JP2019081655A - Component supply device - Google Patents

Abstract

To provide a component supply device that efficiently prevents components from stacking at one spot and eliminates such stacking.SOLUTION: The component supply device for supplying a component P to transportation means 1 that selectively transports the component P that takes a predetermined position on a feeder 2, includes: the feeder 2 that supplies the component P that takes a position that allows the transportation means 1 to transport the component P; and image analyzing means 3 that takes pictures of the component P on the feeder 2 and selects the component P that the transportation means 1 can transport. The feeder 2 includes: a flat turning stage 5 that receives the component P; rotating means 7 that provides the turning stage 5 with rotational force using an axis perpendicular to a surface thereof as a rotation axis 6; and vibration supply means 9 that provides the turning stage 5 with vibration.SELECTED DRAWING: Figure 1

Description

  The present invention relates to, for example, a component supply apparatus that adjusts the orientations and orientations of various components when supplying components to a general-purpose robot or a manufacturing apparatus.

Today, with the progress of automation in companies, and the variety of products and services, the demand for general-purpose robots and other automation systems applicable to various fields is increasing year by year.
The industrial fields in which general-purpose robots and other automation systems are adopted are diverse, such as production, manufacturing and transportation, as well as medicine and research and search.
Under such circumstances, we will quickly adapt to different products and services, minimize equipment costs, and reduce the amount of short-lived products, thereby reducing the incentive to move production plants etc. to countries where labor is cheaper. It is also considered possible.

The biggest problem in automation is the convenience of picking parts.
The delay in picking parts is directly linked to the deterioration of productivity, resulting in an increase in cost.
Therefore, it is important to optimize the orientation or posture (hereinafter referred to as "position") of the parts by the parts feeder.
The conventional parts feeder is one in which parts are periodically supplied from a hopper, and the alignment of parts to be supplied to an automation system is provided by circulation or vibration of a belt or a disk (see Patent Document 1 below), parts by camera There are those that recognize the direction of and transport those that are in the appropriate orientation (see Patent Document 2 below), or those that have the function of aligning the direction during transport.

Japanese Utility Model Application Publication No. 3-97418 Japanese Utility Model Application Publication No. 1-140336

  However, according to the conventional method, it is still difficult to correct the position of the part by fixing the part in one place, and the problem that it is difficult to detect the form by the camera is not solved. There is a problem that picking of parts is delayed.

  The present invention has been made in view of the above-mentioned circumstances, and an object thereof is to provide a component supply apparatus capable of efficiently preventing and eliminating the solidification of components in one place.

  The parts supply apparatus according to the present invention made to solve the above-mentioned problems is a parts supply apparatus for supplying parts to a transfer means for selectively transferring parts having a prescribed position on a feeder, wherein the transfer means is a part supply apparatus. A feeder for supplying parts which can be transferred, imaging analysis means for photographing parts on the feeder and selecting parts which can be transferred by the transfer means, the feeder includes a flat swing stage for receiving the parts; The apparatus is characterized by comprising: a rotating means for applying a rotational force to the swing stage with an axis perpendicular to the surface as a rotation axis; and a vibration supply means for vibrating the swing stage.

The turning stage can be roughened (grooves, projections or raising groups) to the extent that the flatness of the turning stage is maintained.
In addition, the turning stage is provided with light transparency, and the imaging analysis means is opposed to the imaging means for taking an image of the component on the turning stage with the turning stage interposed therebetween to create a uniform color background. It is possible to adopt a configuration provided with the illumination means.

On the other hand, the vibration supplying means may be arranged to avoid the area in which the lighting means is laid, and may be configured to exert vibration on the area in which the lighting means is laid.
Further, the vibration supply means may be configured to exert single vibration and continuous vibration sufficient to change the arrangement or position of the component on the turning stage with respect to the turning stage.
Furthermore, it is also possible to constitute as a parts transfer system provided with a transfer means provided with holding means and a movable arm for holding parts at a predetermined position, and any one of the above-mentioned parts supply devices.

