JP2017126115A - Annular object counting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a counting device that allows annular objects to be accurately counted, and allows labor of workers to be reduced.SOLUTION: A counting device comprises: a conveyance mechanism 11; a passage regulation unit (13a and 13b); a vision sensor 14; a drive holding unit 15; and a control unit 18. The conveyance mechanism 11 includes a conveyance path 21 extending along a linear direction and is configured to convey annular objects W, and the passage regulation part (13a and 13b) is configured to regulate a passage of laminated annular objects Wa. The vision sensor 14 is configured to generate coordinate data of the annular object W passing through a photographing region P on a downstream side of the passage regulation part (13a and 13b). By control of the control unit 18, the drive holding unit 15 is configured to repeat a routine operation of holding the annular object W above the conveyance path 21, moving the annular object W to other location, releasing the holding, and further holding the annular object W. The annular object W having the holding by the drive holding unit 15 released is stored in an annular object storage part 17. The control unit 18 is configured to count the number of prescribed operations by one time in the routine operation as the number of annular objects W stored in the annular object storage part 17.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a counting device for counting the number of annular objects.

  Conventionally, annular parts such as an annular transmission belt, an O-ring, and a rubber band formed in an endless shape have been used as parts of various products. In the manufacture of the transmission belt, which is one of these annular materials, for example, as an example, an unvulcanized belt sleeve formed by sequentially laminating constituent materials as necessary on a cylindrical molding die is vulcanized. Thus, an annular belt sleeve is formed. A plurality of power transmission belts can be obtained by cutting the belt sleeves thus obtained at predetermined widths and separating them one by one. The plurality of transmission belts are counted for each predetermined number, and are bundled together with a string or the like for each predetermined number. Such counting of the transmission belt is performed, for example, manually by an operator.

  With respect to this point, the counting device disclosed in Patent Document 1 counts an annular object using a transmission type or reflection type counting sensor. Thereby, the counting of the annular object such as the transmission belt is performed without bothering the operator.

JP 2005-18272 A

  However, when a transmission type or reflection type counting sensor is used as in the counting device disclosed in the above-mentioned Patent Document 1, counting cannot be performed accurately if, for example, annular objects overlap.

  Further, in the counting device disclosed in Patent Document 1, when performing a counting operation, an operator needs to hang a large number of annular objects on a horizontal shaft. Furthermore, for example, when a small-diameter annular object is to be counted as an annular object, these small-diameter annular objects are difficult to suspend from the shaft, and work efficiency is poor.

  The present invention is to solve the above-described problems, and an object of the present invention is to provide a counting device that can accurately count an annular object and can reduce the labor of an operator.

  (1) In order to solve the above problem, a counting device according to an aspect of the present invention has a conveyance path extending along a linear direction, and an annular object thrown on the conveyance path is downstream along the conveyance path. A transport mechanism that transports to the side, and the annular object that is transported in the transport path and is the annular object that is transported in a state where at least a part is stacked on the other annular object. Photographing the annular object passing through the imaging region set on the downstream side of the passage restricting part in the conveyance path and the passage restricting part in the transport path to generate image data of the annular object, and to the image data Based on the vision sensor that generates the coordinate data of the annular object in the imaging region, the annular object that is conveyed on the conveyance path is held, and the held annular object is moved to another position different from the conveyance path The Based on the coordinate data, the drive holding unit that releases the holding of the annular object and controls the driving of the drive holding unit so that the annular object conveyed on the conveyance path is held by the drive holding part. A controller, wherein the controller repeatedly performs a routine operation from holding the annular object on the transport path to holding the next annular object on the transport path. The annular object that has been controlled by the drive holding unit and released from the holding unit is sequentially stored in the annular object accumulating unit, and the control unit includes the drive holding unit only once in each routine operation. The number of times of the predetermined operation when the predetermined operation is performed is counted as the number of the annular objects accumulated in the annular object storage unit.

  According to this configuration, the passage of the stacked annular object among the annular objects conveyed on the conveyance path is restricted by the passage restricting unit, and the stacked annular object is prevented from being conveyed to the downstream side of the passage restricting unit. For this reason, only the annular object in a state where other annular objects are not stacked on top reaches the imaging region on the downstream side of the passage restricting unit, and coordinate data in the imaging region is generated. And based on said coordinate data, a drive holding | maintenance part is controlled by the control part, and the routine operation | movement by which the cyclic | annular thing on a conveyance path is hold | maintained one by one is performed repeatedly. Further, each time the routine operation is performed once, the annular object held on the conveyance path is moved to another position different from that on the conveyance path, and the holding of the annular object is released at that position. The annular object whose holding is released at the other position is accumulated in the annular substance accumulation unit.

  According to the above configuration, a plurality of annular objects whose coordinate data is generated by the vision sensor when passing through the imaging region are sequentially circularized by the drive holding unit that repeatedly performs the above-described operation (routine operation). It is stored in the material storage unit. Furthermore, according to the above configuration, the number of predetermined operations when a predetermined operation included only once in the routine operation is performed is counted as the number of the annular materials accumulated in the annular material accumulation unit. The predetermined operation may be an operation included only once in the routine operation. For example, an operation in which a predetermined element in the drive holding unit is displaced to hold the annular object on the conveyance path, an operation in which the drive holding part holds the annular object, and the drive holding part moves the held annular object to the other position described above. An operation of moving, an operation of releasing the holding of the annular object at the other position described above, and the like can be exemplified.

  According to said structure, the cyclic | annular thing conveyed by the conveyance path in the state which has not overlapped is moved from the conveyance path | route, and is each stored in the cyclic | annular substance accumulation | storage part, and the quantity is counted correctly. For this reason, it is prevented that accurate counting cannot be performed due to the overlap of the annular objects as in the case of the counting device disclosed in Patent Document 1 described above. Furthermore, according to the above configuration, the operator does not need to manually place the annular object to be counted on the shaft as in the case of the counting device of Patent Document 1 described above, which may bother the operator. Disappear.

  Therefore, according to the above configuration, it is possible to provide a counting device that can accurately count an annular object and can reduce the labor of an operator.

(2) The counting device further includes a guide wall portion that is installed on the transport mechanism and is disposed on the transport path so as to regulate a passing position of the annular object in the width direction of the transport path. The guide wall portion restricts the passage position of the annular object in the width direction of the conveyance path, so that the annular object conveyed toward the downstream side along the conveyance path is directed toward the imaging region. The annular object may be guided so as to be conveyed.

  According to this structure, the guide wall part which regulates the passing position in the width direction in the conveyance path and guides the annular object to the imaging region is provided. For this reason, it is possible to secure a large area of a region where a plurality of annular objects are put on the conveyance path, and it is possible to more reliably guide the annular object to pass through the imaging region even in a narrow imaging region. Therefore, it becomes easy to put the annular object on the conveyance path, and the annular object can be accurately counted, and the labor of the operator can be further reduced.

(3) The passage restriction portion includes a rotation shaft extending along a direction parallel to the surface of the conveyance path, and a rotating blade attached to the rotation shaft and rotating around the axis of the rotation shaft together with the rotation shaft. And the tip of the rotating blade rotating around the axis of the rotating shaft abuts on the stacked annular object, and the stacked annular object is splashed toward the upstream side of the conveying path. The passage of the stacked annular object may be restricted.

  According to this configuration, the stacked annular object is splashed upstream by the rotating blades rotating around the axis of the rotation axis on the conveyance path, thereby restricting the passage of the stacked annular object through the passage restriction portion. For this reason, it is possible to efficiently suppress the occurrence of a state in which the stacked annular objects stay in the region on the upstream side of the passage restricting portion and in the vicinity of the passage restricting portion. Further, according to the above configuration, only the stacked annular objects are splashed to the upstream side by the rotating blades, so that the overlapping annular objects are prevented from being rubbed against each other. Thereby, the overlapping state of the annular objects can be eliminated without damaging the annular object in the process of conveying the annular object.

(4) A plurality of the passage restriction units may be provided, and the plurality of passage restriction units may be arranged in order from the upstream side to the downstream side of the conveyance path.

  According to this configuration, a plurality of passage restricting portions each having a rotating blade that jumps the stacked annular object to the upstream side are arranged from the upstream side to the downstream side of the conveyance path. For this reason, it can prevent more reliably that a stacking annular thing is conveyed downstream.

(5) The transport mechanism may include the belt conveyor type transport path.

  According to this structure, the conveyance mechanism which conveys a cyclic | annular thing downstream by the conveyance path extended along a linear direction can be comprised by the simple mechanism which has a belt conveyor type conveyance path.

(6) The drive holding unit includes a chuck unit that holds the annular object by holding the annular object at one position in the circumferential direction of the annular object, and the vision sensor includes the annular sensor. As the coordinate data of the object, coordinate data of a position held by the chuck portion in the circumferential direction of the annular object may be generated.

  According to this configuration, the coordinate data of the position held by the chuck portion in the circumferential direction of the annular object is generated by the vision sensor as the coordinate data of the annular object held by the drive holding unit. For this reason, the annular object can be more accurately and accurately held by the drive holding portion.

(7) The vision sensor sets a reference arc, which is an arc having a predetermined arc length in the annular object, for each of the image data of the annular object, and has a predetermined area on each of the outer side and the inner side of the reference arc. An area may be set, and the coordinate data of the annular object may be generated based on the ratio of the area occupied by the image data of the other annular object in the region of the predetermined area.

  According to this configuration, the annular object is gripped by the chuck part of the drive holding part based on the ratio of the image data of the other annular object in the area of the predetermined area outside and inside the reference arc of the annular object by the vision sensor. The coordinate data of the position to be processed is generated. For this reason, the possibility that other annular objects may be erroneously gripped can be suppressed, and the annular object can be more reliably and accurately held by the drive holding portion.

(8) The control unit may stop driving of the drive holding unit when the number of the annular objects stored in the annular object storage unit reaches a predetermined number.

  According to this configuration, when the count number in the control unit, that is, the number of annular objects stored in the annular object accumulation unit reaches a predetermined number, the operation of the drive holding unit is stopped. Thereby, the annular material accumulated in the annular material accumulation part can be easily collected for each desired quantity.

(9) You may further provide the display part which displays the quantity of the said cyclic | annular object counted by the said control part.

  According to this configuration, the operator can easily grasp the number of counts in the control unit, that is, the number of annular objects stored in the annular material accumulation unit, by confirming the display on the display unit. .

(10) The annular material accumulating portion may include a recovery bar that is formed in a bar shape extending in the vertical direction and is disposed at the other position as viewed from above.

