JP5172766B2 - Work alignment system and work movement method - Google Patents

Description

  The present invention relates to a workpiece alignment system and a workpiece movement method. More specifically, the present invention relates to a workpiece alignment system that grips and aligns workpieces and a workpiece movement method.

2. Description of the Related Art Conventionally, in automobile production lines, parts are attached to workpieces with bolts by a robot. Such a bolt is supplied to the robot by a parts feeder.
The parts feeder is provided with a hopper, and when an operator inserts a bolt into the hopper, the inserted bolt is aligned and discharged (see Patent Document 1).

  However, since there is only one type of bolt that can be aligned by a single parts feeder, a plurality of parts feeders are required when using multiple types of bolts in the production line. Since the parts feeder is expensive, there is a problem that the cost increases.

  Therefore, a take-out stand to which bolts are supplied and a robot for gripping and aligning the bolts supplied to the take-out stand have been proposed. According to this robot, no matter what kind of bolt is supplied, the bolt can be gripped and aligned, so that the cost can be reduced.

JP-A-6-126555

  However, in this robot, when changing the type of the bolt, it is necessary to manually remove the bolt from the extraction table or to provide an extraction table for each bolt type. Therefore, there is a problem that it is difficult to change the type of bolts to be aligned, and the operating rate is lowered.

  An object of the present invention is to provide a workpiece alignment system and a workpiece movement method that can easily change the type of workpiece to be aligned.

A workpiece alignment system (for example, a workpiece alignment system 1 described later) of the present invention is a workpiece alignment system that grips and aligns a workpiece (for example, a bolt 11 described later), and a placement portion (a workpiece is placed) For example, the belt 22 described later and the mounting portion are reciprocated between a workpiece supply position (for example, workpiece supply position P ₁ described later) and a workpiece discharge position (for example, workpiece discharge position P ₂ described later). A take-out stand (for example, take-out stands 20A and 20B to be described later) provided with a drive device (for example, a drive device 23 to be described later), and a plurality of buckets (for example, buckets B ₁ to B to be described later) in which different types of works are accommodated. and B _4), the mobile device to position a selected one from among the plurality of buckets in the vicinity of the work supply position of the extraction stage (e.g., the rotating device 13 to be described later) And a return device (e.g., a return device (e.g., storage devices 10 </ b> A, 10 </ b> B, which will be described later) and a workpiece located at the work discharge position on the placement unit to a bucket near the workpiece supply position (e.g., A first robot (e.g., a later-described shooter 70 </ b> A, 70 </ b> B) and a work robot that takes out the work from a bucket near the work supply position using an electromagnet and places the work on the work supply position on the placement unit. The first robot 40) and a second robot (for example, a second robot 50 to be described later) that grips and aligns the workpiece positioned at the workpiece discharge position on the placement unit.

According to the present invention, the workpiece alignment system operates as follows.
First, the type of work to be aligned is selected, the moving device of the storage device is driven, and the bucket in which the selected type of work is stored is positioned in the vicinity of the work supply position of the take-out table.

  Next, the electromagnet of the first robot is brought close to the bucket containing the selected type of work, and the work inside the bucket is attracted by the electromagnet. Then, the sucked work is transported to the work supply position on the placement unit of the take-out table.

Next, the work unit positioned at the work supply position is moved to the work discharge position by driving the take-out table drive device and moving the placement unit.
Next, the second robot grips and aligns the workpiece on the placement unit. Then, the surplus workpiece | work located in the workpiece | work discharge position on a mounting part is returned by the return apparatus to the bucket located in the vicinity of a workpiece | work supply position.

Therefore, by controlling the first robot and the second robot, the work can be automatically taken out from the bucket to the take-out stand, and the work on the take-out stand can be aligned.
Then, when changing the type of work to be aligned, it is only necessary to drive the moving device of the storage device and switch the bucket, so that the type of work to be aligned can be easily changed.

  Moreover, the 1st robot which performs only the operation | work which takes out the workpiece | work from the bucket of an accommodation apparatus and mounts it on a mounting part, and the 2nd robot which performs only the operation | work which aligns the workpiece | work on a mounting part were provided. Thus, since each robot is specialized for one work, work efficiency can be improved.

  In addition, since the first robot is operated near the workpiece supply position and the second robot is operated near the workpiece discharge position, the work locations of the robots are different, so even if these robots are operated simultaneously, they interfere with each other. Can be prevented and the degree of freedom of work can be improved.