According to the component feeding device according to the present invention, the components on the pivoting stage are suitably stirred by the forward rotation and the reverse rotation of the pivoting stage and the vibration given by the vibration feeding means, and the solidification of the components in one place is suppressed. It is possible to provide an adequate space around the individual parts.
As a result, it is possible to make it easy to pick up the parts on the turning stage, so that when selecting parts to be transferred, it is also possible to suppress an accident due to interference with other delicate parts or fragile parts. Not only can it be done efficiently the correction of the arrangement or position of the parts, it will be easy to detect the form by the camera.

  Also, the surface of the turning stage is roughened to maintain its flatness, so that the turning force of the turning stage is efficiently transmitted to the parts, and the correction of the arrangement or position of the parts is efficient. It will be done well.

Furthermore, an arrangement is provided that has an optical transmission property to the turning stage, an imaging means for photographing a component on the turning stage, and an illumination means for facing the imaging means across the turning stage to create a uniform colored background. By adopting the above, it is possible to accurately recognize the necessity of the correction of the arrangement or the position of the component on the turning stage, so that the correction of the position of the component and the diffusion of the component are rationally performed.
If the swing stage is not turned in vain and vibration is not applied in vain, consumption of parts can be avoided, and the quality of the produced goods can be enhanced, and the yield can be enhanced.

  Furthermore, if the parts transfer system is provided with a transfer including a holding means for holding the parts in a predetermined position and a movable arm, a plurality of kinds of parts can be sorted and transferred to the positions defined in each.

It is a longitudinal cross-sectional view which shows an example of the components supply apparatus by this invention. It is a perspective view which shows an example of the flame | frame of the components supply apparatus by this invention. It is a perspective view which shows the example of arrangement | positioning of the component of the components supply apparatus by this invention. It is a perspective view which shows an example of the turning stage of the components supply apparatus by this invention. It is a perspective view which shows an example of the turning stage of the components supply apparatus by this invention. It is a principal part expansion perspective view which shows an example of the turning stage of the components supply apparatus by this invention. It is a perspective view which shows an example of the components supply apparatus by this invention. It is a top view which shows an example of the components supply apparatus by this invention. It is a perspective view which shows an example of the components supply apparatus by this invention.

Hereinafter, an embodiment of a component supply device according to the present invention will be described in detail based on the drawings.
An example shown in FIG. 7 is a component supply device attached to a component transfer system provided with a transfer means (hereinafter referred to as a “transfer robot”) 1 for transferring a component P to a position of a pick and specify Feeder 2 for supplying components P to be transferred by the robot 1 in a preferred arrangement and position, and imaging analysis means for imaging the components P supplied to the turning stage 5 and sorting out the components P that can be picked up by the transfer robot 1 3 and a controller (not shown) for controlling the transfer robot 1, the feeder 2 and the imaging analysis means 3, and a frame 4 for supporting equipments related to them.

The frame 4 comprises a substrate 4a supported on a horizontal base surface, a fixed stage 4b for holding the pivoting stage 5 and an element for performing various measures on the components P supplied to the pivoting stage 5, An annular support ring 4c surrounding the stationary stage 4b, a support column 4d supporting the stationary stage 4b and the support ring 4c in parallel with the substrate 4a with a storage space interposed therebetween (see FIG. 1).
The pivoting stage 5 is a disk-like member which is disposed on the fixed stage 4 b inside the support ring 4 c and serves as a bearing surface of the component P to be supplied.
The pivoting stage 5 is fixed to a rotating shaft 6 perpendicular to the fixed stage 4 b by a pulling flange and a locking flange, and rotates with the rotation of the rotating shaft 6.
Ru.

