JP2023117572A - Component separation tool and component take-out device - Google Patents

Abstract

To provide a component separation tool which can separate components with a simple structure even if the components have uneven shapes and eliminates a need for new power for separating the components, and to provide a component take-out device which uses the component separation tool.SOLUTION: A component separation tool 10 separates an uppermost component M1 located at an uppermost position and an adjacent component M2 adjacently located below the uppermost component M1 from each other when components M, which are arranged in a stacking manner, are sequentially taken out. The component separation tool 10 includes: a contact part 11 with which a part of the uppermost component M1 contacts; a claw part 12 which is inserted into a space between the uppermost component M1 and the adjacent component M2; and a rotation part 13 which integrally rotates the contact part 11 and the claw part 12.SELECTED DRAWING: Figure 1

Description

(1) Date November 10-11, 2021 (2) Exhibition name Karakuri Kaizen ▲R▼ Kufu Exhibition 2021 (3) Venue Online

The present invention provides a component separating tool for separating a topmost component positioned at the top from an adjacent component positioned adjacently thereunder when taking out stacked components in order from the top, and a component separating device using the same. The present invention relates to a part take-out device.

In a product assembly line, for example, when parts are taken out, parts stacked in a parts storage area are taken out one by one from above by an industrial robot or the like. At that time, depending on the shape of the parts, the upper and lower parts of the stack may mesh and adhere to each other, and when the uppermost part is lifted, the lower parts may be lifted together. Therefore, conventionally, a method of separating the uppermost part from the lower part has been proposed. For example, in Patent Document 1, when taking out stacked polygonal plate-like works in order from the top, the uppermost work and the lower work are placed on one edge side of the stacked uppermost work. A placing member having a separating member on its lower surface for separation is placed, and after the uppermost work is held and lifted by the work holding member, it is moved laterally to the work below the uppermost work. A method is described for separating the uppermost work and the lower work by bringing the separation member into contact with the uppermost work and the lower work to cause a deviation between the uppermost work and the lower work.

JP 2016-37347 A

However, when the part has an uneven shape, it is difficult to move the part in the lateral direction, and it is difficult to apply the method described in Patent Document 1. In addition, the method of Patent Document 1 requires power to move the component in the horizontal direction in addition to the power to lift the component in the vertical direction, which complicates the mechanism.

The present invention has been made based on such a problem, and can separate parts with a simple structure even if the parts have uneven shapes, and does not require additional power for separating parts. It is an object of the present invention to provide a component separating tool and a component picking device using the same.

The component separating tool of the present invention separates the uppermost component positioned at the highest level from the adjacent component positioned adjacently below it when taking out the stacked and arranged components in order from the top, A contact portion with which a part of the uppermost component abuts, a claw portion inserted between the uppermost component and the adjacent component, and a rotating portion that integrally rotates the contact portion and the claw portion and is disposed above the topmost component, and when the topmost component is lifted upward, the abutting portion abuts against a part of the topmost component, and the claw portion contacts the topmost component and the adjacent component. When the uppermost part is lifted further upward from the basic posture in which it is not inserted between Along with this, the claw portion rotates and is inserted between the uppermost component and the adjacent component, allowing the uppermost component to pass through and allowing the adjacent component to rotate between separation postures in which the adjacent component cannot pass. It is what was done.

A component picking device of the present invention picks up stacked and arranged components in order from the top, and comprises the component separating tool of the present invention and picking means for lifting and picking out the uppermost component. .

According to the present invention, the abutting portion and the claw portion that rotate integrally are provided, and the abutting portion is turned upward by lifting the uppermost component upward, thereby turning the claw portion. is inserted between the uppermost component and the adjacent component, the uppermost component and the adjacent component can be separated with a simple structure even if the component has an uneven shape. Further, since the contact portion and the claw portion are rotated by utilizing the fact that the uppermost part is lifted upward, no additional power is required for rotating the contact portion and the claw portion. can be done.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure showing the structure of the component separation tool which concerns on one embodiment of this invention, and a component extraction apparatus. FIG. 2 is a diagram showing movement of the component separating instrument shown in FIG. 1; FIG. 3 is a diagram representing the movement of the component separating instrument continued from FIG. 2; FIG. 2 is an explanatory diagram for explaining the configuration of the component separating instrument shown in FIG. 1;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows the configuration of a component separating tool 10 and a component extracting device 1 according to one embodiment of the present invention. 2 and 3 illustrate movements of the component separating tool 10 and the component picking device 1. FIG. FIG. 4 is an explanatory diagram illustrating the configuration of the component separating tool 10. As shown in FIG.

