JP2018104184A - Component supply device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a component supply device capable of appropriately controlling movement of a placement table without using a detection part which detects a position of the placement table or a component placed on the placement table in a vertical direction.SOLUTION: A component supply device 4 comprises: a placement table 21 which has a surface capable of loading a plurality of sheet-like components 9; and a component holding device 23 which is connected to a multi-joint robotic arm device 3 supplying the component 9 to another device and capable of holding the component 9 placed on the placement table 21 at a holding position facing the placement table 21. The component supply device further has an air cylinder 22 and a control part. The air cylinder 22 has an axis 35 extending in a vertical direction, and is capable of moving the placement table at least in an upper direction. The control part so controls the air cylinder 22 as to move the placement table 21 in the upper direction until the topmost component 9 placed on the placement table 21 is brought in contact with the component holding device 23 when the component holding device 23 is at the holding position.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a component supply apparatus.

  2. Description of the Related Art There is known a component supply device that automatically supplies a sewing machine with a component such as a cloth to be sewn (see, for example, Patent Document 1). The apparatus described in Patent Literature 1 includes a support (mounting table), a storage box, a pair of lamps, and a detection body. The storage box slidably supports the support. The support supports the stacked parts and is movable along a vertical line. The pair of lamps and the detection body are arranged opposite to each other near the upper portion of the storage box. The detection body detects that the upper end of the parts stacked on the support body has reached a predetermined position. The support is moved along a vertical line by a motor. The motor is driven until the detection body detects that the upper end of the component has reached a predetermined position. The parts that have reached the predetermined position are moved to the sewing position of the sewing machine by the gripping device.

Japanese Patent Publication No. 48-38822

  Conventional devices use a pair of lamps and detectors to control the movement of the support. In the conventional apparatus, if the mounting accuracy of the pair of lamps and the detection body is poor, the movement of the support cannot be appropriately controlled. If the movement of the support cannot be properly controlled, the gripping device may not be able to carry the parts without gripping them.

  The objective of this invention is providing the components supply apparatus which can control the movement of a mounting base appropriately, without using the detection part which detects the position of the vertical direction of the mounting base or the components mounted on the mounting base.

  A component supply device according to one aspect of the present invention is connected to a mounting table having a surface on which a plurality of sheet-shaped components can be stacked, and a robot arm that supplies the component to another device, and a holding position facing the mounting table. A component holding device capable of holding the component mounted on the mounting table, and a cylinder having an axis extending in the vertical direction and capable of moving the mounting table at least in the upward direction; When the component holding device is in the holding position, the cylinder is controlled to move the mounting table in the upward direction until the topmost component mounted on the mounting table contacts the component holding device. And a control unit.

  The component supply device of this aspect controls the cylinder so that the mounting table moves upward when the component holding device is in the holding position. After the mounting table is moved upward by driving the cylinder, the mounting table abuts on the mounting table or a component mounted on the mounting table and stops moving. Therefore, the component supply device can appropriately control the movement of the mounting table without using the mounting table or the detection unit that detects the vertical position of the component mounted on the mounting table.

  The component supply apparatus according to this aspect may further include a guide shaft extending in parallel with the shaft of the cylinder, and the mounting table may be inserted into the guide shaft and coupled to the cylinder so as to be movable along the guide shaft. . Compared to when the mounting table moves along the axis of the cylinder, the component supply device can reduce the force applied to the cylinder from the mounting table and can move the mounting table smoothly.

  The component supply apparatus according to this aspect may further include an urging member that is coupled to the cylinder and tightens the guide shaft. The component supply device is unlikely to lower the mounting table due to the action of the urging member when driving of the cylinder is stopped. The component supply device does not need to raise the mounting table from the lower end of the moving range every time the component holding device holds the component.

  The cylinder of the component supply device according to this aspect further includes a piston having a magnet, a piston having a magnet, an outer periphery of the shaft, and a main body that is magnetically coupled to the magnet, and air is introduced into the shaft. The main body may be moved along the axis by supplying and moving the piston. Since the component supply apparatus has a configuration in which the main body of the cylinder moves along the axis, the size in the vertical direction can be reduced as compared with a configuration in which the shaft advances and retreats from the main body of the cylinder.

  The mounting table of the component supply device according to this aspect has a pair of engaging portions opposed to the outer peripheral portion, and is a bar-shaped member that engages with the pair of engaging portions and extends in the vertical direction. A pair of guide members for defining the position of the component is further provided, and when the pair of guide members are engaged with the pair of engaging portions, an upper end portion is located below the component holding device in the holding position. There may be. The component supply device can define the position of the component with respect to the mounting table by a pair of guide members. The component supply device can suppress the displacement of the position of the component with respect to the mounting table when the mounting table moves upward. When the pair of guide members are engaged with the pair of engaging portions, the upper end is below the holding position of the component holding device, so that the component holding device does not hinder the holding of the component.

  The pair of guide members of the component supply device according to this aspect includes a support portion having magnetism at one end, closes a part of the pair of engagement portions of the mounting table, and the pair of guide members with respect to the pair of engagement portions. You may further provide the adjustment member which adjusts the engaging position of a guide member, and the base part which has a plane magnetically coupled with the said support part, and supports the said support part so that removal is possible. Since the parts supply device can change the position of the pair of guide members with respect to the mounting table according to the size and shape of the parts, one mounting table can cope with a plurality of types of parts having different sizes and shapes.