In this example, the fixed stage 4 b has a strength sufficient to support the swing stage 5 and the component P supplied thereon, and the area where the transfer robot 1 picks up the component P (hereinafter referred to as “clamp area”) ) Is a disc-like plate provided with window holes 4e.
Here, instead of providing the window hole 4e, a method may be adopted in which the fixed stage 4b is formed of a material having light transparency.

In this example, the pivoting stage 5 is a disk-like plate having elasticity and light transmission, and its surface exhibits a flat surface that matches the bearing surface of the component P, and the component is not damaged In order to apply a frictional force to P, the surface is appropriately roughened by implanting grooves 5a, protrusions 5b or raisings, etc., set to a size and a density that do not give inclination to parts P (FIG. 4) Through 6)).
In addition, roughening the surface of the revolving stage 5 produces irregular reflection of light by illumination from the back surface side, and produces an effect of creating a background having uniform illuminance and color.

Preferably, the material for covering the surface of the turning stage 5 is a material having a high coefficient of friction, such as silicone rubber.
In this manner, by selecting a flexible material such as rubber or roughening treatment such as implanting fine raised hair at a high density, the turning of the turning stage 5 is performed without impairing the flatness of the surface of the turning stage 5. It is possible to cause the change of the posture and the direction to the part P on the stage 5 efficiently.

In this example, the rotation means 7 for giving a driving force to the rotation shaft 6 is, for example, a servomotor or the like. The rotating means (hereinafter referred to as “motor”) 7 is fixed to the substrate 4 a of the frame 4.
In this example, the motor 7 is controlled by receiving a drive signal from the controller.

  The controller controls the operation of the motor 7 and makes the operation consisting of forward and reverse rotation and their speed adjustment and braking randomly or periodically, for the part P supplied on the revolving stage 5 By applying changes in acceleration, centrifugal force, etc., stress is given in various directions.

Furthermore, the feeder 2 of this example is provided with vibration supplying means 9 for applying an impact to the turning stage 5 from the back side.
The vibration supply means 9 is, for example, a striking head 9a fixed to the fixed stage 4b and acting directly on the turning stage 5, and an actuator or generator (hereinafter referred to as "driving means 9b" for moving the striking head 9a back and forth or vibrating). ).

The vibration supply means 9 in this example is provided with a slit 4f in a part of the fixed stage 4b, movably arranges the striking head 9a in a part of the slit 4f, and the drive means 9b is fixed It is fixed near the slit 4f on the stage 4b (see FIGS. 1 and 2).
The bounce control cover 10 is installed above the range where the impact is significantly received so that the component P does not fall from the swing stage 5.
The striking head 9 a can also be disposed at the center of the swing stage 5.

The image pickup analysis means 3 detects the supply amount of the component P of the turning stage 5 and also detects the posture and the direction of the component P.
The imaging analysis means 3 in this example includes an optical camera 12 fixed to a dedicated frame 11 supported by the substrate 4a, and an illumination means 13 fixed to the substrate 4a on the back side of the swivel stage 5. An image analysis unit (not shown) that analyzes an image captured by the camera 12 is provided.

The illumination unit 13 is fixed to the substrate 4a via a support frame 4h in an arrangement facing the camera 12 with the fixed stage 4b interposed therebetween.
When illuminated by illumination means 13 for creating a backlight from below the revolving stage 5 on which the part P is placed, for example, an area having light transparency such as a drilling area of the window hole 4e (in this example, the clamp area In the above, the outer edge (shadow) of the part P with the pivoting stage 5 as a background is projected on the surface of the pivoting stage 5.

The transfer robot 1 of this example employs a movable arm (hereinafter referred to as an "arm") 8 provided with a plurality of joints which can be displaced in the front, rear, left, right, upper and lower six axial directions.
The arm 8 in this example is provided with a clamp (holding means) 15 for picking at least one part P placed on the revolving stage 5, and the clamp 15 is connected to rotate about the axis of the clamp 15. .
On the other hand, the arm 8 is controlled by the controller, and includes joints necessary for guiding the clamp 15 to a target position for transfer, using the clamp area or the entire area of the swivel stage 5 as a relay point.
The transfer robot 1 is fixed to the frame 4 or the base surface via a support or the like.