A component separating tool 10 separates a topmost component M1 located at the top and an adjacent component M2 located adjacently thereunder when the components M arranged in layers are taken out in order from the top. The component picking device 1 picks up stacked and arranged components in order from the top, and includes a component separating tool 10 and picking means 20 for picking up and picking up the uppermost component M1. The take-out means 20 is composed of, for example, an industrial robot, and includes a holding portion 21 that holds the top component M1 by suction or gripping, and an arm portion that lifts the top component M1 by moving the holding portion 21 upward. 22.

The component separating tool 10 includes a contact portion 11 with which, for example, a part of the upper surface of the top component M1 abuts, a claw portion 12 inserted between the top component M1 and the adjacent component M2, and a contact portion. 11 and a rotating portion 13 for rotating the claw portion 12 integrally. The component separating instrument 10 is arranged to be rotatable with respect to the supporting member 14 by the rotating portion 13, for example. The support member 14 is arranged, for example, on the side of the stacked components M, and the component separation tool 10 is arranged so as to be positioned above the uppermost component M1.

The abutting portion 11 and the claw portion 12 are preferably flat plate-like or straight rod-like, for example, and are arranged with respect to the rotating portion 13 . At least a portion of the contact portion 11 and the claw portion 12 is preferably positioned within the same plane perpendicular to the rotation center of the rotating portion 13 . It is preferable that the positions of the base end portion of the contact portion 11 and the base end portion of the claw portion 12 are close to each other, and that they overlap each other. The angle between the lengthwise direction of the contact portion 11 and the lengthwise direction of the claw portion 12 is preferably in the range of 85 to 95 degrees, most preferably 90 degrees. This is because the component separating tool 10 can be arranged closer to the component M, and the size and weight can be reduced. The center of rotation of the rotating portion 13 is preferably perpendicular to the direction in which the top component M1 is lifted.

In addition, when the uppermost part M1 is lifted upward, the parts separating tool 10 has the abutment part 11 abutting, for example, a part of the upper surface of the uppermost part M1, and the claw part 12 is adjacent to the uppermost part M1. When the uppermost component M1 is lifted further upward from the basic posture in which it is not inserted between the component M2 and the contacting portion 11 in the basic posture, the contacting portion is pushed by the uppermost component M1. As it is rotated upward, the claw part 12 is rotated and inserted between the uppermost part M1 and the adjacent part M2, thereby making the uppermost part M1 passable and the adjacent part M2 non-passable. It is rotatable between the separation posture. That is, the contact portion 11 and the claw portion 12 are rotated from the basic posture to the separated posture by utilizing the uppermost component M1 being lifted upward.

The component separating instrument 10 preferably includes control means for controlling the rotational ranges of the contact portion 11 and the claw portion 12, for example. The control means includes, for example, a basic stop portion 15 that stops at a basic posture by engaging at least a portion of the contact portion 11 or at least a portion of the claw portion 12, and a separation stop portion 16 that stops at the separated posture. It is preferable to have The basic stop portion 15 and the separation stop portion 16 are provided, for example, so as to protrude from the support member 14 . The separation stop part 16 is preferably provided at a position where it can be rotated by its own weight to return to the basic posture after the uppermost component M1 has passed in the separation posture. This is because the self-weight of the contact portion 11 and the claw portion 12 can be used to restore the basic posture.

Various dimensions of the component separating tool 10 are preferably configured to satisfy, for example, the following formulas (1) and (2) (see FIG. 4). This is because the tip of the claw portion 12 can be easily inserted between the uppermost component M1 and the adjacent component M2 by configuring as in formula (1). In addition, by configuring as in formula (2), it is possible to prevent interference between the base end portions of the contact portion 11 and the claw portion 12 and the uppermost component M1.
Y+2(X1-X2)<D (1)
L<X1 (2)

In addition, X1, X2, Y, L, and D in Formula (1) and Formula (2) are as follows. X1 passes through an end movement straight line 17 that represents the movement position of the end on the part separation tool 10 side when the uppermost part M1 is lifted upward, and the rotation center of the rotation part 13. It is the distance between the straight line and the parallel rotation center straight line 18 . X2 is the distance between the rotation center straight line 18 and a claw basic position straight line 19 that passes through the tip of the claw 12 on the component M side in the basic posture and is parallel to the rotation center straight line 18 . Y is the length of the claw portion 12 (the length from the distal end portion to the proximal end portion of the claw portion 12). L is the distance from the base ends of the contact portion 11 and the claw portion 12 to the center of rotation of the rotating portion 13 in the basic posture. D is the distance between the upper surface of the uppermost component M1 and the upper surface of the adjacent component M2 with which the contact portion 11 contacts.