  The pair of guide members of the component supply device according to this aspect are provided at the upper end, and when the control unit controls the cylinder, a separation piece that contacts the upper surface of the uppermost component mounted on the mounting table is provided. You may prepare. Since the component supply device has a separation piece and contacts the upper surface of the uppermost component mounted on the mounting table, a plurality of parts holding devices hold the uppermost component as compared with a device without a separation piece. Holding parts at a time can be suppressed.

  The component supply apparatus according to this aspect is provided on the mounting table, the detection unit detecting that the component is mounted on the mounting table, and the component is mounted on the mounting table based on a detection result of the detection unit. You may further provide the alerting | reporting part which alert | reports that it is not performed. The component supply device automatically detects that there is no component placed on the placement table, and can notify the notification by the notification unit. The component supply device urges the operator to place a new component on the mounting table, so that the processing efficiency of supplying the component to another device can be improved as compared with a device having no notification unit.

The control unit of the component supply apparatus according to this aspect may control the cylinder so as to move the mounting table downward based on a detection result of the detection unit. The component supply device can automatically move the mounting table downward when there are no more components mounted on the mounting table. The component supply apparatus can save the labor of manually moving the mounting table downward when an operator mounts a new component on the mounting table.
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The perspective view of the conveyance system 1. FIG. The front view of the conveyance system 1. FIG. The left side view of the articulated robot arm device 3 and the component supply device 4 when the component holding device 23 is in the holding position and the mounting table 21 is lowered. The perspective view of the components supply mechanism 24. FIG. The perspective view of the components supply mechanism 24. FIG. FIG. 3 is a block diagram showing an electrical configuration of a component supply device 4. The flowchart of a component supply process. The left side view of the articulated robot arm device 3 and the component supply device 4 when the component holding device 23 is in the holding position and the mounting table 21 is raised. The left side view of the articulated robot arm device 3 and the component supply device 4 when the component holding device 23 is lifted from the holding position.

  An embodiment of the present invention will be described with reference to the drawings. A schematic configuration of the transport system 1 will be described. In the following description, left, right, front, back, and top and bottom indicated by arrows in the figure are used.

  As shown in FIGS. 1 and 2, the transfer system 1 includes a frame 2, an articulated robot arm device (hereinafter referred to as “arm device”) 3, component supply devices 4 and 5, a work table 6, and a PC 100 (see FIG. 6). Is provided. The frame 2 is constructed by assembling rectangular bars made of iron or aluminum. In the frame 2, an arm device 3, component supply devices 4, 5 and a work table 6 are arranged inside the outer frame. The arm device 3 is an industrial robot and is a device capable of transporting the sheet-like component 9 to a predetermined transport position. 2 is a position where the component holding device 23 shown in FIG. 2 is above the work table 6 and the vertical position is below the position shown in FIG. That is, the arm device 3 supplies the component 9 to the other devices of the component supply devices 4 and 5. The transfer position may be changed as appropriate depending on the configuration of the transfer system, such as the upper part of the bed portion of the sewing apparatus. The component 9 in this example is a piece of cloth cut into a trapezoidal shape with rounded corners. The arm device 3 conveys the component 9 together with the component supply devices 4 and 5 to the work table 6. The arm device 3 includes arm portions 11 and 12, a support portion 13, and a base portion 14. The arm unit 11 includes a rotating linear drive device (hereinafter referred to as “drive device”) 15. The driving device 15 includes a ball screw 16, a first motor 18, and a second motor 19. The ball screw 16 extends in the vertical direction. One end of the arm portion 11 is inserted through the ball screw 16.

  The drive device 15 can rotate the ball screw 16 around the ball screw 16 relative to the first motor 18 using the first motor 18 as a drive source. The drive device 15 can move the ball screw 16 relative to the second motor 19 along the extending direction of the ball screw 16 with the second motor 19 as a drive source. The ball screw 16 is rotated clockwise or counterclockwise around the axis of the ball screw 16. The arm portion 12 extends in the front-rear direction, and supports the other end portion of the arm portion 11 at the front end portion in a rotatable manner. The support portion 13 extends in the vertical direction, and supports the rear end portion of the arm portion 12 at the upper end so as to be rotatable. The base portion 14 has a plate shape extending horizontally, and is connected to the lower end of the support portion 13. The base portion 14 fixes the arm device 3. The arm device 3 can rotate the arm portions 11 and 12 respectively.

  Since the component supply devices 4 and 5 have the same configuration, the component supply device 4 will be described in detail, and the description of the component supply device 5 will be omitted. As shown in FIG. 3, the component supply device 4 includes a component supply mechanism 24, a component holding device 23, and a control unit 80 (see FIG. 6). The component holding device 23 is common to the component supply devices 4 and 5. The component supply mechanism 24 supplies the sheet-like component 9 to the component holding device 23. As shown in FIG. 1, the component supply mechanism 24 is fixed inside the frame 2. As shown in FIGS. 3 and 4, the component supply mechanism 24 includes a mounting table 21 and an air cylinder 22. The component supply mechanism 24 further includes a support base 55, a guide shaft 25, an urging member 26, guide members 27 to 29, a detection unit 94, and a notification unit 95.