  According to this configuration, when the drive holding unit holding the annular object releases the holding of the annular object at the other position described above, the annular object is passed through the recovery bar and stored in the recovery bar. Therefore, the collection | recovery bar extended in an up-down direction can implement | achieve the cyclic | annular material storage part comprised by the size in the horizontal direction small and compactly.

  According to the present invention, it is possible to provide a counting device that can accurately count an annular object and reduce the labor of an operator.

It is a top view of the counting device concerning one embodiment of the present invention. It is a front view of a counting device. It is a figure which expands and shows a part of FIG. 1, Comprising: It is a figure which shows the passage control part of a counting device. It is a figure for demonstrating the structure of a passage control part. It is a figure which expands and shows a part of FIG. 2, Comprising: It is a figure which shows a passage control part. It is a figure for demonstrating the image data image | photographed and produced | generated by the vision sensor of a counting device. It is a figure for demonstrating the image data image | photographed and produced | generated by a vision sensor. It is a figure which shows an example of the display screen displayed on a display. It is a block diagram which shows the structure of the control part of a counting device. It is a figure for demonstrating the holding | maintenance operation | work of the workpiece | work by the drive holding | maintenance part of a counting device. It is a figure for demonstrating the holding | maintenance operation | work of the workpiece | work by a drive holding | maintenance part. It is a figure for demonstrating the operation | movement which collect | recovers a workpiece | work to a cyclic | annular material storage part by a drive holding | maintenance part. It is a figure for demonstrating the operation | movement which collect | recovers a workpiece | work to a cyclic | annular material storage part by a drive holding | maintenance part. It is a flowchart which shows the action | operation of a counting device. It is a flowchart for demonstrating step S17 in step S13 shown in FIG.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. The present invention can be widely applied to a counting device that counts annular objects.

[overall structure]
FIG. 1 is a plan view of a counting device 1 according to an embodiment of the present invention. FIG. 2 is a front view of the counting device 1. In FIGS. 1 and 2, the counting device 1 is schematically shown. The counting device 1 is configured as a device that counts the number of annular objects, that is, a device that counts annular objects.

  In FIG. 1 and FIG. 2, the workpiece W is illustrated as a counting target in the counting device 1, that is, a counting target that is a target counted by the counting device 1. The workpiece W is an annular object, for example, an annular toothed belt. In the following description, the workpiece W is also referred to as “annular object W”. In addition, in each of the drawings described below, the illustration of the workpiece W is omitted in order to avoid complication of the drawing, and the tooth portion formed on the inner peripheral surface side of the workpiece W is omitted. Yes.

  The counting device 1 includes a transport mechanism 11, a guide wall portion 12, a passage restriction portion (13a, 13b), a vision sensor 14, a drive holding portion 15, an operation panel 16, an annular object accumulation portion 17, and the like. .

[Transport mechanism]
The transport mechanism 11 has a transport path 21 extending along the linear direction, and is provided as a mechanism for transporting the workpiece W as an annular object put on the transport path 21 to the downstream side along the transport path 21. . In this embodiment, the form by which the conveyance path 21 was comprised as a belt conveyor type conveyance path is illustrated. More specifically, the transport mechanism 11 includes a base 22, a drive shaft motor 23, a drive shaft 24, a driven shaft 25, a belt 26, and the like.

  The base 22 is provided as a pedestal that supports the drive shaft motor 23, the drive shaft 24, the driven shaft 25, the transport belt 26, and the like. In this embodiment, the base 22 includes a pair of horizontal frames (22a, 22b) and a plurality of vertical frames 22c, and is configured in a state where these are assembled together.

  The pair of horizontal frames (22a, 22b) are arranged so as to extend in parallel to each other along the horizontal direction. The drive shaft 24 and the driven shaft 25 are rotatably supported by a pair of horizontal frames (22a, 22b). A plurality of vertical frames 22c are provided and are provided as legs that extend in the vertical direction and support a pair of horizontal frames (22a, 22b). In the present embodiment, an example in which six vertical frames 22c are provided is illustrated. Three vertical frames 22c are fixed to each of the horizontal frame 22a and the horizontal frame 22b. Further, for example, the vertical frame 22c fixed to one horizontal frame 22a and the vertical frame 22c fixed to the other horizontal frame 22b are coupled via a coupling frame (not shown) extending along the horizontal direction. ing.

  The drive shaft motor 23 is configured as an electric motor that rotationally drives the drive shaft 24 around its axis. The drive shaft motor 23 is supplied with electric energy from a power supply (not shown), operates based on a control command from the control unit 18 of the operation panel 16 described later, and rotates at a predetermined rotation speed.

  The drive shaft 24 is installed with respect to the base portion 22 so that the direction in which the axis extends extends along the horizontal direction. And the drive shaft 24 is installed in the base part 22 so that it may extend along the direction perpendicular | vertical with respect to the conveyance path 21 extended along a linear direction in the state seen from upper direction. The drive shaft 24 is disposed at the upstream end of the transport path 21 for transporting the workpiece W when viewed from above. The drive shaft 24 is rotatably supported with respect to the pair of horizontal frames (22a, 22b) of the base portion 24. Furthermore, one end of the drive shaft 24 is connected to the drive shaft motor 23. Thereby, when the drive shaft motor 23 rotates at a predetermined rotation speed, the drive shaft 24 also rotates around the axis center at a predetermined rotation speed.

  The driven shaft 25 is installed with respect to the base portion 22 so that the direction in which the axis extends extends along the horizontal direction. And the driven shaft 25 is installed in the base part 22 so that it may extend along the direction perpendicular | vertical with respect to the conveyance path 21 extended along a linear direction in the state seen from upper direction. The driven shaft 25 is disposed at the downstream end of the transport path 21 that transports the workpiece W when viewed from above. The direction in which the axis of the driven shaft 25 extends is set parallel to the direction in which the axis of the drive shaft 24 extends. The driven shaft 25 is rotatably supported with respect to the pair of horizontal frames (22a, 22b) of the base portion 24.

  The conveyor belt 26 is configured as an endless belt that is wound around a drive shaft 24 and a driven shaft 25 that extend in parallel. As the drive shaft 24 rotates, the conveyor belt 26 rotates around the drive shaft 24 and the driven shaft 25, and the driven shaft 25 also rotates. In the present embodiment, the region on the upper surface side of the conveyor belt 26 constitutes a conveyance path 21 that conveys the workpiece W while extending along the linear direction. The direction in which the upper surface side of the conveyor belt 26 moves as the conveyor belt 26 rotates around the drive shaft 24 and the driven shaft 25 is indicated by an arrow A in FIG. Therefore, the direction indicated by the arrow A in FIG. 1 is the transport direction in which the workpiece W put on the transport path 21 is transported.

[Guiding wall]
The guide wall 12 is installed in the transport mechanism 11 and is provided as a wall disposed on the transport path 21 so as to regulate the passage position of the workpiece W (annular object W) in the width direction of the transport path 21. ing. The guide wall portion 12 regulates the passing position of the workpiece W in the width direction of the conveyance path 21, so that the workpiece W conveyed toward the downstream side along the conveyance path 21 faces an imaging region P described later. It is configured to guide the workpiece W so as to be conveyed. In FIG. 1, the width direction of the transport path 21 is indicated by a double-ended arrow B.

  In the present embodiment, the guide wall portion 12 includes a wall portion such as an upstream end wall portion 27a, an inclined wall portion 27b, a first straight wall portion 27c, and a second straight wall portion 27d. The upstream end wall portion 27 a is provided as a wall portion extending along the width direction of the conveyance path 21 above the upstream end portion of the conveyance path 21.

  The inclined wall portion 27b extends obliquely from the upstream side to the downstream side of the conveyance path 21 with respect to the conveyance direction (that is, the direction indicated by the arrow A) in which the conveyance path 21 extends along the linear direction. It is provided as a wall. Furthermore, one end of the inclined wall portion 27b is positioned substantially above one horizontal frame 22a of the pair of horizontal frames (22a, 22b) on the upstream end side of the conveyance path 21. The inclined wall portion 27b extends obliquely with respect to the conveyance direction while approaching from one horizontal frame 22a side to the other horizontal frame 22b side from the upstream side to the downstream side of the conveyance path 21. Is provided. In addition, one end of the inclined wall portion 27b is integrally coupled to an end portion on the horizontal frame 22a side of the upstream end wall portion 27a via a wall portion that extends short along the transport direction.

  The first straight wall portion 27 c is provided as a wall portion extending along a linear direction in which the conveyance path 21 extends from the upstream side to the downstream side of the conveyance path 21. The first straight wall portion 27c is provided so as to extend in parallel with the horizontal frame 22b substantially above the other horizontal frame 22b of the pair of horizontal frames (22a, 22b). One end portion of the first straight wall portion 27c is integrally coupled to the end portion on the horizontal frame 22b side in the upstream end wall portion 27a. Further, the other end portion of the first straight wall portion 27c is located in the vicinity of the imaging region P described later.

  The second straight wall portion 27d is provided as a wall portion extending along a linear direction in which the conveyance path 21 extends from the upstream side to the downstream side of the conveyance path 21. The second straight wall portion 27d is provided to extend in parallel with the horizontal frame (22a, 22b) above the position between the pair of horizontal frames (22a, 22b). One end portion of the second straight wall portion 27d is integrally coupled to an end portion of the inclined wall portion 27b that is farthest from the horizontal frame 22a. The other end of the second straight wall portion 27d is located in the vicinity of the imaging region P described later.

  Since the inclined wall portion 27b and the first straight wall portion 27c are provided as described above, the guide wall portion 12 is configured such that the passing position of the workpiece W in the width direction of the conveyance path 21 is downstream from the upstream side in the conveyance direction. It is comprised so that it may become narrow toward. Furthermore, the guide wall portion 12 is configured to convey the workpiece W toward the imaging region P by providing the first straight wall portion 27c and the second straight wall portion 27d as described above. Yes.

  Further, the guide wall portion 12 is supported by a pair of horizontal frames (22a, 22b) in the transport mechanism 11 via a plurality of support brackets (28a, 28b, 28c, 28d, 28e, 28f). Furthermore, the guide wall 12 is supported by the horizontal frames (22a, 22b) via a plurality of support brackets (28a to 28f), so that the work W cannot pass through the conveyance path 21 a little. Opposite each other through a gap.

  The support bracket 28a connects and fixes the wall portion between the upstream end wall portion 27a and the inclined wall portion 27b in the guide wall portion 12 and the horizontal frame 22a. The support bracket 28b connects and fixes the upstream portion of the second straight wall portion 27d in the transport direction and the horizontal frame 22a. The support bracket 28c connects and fixes the downstream portion of the second linear wall portion 27d in the transport direction and the horizontal frame 22a. The support bracket 28d connects and fixes the upstream portion of the first straight wall portion 27c in the transport direction and the horizontal frame 22b. The support bracket 28e connects and fixes the substantially central portion of the first straight wall portion 27c in the transport direction and the horizontal frame 22b. The support bracket 28f connects and fixes the downstream portion of the first straight wall portion 27c in the transport direction and the horizontal frame 22b.

