JP2018039601A - Component supply device and component supply method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the following problem: the occurrence of component clogging causes inconvenience because components have to be continuously supplied from a component supply device to achieve speeding-up of automated assembly.SOLUTION: One end of a component carrying path is provided with a rotating shaft. A horizontal force acts on the component carrying path, rotates it in a reciprocating manner to make a centrifugal force act on components, and makes the components carried. Even the components with the low height of its part protruding on the carrying path can be carried at a high speed without running onto or overlapping each other. The front and rear components can be taken out at a proper interval.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a component supply apparatus and a component supply method used for automatic assembly of products.

  In recent years, technological development for automating the assembly of products has been actively performed. On the other hand, with the progress of miniaturization and multi-functionality of products, there is a tendency that parts constituting the product are promoted to be smaller and thinner.

  Thus, in order to perform automatic assembly of products at high speed, a component supply apparatus for supplying small parts to an automatic assembly apparatus smoothly and at high speed is required.

  For example, Patent Document 1 discloses a linear vibration feeder including a driving leaf spring. The component conveying path is linearly vibrated in a direction perpendicular to the direction in which the driving leaf spring extends to convey the component. In other words, the apparatus conveys a component by linearly vibrating the component conveyance path in a direction in which the component conveyance direction (front and rear) and the vertical direction (up and down) are combined.

  Patent Document 2 discloses an apparatus that conveys screws by moving a rail that guides screws back and forth in a substantially horizontal and longitudinal direction.

JP-A-3-106711 JP-A-8-155758

  In order to increase the speed of automatic assembly, it is necessary to continuously supply parts from the component supply apparatus, but it is inconvenient if clogging occurs.

  In the apparatus of Patent Document 1, the component conveyance path is linearly vibrated in a direction in which the component conveyance direction (front and back) and the vertical direction (up and down) are combined, and the component is moved forward by slanting the component forward. ing. With this device, a relatively large transport speed can be obtained, but when parts with small heights are transported, the front and back parts may ride on each other or overlap each other, causing clogging of parts in the part transport path. It was. There is a problem in that the tact time is increased if the distance between the front and rear parts is increased to prevent boarding and overlapping.

  In the device of Patent Document 2, since the rail is moved back and forth while suppressing vertical movement, the head of the screw can be moved even when a part having a small height protruding on the rail is transported, such as a low head screw. The possibility of getting on or overlapping is small. However, in the longitudinal movement of the rail, it is difficult to apply a large driving force to the parts, and it is difficult to increase the conveyance speed. Further, if the interval between the front and rear parts is shortened in order to suppress the tact time, the parts may come into contact with each other, which is inconvenient.

  The present invention provides an apparatus that can convey a component at a high speed without causing the components to ride on each other or overlap each other even if the height of the portion protruding when placed on the component conveyance path is small. Furthermore, it aims at providing the components supply apparatus which can be taken out in a suitable space | interval, without contacting the components of front and back.

  The component supply device of the present invention is a component supply device including a component conveyance path and a supply unit that supplies components to the component conveyance path, and a rotation shaft that rotatably supports the component conveyance path, and the component A drive unit that applies a horizontal force that intersects the conveyance direction of the component to the conveyance path, and a control unit that controls the drive unit so that the component conveyance path reciprocates around the rotation axis. It is characterized by having.

  The component supply method of the present invention includes a step of placing a component on a component conveyance path that is rotatably supported, a horizontal force applied to the component conveyance path, and a reciprocating rotation of the component conveyance path. A step of moving the component placed on the component conveyance path, and a step of discharging the component from the component conveyance path.

  ADVANTAGE OF THE INVENTION According to this invention, even if it is a component with the small height of the part which protrudes when mounted in a components conveyance path, the apparatus which can convey at high speed, without making components mutually run over and mutually overlap can be provided. . Furthermore, it is possible to provide a component supply device that can be taken out at an appropriate interval without contacting the front and rear components.