  In this case, a recognition device (for example, a camera 60 described later) that recognizes the workpiece at the workpiece discharge position, and a control device (for example, described later) that causes the second robot to grip the workpiece based on the recognition result of the recognition device. Control device 80), and when the number of workpieces recognized by the recognition device is less than a predetermined number, the control device drives the drive device to move the placement unit, and then It is preferable that the workpiece is recognized again by the recognition device.

When gripping the workpiece with the second robot, the workpiece is photographed with a camera or the like, and the workpiece is recognized based on the photographed image. However, this method makes it difficult to secure a necessary number of workpieces depending on the position and posture of the workpiece.
In order to solve this problem, a method of changing the position and posture of the work by applying vibration to the work is conceivable. However, it is necessary to separately provide a vibration means for applying vibration to the work, which increases costs.

Therefore, according to the present invention, a recognition device for recognizing the workpiece at the workpiece discharge position is provided, and when the number of workpieces recognized by the recognition device is less than a predetermined number, the driving device is controlled to set the mounting portion. Then, the workpiece was recognized again by the recognition device.
Since a large number of workpieces are placed on the platform of the pick-up stand, it is possible to recognize workpieces that are outside the sensing range of the recognition device by moving the platform slightly toward the workpiece ejection position. Therefore, the necessary number of workpieces can be secured.
Moreover, since it is not necessary to provide a separate vibration means, cost can be suppressed.

  In this case, the plurality of buckets of the storage device are arranged along a circumference of a predetermined circle, and the moving device rotates the plurality of buckets around the center of the predetermined circle, thereby rotating the plurality of buckets. It is preferable that one selected from the buckets is positioned in the vicinity of the workpiece supply position of the take-out table.

  According to this invention, the plurality of buckets are arranged along the circumference of the predetermined circle, and the plurality of buckets are rotated about the center of the predetermined circle by the moving device. Therefore, switching of a plurality of buckets can be performed efficiently in a narrow space.

  In this case, it is preferable that a plurality of the extraction tables are provided.

  According to the present invention, since a plurality of take-out stands are provided, the waiting time of each robot can be shortened when each robot works on the plurality of take-out stands in order, so that work efficiency can be improved.

  In this case, it is preferable that the plurality of take-out table driving devices drive the plurality of placement units separately.

  According to the present invention, since the plurality of pick-up table driving devices are driven separately, the degree of freedom of work of the first robot and the second robot is higher than when the plurality of pick-up table driving devices are driven in synchronization. Can be improved.

  In this case, it is preferable that one storage device is provided for each of the plurality of extraction tables.

  According to this invention, since the accommodation apparatus is provided for each of the plurality of take-out stands, the movement of the work is compared with the case where the first robot transfers the work from the one accommodation apparatus to the take-out stands. Since the distance can be shortened, work efficiency can be improved.

  The workpiece moving method of the present invention is a workpiece moving method for moving the workpiece between a storage device and a take-out table, wherein the work piece is placed on the take-out table, and A drive device that reciprocates between a workpiece supply position and a workpiece discharge position, and a plurality of buckets in which different types of workpieces are accommodated are provided in the accommodation device, and the type of workpiece to be moved is selected. A first step of driving the storage device to position the bucket in which the selected type of work is stored in the vicinity of the work supply position of the take-out base; and a first robot having an electromagnet at the tip of the arm And using the electromagnet of the first robot to suck the selected type of workpiece from a bucket located in the vicinity of the workpiece supply position of the pick-up table, and removing the sucked workpiece. A second step of transporting the workpiece to the workpiece supply position on the platform mounting portion, and a third step of moving the workpiece positioned at the workpiece supply position to the workpiece ejection position by moving the platform of the extraction table. And a fourth step of returning a surplus workpiece positioned at the workpiece discharge position on the placement unit to a bucket positioned in the vicinity of the workpiece supply position.

  In this case, the first step to the fourth step are repeated a plurality of times. In the first step, different types of workpieces are selected, and the buckets in which the selected types of workpieces are accommodated are stored in the take-out table. It is preferable to move a plurality of types of workpieces by positioning them in the vicinity of the workpiece supply position.

  In this case, a plurality of the placement units are provided, and in the second step, the first robot transports the workpiece to workpiece supply positions on the plurality of placement units of the take-out table, and in the third step, It is preferable to move the plurality of placement units separately.