  In addition, the workpiece W transported by the transport mechanism 11 is thrown onto the transport path 21 in an upstream area in the transport path 21 and in an area inside the guide wall portion 12. More specifically, it is a region on the inside of the guide wall portion 12 that is surrounded by the upstream end wall portion 27a, the inclined wall portion 27b, and the first straight wall portion 27c on the conveyance path 21 in the substantially three directions around it, The workpiece W is thrown onto the conveyance path 21 in a region upstream of a passage restriction portion 13a described later in the conveyance path 21.

[Pass Restriction Department]
FIG. 3 is an enlarged view of a part of FIG. 1, and is a view showing the passage restricting portions (13 a, 13 b) of the counting device 1. FIG. 4 is a view for explaining the configuration of the passage restricting portions (13a, 13b) together with FIG. FIG. 5 is an enlarged view of a part of FIG. 2 and is a view showing the passage restricting portions (13a, 13b). 3 and 4, the conveyance direction in which the workpiece W placed on the conveyance path 21 is conveyed is indicated by an arrow A.

  1 to FIG. 5 is an annular object W (work W) conveyed through the conveyance path 21 and at least a part of the passage restricting parts (13a, 13b) is stacked on another annular object W. Is provided as a mechanism for restricting the passage of the stacked annular object Wa, which is the annular object W conveyed in the above. Note that a stacked annular object Wa, which is an annular object W at least partially stacked on another annular object W, is illustrated in FIGS. 1, 3, and 4.

  A plurality of passage restricting portions (13a, 13b) are provided. The plurality of passage restricting portions (13a, 13b) are arranged in order from the upstream side to the downstream side of the transport path 21. In the present embodiment, the passage restriction unit 13 a is disposed on the upstream side of the conveyance path 21, and the passage restriction unit 13 b is disposed on the downstream side of the conveyance path 21.

  The passage restricting portion 13a includes a rotating shaft 29, a plurality of rotating blades (30a, 30b, 30c, 30d), a rotating shaft motor 31, a bearing 32, and the like.

  The rotation shaft 29 is provided as a shaft member arranged so as to extend along a direction parallel to the surface of the transport path 21. In the present embodiment, the rotation shaft 29 is disposed so as to extend along a direction parallel to the surface of the transport path 21 and parallel to the width direction of the transport path 21. One end of the rotating shaft 29 is connected to the rotating shaft motor 31, and the other end of the rotating shaft 29 is rotatably supported by the bearing 32. Furthermore, the rotating shaft 29 is arranged so as to cross the upper side of the conveyance path 21 from the second straight wall portion 27d to the first straight wall portion 27c.

  The plurality of rotary blades (30a, 30b, 30c, 30d) are attached to the rotary shaft 29. The plurality of rotary blades (30a, 30b, 30c, 30d) are attached to the rotary shaft 29 at different positions in the axial direction of the rotary shaft 29 along the axial direction of the rotary shaft 29, respectively. Each rotating blade (30a, 30b, 30c, 30d) is provided as a blade that rotates around the axis of the rotating shaft 29 together with the rotating shaft 29.

  Each rotary blade (30a, 30b, 30c, 30d) is provided as, for example, a rectangular flat plate-like member, and is fixed to the rotary shaft 29 at one of the four ends constituting the rectangle. Yes. And each rotary blade (30a, 30b, 30c, 30d) is along the axial direction of the rotating shaft 29 (namely, conveyance path 21) toward the 1st linear wall part 27c side from the 2nd linear wall part 27d side. Are attached to the rotary shaft 29 in the order of the rotary blade 30a, the rotary blade 30b, the rotary blade 30c, and the rotary blade 30d.

  Further, the rotary blade 30a and the rotary blade 30c are set to have the same angular position in the rotational direction around the axis of the rotary shaft 29, that is, in the same phase around the axis of the rotary shaft 29. As shown in FIG. The rotary blade 30b and the rotary blade 30d have the same angular position in the rotational direction around the axis of the rotary shaft 29, that is, the angular position of the same phase around the axis of the rotary shaft 29. As shown in FIG. Further, the rotary vane 30a and the rotary vane 30c, and the rotary vane 30b and the rotary vane 30d are fixed to the rotary shaft 29 so that the phases around the axis of the rotary shaft 29 are approximately 180 degrees different from each other. . For this reason, as shown in FIG. 4, when each rotary blade (30a, 30b, 30c, 30d) is in a state extending substantially parallel to the surface of the transport path 21, a plurality of rotary blades (30a, 30b, 30c, 30d) are provided. Are arranged in a staggered arrangement as viewed from above.

  Each rotary blade (30a, 30b, 30c, 30d) has a length from the axis of the rotary shaft 29 to the tip of each rotary blade (30a, 30b, 30c, 30d). Is set to be slightly shorter than the distance from the surface of the transport path 21 to the surface of the transport path 21. More specifically, the distance between the tip of each rotary blade (30a, 30b, 30c, 30d) and the surface of the conveyance path 21 is larger than the thickness of one workpiece W, and the workpiece W is From the axis of the rotary shaft 29 to the tip of each rotary blade (30a, 30b, 30c, 30d) so as to be a distance smaller than the thickness of two workpieces W when stacked in two stages vertically The length is set. In addition, the front-end | tip part of each rotary blade (30a, 30b, 30c, 30d) is the edge on the opposite side to the edge part fixed to the rotating shaft 29 in each rotary blade (30a, 30b, 30c, 30d). Part.

  The rotary shaft motor 31 is installed on the support bracket 28b in a region in the vicinity of the second straight wall portion 27d and on the opposite side to the first straight wall portion 27c side. The rotary shaft motor 31 is connected to one end of the rotary shaft 29 and is configured as an electric motor that rotates the rotary shaft 29 about its axis. The bearing 32 is installed on the support bracket 28e in a region in the vicinity of the first straight wall portion 27c and on a side opposite to the second straight wall portion 27d side. The bearing 32 is provided so as to rotatably support the other end of the rotary shaft 29 that is rotationally driven by the rotary shaft motor 31.

  The rotary shaft motor 31 is supplied with electric energy from a power supply (not shown), operates based on a control command from the control unit 18 of the operation panel 16 described later, and rotates at a predetermined rotation speed. When the rotary shaft motor 31 rotates at a predetermined rotational speed, the rotary shaft 29 also rotates around the axis center at a predetermined rotational speed, and each rotary blade (30a, 30b, 30c, 30d) also rotates at a predetermined rotational speed. It rotates about the axis of the shaft 29. In FIG. 5, the rotation direction of the rotary shaft 29 and each rotary blade (30a, 30b, 30c, 30d) is indicated by an arrow C. 3 and 4 illustrate a state in which the rotational position of the rotary shaft 29 and each rotary blade (30a, 30b, 30c, 30d) differs by 90 degrees in the direction indicated by the arrow C.

  In the passage restricting portion 13a, the rotary shaft 29 and the rotary blades (30a, 30b, 30c, 30d) rotate in the direction indicated by the arrow C in FIG. That is, when the tip of each rotary blade (30a, 30b, 30c, 30d) approaches and separates from the surface of the conveyance path 21 with the rotation of the rotary shaft 29, the passage restricting portion 13a It is configured to approach the surface of the conveyance path 21 from the downstream side of the conveyance path 21 and away from the surface of the conveyance path 21 toward the upstream side of the conveyance path 21. Furthermore, when the tip of each rotary blade (30a, 30b, 30c, 30d) is closest to the surface of the transport path 21, the dimension of the gap between the tip and the surface of the transport path 21 is as follows. The dimension is set to be larger than the thickness of one workpiece and smaller than the thickness of two workpieces W. As a result, in the passage restricting portion 13a, the tips of the rotary blades (30a, 30b, 30c, 30d) rotating around the axis of the rotary shaft 29 abut against the stacked annular object Wa, and the stacked annular object Wa is removed. By jumping toward the upstream side of the conveyance path 21, the passage of the stacked annular object Wa is restricted.

  The passage restricting portion 13b includes a rotating shaft 33, a plurality of rotating blades (34a, 34b), a rotating shaft motor 35, a bearing 36, and the like.

  The rotation shaft 33 is provided as a shaft member arranged so as to extend along a direction parallel to the surface of the transport path 21. In the present embodiment, the rotation shaft 33 is disposed so as to extend along a direction parallel to the surface of the transport path 21 and parallel to the width direction of the transport path 21. One end of the rotating shaft 33 is connected to the rotating shaft motor 35, and the other end of the rotating shaft 33 is rotatably supported by the bearing 36. Furthermore, the rotating shaft 33 is disposed so as to cross the upper side of the conveyance path 21 from the second straight wall portion 27d to the first straight wall portion 27c.

  The plurality of rotating blades (34a, 34b) are attached to the rotating shaft 33. The plurality of rotating blades (34 a, 34 b) are attached to the rotating shaft 33 at different positions in the axial direction of the rotating shaft 33 along the axial direction of the rotating shaft 33. Each rotary blade (34 a, 34 b) is provided as a blade that rotates around the axis of the rotation shaft 33 together with the rotation shaft 33.

  Each rotary blade (34a, 34b) is provided as, for example, a rectangular flat plate-like member, and is fixed to the rotary shaft 33 at one of the four ends constituting the rectangle. And each rotary blade (34a, 34b) is along the axial direction of the rotating shaft 33 (namely, the width direction of the conveyance path 21) toward the 1st linear wall part 27c side from the 2nd linear wall part 27d side. Along the parallel direction), the rotary blades 34a and 34b are attached to the rotary shaft 33 in this order.

  Further, the rotary blades 34 a and 34 b have different angular positions in the rotational direction around the axis of the rotary shaft 33, that is, angular positions having different phases around the axis of the rotary shaft 33. As described above, the rotary shaft 33 is fixed. More specifically, the rotary blade 34a and the rotary blade 34b are fixed to the rotary shaft 33 so that the phase around the axis of the rotary shaft 33 is at an angular position that differs by approximately 180 degrees.

  Further, the length of each rotary blade (34a, 34b) from the axis of the rotary shaft 33 to the tip of each rotary blade (34a, 34b) is from the axis of the rotary shaft 33 to the surface of the conveyance path 21. It is set to be slightly shorter than the distance. More specifically, the distance between the tip of each rotary blade (34a, 34b) and the surface of the conveyance path 21 is larger than the thickness of one workpiece W, and the workpiece W is moved up and down by two steps. The length from the axial center of the rotary shaft 33 to the tip of each rotary blade (34a, 34b) is set so that the distance is smaller than the thickness of two workpieces W when stacked. In addition, the front-end | tip part of each rotary blade (34a, 34b) is an edge part on the opposite side to the edge part fixed to the rotating shaft 33 in each rotary blade (34a, 34b).