This component separating instrument 10 operates, for example, as follows. First, for example, as shown in FIG. 2A, the uppermost component M1 is held by the holding portion 21 and lifted upward by the arm portion 22 . At that time, when the adjacent part M2 is meshed with the uppermost part M1 and is in close contact with the uppermost part M1, the adjacent part M2 is also lifted upward together with the uppermost part M1. In the component separating tool 10, a force is applied to rotate the contact portion 11 and the claw portion 12 downward due to their own weight until the uppermost component M1 contacts the contact portion 11. , the rotation of the contact portion 11 and the claw portion 12 is stopped by the basic stop portion 15, and is in the state of the basic posture.

Next, as shown in FIG. 2B, for example, when the uppermost component M1 is lifted further upward from the state in which it is in contact with the contact portion 11 in the basic posture, the contact portion 11 is pushed by the uppermost component M1. As it is rotated upward, the claw portion 12 is rotated accordingly and inserted between the uppermost component M1 and the adjacent component M2.

Subsequently, for example, as shown in FIG. 3(C), when the top component M1 is further lifted, the abutting part 11 is rotated to a position where the top component M1 does not come into contact with the top component M1. It passes beside the component separating device 10 and moves above the component separating device 10 . Also, the adjacent part M2 is lifted together with the uppermost part M1 and comes into contact with the claw portion 12 inserted between the uppermost part M1 and the adjacent part M2. The claw portion 12 is rotated upward by the adjacent part M2, but when the contact portion 11 comes into contact with the separation stop portion 16, the rotation is stopped and the claw portion 12 is fixed in the separation posture. As a result, the adjacent component M2 stops moving upward, cannot pass by the component separating tool 10, and is peeled off and separated from the uppermost component M1.

Next, for example, as shown in FIG. 3(D), the uppermost component M1 that has passed through the component separating device 10 is further lifted and taken out by the take-out means 20 . The adjacent part M2 is peeled off from the top part M1 and falls downward to become the next top part M1. Further, the contact portion 11 and the claw portion 12 are rotated downward by their own weight, and when they come into contact with the basic stop portion 15, the rotation is stopped and they assume the basic posture.

As described above, according to the present embodiment, the abutting portion 11 and the claw portion 12 that rotate integrally are provided, and the abutting portion 11 is rotated upward when the uppermost component M1 is lifted upward. As a result, the claw portion 12 is rotated to be inserted between the uppermost part M1 and the adjacent part M2. The part M2 can be separated. Further, since the contact portion 11 and the claw portion 12 are rotated by utilizing the fact that the uppermost part M1 is lifted upward, a new power source for rotating the contact portion 11 and the claw portion 12 is used. can be made unnecessary.

Further, a control means for controlling the rotation range of the contact portion 11 and the claw portion 12 is provided so that the contact portion 11 and the claw portion 12 return to the basic posture by their own weight after the uppermost component M1 has passed in the separation posture. , it is possible to automatically return from the separation posture to the basic posture.

Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above embodiments and can be variously modified. For example, in the above embodiment, each component was specifically described, but the specific configuration of each component may be different. In addition, it may not include all of the components described above, or may include other components.

REFERENCE SIGNS LIST 1 component pick-up device 10 component separating tool 11 contact portion 12 claw portion 13 rotating portion 14 support member 15 basic stop portion 16 separation stop portion 20 take-out means , 21... Holding part, 22... Arm part, M... Component, M1... Top component, M2... Adjacent component

Claims (3)

A component separation tool for separating a topmost component positioned at the top and an adjacent component positioned adjacently thereunder when taking out stacked and arranged components in order from the top,
an abutting portion with which a part of the uppermost component abuts;
a claw portion inserted between the uppermost component and the adjacent component;
a rotating portion for integrally rotating the contact portion and the claw portion;
disposed above the top component,
When the top component is lifted upward, the abutting portion abuts against a part of the top component, and the claw portion is not inserted between the top component and the adjacent component. When the uppermost component is lifted further upward from the state in which it is in contact with the contacting portion in the basic posture, the contacting portion is rotated upward by the uppermost component. The claw portion rotates and is inserted between the uppermost component and the adjacent component to allow the uppermost component to pass through and rotate between a separation posture in which the adjacent component cannot pass through. A parts separation device characterized by: A control means for controlling a rotation range of the contact portion and the claw portion;
2. The component separating tool according to claim 1, wherein the contact portion and the claw portion return to the basic posture due to their own weight after the uppermost component has passed in the separating posture. A component take-out device for taking out stacked and arranged components in order from the top,
a component separating tool according to claim 1 or claim 2;
A part picking device, comprising: picking means for lifting and picking up the uppermost part.

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