The external appearance perspective view of the components supply apparatus concerning 1st embodiment. The schematic diagram which looked at a part of apparatus main body from the upper surface. The schematic diagram which looked at a part of apparatus main body from the Y direction. The schematic diagram which looked at a part of apparatus main body from the X direction. (A) thru | or (d) is a schematic diagram which shows the motion of the components mounted in the components conveyance path. The circuit block diagram of a components supply apparatus. The current waveform diagram for driving an electromagnet. The schematic diagram which looked at a part of apparatus main body concerning 2nd embodiment from the side surface. The schematic diagram which looked at a part of apparatus main body concerning 3rd embodiment from the X direction.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings. When the coordinate axes are shown in the figure, the X axis and the Y axis are in the horizontal plane, and the Z axis indicates the vertical direction.

[First embodiment]
FIG. 1 is an external perspective view of a component supply apparatus according to a first embodiment of the present invention.

  The component supply apparatus 1 includes an apparatus main body 2 and a pedestal 3 for installing the apparatus main body 2 adjacent to an automatic assembly apparatus (not shown).

  As shown in FIG. 1, the apparatus main body 2 includes a protective cover 4, a parts conveyance path 5 for conveying parts, and a discharge unit 6 for discharging the parts toward the automatic assembly apparatus.

  The apparatus main body 2 will be described in detail with reference to FIGS.

  FIG. 2 is a schematic view of a part of the apparatus main body 2 as viewed from above with the protective cover 4 removed.

  FIG. 3 is a schematic view of a part of the apparatus main body 2 viewed from the side in the Y direction with the protective cover 4 removed.

  FIG. 4 is a schematic view of the component conveyance path 5 as viewed from the side along the X direction with the discharge unit 6 and the protective cover 4 removed.

  As shown in FIG. 2, the component conveyance path 5 includes a conveyance rail 5 a and a conveyance rail 5 b that are arranged in parallel with a predetermined interval in a plane defined by the X axis and the Y axis, that is, in a horizontal plane. The component supply apparatus of this embodiment is an apparatus which supplies the component 7 of the shape which has a head and a shaft part like a screw and a screw.

  As shown in FIG. 4, the distance L separating the transport rail 5a and the transport rail 5b is set to be larger than the outer diameter d of the screw or screw shaft and smaller than the outer diameter D of the head. Since L <D, the head of the component 7 is supported by the conveyance rail 5a and the conveyance rail 5b, and the component does not fall from the component conveyance path. Since L> d, the shaft portion of the component 7 is movable along the gap between the transport rail 5a and the transport rail 5b.

  As shown in FIGS. 2 and 3, at one end of the component conveyance path 5, a rotation shaft for allowing the conveyance rail 5a and the conveyance rail 5b to rotate integrally within a horizontal plane while maintaining a predetermined interval. 10 is provided. The component conveyance path 5 may be a structure that can rotate integrally with the conveyance rail 5a and the conveyance rail 5b being maintained at a predetermined interval, and may be an integrally formed structure or a structure in which a plurality of members are connected. It may be the body.

  Further, as shown in FIG. 2, an electromagnet 11 is provided outside the conveyance rail 5 b of the component conveyance path 5 and at a position away from the rotation shaft 10. At a position facing the electromagnet 11, a member to be attracted 13 connected to the transport rail 5 b by a connecting member 12 is installed.

  The attracted member 13 is formed of a ferromagnetic material such as iron so as to be attracted when the electromagnet 11 is driven to generate a magnetic force.

  On the other hand, the connecting member 12 is made of a nonmagnetic material such as nonmagnetic stainless steel or aluminum. As shown in FIG. 4, it is possible to suppress leakage of magnetic field lines by disposing the nonmagnetic connecting member 12 as a support for the magnetically attracted member 13. For this reason, when the electromagnet 11 is driven, it is possible to prevent the inconvenience that the transport rail 5a, the transport rail 5b, the component 7 and the like are magnetized.

  As shown in FIGS. 2 and 4, an elastic body 14 is provided between the transport rail 5 b and the elastic body support portion 15. The elastic body support portion 15 is fixed to a frame (not shown) of the apparatus main body 2, and one end of the elastic body 14 is fixed to the apparatus main body 2.

  A stopper 16 for limiting the rotation angle of the component conveyance path 5 is provided outside the conveyance rail 5 a of the component conveyance path 5 and at a position away from the rotation shaft 10. In other words, the stopper 16 is located on the opposite side of the electromagnet 11 across the component conveyance path 5.