  The component supply apparatus configured as described above supplies the components P from the hopper 14 to the swing stage 5 of the feeder 2 and unmixes the lumps of the supplied components P so as to evenly distribute them. Process of changing the direction and the seat surface (posture) of the body, and at least one part P picked up by the transfer robot 1 is selected, the order of picking up is determined, and picking up in accordance with the order Repeat the holding and transferring process of transferring to the specified position.

Parts P evenly placed on a vibratory parts feeder (not shown) giving a minute continuous amplitude in a fixed transfer direction during the parts feeding process are controlled by the controller according to the reduction of parts P in the feeder 2. By the quantitative intermittent drive of the controlled parts feeder, a fixed amount is dropped onto the turning stage 5 via the hopper 14.
The feeder 2 can also be supplied from outside manually or by means of a belt conveyor or other known means, periodically or when the specified amount is exceeded.

In the diffusion and rolling process, the turning stage 5 which receives the rotational force of the motor 7 disperses the parts P in a random arrangement on the turning stage 5, and the transfer robot 1 can pick it up with the clamp 15. In order to increase the probability of becoming, the forward rotation and reverse rotation, the start and the sudden stop, etc. are repeated.
The centrifugal force accompanying the movement of the pivoting stage 5 promotes the dispersion of the parts P from each other (deployment step) and also the change of positions of individual parts P and lumps (turning step), and the pivoting of the pivoting stage 5. The driving force and the inertia promote the dispersion of the parts P from one another, and also bring about the action such as guiding the parts P to the clamp area closest to the transfer robot 1 in the turning stage 5 (introduction step).

The component P on the swiveling stage 5 receives a propulsive force that rotates around the rotation axis 6 from the swiveling stage 5 by increasing either the amount of forward rotation or reverse rotation.
As a result, it is possible to correct the arrangement or position of the part P of the pivoting stage 5 during rotation and to make it easier to grasp by the transfer robot.
At this time, the component P present on the pivoting stage 5 receives a force that is separated from the center of rotation due to the centrifugal force generated by the rotation of the pivoting stage 5, but the presence of the support ring 4 c It does not fly out of the swing stage 5.

  For example, parts P having a complicated shape tend to be stuck to one another and become solid, but when a mass in which a plurality of parts P are combined stay on the turning stage 5 for a long time, the supply by the transfer robot 1 The result is a decrease in efficiency. It is then necessary to separate them again individually and distribute them evenly on the pivoting stage 5.

In this example, the operation of the vibration supply means 9 can be added to direct various faces of the part P to the transfer robot 1.
The vibration supply means 9 separates the individual parts P from the lumps of the parts P present in the corresponding part by the impact or vibration given to the rotation stage 5 with the striking head 9 a, and separates the individual parts P. The separated parts P are dispersed to change individual positions.
At that time, the part P which has received the impact or vibration does not jump out of the swing stage 5 due to the presence of the bounce control cover 10.

The function of the vibration supplying means 9 in this example is to continuously or completely disperse the parts P picked up by the transfer robot 1 on the revolving stage 5 during the unfolding step to change the position. It is to make it happen.
The turning step is also possible in a part of the turning stage 5, and in the meantime, it is possible to pick a part P which takes an appropriate position at the same time in a region where the impact conduction is small.

At the time of stop of the turning stage 5 in the diffusion rolling process, the imaging analysis means 3 selects at least one part P to be picked up by the transfer robot 1 from the parts P supplied to the feeder 2.
The motor 7 and the vibration supply means 9 continuously or intermittently carry out the spreading and rolling process until a part P which can be gripped by the transfer robot 1 is generated.