  As shown in FIGS. 3 to 5, the mounting table 21 has a surface 31 on which a plurality of sheet-like components 9 can be stacked. The mounting table 21 includes a plate member 65, a support member 66, and a connecting member 67. The plate member 65 has a rectangular shape that is long in the front-rear direction, and has a surface 31 that extends substantially horizontally. The surface 31 is the upper surface of the plate member 65. The plate member 65 of the mounting table 21 has a pair of opposing engaging portions 41 and 42 on the outer peripheral portion. The plate member 65 of this example includes engaging portions 41 to 44 extending substantially perpendicular to each side. The pair of engaging portions 41 and 42 are provided on the left side and the right side, and have five notches extending in the left-right direction. Five cutouts are arranged at approximately equal intervals in the front-rear direction. The pair of engaging portions 41 and 42 are provided at positions facing each other. The pair of engaging portions 43 and 44 are provided on the rear side and the front side and have two notches extending in the front-rear direction. The pair of engaging portions 43 and 44 are provided at positions facing each other. The plate member 65 is symmetrical. The support member 66 is a plate-like member that extends in the front-rear direction below the plate member 65. The support member 66 has a hole 68 penetrating in the vertical direction at the rear end. The hole 68 is inserted through a guide shaft 25 described later through a ball bush 69. The support member 66 has a recess 70 that is recessed forward at the rear of the hole 68. The recessed part 70 arrange | positions the below-mentioned axis | shaft 35, and suppresses that the mounting base 21 rotates around the guide axis | shaft 25. FIG. The connecting member 67 is a bar-like member extending in the vertical direction, and connects the plate member 65 and the support member 66. Two connecting members 67 are arranged in the front-rear direction, and one connecting member 67 connects the front end portion of the support member 66 and the substantially central portion of the plate member 65. The other connecting member 67 connects the substantially center portion of the support member 66 in the front-rear direction and the rear end portion of the plate member 65.

  The air cylinder 22 has a shaft 35 extending in the vertical direction, and can move the mounting table 21 at least in the upward direction. The shaft 35 has a cylindrical shape having a hole 351 extending vertically. The air cylinder 22 is a so-called rodless cylinder. The air cylinder 22 includes a piston 37 and a main body portion 38. The piston 37 is provided inside the shaft 35 and has a magnet 36. The piston 37 extends in the vertical direction, and the magnet 36 is provided at the center of the piston 37 in the vertical direction. The piston 37 and the magnet 36 can move in the vertical direction along the hole 351. The main body 38 is provided on the outer periphery of the shaft 35 and is magnetically coupled to the magnet 36. The main body 38 has a rectangular parallelepiped shape, and has a hole 381 penetrating in the vertical direction. The shaft 35 is inserted into the hole 381. The main body 38 has a magnet 39 on the inner peripheral surface of the hole 381. The main body 38 and the magnet 39 are movable in the vertical direction along the shaft 35. The magnet 36 of the piston 37 is magnetically coupled to the magnet 39 of the main body 38 via the shaft 35. The air cylinder 22 moves the main body 38 along the shaft 35 by supplying air into the shaft 35 and moving the piston 37. The main body 38 fixes the connecting member 40 to the front surface. The connecting member 40 has an upper portion 401, a back surface portion 402, and a lower portion 403, and is a U-shaped member that opens frontward in a left side view. The connecting member 40 has a hole (not shown) penetrating in the vertical direction in the upper part 401 and the lower part 403, and the guide shaft 25 is inserted into the hole. The back surface portion 402 is fixed to the front surface of the main body portion 38. The air cylinder 22 is connected to an air compressor (not shown) via an air tube (not shown) at the upper part and the lower part. The air cylinder 22 of the present example can move the mounting table 21 downward in addition to the upward direction.

  The support base 55 includes an upper plate portion 56, a connecting portion 57, a right plate portion 571, a lower plate portion 58, and a base portion 59. The upper plate portion 56 and the lower plate portion 58 have a plate shape extending in the front-rear direction. The connecting portion 57 has a plate shape extending in the vertical direction, and is connected to the rear end of the upper plate portion 56 at the upper end portion and connected to the rear end of the lower plate portion 58 at the lower end portion. The right plate portion 571 has a plate shape extending in the vertical direction, and is connected to the rear end of the upper plate portion 56 at the upper end portion and connected to the rear end of the lower plate portion 58 at the lower end portion. The right plate portion 571 is connected to the right end of the connecting portion 57. The right plate portion 571 has a groove 572 extending in the vertical direction on the right surface. A detection unit 94 described later is fixed near the upper end of the groove 572. The front end of the lower plate portion 58 is in front of the front end of the upper plate portion 56. The base portion 59 is an inverted U-shaped member having a substantially horizontal upper surface, and is fixed to the upper surface of the lower plate portion 58. The upper surface of the base portion 59 is slightly larger than the plate member 65 of the mounting table 21. The base 59 is made of a magnetic material such as iron. The support base 55 supports the air cylinder 22 and the guide shaft 25 between the upper plate portion 56 and the lower plate portion 58.

  The guide shaft 25 extends parallel to the shaft 35 on the front side of the air cylinder 22. The support member 66 of the mounting table 21 of this example is inserted through the guide shaft 25 via the ball bush 69. The ball bush 69 contacts the upper end of the connecting member 40 of the air cylinder 22. Therefore, the mounting table 21 is inserted into the guide shaft 25 and connected to the air cylinder 22 so as to be movable along the guide shaft 25. The urging member 26 is provided between the upper portion 401 and the lower portion 403 of the connecting member 40. The urging member 26 in this example is a coil spring that is connected to the air cylinder 22 and fastens the guide shaft 25. The biasing member 26 suppresses the main body 38 from being lowered by its own weight.