  Further, as shown in FIGS. 2 and 3, components 7 stored in the component storage unit 9 are taken out one by one from the component storage unit 9 at positions close to the rotation shaft 10 along the component conveyance path 5. In addition, a component supply unit 8 for mounting on the component conveyance path 5 is provided. As shown in FIG. 3, the component supply unit 8 uses a mechanism that scrapes out the components 7 one by one while rotating. However, any other form may be used as long as it is a mechanism capable of placing the part on the part conveyance path 5.

  A discharge portion 6 for discharging the transferred component 7 toward an automatic assembly apparatus (not shown) is provided at the end of the component transfer path 5 opposite to the rotating shaft 10.

  Next, the principle of conveying the component placed on the component conveyance path 5 by the component supply unit 8 toward the discharge unit 6 in the direction of arrow C in FIG. 2 will be described. First, the operation of the component conveyance path 5 will be described.

  In FIG. 2, when the electromagnet 11 is driven to generate a magnetic force, the attracted member 13 is attracted in the direction of the electromagnet 11, so the component conveyance path receives a force in the Y direction, and the conveyance rail 5 a and the conveyance rail 5 b are The rotation starts in the direction of arrow A with the rotation shaft 10 as the rotation center. And it rotates until the attractive force by magnetic force and the repulsive force of the elastic body 14 balance.

  Next, when the driving of the electromagnet 11 is stopped and the attraction force is released, the compressed elastic body 14 tends to extend, so that the component conveyance path receives a horizontal force, and the conveyance rail 5a and the conveyance rail 5b. Starts to rotate in the direction of arrow B in FIG. Then, the conveyor rail 5a rotates until it reaches the stopper 16.

  When the electromagnet 11 is driven again, the transport rail 5a and the transport rail 5b rotate again in the direction of arrow A in FIG.

  In this manner, by intermittently driving the electromagnet 11 at an appropriate timing, it is possible to alternately rotate the component conveying path 5 in the A direction and the B direction with the rotation shaft 10 as the rotation center. is there.

  In other words, the electromagnet 11 as the driving unit and the elastic body 14 alternately apply a horizontal force that intersects the component conveying direction to the component conveying path, so that the component conveying path reciprocates around the rotation axis. It is set to do dynamic exercise.

  By reciprocatingly rotating the component conveying path 5 in this way, centrifugal force acts on the component 7 and is conveyed in the direction of arrow C in FIG. 2 along the component conveying path.

  FIGS. 5A to 5D are schematic plan views showing the behavior of the component when the component conveyance path 5 is rotated.

  FIG. 5A shows a state in which the component 7 a and the component 7 b are placed on the component conveyance path 5 by the component supply unit 8. For convenience of explanation, a case where two parts are placed is shown, but the number and positions of the placed parts are not limited to this example. For example, one may be sufficient and three or more may be sufficient.

  When the electromagnet 11 is driven in a state where the component is placed, the component conveyance path 5 receives a force in the direction A in FIG. 2 in the horizontal plane, and the rotation shaft 10 is moved as shown in FIG. It rotates counterclockwise as the center of rotation. With the rotation of the component conveying path 5, the components 7 a and 7 b receive a centrifugal force F in the longitudinal direction of the component conveying path 5, that is, in the direction of the arrow C.

F = m × r × ω ² (1)
Here, m is the mass of the component, r is the distance from the rotation shaft 10 to the component, and ω is the angular velocity of rotation.

  Here, when the centrifugal forces applied to the component 7a and the component 7b are Fa and Fb, respectively, these will be compared. If the part 7a and the part 7b are the same kind of parts, the mass m may be considered to be substantially equal without any manufacturing error. Further, since both the component 7a and the component 7b are driven by the component conveyance path 5, ω is equal. On the other hand, as shown in FIG. 5B, since the component 7a is located farther from the rotation shaft 10 than the component 7b, r is always larger in the component 7a (ra> rb). Therefore, Fa becomes larger than Fb. That is, the component 7a receives a centrifugal force larger than that of the component 7b, and is accelerated by a greater force in the direction of the arrow C.