  The rotary shaft motor 35 is installed on the support bracket 28c in a region in the vicinity of the second straight wall portion 27d and on a side opposite to the first straight wall portion 27c side. The rotary shaft motor 35 is connected to one end of the rotary shaft 33 and is configured as an electric motor that rotationally drives the rotary shaft 33 about its axis. The bearing 36 is installed on the support bracket 28f in a region in the vicinity of the first straight wall portion 27c and on a side opposite to the second straight wall portion 27d side. The bearing 36 is provided so as to rotatably support the other end of the rotating shaft 33 that is driven to rotate by the rotating shaft motor 35.

  The rotary shaft motor 35 is supplied with electric energy from a power supply (not shown), operates based on a control command from the control unit 18 of the operation panel 16 described later, and rotates at a predetermined rotation speed. When the rotary shaft motor 35 rotates at a predetermined rotational speed, the rotary shaft 33 also rotates around the axis at a predetermined rotational speed, and each rotary blade (34a, 34b) also rotates at the axis of the rotary shaft 33 at a predetermined rotational speed. Rotate around the heart. In FIG. 5, the rotation direction of the rotary shaft 33 and each rotary blade (34a, 34b) is indicated by an arrow D. 3 and 4 illustrate a state in which the rotational position of the rotary shaft 33 and each rotary blade (34a, 34b) differs by 90 degrees in the direction indicated by the arrow D.

  In the passage restricting portion 13b, the rotating shaft 33 and the rotating blades (34a, 34b) rotate in the direction indicated by the arrow D in FIG. That is, the passage restricting portion 13b is configured such that when the leading end portion of each rotary blade (34a, 34b) approaches and separates from the surface of the conveying path 21 as the rotating shaft 33 rotates, the leading end portion of the conveying path 21 It is configured to approach the surface of the conveyance path 21 from the downstream side and away from the surface of the conveyance path 21 toward the upstream side of the conveyance path 21. Furthermore, the size of the gap between the tip and the surface of the transport path 21 when the tip of each rotary blade (34a, 34b) is closest to the surface of the transport path 21 is the size of one workpiece W. The dimension is set larger than the thickness and smaller than the thickness of two workpieces W. As a result, in the passage restricting portion 13 b, the tip end portions of the rotary blades (34 a, 34 b) that rotate about the axis of the rotation shaft 33 abut on the stacked annular object Wa, and the stacked annular object Wa is moved to the transport path 21. By jumping toward the upstream side, the passage of the stacked annular body Wa is restricted.

[Vision sensor]
The vision sensor 14 shown in FIGS. 1 and 2 is installed on the support frame 39 and is disposed above the conveyance path 21. And the vision sensor 14 image | photographs the workpiece | work W which passes the imaging area P set in the downstream of the passage control part 13b in the conveyance path 21, produces | generates the image data of the workpiece | work W, and images it based on the image data The vision sensor is configured to generate coordinate data of the workpiece W in the region P. In FIG. 1, the imaging region P photographed by the vision sensor 14 is schematically shown by a two-dot chain line.

  The vision sensor 14 includes a camera 37, an image processing unit 38, a memory (not shown), an operation panel (not shown) operated by an operator, an interface circuit (not shown), and the like. The vision sensor 14 is registered with predetermined data such as shape data of the workpiece W and data relating to determination of a position where the workpiece W is held by a drive holding unit 16 described later, for example, with respect to a general-purpose vision sensor. It is composed. The predetermined data relating to the workpiece W is stored in the memory of the vision sensor 14 and registered in the vision sensor 14 when the operator operates the operation panel of the vision sensor 14.

  The camera 37 is arranged at a position where the imaging region P can be photographed. The imaging area P photographed by the camera 37 is an area on the transport path 21 on the downstream side of the passage restricting portion 13b, and is downstream in the transport direction between the first straight wall portion 27c and the second straight wall portion 27d. It is set as a region on the downstream side of the region where the guide wall 12 is open. Further, the dimension of the imaging region P in the width direction of the transport path 21 is the same as the opening width dimension in which the guide wall part 12 is opened between the first straight wall part 27c and the second straight wall part 27d. Or larger than the opening width dimension. For this reason, all the workpiece | work W conveyed downstream from the opening of the guidance wall part 12 reaches | attains the imaging region P, and is image | photographed with the camera 37, without leaking.

  The image processing unit 38 includes a hardware processor such as a CPU. The image processing unit 38 reads and executes a predetermined program stored in the memory of the vision sensor 14. The above memory stores a program for generating image data of the workpiece W by performing image processing on the video captured by the camera 37, and generating coordinate data of the workpiece W in the imaging region P based on the image data. Has been.

  6 and 7 are diagrams for explaining image data generated by being photographed by the vision sensor 14. 6 and 7 are diagrams schematically illustrating image data generated by the image processing unit 38. FIG. 6 and 7, the image range corresponding to the imaging region P is indicated by a two-dot chain line, and the same reference numeral as that of the imaging region P is given to the image range.

  The image processing unit 38 performs image processing on the video captured by the camera 37 when the conveyed work W passes through the imaging region P, and generates image data as exemplified in FIGS. 6 and 7. More specifically, the image processing unit 38 recognizes the shape of the photographed work W based on the video photographed by the camera 37 and the registered shape data of the work W, and the image data ( W1-W8 or W9-W14) is generated. FIG. 6 shows an example in which image data (W1 to W8) of the workpiece W passing through the imaging region P is generated. FIG. 7 shows an example in which image data (W9 to W14) of the work W passing through the imaging region P is generated.

  When the image processing unit 38 generates the image data of the workpiece W, the image processing unit 38 generates coordinate data of the workpiece W in the imaging region P based on the image data. More specifically, the image processing unit 38 generates, as coordinate data of the workpiece W, coordinate data of a position gripped by the drive holding unit 15 described later in the circumferential direction of the workpiece W. The drive holding unit 15 described later includes a chuck unit 40 that holds the workpiece W by holding the workpiece W at one position in the circumferential direction of the workpiece W. Then, the image processing unit 38 generates coordinate data of a position held by the chuck unit 40 in the circumferential direction of the workpiece W as coordinate data of the workpiece W.

  When generating the coordinate data of the position of the workpiece W gripped by the chuck unit 40, the image processing unit 38 first sets a reference arc that is an arc of a predetermined arc length in the workpiece W for each piece of image data of the workpiece W. To do. The predetermined arc length is stored and registered in the memory of the vision sensor 14 in advance by operating the operation panel of the vision sensor 14 by an operator. For example, an arc length of 1/6 of the circumference of the workpiece W is registered as the predetermined arc length.

  When the above-described reference arc is set for each image data of the workpiece W, the image processing unit 38 sets a region having a predetermined area on each of the outside and inside of the reference arc for each image data of the workpiece W. At this time, the image processing unit 38 detects and specifies a part that matches the predetermined arc length for each image data of the workpiece W. And the area | region of a predetermined area is set in each of the outer side and the inner side of the specified site | part.

  In this embodiment, as shown in FIGS. 6 and 7, the image processing unit 38 sets a fan-shaped region having a predetermined area on each of the outer side and the inner side of the portion matching the predetermined arc length. Illustrated. That is, in FIG. 6, regions E1, E2, E3, E4, E5, E6 having a predetermined area outside the reference arc portions of the workpieces W1, W2, W3, W4, W5, W6, W7, W8, An example in which E7 and E8 are set is shown. In FIG. 6, regions F 1, F 2, F 3, F 4, F 5, F 6, having a predetermined area inside the reference arc portions of the workpieces W 1, W 2, W 3, W 4, W 5, W 6, W 7, W 8, An example in which F7 and F8 are set is shown. In FIG. 7, regions E9, E10, E11, E12, E13, and E14X having predetermined areas are set outside the reference arc portions of the workpieces W9, W10, W11, W12, W13, and W14, respectively. An example is shown. In FIG. 7, regions F9, F10, F11, F12, F13, and F14X having predetermined areas are set inside the reference arcs of the workpieces W9, W10, W11, W12, W13, and W14, respectively. An example is shown. In FIGS. 6 and 7, regions (E1 to E14X, F1 to F14X) having a predetermined area are indicated by two-dot chain lines.

  When the image processing unit 38 sets the area of the predetermined area for each piece of image data of the workpiece W, the position gripped by the chuck unit 40 on the workpiece W as the coordinate data of the workpiece W for each piece of image data of the workpiece W. Generate data for the coordinates. At this time, the image processing unit 38 generates the coordinate data of the workpiece W based on the ratio of the area occupied by the image data of the other workpiece W in the region of the predetermined area for each image data of the workpiece W. To do.

  More specifically, for each image data of the workpiece W, the image processing unit 38 has a background color (for example, white) portion and other workpieces W of pixels (dots) inside a corresponding area of a predetermined area. The ratio of the image data with the colored portion (the hatched portion in FIGS. 6 and 7) is read. When image data of another workpiece W exists in the vicinity of the image data of the target workpiece W, in the above-described predetermined area region, the other workpiece W is compared with the entire area of the predetermined area. The colored portion ratio, which is the ratio of the area of the colored portion of the image data, is increased.

  The image processing unit 38 calculates the colored portion ratio in the region having the predetermined area. The image processing unit 38 has another workpiece W that makes it difficult to grip by the chuck unit 40 in the vicinity of the target workpiece W when the coloring portion ratio is equal to or greater than a predetermined threshold value set in advance. It is determined that On the other hand, when the colored portion ratio is less than a predetermined threshold value, the image processing unit 38 has another workpiece W that makes it difficult to grip by the chuck unit 40 in the vicinity of the target workpiece W. It is determined that the target workpiece W can be gripped at the position where the reference arc is specified.

  When the image processing unit 38 determines that the target work W can be gripped at the position where the reference arc is set, the image processing unit 38 determines the coordinates of the position where the reference arc is set as the coordinate data of the work W. That is, the coordinates of the position where the reference arc is set are determined as the coordinate data of the position held by the chuck portion 40 in the circumferential direction of the workpiece W. Thereby, coordinate data in the imaging region P of each workpiece W held by the drive holding unit 15 described later is generated. As the position of the reference arc whose coordinates are specified as described above, for example, the center position of the reference arc is specified.