When the controller detects that the transfer robot 1 has picked up all of the parts P present at the proper position in the clamp area, it further causes the diffusion rolling process while operating the imaging analysis means 3 An instruction to urge the motor 7 and the vibration supply means 9 is given.
The parts supply apparatus shown so far is an example of the present invention applied to the transfer robot 1 incorporated in an automation line, and parts supply which performs the same operation by adopting an easily obtainable existing technology. It is also possible to realize the device.

  As described above, in the case of a component transfer system including a transfer including the clamp 15 and the movable arm 8 for holding the component P at a predetermined position, the plurality of types of P are separated and the component P is transferred to the respective defined positions. be able to.

FIG. 9 is an example of the component transfer system.
In this example, a plurality of hoppers 14 with different parts P to be input are attached to one feeder 2, and various parts P are simultaneously input onto the swing stage 5, and the imaging analysis means 3 as described above The parts P are supplied to the specified transfer position by the transfer robot 1 while the parts P are separated.
By adopting such a configuration, the amount of each of the parts P present on the turning stage 5 can be controlled by the image pickup analysis means 3 by controlling the start and stop of each hopper 14 while the single or a small number is provided. The feeder 2 can contribute to the assembly of a product requiring a large number of parts P, and the equipment cost and the operation cost can be significantly reduced.

P Parts 1 Transfer robot (transfer means), 2 feeders,
3 imaging analysis means,
4 frame, 4a board, 4b fixed stage, 4c support ring,
4d support column, 4e window hole, 4f slit, 4h support frame,
5 swivel stages, 5a grooves, 5b protrusions,
6 rotating shafts,
7 rotating means, 8 movable arms,
9 vibration supply means, 9a striking head, 9b drive means,
10 Bounce cover, 11 dedicated frame, 12 cameras,
13 illumination means, 14 hoppers, 15 clamps (holding means),

The frame 4 comprises a substrate 4a supported on a horizontal base surface, a fixed stage 4b for holding the pivoting stage 5 and an element for performing various measures on the components P supplied to the pivoting stage 5, An annular support ring 4c surrounding the stationary stage 4b, a support column 4d supporting the stationary stage 4b and the support ring 4c in parallel with the substrate 4a with a storage space interposed therebetween (see FIG. 1).
The pivoting stage 5 is a disk-like member which is disposed on the fixed stage 4 b inside the support ring 4 c and serves as a bearing surface of the component P to be supplied.
The swivel stage 5 is fixed to the fixed stage 4b perpendicular rotational shaft 6 by pulling the flange and the locking flange, it rotates together with the rotation of the rotary shaft 6.

Claims (6)

A component supply device for supplying components to a transfer means for selectively transferring components which take a prescribed position on a feeder, comprising:
A feeder for supplying a component which takes a position that the transfer means can transfer;
The imaging analysis means is provided for imaging the parts on the feeder and sorting out the parts that the transfer means can transfer.
The feeder is a flat pivoting stage that receives the part;
Rotation means for applying a rotational force to the rotation stage about an axis perpendicular to the surface thereof;
A component supply apparatus comprising: vibration supply means for giving vibration to the swing stage.   The parts supply device according to claim 1, wherein the surface of the turning stage is roughened to maintain the flatness of the turning stage. The pivoting stage is light transmissive,
The imaging and analysis means is an imaging means for imaging a component on the swing stage;
The component supply device according to any one of claims 1 and 2, further comprising: an illumination unit that faces the imaging unit across the swing stage to create a background of uniform color.   The component supply device according to claim 3, wherein the vibration supply means is disposed to avoid the area in which the lighting means is laid, and applies vibration to the area in which the lighting means is laid.   5. The vibration supplying means according to any one of claims 1 to 4, wherein the vibration supplying means exerts a single vibration and a continuous vibration sufficient to change the arrangement or the position of the component on the rotating stage with respect to the rotating stage. The parts supply apparatus described in. 6. A parts transfer system comprising a transfer means comprising holding means for holding parts in a predetermined position and a movable arm, and a parts supply apparatus according to any one of claims 1 to 5.

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