  The guide members 27 to 29 are reverse U-shaped rod-shaped members that engage with the engaging portions 41 to 43 and extend in the vertical direction, and define the position of the component 9 with respect to the mounting table 21. Each guide member 27-29 has the same structure. The guide members 27 to 29 include support portions 48 to 50 having magnetism at the lower end portions. Since each support part 48-50 has the mutually same structure, the structure of the support parts 48-50 is demonstrated to the support part 49 as an example. As shown in FIG. 4, the support portion 49 has an L shape having a horizontal portion 75 extending horizontally and a vertical portion 76 extending vertically from the horizontal portion 75. The guide member 28 is connected to the upper portion of the vertical portion 76. The support portion 49 has a magnet 77 on the horizontal portion 75. The magnet 77 can be magnetically coupled to the base portion 59. The base portion 59 is magnetically coupled to the support portions 48 to 50 on the upper surface, and supports the support portions 48 to 50 in a removable manner. The guide members 27 to 29 are provided with separating pieces 51 to 53 at the upper end. The vertical positions of the separation pieces 51 to 53 are the same. The separation pieces 51 to 53 are plastic members extending in the horizontal direction. Since the separation pieces 51 to 53 have the same configuration, the configuration of the separation pieces 51 to 53 will be described by taking the separation piece 53 as an example. As shown in FIG. 3, the cross section in the short direction of the separation piece 53 has a tapered shape with a wider width in the horizontal direction toward the upper side. The separation pieces 51 to 53 come into contact with the upper surface of the uppermost component 9 placed on the placement table 21 when the control unit 80 controls the air cylinder 22. At this time, the separation pieces 51 to 53 come into contact with a part of the outer peripheral portion of the uppermost component 9 to suppress the outer peripheral portion of the component 9 from moving upward.

  The adjusting members 61 to 63 block a part of the engaging portions 41 to 43 of the mounting table 21 and adjust the engaging positions of the guide members 27 to 29 with respect to the engaging portions 41 to 43. Since the adjustment members 61 to 63 have the same configuration, the configuration of the adjustment members 61 to 63 will be described in detail by taking the adjustment member 63 as an example. As shown in FIG. 5, the adjustment member 63 has a substantially rectangular shape including a pair of magnets 71 and a pair of long holes 72. The pair of magnets 71 are magnetically coupled to the surface 34 opposite to the surface 31 of the plate member 65. The pair of long holes 72 are inserted through the guide member 28. The pair of long holes 72 extend substantially parallel to the long side of the adjustment member 63. Each elongated hole 72 allows a change in the arrangement of the guide member 28 with respect to the mounting table 21. The position of the guide member 28 in the left-right direction is determined by the position of the adjustment member 63 with respect to the plate member 65. The position of the guide member 28 in the front-rear direction is determined by the notch position of the engaging portion 42 that engages with the guide member 28.

  The detection unit 94 is provided on the support base 55 and detects that the component 9 is placed on the placement base 21. The detection unit 94 in this example is a magnetic sensor. When there is no component 9 on the surface 31, the magnet 39 of the main body 38 approaches the detection unit 94. The detection unit 94 detects whether or not a part is placed on the placement table 21 by detecting the magnitude of magnetism generated by the magnet 39, and outputs the detection result to the control unit 80. The notification unit 95 notifies that the component 9 is not mounted on the mounting table 21 based on the detection result of the detection unit 94. The notification unit 95 of this example is an LED provided on the upper plate portion 56 of the support base 55. When there is no component 9 on the mounting table 21, the notification unit 95 is lit or blinks. When the component 9 is mounted on the mounting table 21, the notification unit 95 is turned off. The control unit 80 controls the air cylinder 22 so as to move the mounting table 21 downward based on the detection result of the detection unit 94.

  The component holding device 23 is connected to the arm device 3. The component holding device 23 can hold the component 9 placed on the mounting table 21 at a holding position facing the mounting table 21. The holding position is the position shown in FIGS. The component holding device 23 is fixed to the lower end of the ball screw 16. The component holding device 23 of this example has a base 32 and a flow path (not shown). The base 32 has a holding surface 33 that holds the sheet-like component 9. The component holding device 23 is moved horizontally and vertically by the arm device 3. The base 32 rotates around the ball screw 16. The base 32 is a rectangular member that is long in the front-rear direction. The area of the holding surface 33 in this example is larger than the area of the component 9. The flow path is provided in the base 32 and communicates with a hole (not shown) provided in the holding surface 33. The component holding device 23 sucks and holds the component 9 by the negative pressure generated between the holding surface 33 and the component 9 by ejecting the fluid supplied to the flow path from the hole along the holding surface 33. When the component holding device 23 is in the holding position, the base 32 is above the mounting table 21. When the component holding device 23 is in the holding position, the base 32 is above the guide members 27-29. The component holding device 23 is connected to an air compressor (not shown) through an air tube (not shown).

  When the component holding device 23 is in the holding position, the control unit 80 moves the mounting cylinder 21 upward until the uppermost component 9 placed on the mounting table 21 contacts the component holding device 23. To control. The control unit 80 controls the notification unit 95 based on the detection result of the detection unit 94. The control unit 80 controls the air cylinder 22 so as to move the mounting table 21 downward based on the detection result of the detection unit 94.