  In FIG. 6, for the image data (W1 to W8) of all the workpieces W in the imaging region P, it is determined that the colored portion ratio in the regions (E1 to E8, F1 to F8) having a predetermined area is less than a predetermined threshold. An example is shown. In this case, the coordinates of the reference arc corresponding to the predetermined area (E1 to E8, F1 to F8) are coordinate data in the imaging area P of each workpiece W corresponding to each of the image data (W1 to W8). It is determined. For example, in the case of the image data W1, it is determined that the colored portion ratio in each of the areas E1 and F1 having a predetermined area is less than a predetermined threshold. The coordinates of the reference arc corresponding to the areas E1 and F1 having a predetermined area (that is, the arc portion of the image data W1 existing between the areas E1 and F1 having the predetermined area) are the workpiece W corresponding to the image data W1. Is determined as the coordinate data.

  Further, in FIG. 7, for the image data (W9 to W13) of the workpiece W in the imaging region P, it is determined that the colored portion ratio in the regions (E9 to E13, F9 to F13) having a predetermined area is equal to or less than a predetermined threshold. An example is shown. In this case, the coordinates of the reference arc corresponding to the predetermined area (E9 to E13, F9 to F13) are coordinate data in the imaging area P of each workpiece W corresponding to each of the image data (W9 to W13). It is determined.

  On the other hand, FIG. 7 shows an example in which, for the image data W14 of the workpiece W in the imaging region P, the coloring portion ratio in the region E14X of the regions E14X and F14X having a predetermined area is determined to be equal to or greater than a predetermined threshold. . In this case, the image processing unit 38 has another workpiece W that makes it difficult to grip by the chuck unit 40 in the vicinity of the target workpiece W, that is, in the vicinity of the workpiece W corresponding to the image data W14. Is determined.

  In the above case, the image processing unit 38 sets a new reference arc for the image data W14. That is, the image processing unit 38 excludes the arc portion corresponding to the areas E14X and F14X having a predetermined area from the target of the reference arc in the image data W14, and sets a new reference arc. Then, the image processing unit 38 sets a predetermined area in each of the outside and the inside of the newly set reference arc. FIG. 7 shows an example in which a region E14 having a predetermined area is set outside the reference arc portion of the work W14, and a region F14 having a predetermined area is set inside the reference arc portion of the work W14. . In FIG. 7, the newly set areas E14 and F14 having a predetermined area are indicated by broken lines.

  When the areas E14 and F14 having a predetermined area are newly set, the colored portion ratios in the areas E14 and F14 having the predetermined area are calculated. If it is determined that the colored portion ratio is less than the predetermined threshold, the coordinates of the reference arc corresponding to the areas E14 and F14 having the predetermined area are the coordinates in the imaging area P of the workpiece W corresponding to the image data W14. It is determined as data. If it is determined that the colored portion ratio is equal to or greater than the predetermined threshold value, a new reference arc and a new area with a predetermined area are set again, and determination processing based on the colored portion ratio is performed.

  As described above, when the coordinate data of the workpiece W in the imaging region P is generated, the coordinate data is output from the vision sensor 14 and is controlled by the operation panel 16 to be described later via a communication line (not shown). Is transmitted to the unit 18. Further, the above-described processing in the vision sensor 14, that is, the work W passing through the imaging area P is photographed to generate image data of the work W, and the coordinate data of the work W in the imaging area P is obtained based on the image data. The process to generate | occur | produce is continuously performed by the space | interval of predetermined short fixed time, for example. And the coordinate data of the workpiece | work W produced | generated continuously are transmitted to the control part 18 immediately every time it produces | generates.

[Drive holder]
1 and 2 includes a displacement mechanism 41, a chuck portion 40, and the like. And the drive holding | maintenance part 15 is provided as a mechanism which hold | maintains the workpiece | work W conveyed by the conveyance path 21, moves the held workpiece | work W to another position different from the conveyance path 21, and cancels | releases holding | maintenance of the workpiece | work W. It has been. In the present embodiment, the “other position” is set as the position of the region above the collection bar 42 of the annular material storage unit 17 described later.

  The displacement mechanism 41 is configured as an articulated robot, for example. In the present embodiment, the displacement mechanism 41 is exemplified by a general-purpose six-axis vertical articulated robot. The displacement mechanism 41 includes a plurality of joints each equipped with an electric motor whose rotation angle position is controlled, a plurality of arms connected to each joint, and the like.

  The displacement mechanism 41 is supplied with electric energy from a power supply (not shown) to each electric motor, and the rotation angle position of each electric motor is controlled based on a control command from the control unit 18 of the operation panel 16 described later. It works. The displacement mechanism 41 controls the rotation angle position of each electric motor based on a control command from the control unit 18 described later, and grips the position of the chuck unit 40 on the workpiece W conveyed on the conveyance path 21. It is repeatedly displaced between the possible position and the position of the area above the recovery bar 42 described later (that is, the “other position” described above).

  The chuck portion 40 is provided as a mechanism for holding the workpiece W by holding the workpiece W at one position in the circumferential direction of the workpiece W conveyed along the conveyance path 21. The chuck unit 40 is configured as, for example, a general-purpose parallel open / close air chuck mechanism that operates by controlling the supply and discharge of compressed air. Further, the chuck portion 40 is provided with a pair of opening / closing members (not shown) that extend in parallel and perform an opening / closing operation while approaching and separating from each other while being in a parallel state. Each of the pair of opening / closing members is provided with a claw portion 40a as a portion that directly grips the workpiece W. Thereby, the chuck | zipper part 40 is comprised so that it can cancel | release the holding | maintenance and can release the workpiece | work W while it can hold | maintain the workpiece | work W by a pair of nail | claw part 40a.

  The chuck part 40 has a compressed air supply / discharge system including a solenoid valve unit (not shown), and this compressed air supply / discharge system is connected to a compressed air supply source (not shown). The solenoid valve of the solenoid valve unit operates based on a control command from the control unit 18 of the operation panel 16 described later. Then, the opening operation and the holding operation of the pair of claw portions 40a of the chuck portion 40 are performed by operating the electromagnetic valve of the electromagnetic valve unit based on the control command from the control portion 18.

  At the position corresponding to the workpiece W to be held, the gripping operation of the pair of claw portions 40a that are brought close to each other so as to close the pair of claw portions 40a is performed, so that the target workpiece W is held by the chuck portion 40. Then, in a state where the chuck portion 40 that holds the workpiece W is located at a position in an area above the recovery bar 42 described later, the pair of claw portions 40a are opened to separate the pair of claw portions 40a from each other. Thus, the holding of the workpiece W by the chuck portion 40 is released.

[Annular Material Accumulation Unit]
1 and 2 is provided as a mechanism for accumulating the workpieces W released from being held by the chuck 40 of the drive holding unit 15. The annular material accumulating unit 17 includes a collection bar 42 for collecting and accumulating the workpieces W released from being gripped by the chuck unit 40, and a sensor 44 for detecting failure to grasp.

  For example, the recovery bar 42 is installed on the base 43 on which the base 41a of the displacement mechanism 41 of the drive holding unit 15 is installed. And the collection | recovery bar 42 is formed in the bar shape extended along an up-down direction, and is arrange | positioned at the above-mentioned "other position" seeing from upper direction. The workpiece W released from being held by the chuck portion 40 of the drive holding portion 15 at a position in the region above the recovery bar 42 that is the “other position” described above is vertically moved with the recovery bar 42 penetrating inside. It drops downward along the extending recovery bar 42 and is recovered by the recovery bar 42. Thus, the release of the holding of the workpiece W by the drive holding portion 15 on the collection bar 42 is repeatedly performed, so that the workpiece W is sequentially stored in the annular material accumulation portion 17.

  Further, the gripping detection sensor 44 is provided in the vicinity of the upper end portion of the recovery bar 42. The grip failure detection sensor 44 is a sensor for detecting that the chuck portion 40 fails to grip the workpiece W. The grip failure detection sensor 44 is fixed to the base portion 41 a by an attachment member 45 attached to the base portion 41 a of the drive holding portion 15. In the present embodiment, for example, a reflection type laser sensor is used as the gripping detection sensor 44. The gripping failure detection sensor 44 is configured so that the irradiated laser strikes the side surface of the workpiece W gripped by the chuck portion 40 that has moved to the “other position”, which is a position slightly above the recovery bar 42. It is fixed to the part 41a.

  When the gripping failure detection sensor 44 detects that the workpiece W is not gripped by the chuck portion 40 moved to a position slightly above the recovery bar 42, that is, when the gripping failure of the workpiece W is detected, the gripping failure detection is detected. Is transmitted to the control unit 18 of the operation panel 16 to be described later. For example, as an example, if the workpiece W is detected when the chuck portion 42 has moved to a position slightly above the recovery bar 42 (that is, if the chuck portion 40 that has moved to the above position holds the workpiece W). The grip failure detection sensor 44 does not transmit a grip failure detection signal to the control unit 18. On the other hand, if the workpiece W is not detected when the chuck unit 40 moves to a position slightly above the recovery bar 42 (that is, if the chuck unit 40 that has moved to the above position does not grip the workpiece W), the gripping is performed. The breakage detection sensor 44 detects a breakage of the workpiece W and transmits a breakage detection signal to the control unit 18.

[Operation board]
The operation panel 16 shown in FIGS. 1 and 2 includes a box unit 46, a display 47, an operation panel 52, a control unit 18, and the like. The box portion 46 is a portion formed in a box shape by a metal member, and forms the outer shape of the operation panel 16. The operation panel 16 is fixed to the support column 51.

  The operation panel 52 includes a start switch, an emergency stop switch, a count quantity input unit, and the like that are not shown. The start switch is operated by the operator when the operation of the counting device 1 is started. The emergency stop switch is operated by the operator when the operation of the counting device 1 is emergency stopped. In the count quantity input unit, the quantity of the workpiece W set by the worker is input.

  FIG. 8 is a diagram illustrating an example of a display screen displayed on the display 47. The display 47 is configured as a display unit that displays the number of workpieces W (annular objects W) counted by the control unit 18 described later. The display 47 displays a numerical value 47a indicating the current number, a numerical value 47b indicating the set number, and a numerical value 47c indicating the remaining number.

  The current number is the number of workpieces W counted at that time. The set number is the number of workpieces W set by the operator by operating the count quantity input unit of the operation panel 52 and is the number of workpieces W collected by the collection bar 42. When the count number of the workpieces W by the counting device 1 reaches the set number, the control unit 18 to be described later operates each of the transport mechanism 11, the passage restriction units (13a, 13b), the vision sensor 14, and the drive holding unit 15. Is transmitted to each device, and the operation of the counting device 1 is stopped. The remaining number is a value indicating how many remaining workpieces W are collected and the number of workpieces W collected by the workpiece W reaches the set number.

