JP2019135179A - Parts supply device - Google Patents

Abstract

To obtain without increasing an entire device size a parts supply device capable of automatically supplying parts stably even when a type or an amount of the parts to be supplied is changed.SOLUTION: The parts supply device related to the present invention consists of a parts supply unit 1 for supplying a plurality of the parts, a disk on which the plurality of the parts are arranged and being rotating, a separation unit 3 for adjusting one by one the plurality of the parts, being circulated by a rotation of the disk, to a target posture that is a predetermined posture, and a vision sensor for capturing the disc, and includes a measurement unit 4 for acquiring position information of parts targeted for recognition by searching the parts targeted for recognition that are in the target posture among the plurality of the parts using images captured by the vision sensor, and a picking-up unit 5 for picking up the parts targeted for recognition based on a rotation angle information of the disc and the position information.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a component supply apparatus that automatically takes out and supplies components.

  In recent years, as the needs of the market have diversified, there is a need for automated machines that can handle variable-variable production in which the types of machines to be produced and the production volume fluctuate. Component supply devices that can handle a wide variety of components have been developed. As one of such systems, there is a system in which a target part is supplied in a non-aligned state on a linear conveyor, and then a position is measured by a vision sensor and taken out by a robot.

  For example, Patent Document 1 discloses a method in which the position of a component is adjusted by a rotating brush while the component is conveyed by a conveying unit including a linear conveyor, the position is measured by a vision sensor, the component is taken out by a robot, and the removed component is stored in a storage unit. The structure arrange | positioned to is disclosed. Patent Document 2 discloses a configuration in which components are fed into a supply chute in a pre-aligned state, and components are supplied from a supply chute to a jig arranged on a disk-shaped table as needed. . In addition, when supplying the component to the jig, the component supply unit performs an arc following operation with respect to the jig rotating on the table.

JP-A-6-329235 JP 58-47722 A

  In Patent Document 1, it is possible to cope with a change in the type of parts to be supplied. However, if the amount of parts supplied to the transport unit is increased, parts that cannot be taken out by the robot are generated. In order to remove such components from the transport unit, it is necessary to temporarily stop the transport unit, and there is a problem that the amount of supply to the storage unit per hour is reduced. On the other hand, even if parts that cannot be taken out are generated, a continuous mechanism for circulating the parts that cannot be taken out again is necessary in order for the transport unit to continuously operate. .

  Further, in Patent Document 2, a mechanism for exchanging pallets and magazines is required to cope with a change in the type of components to be supplied, so there is a problem that the number of components increases and the entire apparatus becomes large.

  The present invention has been made in view of the circumstances as described above, and even when the type of component to be supplied or the supply amount to the transport unit is changed, the component can be automated without increasing the size of the entire apparatus. A component supply device capable of stably supplying is obtained.

  A component supply device according to the present invention includes a component supply unit that supplies a plurality of components, a conveyance plate that is arranged and rotated with a plurality of components, and a plurality of components that are circulated by rotation of the conveyance plate, in a predesignated posture. And a vision sensor that images the rear of the separation plate with respect to the rotation direction of the conveyance plate. Using the captured image, search for a recognition target component that is a component of the target posture among a plurality of components, and based on the rotation angle information and the position information of the conveyance plate, and the position information of the recognition target component, A take-out unit for taking out the recognition target part.

  In the component supply device according to the present invention, even when the type of component to be supplied or the supply amount to the transport unit is changed, the automatic supply of components can be stably performed without increasing the size of the entire device. It can be carried out.