  As shown in FIG. 2, the work table 6 is a rectangular parallelepiped table arranged on the right side of the component supply devices 4 and 5. The upper surface of the work table 6 is substantially horizontal. The height of the upper surface of the work table 6 is substantially the same as the upper ends of the guide members 27 to 29 of the component supply devices 4 and 5. The PC 100 (see FIG. 6) is a known computer, and is electrically connected to the arm device 3 and the component supply devices 4 and 5, and transmits and receives signals to and from each device.

  The electrical configuration of the component supply device 4 will be described with reference to FIG. The control unit 80 of the component supply device 4 includes a CPU 81, a ROM 82, a RAM 83, a communication I / F 84, and an input / output I / F 85. The CPU 81, ROM 82, and RAM 83 are electrically connected to the input / output I / F 85 through the signal line 87. The CPU 81 controls the component supply device 4 and executes processing according to various programs stored in the ROM 82. The ROM 82 stores various programs including a component supply program, various initial setting parameters, and the like. The RAM 83 temporarily stores calculation results of the CPU 81, various data, and the like. Communication I / F 84 is electrically connected to input / output I / F 85. The communication I / F 84 is an interface for serial communication, for example. The communication I / F 84 is connected to the communication I / F of the PC 100. The communication I / F of the PC 100 is connected to the communication I / F included in the control unit of the arm device 3.

  The input / output I / F 85 is electrically connected to the electromagnetic valves 91 to 93. The electromagnetic valve 91 is provided in an air supply path that the air compressor supplies to the component holding device 23. The CPU 81 opens and closes the electromagnetic valve 91 and controls driving and non-driving of the component holding device 23. The electromagnetic valve 92 is provided in the air supply path that the air compressor supplies to the upper side of the piston 37 of the air cylinder 22. The CPU 81 opens and closes the electromagnetic valve 92 and controls the downward movement of the mounting table 21. The electromagnetic valve 93 is provided in the air supply path that the air compressor supplies to the lower side of the piston 37 of the air cylinder 22. The CPU 81 opens and closes the electromagnetic valve 93 to control the upward movement of the mounting table 21.

  A procedure for placing the component 9 on the component supply device 4 by the operator will be described. When the operator places the component 9 on the component supply device 4, the mounting table 21 is positioned at the lower end. The operator may manually move the mounting table 21 to the lower end. The operator adjusts the positions of the guide members 27 to 29 with respect to the base portion 59 and the plate member 65 according to the size and shape of the component 9. The positions of the guide members 27 to 29 with respect to the base portion 59 are adjusted by the positions of the support portions 48 to 50 and the base portion 59 that are magnetically coupled. The positions of the guide members 27 to 29 with respect to the plate member 65 are adjusted by the positions of the adjustment members 61 to 63 with respect to the engaging portions 41 to 43. The operator adjusts the position so that the guide members 27 to 29 are substantially perpendicular to the base portion 59. When the guide members 27 to 29 are engaged with the engaging portions 41 to 43 of the mounting table 21, the upper ends of the guide members 27 to 29 are below the component holding device 23 in the holding position. An operator loads a plurality of components 9 on the surface 31 of the plate member 65 of the mounting table 21 in the vertical direction. The operator finely adjusts the positions of the guide members 27 to 29 with respect to the base portion 59 and the plate member 65 as necessary so that the plurality of components 9 are stacked in a vertical direction. The component holding device 23 may be provided with a guide member that engages with the engaging portion 44.

  An overview of processing executed by the transport system 1 will be described. In the transport system 1, the component holding device 23 of the arm device 3, the component supply device 4, and the component supply mechanism 24 cooperate with each other, and the component supply mechanism 24 moves the uppermost component 9 placed on the placement table 21 to the work table 6. Transport to the upper transport position. The arm device 3 controls the vertical and horizontal positions of the component holding device 23 in accordance with instructions from the PC 100. The control unit 80 of the component supply devices 4 and 5 controls driving of the component holding device 23 and supply of fluid to the flow path. The control unit 80 moves the mounting table 21 upward or downward in accordance with an instruction from the PC 100.

  The component supply process of FIG. 7 will be described. When the worker inputs a start support to the control unit 80 via the PC 100, the CPU 81 reads the component supply program from the ROM 82 into the RAM 83 and executes this processing.

  As shown in FIG. 7, the CPU 81 determines whether or not the component holding device 23 is in the holding position (S1). The PC 100 inputs a signal indicating whether or not the component holding device 23 is in the holding position to the control unit 80 based on the signal acquired from the arm device 3. The CPU 81 determines whether or not the component holding device 23 is in the holding position based on the signal acquired from the PC 100. When the component holding device 23 is not in the holding position (S1: NO), the CPU 81 returns the process to S1. When the component holding device 23 is in the holding position (S1: YES), the CPU 81 opens the electromagnetic valve 93 from the closed state and raises the mounting table 21 (S2). The main body 38 of the air cylinder 22 moves upward. As shown in FIG. 8, the mounting table 21 moves upward together with the main body 38 until the uppermost component 9 mounted on the mounting table 21 contacts the component holding device. The mounting table 21 receives a downward force from the component holding device 23 when the uppermost component 9 placed on the mounting table 21 is in contact with the component holding device 23, and does not rise any further. The CPU 81 opens the electromagnetic valve 91 from the closed state, and blows out air from the hole of the base portion 32 along the holding surface 33, thereby generating a negative voltage generated between the holding surface 33 and the uppermost component 9 placed on the mounting table 21. The uppermost component 9 is sucked and held by the pressure (S3). The component 9 immediately below the topmost component 9 (second from the top) abuts on the separation pieces 51 to 53 and maintains the state of being stacked on the mounting table 21.