  FIG. 9 is a block diagram illustrating a configuration of the control unit 18. The control unit 18 includes a hardware processor such as a CPU, a memory (not shown), an interface circuit (not shown), and the like. The hardware processor reads and executes a predetermined program stored in the memory of the control unit 18. The memory controls the operation of the drive holding unit 15 based on the program for controlling the operation of the transport mechanism 11 and the passage restricting units (13a, 13b) and the coordinate data of the workpiece W received from the vision sensor 14. Various programs such as a program for collecting the workpiece W in the annular object storage unit 17, a program for counting the number of workpieces W to be collected, and a program for controlling the display on the display 47 are stored. As shown in FIG. 9, the control unit 18 includes a transport mechanism control unit 48, a passage restriction unit control unit 49, a drive holding unit control unit 50, and the like.

  The transport mechanism control unit 48 generates a control command for controlling the operation of the drive shaft motor 23 of the transport mechanism 11. Based on this control command, the operation of the transport mechanism 11 is controlled. The passage restriction unit control unit 48 generates a control command for controlling the operation of the rotary shaft motors (31, 35) of the passage restriction unit (13a, 13b). Based on this control command, the operation of the passage restricting portions (13a, 13b) is controlled.

  Based on the coordinate data of the workpiece W transmitted from the vision sensor 14, the drive holding unit control unit 50 drives the drive holding unit 15 so that the work holding unit 15 repeatedly holds the workpiece W conveyed on the conveyance path 21. To control.

  The coordinate data of the workpiece W is generated by the vision sensor 14 as described above. The coordinate data of the workpiece W generated by the vision sensor 14 is transmitted to the drive holding unit control unit 50. The drive holding unit control unit 50 converts the received coordinate data of the workpiece W from coordinates based on the camera 37 of the vision sensor 14 to coordinates based on the displacement mechanism 41 as a 6-axis vertical articulated robot. Execute the process. Further, the drive holding unit control unit 50 determines the workpiece gripped by the chuck unit 40 of the drive holding unit 15 based on the coordinate data of the workpiece W after the calibration process and the conveyance speed of the workpiece W by the conveyance mechanism 11. The coordinates of the grip position of W are calculated.

  The drive holding unit control unit 50 generates a control command for controlling the driving of the displacement mechanism 41 based on the coordinates of the gripping position of the workpiece W gripped by the chuck unit 40. Based on this control command, the rotation angle position of each electric motor of the displacement mechanism 41 is controlled. As a result, the position of the chuck unit 40 is displaced from a position slightly above the collection bar 42 to a position where the workpiece W to be held that is to be held by the drive holding unit 15 can be gripped.

  FIG. 10 is a diagram for explaining the holding operation of the workpiece W by the drive holding unit 15 and is a diagram illustrating a state in which the chuck unit 40 has been displaced to a position where the workpiece W to be held can be gripped. As shown in FIG. 10, in a state where the chuck portion 40 is displaced to a position where the workpiece W to be held can be gripped, one tip portion of the pair of claw portions 40 a is disposed inside the workpiece W, and The other tip of the claw portion 40a is disposed outside the workpiece W.

  As shown in FIG. 10, when the chuck unit 40 is displaced to a position where the workpiece W to be held can be gripped, the drive holding unit control unit 50 generates a control command for controlling the driving of the chuck unit 40. Based on this control command, the solenoid valve of the aforementioned solenoid valve unit in the chuck portion 40 is controlled. And the holding | grip operation | movement of a pair of nail | claw part 40a which mutually approaches so that a pair of nail | claw part 40a may be closed is performed. As a result, the workpiece W to be held being conveyed on the conveyance path 21 is gripped by the chuck unit 40 and held by the drive holding unit 15.

  FIG. 11 is a view for explaining the holding operation of the workpiece W by the drive holding unit 15 and shows a state in which the chuck unit 40 holds the workpiece W to be held. As shown in FIG. 11, in a state where the chuck portion 40 grips the workpiece W to be held, one portion in the circumferential direction of the workpiece W is sandwiched and gripped between the tip portions of the pair of claw portions 40a. The Thereby, the workpiece W to be held is held by the drive holding unit 15.

  When the workpiece W to be held is held on the transport path 21 by the drive holding unit 15, the rotation angle position of each electric motor of the displacement mechanism 41 is determined based on the control command generated by the drive holding unit control unit 50. Be controlled. As a result, the position of the chuck unit 40 is displaced from the position where the workpiece W is held to a position slightly above the collection bar 42. FIG. 12 is a diagram for explaining the operation of collecting the workpiece W in the annular material accumulating unit 17 by the drive holding unit 15. The chuck unit 40 holds the workpiece W at a position slightly above the collection bar 42. FIG.

  When the chuck unit 40 is displaced to a position slightly above the collection bar 42, the drive holding unit control unit 50 determines whether or not a grip failure detection signal from the grip failure detection sensor 44 has been received. If the workpiece W is detected by the gripping failure detection sensor 44 (that is, the gripping failure of the workpiece W has not been detected) and the gripping failure detection signal is not received by the drive holding portion control unit 50, the drive holding portion The control unit 50 determines that the workpiece W is located at a position slightly above the collection bar 42 while being held by the drive holding unit 15.

  When the drive holding unit control unit 50 determines that the workpiece W is held at the drive holding unit 15 and is located at a position slightly above the recovery bar 42, the drive holding unit control unit 50 generates a control command for controlling the driving of the chuck unit 40. To do. Based on this control command, the solenoid valve of the aforementioned solenoid valve unit in the chuck portion 40 is controlled. And opening operation | movement of a pair of nail | claw part 40a which a pair of nail | claw part 40a spaces apart from each other is performed. Thereby, holding | maintenance of the workpiece | work W by the chuck | zipper part 40 is cancelled | released. The workpiece W released from being held by the chuck unit 40 is collected by the collection bar 42 of the annular material accumulation unit 17.

  FIG. 13 is a diagram for explaining the operation of collecting the workpiece W in the annular material accumulating unit 17 by the drive holding unit 15. The chuck unit 40 releases the holding of the workpiece W at a position slightly above the collection bar 42. It is a figure which shows the state which carried out. As shown in FIG. 13, the workpiece W released from being held by the chuck portion 40 falls downward along the recovery bar 42 extending vertically and is recovered by the recovery bar 42 with the recovery bar 42 penetrating inside. Is done.

  On the other hand, when the chucking part 40 is displaced to a position slightly above the recovery bar 42 and a gripping failure detection signal is received from the gripping failure detection sensor 44, the drive holding part control part 50 15, it is determined that the workpiece W has failed to be gripped. That is, the drive holding unit control unit 50 determines that the workpiece W is not held by the chuck unit 40 positioned above the collection bar 42 when the grip failure detection signal is received.

  When the drive holding unit control unit 50 determines that the workpiece W is not held by the chuck unit 40 positioned above the recovery bar 42, the drive holding unit control unit 50 issues a control command to stop the operation of the vision sensor 14 and the drive holding unit 15 to the vision. It transmits to the sensor 14 and the drive holding | maintenance part 15. When the above determination is made by the drive holding unit control unit 50, the transport mechanism control unit 48 outputs a control command for stopping the operation of the transport mechanism 11, that is, an operation stop command for the drive shaft motor 23. 23. Further, when the above determination is made by the drive holding unit control unit 50, the passage regulating unit control unit 49 controls the operation of the passage regulating unit (13a, 13b), that is, the rotary shaft motor (31, 31). 35) is transmitted to the rotary shaft motors (31, 35). As described above, the control unit 18 grasps the workpiece W because the workpiece W is not held by the chuck unit 40 located above the recovery bar 42 based on the detection result of the grasping failure detection sensor 44. If it is determined that damage has occurred, the operation of the counting device 1 is stopped.

  Moreover, the drive holding | maintenance part control part 50 controls the drive holding | maintenance part 15 so that the collection | recovery operation | movement of the workpiece | work W mentioned above may be performed repeatedly. That is, the drive holding unit control unit 50 holds the workpiece W on the conveyance path 21, displaces the held workpiece W, releases the holding of the workpiece W above the collection bar 42, and further, the next workpiece W The driving and holding unit 15 is controlled so that the routine operation until it is held on the transport path 21 is repeated.

  Moreover, the drive holding | maintenance part control part 50 is provided with the count part 50a. The count unit 50a indicates the number of the predetermined operations when the drive holding unit 15 performs a predetermined operation included only once in each of the above-described routine operations. Count as. In the present embodiment, the number of operations in which the chuck unit 40 releases the holding of the workpiece W at a position slightly above the collection bar 42 is counted as the number of predetermined operations included only once in the routine operation.

  The predetermined operation to be counted may be an operation other than the operation in which the chuck unit 40 releases the holding of the workpiece W at a position slightly above the collection bar 42. That is, the predetermined operation to be counted may be an operation included only once in the routine operation. For example, the chuck unit 40 of the drive holding unit 15 is displaced so as to hold the workpiece W on the conveyance path 21, the chuck unit 40 holds the workpiece W, and the drive holding unit 15 collects the held workpiece W. For example, an operation of moving to a position slightly above 42 can be given.

  In the present embodiment, the count unit 50a is configured so that when the drive holding unit control unit 50 transmits a control command to release the holding of the workpiece W to the chuck unit 40, the chuck unit 40 holds the holding of the workpiece W in the recovery bar 42. It is determined that a release operation has been performed at a position slightly above, and the number of times is counted. That is, when the drive holding unit control unit 50 transmits a control command for the electromagnetic valve of the electromagnetic valve unit in the chuck unit 40 so that the pair of claw units 40a are opened, the counting unit 50a It is determined that a predetermined operation for releasing the holding is performed, and the number of times is counted. More specifically, the count unit 50a stores “0” as the initial value of the count number. And every time the drive holding | maintenance part control part 50 transmits the control command which makes the chuck | zipper part 40 perform opening operation | movement of a pair of nail | claw part 40a, the count part 50a is set to "1" in the count number currently memorize | stored. Is added. Further, the count unit 50a stores the value obtained by newly adding “1” by replacing it with the count number stored before the addition. Further, the count unit 50a causes the display 47 to display the count number stored at that time as the current number.

  In the above example, the count unit 50a collects the holding of the workpiece W by the chuck unit 40 when the drive holding unit control unit 50 transmits a control command for releasing the holding of the workpiece W to the chuck unit 40. It is determined that the release operation has been performed at a position slightly above the bar 42, and the number of times is counted. However, this need not be the case. For example, the chuck unit 40 may be configured to detect that the operation of releasing the holding of the workpiece W is completed, and to transmit the detection result to the control unit 18 as a holding release completion signal. Then, when the count unit 50a receives the above-described holding release completion signal, it is determined that the operation of the chuck unit 40 releasing the holding of the workpiece W at a position slightly above the collection bar 42 is performed, and the number of times is determined. You may count.