It is a whole lineblock diagram showing the parts supply device in Embodiment 1 of the present invention. 3 is a perspective view showing an example of a component in Embodiment 1. FIG. FIG. 6 is an explanatory diagram showing a component take-out position in the first embodiment. 3 is a top view of a supply unit in Embodiment 1. FIG. 3 is a cross-sectional view taken along A1-A2 of the supply unit in Embodiment 1. FIG. FIG. 6 is an explanatory diagram illustrating an operation of a cutout unit in the first embodiment. FIG. 3 is a side view of a circulation conveyance unit in the first embodiment. FIG. 3 is a side view of a bulkhead portion in the first embodiment. FIG. 5 is an explanatory diagram illustrating an operation of a target part of a brush part and a rotating brush in the first embodiment. FIG. 3 is an explanatory diagram illustrating a measurement unit in the first embodiment. 3 is a top view showing a recognition range of a vision sensor of a measurement unit in Embodiment 1. FIG. 3 is an explanatory diagram illustrating a position calculation diagram of a vision sensor of a measurement unit according to Embodiment 1. FIG. FIG. 4 is a side view and a top view of a takeout part in the first embodiment. FIG. 6 is a top view for explaining the component conveying method in the first embodiment. It is the upper side figure and side view for demonstrating the attitude | position change part in Embodiment 1. FIG. FIG. 4 is a top view and a side view for explaining a component discharge portion in the first embodiment. FIG. 10 is a side view of a rotary brush of a brush part in the second embodiment. FIG. 10 is a top view and a side view for explaining a component discharge portion in the third embodiment.

Embodiment 1 FIG.
FIG. 1 shows an outline of a component supply apparatus according to the first embodiment. The component supply device includes a component supply unit 1 that stores and supplies the components to the circulation conveyance unit 2, a circulation conveyance unit 2 that circulates and conveys the components, a ballast unit 3 that reduces overlapping of components or unifies the posture of the components, A measuring unit 4 for measuring the position and the rotation angle, a taking-out unit 5 for taking out the component at the position measured by the measuring unit 4, a posture changing unit 6 for changing the posture of the circulating component, a storage unit 7 for storing the taken-out component, A component discharge unit 8 that discharges components and a control unit (not shown) that controls the configuration of the component supply apparatus described above are included.

  FIG. 2 is a perspective view showing an example of the component 100 in the first embodiment. FIG. 2A is a perspective view of the component 100. 2 (b) to 2 (d) show the component 100 when arranged in the postures 101, 102, and 103, and the heights in the arrangement shown in the respective drawings are 101a, 102a, and 103a, respectively. Hereinafter, as an example in FIG. 2B, 101a, 102a, and 103a are assumed to be height, width, and depth, respectively. The width 102a is the maximum, the height 101a is the minimum, and the depth 103a is a value between 101a and 102a, but it goes without saying that the height, width, and depth may be set in any way. Yes. Moreover, although the component 100 is a rectangular parallelepiped shape, arbitrary solid shapes may be sufficient as it.

  The ballast unit 3 aligns the components 100 so as to have a posture such as a posture 101, for example. Hereinafter, the posture 101 may be referred to as a target posture. The component 100 is taken out by the take-out unit 5 as will be described in detail later. In the following description, a part whose height changes when the posture of the part is changed will be described as an example. However, a part whose height does not change even when the posture is changed may be used. Needless to say, the shape of the component is not limited to the rectangular parallelepiped shown in FIG.

  FIG. 3 is an explanatory diagram showing a component take-out position in the first embodiment. FIG. 3A is a view showing the posture 101 of the component 100. FIG. 3B is an example of an extraction position in the front view of FIG. After arranging the part 100 as shown in FIG. 3A, the take-out unit 5 introduces a negative pressure between the pad 100 of the robot hand, which will be described later, and the part 100, for example, due to a pressure difference from the surroundings. Lift 100. For example, taking out the position of the component 100 having a height (short side) of 2B and a width (long side) of 4A will be described as an example. The take-out position is, for example, the black point shown in FIG. 3B, where the height from the lower left vertex in the figure is B, and the width is A and 3A. The component 100 can be stably gripped by sucking and gripping the component 100 at such two take-out positions. Needless to say, removal by a gripping method other than adsorption may be performed.

  FIG. 4 is a top view of the component supply apparatus for explaining the component supply unit 1 according to the first embodiment. FIG. 5 is a cross-sectional view taken along the A1-A2 cross section shown in FIG. The detailed structure of the component supply part 1 is demonstrated using FIG. 4 and FIG. The component supply unit 1 includes a hopper unit 11 that stores the component 100 and a cutout unit 12 that supplies the component 100 to the circulation conveyance unit 2.