  The CPU 81 closes the electromagnetic valve 93 from open to stop raising the mounting table 21 (S4). The main body 38 of the air cylinder 22 is connected to the urging member 26. Therefore, when the electromagnetic valve 93 is closed from the open state and the fluid supply to the lower side of the piston 37 of the air cylinder 22 is stopped, the main body portion 38 is not easily lowered by its own weight. The CPU 81 determines whether or not the component holding device 23 is at the transport position (S5). As shown in FIG. 9, the arm device 3 moves the component holding device 23 upward and then moves to the transport position. The component holding device 23 maintains a state in which one component 9 is sucked and held while moving from the holding position to the transport position. Based on the signal acquired from the arm device 3, the PC 100 inputs a signal indicating whether or not the component holding device 23 is at the transport position to the control unit 80. The CPU 81 determines whether or not the component holding device 23 is at the transport position based on the signal acquired from the PC 100. When the component holding device 23 is not in the transport position (S5: NO), the CPU 81 returns the process to S5. When the component holding device 23 is in the transport position (S5: YES), the CPU 81 closes the electromagnetic valve 91 from the open state, stops the air ejection from the hole of the base portion 32 along the holding surface 33, and holds the component 9 by suction. The parts are released and placed on the work table 6 (S6).

  The CPU 81 determines whether or not to end the component supply process (S7). Whether or not to finish the component supply process is determined based on, for example, a signal input to the control unit 80 by the PC. When the component supply process ends (S7: YES), the CPU 81 ends the component supply process. When the component supply process is not completed (S7: NO), the CPU 81 determines whether or not the component 9 is present on the mounting table 21 based on the detection signal of the detection unit 94 (S8). When there is no component 9 on the mounting table 21 (S8: NO), the CPU 81 notifies the notification unit 95 that the component 9 is not mounted on the mounting table 21 (S9). In this example, the CPU 81 lights or blinks the notification unit 95 to notify that the component 9 is not mounted on the mounting table 21. The CPU 81 opens the electromagnetic valve 92 from closed to lower the mounting table 21 (S10). The CPU 81 lowers the mounting table 21 to the lower end, and then closes the electromagnetic valve 92 from open to closed. The worker refers to the notification unit 95, replenishes the mounting table 21 with the component 9, and inputs a restart instruction to the control unit 80 via the PC 100. When the restart instruction is not acquired (S11: NO), the CPU 81 returns the process to S11. When the restart instruction is acquired (S11: YES), the CPU 81 stops the notification by the notification unit 95 and returns the process to S1.

  In the above embodiment, the mounting table 21, the component holding device 23, the shaft 35, the air cylinder 22, and the control unit 80 are examples of the mounting table, the component holding device, the shaft, the cylinder, and the control unit of the present invention. The guide shaft 25 and the biasing member 26 are examples of the guide shaft and the biasing member of the present invention. The piston 37 and the main body 38 are examples of the piston and main body of the present invention. The engaging portions 41 and 42 are an example of a pair of engaging portions of the present invention. Guide members 27 and 28 are an example of a pair of guide members of the present invention. The support parts 48 and 49 are support parts of the present invention. The adjusting members 61 and 62 are examples of the adjusting member of the present invention. The foundation part 59 is an example of the foundation part of the present invention. The separation pieces 51 and 52 are examples of the separation pieces of the present invention. The detection unit 94 and the notification unit 95 are examples of the detection unit and the notification unit of the present invention.

  Since the component supply apparatuses 4 and 5 have the same configuration and achieve the same effects, the effects of the component supply apparatus 4 will be described below. The component supply device 4 controls the air cylinder 22 so as to move the mounting table 21 upward when the component holding device 23 is in the holding position. The mounting table 21 moves upward by driving the air cylinder 22, and then comes into contact with the mounting table 21 or the component 9 mounted on the mounting table 21 and stops moving. Therefore, the component supply device 4 can appropriately control the movement of the mounting table 21 without using a detection unit that detects the vertical position of the mounting table 21.

  The component supply device 4 further includes a guide shaft 25 extending in parallel with the shaft 35 of the air cylinder 22. The mounting table 21 of the component supply device 4 is inserted into the guide shaft 25 and connected to the air cylinder 22 so as to be movable along the guide shaft 25. Therefore, compared with the apparatus in which the mounting table 21 moves along the axis 35 of the air cylinder 22, the component supply device 4 can reduce the force applied from the mounting table 21 to the air cylinder 22 and can move the mounting table 21 smoothly.

  The component supply device 4 includes an urging member 26. The urging member 26 is connected to the air cylinder 22 and tightens the guide shaft 25. Therefore, when the component supply device 4 stops the driving of the air cylinder 22, the mounting table 21 is not easily lowered by the action of the urging member 26. It is not necessary for the component supply device 4 to raise the mounting table 21 from the lower end of the movement range every time the component holding device 23 holds the component 9. The component supply device 4 can shorten the processing time for raising the mounting table 21.