  When the count number by the count unit 50a reaches a preset number preset by the operator, the drive holding unit control unit 50 issues a control command to stop the operations of the vision sensor 14 and the drive holding unit 15 to the vision sensor 14. And transmitted to the drive holding unit 15. As a result, the control unit 18 is configured to stop driving of the drive holding unit 15 when the number of workpieces W stored in the collection bar 42 of the annular material storage unit 17 reaches a predetermined number.

  When the count number by the count unit 50a reaches the set number, the transport mechanism control unit 48 transmits a control command for stopping the operation of the transport mechanism 11, that is, an operation stop command for the drive shaft motor 23, to the drive shaft motor 23. To do. Further, when the count number by the count unit 50a reaches the set number, the passage restriction unit control unit 49 controls the operation of the passage restriction unit (13a, 13b), that is, the rotation shaft motor (31, 35). An operation stop command is transmitted to the rotary shaft motor (31, 35). As described above, the control unit 18 stops the operation of the counting device 1 when the count number by the count unit 50a reaches the set number.

[Operation of counting device]
Next, the operation of the counting device 1 will be described. In the following description of the operation of the counting device 1, the overall flow regarding the operation of the counting device 1 will be described. And the description which overlaps with the description of the detailed operation | movement mentioned above regarding each component of the counting device 1 is omitted suitably.

  FIG. 14 is a flowchart showing the operation of the counting device 1. As shown in FIG. 14, when the counting device 1 operates to count the number of workpieces W, first, a plurality of workpieces W are loaded into the conveyance path 21 by the operator (step S11). At this time, the plurality of workpieces W are put on the conveyance path 21 in an area inside the guide wall 12 and upstream of the passage restriction portion 13a in the conveyance path 21.

  When the workpiece W is put into the conveyance path 21, the operator then operates the operation panel 52 of the operation panel 16, and the counting device 1 is activated (step S12). When the counting device 1 is activated, the operations of the transport mechanism 11, the passage restriction units (13a, 13b), the vision sensor 14, and the drive holding unit 15 are started based on a control command from the control unit 18 of the operation panel 16. Step S13 is performed. In addition, when the process of step S13 is continued, the operator may appropriately put an additional work W into the transport path 21 for replenishing the counted work W. Further, after the counting device 1 is activated, the work W may be put into the conveyance path 21. That is, the order of step S11 and step S12 may be switched.

  In step S13, the process (step S14) which conveys the workpiece | work W along the conveyance path 21, the process (step S15) which restrict | limits the passage of the stacking annular object Wa, and the process which produces | generates the coordinate data of the workpiece W (step S16) ) And processing (step S17) for collecting the workpiece W into the annular material accumulating unit 17 and counting the number of workpieces W (counting the workpieces W) (step S17) are continuously performed in parallel.

  In step S14, based on a control command from the control unit 18, the operation of the drive shaft motor 23 is started and the transport mechanism 11 is operated. Thereby, the workpiece W put on the conveyance path 21 is conveyed toward the imaging region P on the downstream side of the conveyance path 21 while being guided by the guide wall portion 12. Step S14 is continued until the process of collecting and counting the workpiece W is stopped in step S17.

  In step S15, based on the control command from the control unit 18, the operation of the rotary shaft motors (31, 35) is started, and the passage restriction units (13a, 13b) are operated. This prevents the stacked annular object Wa from being transported along the transport path 21 under the passage restricting portions (13a, 13b). Then, the stacked annular object Wa is jumped to the upstream side of the transport path 21 when it reaches the passage restricting portion (13a, 13b). The annular object W that has been splashed upstream (the annular object W that was the stacked annular object Wa in the state before being splashed) is not stacked on another workpiece W, that is, in the stacked annular object Wa. If it is not in the state, it is transported along the transport path 21 to the downstream side of the passage restricting portions (13a, 13b). Step S15 is continued until the process of collecting and counting the workpiece W is stopped in step S17.

  In step S16, the vision sensor 14 captures the workpiece W passing through the imaging region P, generates image data of the workpiece W, and generates coordinate data of the workpiece W in the imaging region P based on the image data. Done. The process for generating the coordinate data of the workpiece W is continuously performed at predetermined short intervals. The generated coordinate data of the workpiece W is immediately sent to the control unit 18 every time it is generated. Step S16 is continued until the process of collecting and counting the workpiece W is stopped in step S17.

  In step S <b> 17, the drive holding unit 15 is operated based on a control command from the control unit 18. Then, the workpieces W on the conveyance path 21 are sequentially collected by the collection bar 42 of the annular material accumulation unit 17, and the number of the collected workpieces W is counted by the control unit 18.

  Here, step S17 will be described in more detail. FIG. 15 is a flowchart for explaining step S17 in step S13 shown in FIG. As shown in FIG. 15, in step S <b> 17, first, the drive holding unit 15 is operated based on a control command from the control unit 18, and the workpiece W conveyed through the conveyance path 21 is held by the chuck unit 40 ( Step S18). Then, based on the control command from the control unit 18, the displacement mechanism 41 is operated, and the workpiece W held by the chuck unit 40 is moved to a position slightly above the collection bar 42 (step S18). The holding operation of the workpiece W conveyed on the conveyance path 21 is executed by the control unit 18 controlling the drive control unit 15 based on the coordinate data of the workpiece W generated by the vision sensor 14 as described above. Is done.

  When the chuck unit 40 moves to a position slightly above the collection bar 42, is the control unit 18 detected whether the workpiece W has failed to be gripped based on the presence or absence of a gripping detection signal from the gripping failure detection sensor 44. It is determined whether or not (step S19). If the gripping failure of the workpiece W has not been detected (No at Step S19), the control unit 18 determines that the workpiece W is held at the chuck unit 40 and is positioned slightly above the collection bar 42. Is done. In this case, based on the control command from the control unit 18, the chuck unit 40 is operated, and the holding of the workpiece W is released (step S20). The workpiece W released from being held by the chuck unit 40 is collected by the collection bar 42 of the annular material accumulation unit 17.

  On the other hand, if the gripping failure of the workpiece W is detected (step S19, Yes), the control unit 18 determines that the workpiece W is not held by the chuck portion 40 located above the collection bar 42. . In this case, the control unit 18 stops the operations of the transport mechanism 11, the passage restriction units (13 a and 13 b), the vision sensor 14, and the drive holding unit 15. That is, when it is determined in step S19 that the workpiece W is not held by the chuck portion 40 located above the recovery bar 42, the control unit 18 stops the operation of the counting device 1, and FIG. The process shown in FIG.

  If the workpiece W is not detected to be gripped (step S19, No), and the holding of the workpiece W is released (step S20), the control unit 18 determines that the number of the holding and releasing operations of the workpiece W is circular. It is counted as the quantity of workpieces W stored in the material storage unit 17. As described above, the count of the number of workpieces W is incremented by adding “1” to the count number stored in the memory of the control unit 18 every time the holding release operation of the workpiece W is performed. To be executed. When the workpiece W is counted, the control unit 18 determines whether or not the count number has reached the set number (step S21).

  In step S21, when the control unit 18 determines that the count number of the workpieces W has not reached the set number (step S21, No), the processing after step S18 is repeated again. The processing from step S18 to step S21 is repeated as long as the workpiece W is not missed (step S19, No) and the count number of the workpieces W does not reach the set number (step S21, No).

  On the other hand, when the control unit 18 determines in step S21 that the count number of workpieces W has reached the set number (step S21, Yes), the control unit 18 includes the transport mechanism 11 and the passage restriction units (13a, 13b). ), The operation of the vision sensor 14 and the drive holding unit 15 is stopped. That is, when it is determined that the count number of the workpieces W has reached the set number (step S21, Yes), the control unit 18 stops the operation of the counting device 1 and ends the process illustrated in FIG.

  As described above, when the number of workpieces W reaches the set number and the processing shown in FIG. 14 ends, the workpieces W collected in the collection bar 42 of the annular material storage unit 17 are collected by the operator. Are taken out together. Then, it is collected as a predetermined number of works W.

[effect]
As described above, according to the present embodiment, the passage of the stacked annular object Wa among the annular object W (work W) conveyed on the conveyance path 21 is restricted by the passage restriction parts (13a, 13b), and the passage restriction part. It is prevented that the stacked annular object Wa is conveyed to the downstream side of (13a, 13b). For this reason, only the annular object W in a state where no other annular object W is stacked thereon reaches the imaging region P on the downstream side of the passage restricting portions (13a, 13b), and coordinate data in the imaging region P is generated. Is done. And based on said coordinate data, the drive holding | maintenance part 15 is controlled by the control part 18, and the routine operation | movement by which the cyclic | annular object W on the conveyance path 21 is hold | maintained one by one is performed repeatedly. Further, each time the above routine operation is performed once, the annular object W held on the transport path 21 is moved to another position different from that on the transport path 21, and the annular object W is held at that position. Canceled. The annular object W released from the other position is stored in the annular object storage unit 17.

  According to the present embodiment, the plurality of annular objects W for which coordinate data is generated by the vision sensor 14 when passing through the imaging region P are performed by the drive holding unit 15 that repeatedly performs the above-described operation (routine operation). Are sequentially stored in the annular material storage unit 17. Furthermore, according to the counting device 1, the number of the predetermined operations when the predetermined operation included only once in the routine operation is performed is counted as the number of the annular objects W stored in the annular object storage unit 17. .

  Furthermore, according to the present embodiment, the annular objects W that are transported on the transport path 21 in a non-overlapping state are moved from the transport path 21 and stored one by one in the annular object storage unit 17, and the quantity thereof is accurately determined. Be counted. For this reason, it is prevented that accurate counting cannot be performed due to the overlap of the annular objects as in the case of the counting device disclosed in Patent Document 1. Furthermore, according to the counting device 1, since it is not necessary for the operator to manually place the annular object to be counted on the shaft as in the case of the counting device of Patent Document 1, the operator's hand is not bothered.

  Therefore, according to the present embodiment, it is possible to provide the counting device 1 that can accurately count the annular object W and can reduce the labor of the operator.

  In addition, according to the present embodiment, the operator can cause the counting device 1 to automatically count the annular material W simply by putting the annular material W into the conveyance path 21 and starting the counting device 1. Further, according to the present embodiment, a mechanism for aligning the annular objects W transported along the transport path 21 in a row for counting is also unnecessary. In addition, according to the present embodiment, the annular object W that is introduced into the conveyance path 21 extending along the linear direction and counted while being collected from the conveyance path 21 is counted. It is possible to count even an annular material having a relatively large diameter.