  First, the hopper portion 11 has a box shape surrounded by a back surface 13a, a side surface 13b, a bottom surface 13c, and a front surface 13d. The bottom surface 13c of the hopper portion 11 is higher on the back surface 13a side than on the front surface 13d side. The parts 100 supplied by the height gradient of the bottom surface 13c are collected on the front surface 13d side. The hopper unit 11 further includes a component shortage detection sensor 18 that detects a shortage of the component 100 in the hopper unit 11. The component shortage detection sensor 18 sends a component shortage signal to the control unit when the amount of the component 100 falls below a preset amount. When a component shortage signal is sent from the component shortage detection sensor 18, the control unit instructs the component supply unit 1 to supply the component 100 to the hopper unit 11.

  Next, the cutting unit 12 includes a cutting plate 15, a cylinder 16 that moves the cutting plate 15 up and down, and a guide 17 that moves the cutting plate 15 up and down. An inclined portion 15 a is formed at the tip of the cutout plate 15. The inclined portion 15a is formed to increase in height from the front surface 13d to the back surface 13a. Thereby, it has the shape which supplies the components 100 to the circulation conveyance part 2. FIG.

  FIG. 6 is an explanatory diagram showing an example of the operation of the cutout unit 12 in the first embodiment. 6A shows the cutout portion 12 when the cylinder 16 is contracted, and FIG. 6B shows the cutout portion 12 when the cylinder 16 is extended. When it is necessary to supply the component 100 to the circulation conveyance unit 2, the control unit instructs the cutting unit 12 to expand and contract the cylinder 16. The cutout unit 12 is controlled by the control unit, and expands and contracts the cylinder 16. Thereby, the cutout plate 15 moves up and down along the front surface 13d by the guide 17. Specifically, first, as shown in FIG. 6A, when the cylinder 16 is contracted, the upper end of the cutout plate 15 is lowered to the same height as the bottom surface 13c. Here, the component 100 is disposed between the inclined portion 15a of the cutout plate 15 and the front surface 13d. Next, as shown in FIG. 6B, when the cylinder 16 extends, the inclined portion 15a of the cutout plate 15 moves to a position higher than the upper end of the front surface 13d. As a result, the component 100 between the inclined portion 15a and the front surface 13d is supplied to the circulation conveyance portion 2 beyond the upper end of the front surface 13d. In addition, the quantity of the components 100 which the hopper part 11 supplies to the circulation conveyance part 2 at once changes by changing the height of the front surface 13d, for example.

  FIG. 7 shows an example of the configuration of the circulation conveyance unit 2 in the first embodiment. The circulation conveyance unit 2 includes a component conveyance disk (conveyance plate) 21, an encoder (rotation angle measurement unit) 22 that measures the rotation angle of the disk 21, a non-slip rubber 23 disposed on the surface of the disk 21, A disk guide 24, a motor 25 that rotates the disk 21, a gear head 26 of the motor 25, a shaft body 27 that transmits the power of the motor 25 to the disk 21, and rotates the disk 21, a mounting plate 28 of the motor 25, and mounting A base 29 for supporting the plate 28 is provided. The shaft body 27 includes a coupling, a set collar, and a shaft.

  The circulating transport unit 2 rotates the motor 25 so that the disk 21 rotates clockwise. The disc 21 conveys the component 100 while circulating it. A center of rotation is provided on the disk 21, and the disk 21 rotates around the center of rotation, that is, circularly moves. The rotation direction of the disc 21 is clockwise when viewed from above in the present embodiment, but may be counterclockwise in the arrangement of the device. In addition, the conveyance board of the circulation conveyance part 2 may not be the disc 21, and may be a square plate. The component supply apparatus according to the present embodiment is configured to cause the component 100 on the transport plate to circularly move around the rotation center by rotating the integrally formed transport plate around the rotation center. Thereby, a component supply apparatus can be reduced in size.

  Since the parts are transported by the disk 21, a return mechanism for the parts 100 that cannot be taken out becomes unnecessary, and the entire apparatus can be downsized. Further, since the components are supplied onto the disc 21, the component supply and component discharge positions can be set freely, so that the size of the entire apparatus can be reduced.

  FIG. 8 is a side view of the ballast 3 in the first embodiment. The ballast unit 3 includes a rotating brush 31 for reducing the overlap of parts 100 and unifying the posture, a shaft 32 of the rotating brush 31, a motor 33 for driving the rotating brush, a gear head 34, and a shaft coupling between the shaft of the motor 33 and the shaft 32. A coupling 35 and a motor mounting plate 36. A set collar (not shown) that controls the operation of the shaft 32 by changing the tightening amount of the shaft 32 is provided inside the coupling 35.