  The air cylinder 22 of the component supply device 4 is further provided with a piston 37 having a magnet 36 provided inside the shaft 35, and a main body 38 provided on the outer periphery of the shaft 35 and magnetically coupled to the magnet 36. The air cylinder 22 moves the main body 38 along the shaft 35 by supplying air into the shaft 35 from below and moving the piston 37 upward. Therefore, since the component supply device 4 has a configuration in which the main body portion 38 of the air cylinder 22 moves along the shaft 35, the size in the vertical direction can be reduced as compared with a configuration in which the shaft 35 moves back and forth from the main body portion 38 of the air cylinder 22.

  The mounting table 21 of the component supply device 4 has a pair of engaging portions 41 and 42 facing the outer peripheral portion. The pair of guide members 27 and 28 are rod-shaped members that engage with the pair of engaging portions 41 and 42 and extend in the vertical direction. The guide members 27 and 28 define the position of the part with respect to the mounting table 21. Therefore, the component supply device 4 can define the position of the component 9 with respect to the mounting table 21 by the pair of guide members 27 and 28. The component supply device 4 can suppress the displacement of the position of the component 9 with respect to the mounting table 21 when the mounting table 21 moves upward. When the pair of guide members 27 and 28 are engaged with the pair of engaging portions 41 and 42, the upper end portion is below the component holding device 23 in the holding position. Therefore, the pair of guide members 27 and 28 do not hinder the component holding device 23 from holding the component 9. Since the plurality of guide members 27 to 29 have the same configuration, the component supply device 4 can reduce production costs as compared with an apparatus in which the guide members 27 to 29 have different configurations. Each engaging part 41, 42 is provided with five notches arranged at substantially equal intervals in the front-rear direction. The component supply device 4 can cope with a plurality of types of components 9 having different sizes and shapes by changing the notches with which the guide members 27 and 28 are engaged.

  The pair of guide members 27 and 28 of the component supply device 4 includes support portions 48 and 49 having magnetism at one end. The component supply device 4 includes adjustment members 61 and 62 and a base portion 59. The adjusting members 61 and 62 block a part of the pair of engaging portions 41 and 42 of the mounting table 21 and adjust the engaging positions of the pair of guide members 27 and 28 with respect to the pair of engaging portions 41 and 42. The base portion 59 has a plane magnetically coupled to the support portions 48 and 49, and supports the support portions 48 and 49 in a detachable manner. Therefore, since the component supply device 4 can change the position of the pair of guide members 27 and 28 with respect to the mounting table 21 according to the size and shape of the component 9, a plurality of types of components 9 having different sizes and shapes on one mounting table 21. It can correspond to.

  The pair of guide members 27 and 28 of the component supply device 4 includes separation pieces 51 and 52. The separation pieces 51 and 52 are provided at the upper ends of the pair of guide members 27 and 28, and come into contact with the upper surface of the uppermost component 9 placed on the placement table 21 when the control unit 80 controls the air cylinder 22. Therefore, the component supply device 4 can suppress holding the plurality of components 9 at a time when the component holding device 23 holds the uppermost component, compared to a device without a separation piece.

  In the component supply device 4, the detection unit 94 is provided on the support base 55. The detection unit 94 detects that the component 9 is mounted on the mounting table 21. The component supply device 4 notifies that the component 9 is not placed on the placement table 21 based on the detection result of the detection unit 94. Therefore, the component supply device 4 can automatically detect that the component 9 placed on the placement table 21 is gone and can notify the notification unit 95 of it. The component supply device 4 can improve the processing efficiency of supplying the component 9 to other devices as compared to a device without the notification unit 95 by urging the operator to place a new component 9 on the mounting table 21.

  The control unit 80 of the component supply device 4 controls the air cylinder 22 so as to move the mounting table 21 downward based on the detection result of the detection unit 94. Therefore, the component supply device 4 can automatically move the mounting table 21 downward when the component 9 mounted on the mounting table 21 is exhausted. The component supply device 4 can save the labor of manually moving the mounting table 21 downward when the operator mounts a new component 9 on the mounting table 21.

  The component holding device 23 of the present invention can be variously modified in addition to the above embodiment. For example, the component holding device only needs to be able to hold a component and does not have to hold the component by suction. The component holding device may have a gripping part and grip a component. The configuration of the robot arm to which the component holding device is connected may be changed as appropriate. The component holding device 23 may omit the guide shaft 25. At this time, the main body 38 may directly fix the plate member 65, for example. The component holding device 23 may omit the urging member 26. The urging member 26 may be an urging member connected to the air cylinder 22, and may be a rubber member, a leaf spring, or the like.

  The air cylinder 22 may be a so-called rodless cylinder, or an air cylinder in which the rod advances and retreats from the main body. The fluid supplied to the cylinder may be a gas other than air, a liquid, or the like. The pair of engaging portions and the pair of guide members may be omitted as appropriate. You may change suitably the number of engagement parts, the number of guide members, a shape, etc. The plurality of engaging portions may not have the same configuration. The plurality of guide members may not have the same configuration. The support portion that supports the guide member need not be magnetically coupled to the base portion. The adjustment member may be omitted as necessary. The configuration of the adjustment member may be changed as appropriate according to the configuration of the guide member and the engaging portion. The position of the guide member that guides the movement of the component placed on the placement table may not be changeable.