  Next, when the electromagnet 11 is turned off, the component conveying path 5 receives a force in the R direction in FIG. 2 in the horizontal plane due to the repulsive force of the elastic body 14, and rotates as shown in FIG. It rotates clockwise around the shaft 10 as a rotation center. Similarly to the counterclockwise direction described above, also in the clockwise direction, the component 7a receives a greater centrifugal force than the component 7b and moves more in the direction of the arrow C. At that time, since the larger the distance from the rotation shaft 10 is, the larger the centrifugal force is received, the component 7a precedes the component 7b at a higher speed, and the distance between the front and rear components gradually increases.

  Then, when the electromagnet 11 is driven again, the component conveying path 5 receives a force in the direction A in FIG. 2 in the horizontal plane, and as shown in FIG. Rotate counterclockwise again.

  As described above, by repeating the clockwise and counterclockwise reciprocating rotational movements, it is possible to apply centrifugal force to the components on the component conveyance path and convey the components along the component conveyance path.

  According to the present embodiment, the driving force for rotating the component conveyance path is applied in the horizontal direction, and the rotation of the component conveyance path is also performed in the horizontal plane, so that no vertical force is applied to the component. Therefore, the parts do not jump, and even when parts having a small height protruding from the parts conveyance path, such as a low-head screw, are conveyed, the overlapping of the parts can be suppressed.

  According to the present embodiment, since a centrifugal force acts on a part farther from the rotation axis, when a plurality of parts are conveyed, the preceding part on the part conveyance path is faster than the subsequent part. Transported at speed. If the side on which the part of the part transport path is placed is the upstream side and the side from which the part is discharged is the downstream side, the transport speed increases as the part progresses from the upstream side to the downstream side. Then, as the part advances from the upstream side to the downstream side, the interval between the front and rear parts becomes wider. For this reason, the components do not come into contact with each other, and the components can be discharged at an appropriate interval. The conveyed component 7 is discharged from the component transfer path by the discharge unit 6 toward an unillustrated automatic assembly apparatus.

  The part conveyance speed can be adjusted by controlling the angular speed ω in the turning operation, as is apparent from the equation (1). It can also be adjusted by controlling the frequency at which the clockwise and counterclockwise rotations are repeated.

  For example, in the case of an apparatus for supplying a M2 tapping screw having a mass of 0.05 g, the length of the rail of the component conveyance path is 100 mm, the rotation angle θ of the component conveyance path is 0.5 to 3 degrees, and the frequency is 50 Hz to 200 Hz is preferable.

  The rotation angle θ and the rotation frequency can be adjusted by appropriately setting the driving conditions of the electromagnet 11, the elastic modulus of the elastic body 14, the installation positions of the electromagnet 11 and the stopper 16, and the like.

  Next, the drive control system in the apparatus of this embodiment will be described.

  In the apparatus according to the present embodiment, by including a control unit that controls the driving of the electromagnet, it is easy to adjust the conveyance speed in accordance with the tact time of the automatic assembly line and to change the conveyance conditions when the type of parts is changed. To be able to.

  FIG. 6 is a circuit block diagram of the component supply apparatus of the present embodiment.

  In FIG. 6, the control unit 61 is a control circuit that controls the operation of the component supply device, and is connected to the instruction input unit 62, the component supply unit 8, the discharge unit 6, and the electromagnet drive circuit 63. The control unit 61 includes a CPU, a ROM which is a nonvolatile memory storing a control program and a numerical value table for control, a RAM which is a volatile memory used for calculation, an I / O port for communicating with each unit of the device, and the like. I have. The ROM stores a driving condition of the electromagnet driving circuit determined in advance by the type of parts to be conveyed and the conveying speed as a table.

  The instruction input unit 62 is an input unit for an operator of the component supply apparatus to give an instruction to the apparatus, and includes a keyboard and operation buttons.

  The electromagnet drive circuit 63 is a circuit for driving the electromagnet 11 in accordance with instructions from the control unit 61.

  When the operator inputs the type of the component via the instruction input unit 62, the control unit 61 reads the electromagnet driving conditions suitable for the component from the stored control numerical value table. When receiving a component supply start instruction from the instruction input unit 62, the control unit 61 transmits a control signal to the component supply unit 8, the electromagnet drive circuit 63, and the discharge unit 6. The operation timing is controlled as follows.