  FIG. 9 is an explanatory diagram showing the operation of the rotating brush 31 of the ballast portion 3 in the first embodiment. FIG. 9B is a cross-sectional view taken along the B1-B2 cross section shown in FIG. In describing the operation of the ballast unit 3, an example of the distance between the lower surface of the rotating brush 31 and the upper surface of the disk 21, that is, the height position will be described. In order to allow only the component 100 of the target posture 101 shown in FIG. 2 to pass through the ballast portion 3, the height position of the rotary brush 31 is set to be higher than the height 101a of the posture 101, and the value and height of the depth 103a. Is set to be smaller than one of the smaller values of the double value of 101a. That is, the height position of the rotating brush 31 is not less than the smallest one of the width, the depth, and the height, and is less than the smaller one of the second largest and the smallest twice. Good.

  An example of the operation of the ballast unit 3 is shown below. The components 100 supplied from the component supply unit 1 overlap each other and are supplied to the ballast unit 3 in various postures (101, 102, 103, etc.) shown in FIG. The rotary brush 31 rotates in the M direction, which is the clockwise direction in the cross-sectional view of FIG. In the drawing, the N direction is a direction in which the disc 21 conveys the component 100. The rotating brush 31 rotates so that the tangential direction at the portion 31a closest to the disc 21 is directed in the opposite direction to the N direction, that is, the U direction. Due to the rotation of the rotating brush 31, the superposed part is pushed back in the U direction, and the superposed state of the part 100 is reduced. Further, the rotary brush 31 changes the posture to the posture 101 when the component 100 conveyed in the posture 102 or 103 is pushed back in the U direction by the rotary brush 31. As a result, the posture of the component 100 is unified with the target posture 101. Note that the material of the rotating brush 31 may be changed depending on the material of the target component 100. Thereby, the time required to eliminate the polymerization state can be reduced.

  FIG. 10 is an explanatory diagram showing the measurement unit 4 in the first embodiment. FIG.10 (b) is sectional drawing in the C1-C2 cross section in Fig.10 (a). The measuring unit 4 acquires the rotation angle by the encoder 22 attached to the disk 21. The measurement unit 4 captures the image on the disk 21 and acquires the position information of the component 100 that has passed through the ballast unit 3, the illumination 42 when the vision sensor 41 captures images, the vision sensor 41, and the illumination 42. And a jig 43 for attaching the. The position of the disk 21 taken by the vision sensor 41 is, for example, between the ballast portion 3 and the take-out portion 5. Thereby, the position information can be acquired in a short time with respect to the component 100 whose posture is adjusted by the ballast unit 3, and can be taken out by the take-out unit 5 using the position information.

  The vision sensor 41 performs imaging after turning on the illumination 42. When the imaging is completed, the illumination 42 is turned off. The vision sensor 41 searches the position of the component 100 that is the target posture 101 using the captured image, and acquires the position information of the searched component 100. At this time, the vision sensor 41 is adjusted to recognize the component 100 even if the component 100 in the target posture 101 rotates on the disk 21. The detailed operation of the vision sensor 41 will be described in the following description of the operation.

  FIG. 11 is a top view showing the recognition range of the vision sensor 41 of the measurement unit 4 in the first embodiment. As a method for setting the XY coordinates in the vision sensor 41, a direction toward the rotation center O of the disc 21 is set as an X direction, and a direction orthogonal to the X direction in a plane parallel to the disc 21 is set as a Y direction. A region surrounded by a dotted line in FIG. 11 is a measurement range 44, and the vision sensor 41 can recognize the component 100 in this range. In the figure, the center position of the measurement range 44 is used as the imaging reference 41 a of the vision sensor 41. Hereinafter, in the XY coordinate system described above, a description will be given assuming that the origin of the imaging reference 41a is a vision sensor coordinate. For the convenience of explanation regarding the following positional information, it is assumed that the reference component 140 is placed in the imaging reference 41a.

