a distance corresponding to one nut.

  The nut supply head 300 includes a nut restraining means (part restraining means) 5 that restrains the leading nut 800B in the nut receiving passage 41 of the magazine 4 when the push block 31 moves forward. While restraining in the nut accommodation passage 41, when the pushing block 31 moves backward, the restriction on the leading nut 800B is released. In this way, the pushing block 31 is smoothly advanced by restraining the leading nut 800B in the magazine 4 by the nut restraining means 41.

  The nut restraining means 5 is a nut 800 housed in the nut housing passage 41 of the magazine 4, that is, a nut 800 housed in a state where the welding leg portion 800 b is closer to the pushing block 31 than the nut body portion 800 a. Since the leading nut 800B is restrained by pressing the side surface of the main body 800a, the leading nut 800B is inclined, and the pushing block 31 is further smoothly advanced.

  Further, the nut supply head 300 includes nut pressing means (part pressing means) 6, and the nut pressing means 6 converts the rearmost nut 800 </ b> D in the nut accommodating passage 41 of the magazine 4 to the leading nut 800 </ b> B in the nut accommodating passage 41. Press in the direction you head. Thus, the nut pressing means 6 presses the rearmost nut 800D in the magazine 4 so that the nut 800 can be smoothly transferred from the magazine 4 into the nut supply unit 1.

  Further, the magazine 4 includes a guide pin 44 that can be inserted into the hole 800 c of the nut 800 on the center line of the nut housing passage 41. By providing the guide pins 44 in this way, the guide pins 44 can be inserted into the holes 800c of the nuts 800 in the magazine 4, and an orderly alignment state can be obtained.

It is a block block diagram of the components supply system in which the components supply method which concerns on one Embodiment of this invention is used. It is a schematic block diagram of a nut supply system. It is a principal part side view of a nut supply head. It is a principal part top view of the nut supply head. It is operation | movement explanatory drawing of the same nut supply head. It is operation | movement explanatory drawing of the nut supply head similarly. It is operation | movement explanatory drawing of the nut supply head similarly. It is operation | movement explanatory drawing of the nut supply head similarly. It is operation | movement explanatory drawing of the components supply part of the nut supply head. It is welding operation explanatory drawing of a spot welder. It is a top view of a magazine mounting part. It is a block diagram of a magazine exchange. It is a front fragmentary sectional view of the magazine filling apparatus of a magazine exchange. It is a side view of the magazine filling apparatus.

Explanation of symbols

1 Nut supply unit (component supply unit)
12 Nut housing passage (component housing passage)
2 Magazine mounting part (part mounting part)
3 Nut supply means (part supply means)
31 Pushing block 4 Magazine 41 Nut housing passage (component housing passage)
44 Guide pin 4A Filling magazine 4B Empty magazine 5 Nut restraining means (part restraining means)
6 Nut presser means (part presser means)
100 Nut feeder (part feeder)
200 Spot welder (working equipment)
300 Nut supply head (component supply head)
400 Magazine changer 500 Magazine filling device 600 Movable part of portable robot 800 Nut (part)
800a Body 800b Welding leg 800c Hole 800A Lead nut in the nut housing passage 12 (head part)
800B Lead nut in the nut housing passage 41 (head part)
800C The last nut in the nut housing passage 12 (the last part)
The last nut in the 800D nut receiving passage 41 (last part)

Claims (14)