  The controller 61 instructs the electromagnet drive circuit 63 to specify the amplitude (Ih) and frequency (1 / Tc) of the current pulse suitable for conveying the component. The electromagnet drive circuit 63 applies a drive current shown in FIG. 7 to the electromagnet 11 in accordance with an instruction from the control unit 61.

  When the operator gives an instruction to change the transport speed via the instruction input unit 62, the control unit 61 sets the amplitude and / or frequency of the current pulse so as to change the attraction force of the electromagnet in accordance with the instruction. An instruction is given to the electromagnet drive circuit 63.

  This apparatus provided with such a control unit 61 can easily adjust the conveyance speed in accordance with the tact time of the automatic assembly line and change the conveyance conditions when the type of the component is changed.

[Second Embodiment]
FIG. 8 is a schematic view of a part of the apparatus main body according to the second embodiment as viewed from the side. Elements common to the first embodiment are denoted by the same numbers.

  In the first embodiment, the rotation shaft 10 is installed in the vertical direction so that the component conveyance path 5 rotates in a horizontal plane, whereas in the second embodiment, the component conveyance path 5 is horizontal. The rotation shaft 10 is inclined from the vertical direction so as to rotate in the inclined plane. Specifically, the rotary shaft 10 is set so that the left side of the component conveyance path 5 in FIG. 8 is lowered, that is, the component conveyance path 5 is lowered toward the downstream side of the arrow C that is the component conveyance direction. It is tilted.

  By adopting such a configuration, it is possible to convey parts with a force obtained by adding gravity to centrifugal force, and it is possible to increase the conveyance speed. However, in order to ensure controllability of the conveyance speed, it is preferable to set the inclination angle of the rotation shaft within 3 degrees from the vertical direction (Z axis).

  Furthermore, it is preferable to provide an upper member 81 as shown in FIG. Even in the second embodiment, the parts are not jumped in the vertical direction and transported, so the probability that the parts overlap with each other is extremely low. However, if the upper member 81 that restricts the vertical movement of the parts is provided, even if it becomes necessary to stock the parts in a state adjacent to the parts conveyance path, the overlapping of the parts can be prevented more reliably. Is possible.

[Third embodiment]
In the first embodiment and the second embodiment, an external force is applied to the component conveyance path 5 using the electromagnet 11 and the elastic body 14 to rotate the component conveyance path. The third embodiment is different from the electromagnet 11 and the elastic body 14 in that a motor and a link mechanism that converts rotational motion into linear reciprocating motion are used.

  FIG. 9 is a schematic view of the component conveying path 5 as viewed from the side along the X direction in a state where the discharge unit 6 is excluded in the apparatus of the third embodiment.

  A crank disk 92 is coupled to the motor rotating shaft 91. When the motor rotates, the crank disk 92 also rotates. The crank disk 92 is connected to the slider 94 via a connecting rod 93. By this link mechanism, the rotation of the motor is converted into a reciprocating linear motion of the slider 94 in the Y direction.

  Since the slider 94 is connected to the conveyance rail 5b via the support body 95, when the slider 94 reciprocates linearly, the component conveyance path rotates clockwise and counterclockwise around the rotation shaft 10. repeat.

  In other words, the motor and the link mechanism as the drive unit alternately apply a horizontal force intersecting the component conveying direction to the component conveying path, so that the component conveying path reciprocates around the rotation axis. It is set to do.

  In the first embodiment and the second embodiment, the control unit 61 is connected to the electromagnet drive circuit 63 in the circuit block diagram of FIG. 6, but in the third embodiment, the control unit 61 is connected to the motor drive circuit ( (Not shown). The control part 61 can adjust the conveyance speed of components by appropriately controlling the rotation speed of the motor.

  Even when the link mechanism is used, the rotation shaft may be installed in the vertical direction as in the first embodiment, or within 3 degrees from the vertical direction as in the second embodiment. It may be inclined with.