  FIG. 12 is an explanatory diagram illustrating a position calculation diagram of the vision sensor 41 of the measurement unit 4 according to the first embodiment. The vision sensor 41 calculates the positional relationship between the imaging reference 41a and the recognition target component 141 using the vision sensor coordinates. Specifically, the vision sensor 41 calculates the X coordinate difference of the component position in the vision sensor coordinates as Xa and the Y coordinate difference as Ya with respect to the imaging reference 41a and the component position 141a of the recognition target component 141. Further, the angle difference Ca is calculated. Here, the angle difference Ca is a rotation angle of the recognition target component 141 with respect to the reference component 140 placed on the imaging reference 41 a of the vision sensor 41. Further, the measurement unit 4 stores a set of Xa, Ya, and the angle difference Ca as position information in a storage unit (not shown). When there are a plurality of recognition target parts at this time, the storage unit calculates position information for each of the plurality of recognition target parts and stores the calculation result. Thereby, even when there are a plurality of recognition target parts, the measurement unit 4 can predict the positions of the plurality of recognition target parts, so that the take-out part 5 can take out the recognition target parts in a short time.

  FIG. 13 is a side view and a top view of the take-out unit 5 in the first embodiment. The take-out unit 5 includes a robot drive unit 51 and a robot hand 52. FIG. 14 is a top view for explaining a method of conveying component 100 in the first embodiment.

  A method of gripping the component 100 by the take-out unit 5 will be described by taking as an example a case where the reference component 140 moves from the component position 140a to the component position 140b. The reference component 140 moves, for example, at a rotation angle θ with the movement of the disc 21 when a certain time elapses. A calculation unit (not shown) of the robot drive unit 51 uses a positional information of the reference component 140 measured by the vision sensor 41 and a rotation speed of the disk 21 of the circulation transport unit 2 for the component to be gripped. 100 gripping scheduled positions are predicted. The calculation unit of the robot drive unit 51 further acquires the planned grip position in the vision sensor coordinates calculated by the measurement unit 4 after the measurement unit 4 recognizes the reference component 140. Furthermore, the grasping position in the vision sensor coordinates is converted into robot coordinates. The robot drive unit 51 operates the robot hand 52 based on the predicted grip position in the robot coordinates. Further, based on the rotation angle information from the encoder 22, the robot hand 52 performs a follow-up operation in accordance with the rotation of the disk 21. The robot hand 52 sucks and holds the reference component 140 while performing the following operation. Thereafter, the take-out unit 5 conveys the reference component 140 to the storage unit 7.

  In addition, in order to simplify description, although demonstrated using the reference | standard component 140, it cannot be overemphasized that it is applicable also to the recognition target component 141a. After transporting the reference part 140 to the storage unit 7, the robot hand 52 takes out the recognition target part 141 other than the reference part 140 using the difference between the current position and the relative position of the reference part 140 and the recognition target part 141. The operation may be performed again. The taken-out parts are put in alignment on the pallet of the storage unit 7. In addition, you may comprise the accommodating part 7 with a pallet changer or a jig | tool. In this case, the storage part 7 can supply the taken-out component 100 directly to another apparatus by connecting with another apparatus. Note that the case where there is one recognition target component has been described as an example, but the measurement unit 4 may be configured to recognize a plurality of recognition target components.

  FIG. 15 is a top view and a side view of the component supply device for explaining the posture changing unit 6 in the first embodiment. The posture changing unit 6 includes a block 61 and a block fixing plate 62 for changing the posture of the circulating component 100. The posture changing unit 6 is for changing the posture of the component 100 that could not be picked up by the picking-up unit 5. Specifically, the posture changing unit 6 changes the posture by placing the conveyed component 100 against the posture changing block 61 on the lower part of the component 100. The posture change block 61 has a convex portion whose cross-sectional shape is a triangle. The height of the convex portion of the posture changing block 61 may be less than or equal to half of the second largest value of the width, height, and depth of the component 100, and is smaller than half of the depth 103a in the example of FIG. Set. As a result, the parts 100 in the postures 102 and 103 are subjected to a force on the lower portion thereof, and the posture of the part 100 is changed when the part 100 falls down. In the drawing, the cross-sectional shape of the posture changing block 61 may be a square or a circle instead of a triangle.