In a component supply method for supplying components one by one from a component supply head to a work device,
A magazine having a part accommodating passage capable of filling a predetermined number M of parts, and the part supply head is a part supply unit having a part accommodating passage capable of accommodating a predetermined number N of parts, from the leading part The magazine is arranged so that the parts supply section for supplying parts one by one to the working device in order, the rear end portion of the parts storage passage of the parts supply section and the front end portion of the parts storage path of the magazine are in communication with each other. With a magazine mounting part that is detachably mounted,
When supplying parts to the working device,
Each time the leading part in the part accommodating passage of the part supplying part is supplied to the working device, the leading part in the part accommodating path of the magazine is transferred to the rear end part of the part accommodating path of the part supplying part,
When the parts in the parts storage passage of the magazine are consumed and the magazine becomes empty, the magazine mounting part removes the empty magazine, and then the parts are filled by the magazine mounting part. A method for supplying parts, comprising mounting a magazine in a filled state.   The parts are set such that the height dimension is set smaller than the width dimension, the predetermined number M of parts are filled in a part storage passage of the magazine in a vertically stacked state, and the predetermined number N of parts are The component supply method according to claim 1, wherein the components are accommodated in a horizontal row in a component accommodation passage of the component supply unit.   The working device and the component supply head are fixed to a movable part of a portable robot, and the empty magazine is transported to a magazine changer installed independently from the portable robot. 3. The component supply method according to claim 1, wherein the magazine is replaced with a filled magazine in the exchange, and the filled magazine is mounted by the magazine mounting section.   The component supply method according to claim 3, wherein the magazine changer fills the empty magazine with a predetermined number M of components.   The component supply method according to claim 1, wherein the working device is a spot welder, and the component is a perforated component. In the component supply head that supplies components one by one to the work equipment,
A component supply passage for storing a predetermined number N of components, and a component supply unit that supplies components one by one to the working device in order from the first component;
A magazine mounting portion for removably mounting a magazine having a component storage passage filled with a predetermined number M of components, the rear end portion of the component storage passage of the component supply portion and the front end portion of the component storage passage of the magazine A magazine mounting portion for detachably mounting the magazine so that the
When the leading component in the component accommodating passage of the component supplying section is supplied to the working device, the component replenishment moves the leading component in the component accommodating passage of the magazine to the rear end portion of the component accommodating passage of the component supplying portion. And a component supply head.   The parts are set so that the height dimension is smaller than the width dimension, the magazine accommodates the predetermined number M of parts in a vertically stacked state in the part accommodating passage, and the part supply unit includes the predetermined number of parts. The component supply head according to claim 6, wherein N components are accommodated in the component accommodation passage in a horizontal row.   The component supply head according to claim 6, wherein the work device is fixed to a movable portion of a portable robot, and the component supply head is fixed to a movable portion of the portable robot.   The component supply head according to claim 6, wherein the working device is a spot welder, and the component is a perforated component. The component replenishing means includes a push block that can reciprocate,
When the push-in block is retracted, the leading part in the part accommodating passage of the magazine is guided to the rear end part of the part accommodating passage of the part supplying part and becomes the last part in the part accommodating passage of the part supplying part. ,
When the push block moves forward, the last component receives a pressing force from the front surface of the push block, and moves forward by a distance of one component toward the tip of the component receiving passage of the component supply unit, The component supply according to any one of claims 6 to 9, wherein a leading component in the component receiving passage of the magazine is received by an upper surface of the pushing block and stays at a front end portion of the component receiving passage of the magazine. head.   When the push block moves forward, the component restraint means restrains the leading part in the component housing passage of the magazine and holds it in the component housing passage, and the push block moves backward. The component supply head according to claim 10, wherein the restriction on the leading component is released.   The component restraining means is a nut in which the component has a nut main body portion and a plurality of weld legs protruding outward from the bottom portion of the nut main body portion, and each of the components in the component housing passage of the magazine. When the accommodation state of the nut is the accommodation form in which the weld leg is closer to the push block than the nut main body, the side of the nut main body of the front nut is pressed to restrain the front nut. The component supply head according to claim 11.   13. A component pressing means is provided, and the component pressing means presses the rearmost component in the component accommodating passage of the magazine in a direction toward the leading component in the component accommodating passage. The component supply head according to the above.   The component supply head according to any one of claims 6 to 13, wherein the magazine includes a guide pin that can be inserted into a hole of the perforated component on a center line of the component receiving passage.

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