[Other Embodiments]
Since the component supply device of the embodiment described above is a device that supplies a component 7 having a head and a shaft portion such as a screw or a screw, the component supply device 2 is arranged at a predetermined interval as a component conveyance path. Although the book transport rail is used, the implementation of the present invention is not limited to this. According to the present invention, for example, even when a thin chip-shaped component is transported, it is possible to achieve an effect of suppressing overlapping of components. The shape of the component conveyance path may be appropriately selected in accordance with the shape of the component to be conveyed. For example, the bottom surface of the component conveyance path may be a flat surface, a concave surface, or a curved surface. Rollers may be arranged on the surface.

  Further, in the first embodiment and the second embodiment, the elastic body 14 is arranged on the same side as the electromagnet 11 with respect to the component conveyance path 5, but is installed on the opposite side across the component conveyance path 5. Also good. In that case, the elastic body is stretched when the electromagnet is driven, and the elastic body is contracted when the driving of the electromagnet is stopped, so that the component conveying path can be reciprocally rotated.

  DESCRIPTION OF SYMBOLS 1 ... Component supply apparatus / 2 ... Apparatus main body / 5 ... Component conveyance path / 5a, 5b ... Conveyance rail / 7 ... Component / 7a, 7b ... Component / 10 ... Rotating shaft / 11 ... Electromagnet / 12 ... Connecting member / 13 ... Suction member / 14 ... Elastic body / 16 ... Stopper / C ... Conveying direction / 61 ... Control Part / 62 ... instruction input part / 63 ... electromagnet drive circuit / 81 ... upper member / 91 ... motor rotating shaft / 92 ... crank disk / 93 ... connecting rod / 94 ... ·Slider

Claims (16)

In a component supply apparatus including a component conveyance path and a supply unit that supplies components to the component conveyance path,
A rotation shaft that rotatably supports the component conveyance path;
A drive unit that applies a force in the horizontal direction intersecting the component conveyance direction to the component conveyance path;
And a control unit that controls the drive unit so that the component transport path reciprocates around the rotation axis.   The component supply device according to claim 1, wherein the driving unit includes an electromagnet and an elastic body.   The component supply device according to claim 1, wherein the driving unit includes a motor and a link mechanism that converts a rotational motion of the motor into a linear reciprocating motion.   The component supply apparatus according to claim 2, wherein the control unit controls an amplitude and / or a frequency of a current pulse that drives the electromagnet.   The said control part controls the rotational speed of the said motor, The components supply apparatus of Claim 3 characterized by the above-mentioned.   6. The control unit according to claim 1, wherein the control unit stores driving conditions of the driving unit determined in advance according to a type of component, and controls the driving unit based on the driving conditions. Item supply apparatus of item 1.   The component supply apparatus according to claim 1, wherein the rotation shaft is disposed along a vertical direction.   The component supply device according to any one of claims 1 to 6, wherein the rotation shaft is arranged at an angle of 3 degrees or less from a vertical direction.   The component supply device according to claim 8, wherein an upper member that restricts vertical movement of the component is provided at an upper portion of the component conveyance path.   10. The component supply apparatus according to claim 1, wherein a component conveyance speed in the component conveyance path is increased as the component proceeds from the upstream side to the downstream side.   10. The component supply device according to claim 1, wherein the interval between the front and rear components in the component conveyance path is increased as the components progress from the upstream side to the downstream side. A step of placing the component on a component conveyance path that is rotatably supported;
Applying a horizontal force to the component conveyance path, reciprocatingly rotating the component conveyance path, and conveying the component placed on the component conveyance path;
And a step of discharging the component from the component conveyance path.   The component supply method according to claim 12, wherein a horizontal force is applied to the component conveyance path by an electromagnet and an elastic body, and the component conveyance path is reciprocally rotated.   13. A motor and a link mechanism that converts the rotational motion of the motor into a linear reciprocating motion applies a horizontal force to the component transport path to reciprocate and rotate the component transport path. The component supply method described in 1.   15. The conveyance speed of a component placed on the component conveyance path increases as the component progresses from the placement side to the discharge side of the component conveyance path. The component supply method according to any one of the above.   16. The interval between the front and rear parts placed on the part conveyance path is increased as the part proceeds from the part placement side to the side ejected on the part conveyance path. The component supply method according to any one of the above.

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