  FIG. 16 is a top view and a side view of the component supply apparatus for explaining the component discharge unit 8 according to the first embodiment. The component discharge unit 8 according to the first embodiment includes a discharge plate 81 that blocks the conveyance path of the disk 21, a discharge cylinder 82, a cylinder mount 83, a discharge guide 84, a duct 85, and a component discharge box 86. The discharge plate 81 discharges the component 100 installed on the circular plate 21 of the circulation conveyance unit 2 from the circulation conveyance unit 2. The discharge cylinder 82 moves the discharge plate 81 up and down. The discharge guide 84 discharges the component 100 by performing an opening operation. The duct 85 communicates the component discharge box 86 and the discharge guide 84. The component discharge unit 8 discharges the component 100 from the disc 21 when changing the type of component to be used. In the normal conveyance state, that is, when the component 100 is supplied, the component discharge unit 8 closes the discharge guide 84 and arranges the discharge plate 81 at a height position 81 a that does not collide with the component 100.

  An example of the operation of the component discharge unit 8 will be described below. When discharging the component 100, the discharge guide 84 is first opened. Next, the discharge plate 81 is lowered to the height position 81b. The discharge plate 81 is placed on the disc 21. Here, the discharge plate 81 blocks the transfer path on the disc 21 so that the component 100 is not transferred beyond the discharge plate 81. As a result, the component 100 stays in the vicinity of the discharge plate 81. The component 100 on the disc 21 is conveyed along the discharge plate 81 from the discharge guide 84 toward the discharge duct 85. Further, the component 100 conveyed to the discharge duct 85 falls into the component discharge box 86. Thereby, the component 100 can be discharged from the circulation conveyance unit 2. When the discharge guide 84 remains open for a predetermined time or longer, the discharge plate 81 is raised and the discharge guide 84 is closed. As a result, the component supply device returns to the normal conveyance state. When the component 100 is discharged, the discharge guide 84 and the discharge plate 81 are operated, and at the same time, the unnecessary brush mechanism is stopped by raising the rotary brush 31 of the brush unit 3. Since the component discharge unit 8 is provided, the component supply apparatus can realize the component discharge operation by full automation. Furthermore, immediately after the discharge of the component 100 of the component supply unit 1 is completed, another type of component can be introduced, and the switching time to another type of component can be shortened.

  In Embodiment 1 of the present invention, even when the type or amount of parts to be supplied is changed, automatic supply of parts can be stably performed without increasing the size of the entire apparatus. Moreover, since it is the structure which takes out, circulating the components 100 on the disc 21, the whole apparatus can be reduced in size.

Embodiment 2. FIG.
FIG. 17 is a side view of the ballast portion in the second embodiment. The height position of the ballast portion 3 according to the first embodiment is set to a predetermined height. On the other hand, the ballast portion according to the second embodiment is different in that it has a vertical adjustment mechanism 37 and can change the height position of the ballast portion. In the present embodiment, only the configuration different from that in Embodiment 1 will be described, and the description of the same or corresponding configuration will not be repeated.

  The vertical adjustment mechanism 37 of the rotary brush 31 includes a direct operation unit 371 that operates in the vertical direction, a guide 372 for performing the direct operation, and a stand 373 that supports the direct operation unit 371. The vertical adjustment mechanism 37 automatically changes the distance between the lower surface of the rotating brush 31 and the upper surface of the disk 21, that is, the height position 374 by, for example, servo drive. As a result, even when the type of component is changed, it is possible to deal with various types of components only by changing the height position. Furthermore, even when the type of the parts changes, the height position of the rotating brush 31 can be changed without changing the constituent members of the ballast portion 3. Work time when the type of parts to be supplied is changed can be shortened. In addition to servo drive, the vertical adjustment mechanism 37 can be driven by a motor that can specify an operation amount, such as a stepping motor. The height position 374 is set to a value equal to or higher than the height 101a of the posture 101 as described above, and is the smallest value among the value of the height 102a, the value of the height 103a, and the value twice the height 101a. Must be set to:

  In the present embodiment, a vertical adjustment mechanism 37 for adjusting the height of the rotating brush 31 is provided. Thereby, when changing the kind of components to be supplied, it is not necessary to change the constituent members of the component supply device, so that in addition to the effects of the first embodiment, the working time can be shortened.

Embodiment 3 FIG.
FIG. 18 is a top view and a side view of a component supply apparatus for explaining a component discharge unit 8A in the third embodiment. FIG. 18A is a side view of the component supply apparatus according to the present embodiment, and FIG. 18B is a top view of the component supply apparatus according to the present embodiment. The component discharge unit 8A according to the third embodiment is different from the first embodiment in that a component detection sensor 87 and a component discharge box full sensor 88 are further provided. In the present embodiment, only the configuration different from that of the first embodiment will be described, and the description of the same or corresponding configuration will not be repeated.