  The separation piece may be omitted as appropriate. The number and shape of the separation pieces may be changed as appropriate. The control unit 80 may control the air cylinder 22 so as to move the mounting table 21 downward when the number of components 9 mounted on the mounting table 21 is reduced according to the detection result of the detection unit 94. In this case, the component supply device 4 can automatically move the mounting table 21 downward before the components 9 mounted on the mounting table 21 are exhausted. The control unit 80 may notify the notifying unit 95 when the number of components 9 placed on the placing table 21 is reduced based on the detection result of the detecting unit 94. Based on the detection result of the detection unit 94, the control unit 80 detects that the notification unit 95 blinks when the number of components 9 placed on the mounting table 21 is reduced and turns on the notification unit 95 when there are no more components on the mounting table 21. The notification mode in the notification unit 95 may be changed depending on the detection result of the unit 94. The detection unit and the notification unit may be omitted as appropriate. The detection unit may be a mechanical sensor or an optical sensor in addition to a known magnetic sensor. You may change suitably the arrangement | positioning of a detection part and an alerting | reporting part. The notification unit only needs to be able to notify that there is no part on the mounting table, and may be a speaker capable of voice notification, a display unit capable of displaying an image, or the like in addition to the LED. When the component supply device does not include the detection unit and the notification unit, the control unit may not be able to move the mounting table 21 downward. At this time, the operator may move the mounting table 21 manually. Since the component supply device does not have an electronic control component in the component supply mechanism, the arrangement of the device is easy.

  The component supply program for executing the component supply process of FIG. 7 may be stored in a storage device included in the component supply device 4 until the component supply device 4 executes the program. Each of the program acquisition method, the acquisition route, and the device storing the program may be changed as appropriate. The component supply device 4 may receive a program executed by the processor from another device via a cable or wireless communication and store the program in a storage device. Other devices include, for example, a PC and a server connected via a network.

  Each step of the component supply process of FIG. 7 is not limited to the example executed by the CPU 81, and another electronic device (for example, ASIC) may execute a part or all of the process. Each step of the above process may be distributed by a plurality of electronic devices (for example, a plurality of CPUs). Each step of the component supply process of the above embodiment can be changed in order, omitted or added as necessary. The present invention also includes a mode in which an OS or the like operating on the component supply device 4 performs part or all of the actual processing based on a command from the processor of the component supply device 4 to realize the functions of the above-described embodiments. The process of S10 may be omitted as appropriate. The processing of S8 and S9 may be omitted as appropriate.

4, 5 Component supply device 21 Mounting table 22 Air cylinder 23 Component holding device 25 Guide shaft 26 Biasing member 27 to 29 Guide member 35 Shaft 37 Piston 38 Main body portion 41 to 43 Engagement portion 48 to 50 Support portion 51 to 53 Separation Fragment 59 Base part 61-63 Adjustment member 94 Detection part 95 Notification part

Claims (9)

A mounting table having a surface on which a plurality of sheet-like components can be stacked;
A component holding device that is connected to a robot arm that supplies the component to another device, and that can hold the component placed on the mounting table at a holding position facing the mounting table;
In the component supply device with
A cylinder having an axis extending in the vertical direction and capable of moving the mounting table at least in the upward direction;
When the component holding device is in the holding position, the cylinder is controlled to move the mounting table in the upward direction until the topmost component mounted on the mounting table contacts the component holding device. A component supply apparatus comprising: a control unit. A guide shaft extending parallel to the axis of the cylinder;
The component supply apparatus according to claim 1, wherein the mounting table is inserted into the guide shaft and coupled to the cylinder so as to be movable along the guide shaft.   The component supply device according to claim 2, further comprising an urging member coupled to the cylinder and tightening the guide shaft. The cylinder is
A piston provided inside the shaft and having a magnet;
Provided on the outer periphery of the shaft, further comprising a body portion magnetically coupled to the magnet,
The component supply device according to any one of claims 1 to 3, wherein the body portion is moved along the shaft by supplying air into the shaft and moving the piston. The mounting table has a pair of engaging portions facing the outer peripheral portion,
A rod-shaped member that engages with the pair of engaging portions and extends in the vertical direction, and further includes a pair of guide members that define the position of the component with respect to the mounting table;
5. The pair of guide members according to claim 1, wherein when the pair of guide members are engaged with the pair of engaging portions, an upper end portion is located below the component holding device in the holding position. The component supply apparatus described. The pair of guide members includes a support portion having magnetism at one end,
An adjustment member that closes a part of the pair of engaging portions of the mounting table and adjusts the engaging position of the pair of guide members with respect to the pair of engaging portions;
The component supply device according to claim 5, further comprising a base portion having a flat surface magnetically coupled to the support portion and removably supporting the support portion.   The pair of guide members includes a separation piece that is provided on the upper end portion and that comes into contact with the upper surface of the uppermost component mounted on the mounting table when the control unit controls the cylinder. Item supply device of item 6. A detection unit that is provided on the mounting table and detects that the component is mounted on the mounting table;
The component supply apparatus according to claim 1, further comprising a notification unit that notifies that the component is not placed on the mounting table based on a detection result of the detection unit.   The component supply device according to claim 8, wherein the control unit controls the cylinder so as to move the mounting table downward based on a detection result of the detection unit.

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