  In addition, according to the present embodiment, the guide wall portion 12 that restricts the passage position in the width direction in the transport path 21 and guides the annular object W to the imaging region P is provided. Therefore, it is possible to secure a large area of the region where the plurality of annular objects W are put on the conveyance path 21 and to guide the annular object W through the imaging region P more reliably even in the narrow imaging region P. can do. Therefore, it becomes easy to input the annular object W onto the conveyance path 21, and the annular object W can be accurately counted, and the labor of the operator can be further reduced.

  Further, according to the present embodiment, the stacked annular object Wa is splashed upstream by the rotary blades (30a to 30d, 34a to 34b) rotating around the axis of the rotation shaft (29, 33) on the transport path 21. Thereby, passage of the passage control part (13a, 13b) of the stacked annular object Wa is restricted. Therefore, it is possible to efficiently suppress the occurrence of a state in which the stacked annular object Wa is retained in a region on the upstream side of the passage restriction portions (13a, 13b) and in the vicinity of the passage restriction portions (13a, 13b). can do.

  In addition, according to the present embodiment, only the stacked annular objects Wa are splashed upstream by the rotary blades (30a to 30d, 34a to 34b), so that the overlapping annular objects W are prevented from rubbing each other. Is done. Thereby, the overlapping state of the annular objects W can be eliminated without damaging the annular object W in the conveyance process of the annular object W.

  Further, according to the present embodiment, the passage restricting portions (13 a, 13 b) each having the rotating blades (30 a to 30 d, 34 a to 34 b) that splash the stacked annular object Wa to the upstream side are downstream from the upstream side of the conveyance path 21. A plurality are arranged side by side. For this reason, it is possible to more reliably prevent the stacked annular object Wa from being conveyed to the downstream side.

  Moreover, according to this embodiment, the conveyance mechanism 11 which conveys the annular article W to the downstream side by the conveyance path 21 extended along a linear direction can be comprised by the simple mechanism which has the belt conveyor type conveyance path 21. FIG. .

  In addition, according to the present embodiment, the vision sensor 14 generates coordinate data of the position held by the chuck unit 40 in the circumferential direction of the annular object W as coordinate data of the annular object W held by the drive holding unit 15. Is done. For this reason, the annular object W can be more accurately and accurately held by the drive holding unit 15.

  Further, according to the present embodiment, the annular sensor W is driven by the vision sensor 14 based on the ratio of the image data of the other annular object W in the area of the predetermined area outside and inside the reference arc of the annular object W. Coordinate data of the position held by the chuck unit 40 of the holding unit 15 is generated. For this reason, the possibility that other annular objects W may be erroneously gripped can be suppressed, and the annular object W can be more reliably and accurately held by the drive holding unit 15.

  Further, according to the present embodiment, when the count number in the control unit 18, that is, the number of annular objects W stored in the annular object accumulation unit 17 reaches a predetermined number, the operation of the drive holding unit 15 is stopped. Thereby, the cyclic | annular object W saved in the cyclic | annular substance accumulation | storage part 17 can be easily collected for every desired quantity.

  In addition, according to the present embodiment, the operator confirms the display on the display (display unit) 57, so that the count number in the control unit 18, that is, the annular object W accumulated in the annular object storage unit 17. The quantity can be easily grasped.

  Further, according to the present embodiment, when the drive holding unit 15 holding the annular object W releases the holding of the annular object W at the “other position” described above, the annular object W is passed through the recovery bar 42 and Collected in the recovery bar 42. Therefore, the collection | recovery bar 42 extended in an up-down direction can implement | achieve the cyclic | annular material storage part 17 comprised in the horizontal direction small in size and compactly.

  Further, according to the present embodiment, when the controller 18 determines that the gripping of the annular object W by the chuck unit 40 has occurred based on the detection result of the gripping detection sensor 44, the counting device 1 is stopped. For this reason, it is prevented that the counting process is performed with a difference between the counting result of the counting device 1 and the number of the annular objects W actually collected in the collecting bar 42. . Therefore, it is possible to appropriately prevent the counting error of the annular object W due to the failure to grasp.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made as long as they are described in the claims. For example, you may implement the following modifications.

(1) In the above-described embodiment, the case where the annular object to be counted by the counting device is a toothed belt has been described as an example. However, the present invention is not limited to this example, and various annular objects can be counted. Can be selected. For example, an annular object such as an O-ring or rubber band may be counted.

(2) In the above-described embodiment, the form of the passage restricting portion configured to include the rotation shaft and the rotating blade has been described as an example. However, the present invention is not limited to this example, and various forms of the passage restricting portion are implemented. Also good. For example, a passage restricting portion having a wall portion installed above the conveyance path through a gap having a predetermined dimension with respect to the surface of the conveyance path may be implemented. In this case, the dimension of the gap between the wall portion and the surface of the conveyance path is set so as to allow passage of the ring-shaped object that is not stacked while restricting the passage of the stacked ring-shaped object. Just do it.

(3) In the above-described embodiment, an example in which two passage restriction units are provided has been described, but this need not be the case. A mode in which one or three or more passage restriction portions are provided may be implemented.

(4) In the above-described embodiment, the drive holding unit including the displacement mechanism configured as a six-axis vertical articulated robot has been described as an example. However, this need not be the case. For example, an embodiment of a drive holding unit including a displacement mechanism including an XY unit configured to include an element that is slidably driven in two axial directions (X-axis direction and Y-axis direction) is implemented. Also good.

  In the case of the above modification, for example, the XY unit is configured to include a slide displacement unit that is slidably supported and a slide drive unit that drives the slide displacement unit. The slide drive unit has, for example, a plurality of ball screw mechanisms, and slide displacement is performed along a direction parallel to the direction in which the conveyance path extends along the linear direction (conveyance direction) and a direction parallel to the width direction of the conveyance path. Configured to drive the unit. Further, the displacement mechanism including the XY unit is further provided with a cylinder mechanism that is supported by the slide drive unit and extends and contracts in the vertical direction. And the drive holding | maintenance part of this modification is provided with the displacement mechanism provided with an XY unit and a cylinder mechanism, for example, The chuck | zipper part which is provided in the lower end part of the rod of a cylinder mechanism, and performs the holding | grip operation | movement of a cyclic | annular object, and opening | release operation , And is configured. Thus, the form of the drive holding | maintenance part provided with the displacement mechanism containing an XY unit may be implemented.

(5) In the embodiment described above, when the vision sensor generates the coordinate data of the annular object, a reference arc is set for each image data of the annular object, and a fan-shaped area having a predetermined area on each of the outer side and the inner side of the reference arc. Although the mode of setting the area has been described as an example, this need not be the case. The area having a predetermined area set on each of the outer side and the inner side of the reference arc may not be a fan-shaped area, and various-shaped areas may be set. For example, a form in which a square area or an elliptical area is set may be implemented.

  The present invention can be widely applied to a counting device that counts the number of annular objects.

DESCRIPTION OF SYMBOLS 1 Counting device 11 Conveyance mechanism 13a, 13b Passing restriction part 14 Vision sensor 15 Drive holding part 17 Annular object storage part 18 Control part 21 Conveyance path P Imaging area W Workpiece (annular object)
Wa Stacked ring

Claims (10)

A transport mechanism having a transport path extending along a linear direction, and transporting an annular object thrown on the transport path to the downstream side along the transport path;
A passage restricting portion for restricting the passage of the stacked annular object that is the annular object that is conveyed on the conveyance path and is conveyed in a state where at least a part is stacked on the other annular object; ,
The annular object that passes through the imaging region set on the downstream side of the passage restriction unit in the conveyance path is photographed to generate image data of the annular object, and the annular object in the imaging region is based on the image data. A vision sensor that generates coordinate data for
A drive holding unit that holds the annular object conveyed through the conveyance path, moves the held annular object to another position different from the conveyance path, and releases the holding of the annular object;
Based on the coordinate data, a control unit that controls driving of the drive holding unit so as to hold the annular object conveyed on the conveyance path in the drive holding unit;
With
The control unit controls the drive holding unit to repeatedly perform a routine operation from holding the annular object on the conveyance path to holding the next annular object on the conveyance path,
The annular object released from the holding by the drive holding part is sequentially stored in the annular substance accumulating part,
The control unit determines the number of the predetermined operations when the drive holding unit performs a predetermined operation included only once in each of the routine operations. A counting device characterized by counting as: The counting device according to claim 1,
A guide wall portion disposed on the transport path so as to restrict a passage position of the annular object in the width direction of the transport path, which is installed in the transport mechanism;
The guide wall portion regulates the passage position of the annular object in the width direction of the conveyance path, so that the annular object conveyed toward the downstream side along the conveyance path is conveyed toward the imaging region. The counting device is characterized in that the annular material is guided. The counting device according to claim 1 or 2,
The passage restriction unit is
A rotating shaft extending along a direction parallel to the surface of the transport path, and a rotating blade attached to the rotating shaft and rotating around the axis of the rotating shaft together with the rotating shaft,
A tip end portion of the rotary blade rotating around the axis of the rotating shaft comes into contact with the stacked annular object, and the stacked annular object is bounced off toward the upstream side of the conveyance path, thereby the stacked annular object. It is characterized by restricting the passage of. Counting device. The counting device according to claim 3,
A plurality of the passage restriction portions are provided,
The counting device, wherein the plurality of passage restricting portions are arranged in order from the upstream side to the downstream side of the conveyance path. The counting device according to any one of claims 1 to 4,
The counting device according to claim 1, wherein the transport mechanism has a belt conveyor type transport path. A counting device according to any one of claims 1 to 5,
The drive holding part has a chuck part for holding the annular object by holding the annular object at one position in the circumferential direction of the annular object.
The counting device according to claim 1, wherein the vision sensor generates coordinate data of a position held by the chuck portion in a circumferential direction of the annular object as the coordinate data of the annular object. The counting device according to claim 6,
The vision sensor sets, for each image data of the annular object, a reference arc that is an arc having a predetermined arc length in the annular object, and sets a region having a predetermined area on each of the outside and the inside of the reference arc. The counting apparatus generates the coordinate data of the annular object based on a ratio of an area occupied by the image data of the other annular object in the region of the predetermined area. A counting device according to any one of claims 1 to 7,
The control unit stops driving of the drive holding unit when the number of the annular objects stored in the annular object storage unit reaches a predetermined number. A counting device according to any one of claims 1 to 8,
The counting apparatus further comprising: a display unit that displays the number of the annular objects counted by the control unit. A counting device according to any one of claims 1 to 9,
The said annular | circular material accumulation | storage part has the collection | recovery bar currently arrange | positioned in the said other position seeing from upper direction while being formed in the rod shape extended along an up-down direction.

Images