  If the presence of the component 100 is not detected by the component detection sensor 87 while the disk 21 rotates, for example, once, the control unit assumes that all the components on the disk 21 have been discharged and raises the discharge plate 81. At the same time, the discharge guide 84 is closed. As a result, the component supply device returns to the normal conveyance state. If the component detection sensor 87 does not detect the component 100 for a preset time, the component detection sensor 87 determines that the component discharge of the component discharge unit 8A has been completed. By providing the component detection sensor 87, it is possible to accurately detect the time when the discharge is completed, and it is possible to reduce the time required for the discharge. The component detection sensor 87 may be replaced with the vision sensor 41.

  Further, when the component discharge box full sensor 88 detects that the discharge duct 83 or the component discharge box 86 of the component 100 is full for a preset time or longer, the rotation of the disk 21 of the circulation transport unit 2 is stopped. Let As a result, it is possible to suppress clogging caused by the entry of more than the allowable amount of components 100 in the component discharge duct 83 and the component discharge box 86. By using the component discharge box full sensor 88, the component 100 in the component supply unit 1 can be more reliably supplied to the circulation conveyance unit 2 when all the components in the apparatus are discharged.

  In the present embodiment, a component detection sensor 87 is provided in the component discharge portion 8A. Thereby, when the types of components are switched, it is possible to reliably detect the completion of discharging of the components in the circulation conveyance unit 2, and in addition to the effects of the first embodiment, there is an effect that the switching time of the types of components can be shortened.

DESCRIPTION OF SYMBOLS 1 Parts supply part 14 Cutout part 15 Cutout board 16 Cylinder 17 Guide 18 Parts shortage detection sensor 2 Conveyance part 21 Disc (conveyance board)
22 Encoder (Rotation angle measurement unit)
23 Non-slip rubber 24 Disk guide 25 Motor 3 Balancing part 31 Rotating brush 37 Vertical adjustment mechanism 4 Measuring part 5 Extracting part 6 Attitude changing part 61 Attitude changing block 62 Mounting stand 8 Parts discharge part 81 Discharge plate 82 Cylinder 83 Cylinder stand 84 Ejection guide 88 Parts detection sensor 100 Parts

Claims (6)

A component supply unit for supplying a plurality of components;
A conveying plate in which the plurality of components are arranged and rotated;
A balance unit that adjusts the plurality of parts that circulate by rotation of the transport plate to a target posture that is a pre-designated posture;
A vision sensor that captures the transport plate, and using the image captured by the vision sensor, searches for a recognition target component that is a component of the target posture among the plurality of components, and position information of the recognition target component Measuring unit to obtain
A component supply apparatus comprising: a take-out unit that takes out the recognition target component based on rotation angle information and position information of the transport plate. An encoder that acquires the rotation angle information of the transport plate;
The component supply apparatus according to claim 1, wherein the take-out unit grips the recognition target component while following a rotation operation of the recognition target component. The ballast portion has a rotating brush that adjusts the plurality of components to the target posture,
The said rotary brush has an up-down adjustment mechanism which adjusts the height position between the upper surfaces of the said conveyance board according to the height of these components. The Claim 1 or Claim 2 characterized by the above-mentioned. Parts supply device. A component discharge section for discharging the plurality of components transferred on the transfer plate;
The component discharge unit is
When the plurality of components supplied by the component supply unit are changed to different types of components, a discharge plate that blocks the conveyance path of the conveyance plate;
4. The discharge guide according to claim 1, further comprising: a discharge guide that guides the plurality of parts to the outside of the transfer plate when the transfer path is blocked by the discharge plate. 5. The component supply apparatus described. A control unit for controlling component supply of the component supply unit;
The component discharge unit has a component detection sensor for detecting a component in the transport plate,
The control unit controls the component supply unit to start supplying the another type of component when the component detection sensor does not detect the component for a preset time. Item 4. The component supply apparatus according to Item 4. The component supply device according to any one of claims 1 to 5, further comprising a posture change block that changes a posture of a component that has passed the ballast portion on the transport plate.

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