  According to the present invention, by controlling the first robot and the second robot, the work can be automatically taken out from the bucket to the take-out stand, and the work on the take-out stand can be aligned. Then, when changing the type of work to be aligned, it is only necessary to drive the moving device of the storage device and switch the bucket, so that the type of work to be aligned can be easily changed. In addition, a first robot that performs only the work of taking out the work from the storage device and placing it on the placement unit, and a second robot that performs only the work of aligning the work on the placement unit are provided. Thus, since each robot is specialized for one work, work efficiency can be improved. In addition, since the first robot is operated near the workpiece supply position and the second robot is operated near the workpiece discharge position, the work locations of the robots are different, so even if these robots are operated simultaneously, they interfere with each other. Can be prevented and the degree of freedom of work can be improved.

1 is a perspective view of a workpiece alignment system according to an embodiment of the present invention. It is a schematic diagram for demonstrating operation | movement of the workpiece | work alignment system which concerns on the said embodiment (the 1). It is a schematic diagram for demonstrating operation | movement of the workpiece | work alignment system which concerns on the said embodiment (the 2).

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view of a workpiece alignment system 1 according to an embodiment of the present invention.

  The workpiece alignment system 1 takes out the bolts 11 from the receiving devices 10A and 10B, the take-out stands 20A and 20B, the preset stand 30 and the receiving devices 10A and 10B in which the bolts 11 for tightening the wheels as works are received The first robot 40 placed on the tables 20A and 20B, the second robot 50 gripping the bolts 11 placed on the take-out tables 20A and 20B and aligned with the preset table 30, and the camera 60 as a recognition device And shooters 70A and 70B as return devices for returning the bolts 11 on the take-out bases 20A and 20B to the storage devices 10A and 10B, and a control device 80 for controlling them.

  The take-out bases 20 </ b> A and 20 </ b> B each include a pair of rollers 21, a belt 22 as a mounting portion wound around the pair of rollers 21, and a driving device 23 that rotationally drives the pair of rollers 21.

The region in Figure 1 on the belt 22 the left end, and a workpiece supply position P _1, a region in FIG. 1 the right end, to the workpiece discharge position P _2.
The drive device 23 is common to the take-out stands 20A and 20B, and rotates the pair of rollers 21 of the take-out stands 20A and 20B in synchronization. Therefore, by driving the driving device 23, so that the extraction stage 20A, 20B of the belt 22 is reciprocated synchronously with the workpiece supply position P ₁ and the workpiece discharge position P _2.

  The accommodating devices 10 </ b> A and 10 </ b> B include a cylindrical bucket portion 12 and a rotating device 13 as a moving device that rotates the bucket portion 12.

The bucket unit 12 includes a disk-shaped base 121, an outer peripheral wall 122 standing on the outer peripheral edge of the base 121, and a partition wall 123 that divides the space inside the outer peripheral wall 112 through the central axis of the base 121 into four. And.
The four spaces partitioned by the partition wall 123 are buckets B _{1 to} B ₄ , and these buckets B _{1 to} B ₄ are arranged along the circumference of a predetermined circle. Different types of bolts 11 are accommodated in the buckets B _{1 to} B ₄ , respectively.

The rotating device 13 rotates the bucket unit 12 with the central axis of the bucket unit 12 as a rotation axis. Thus, the rotation device 13, the center of the predetermined circle bucket _B 1 .about.B ₄ is arranged as a rotational axis, thereby rotating these buckets _B 1 ~B _4.

More accommodating devices 10A, 10B is the bucket portion 12 is arranged so as to be located directly under the workpiece supply position _{P 1.}
Therefore, according to the storage devices 10A and 10B, the bucket unit 12 is rotated by the rotation device 13 so that one selected from the _four buckets B _{1 to} B ₄ is supplied to the workpieces of the take-out bases 20A and 20B. it can be positioned in the vicinity of the position P _1.

Chute 70A, 70B is provided below the belt 22, extends from the vicinity of the workpiece discharge position _{P 2} to the vicinity of the work supply position _{P 1.} The chute 70A, 70B are inclined downwardly toward the workpiece discharge position _{P 2} side to the work supply position _{P 1} side.

In more chute 70A, 70B, in a state where the workpiece discharge position _{P 2} to the bolt 11 on the belt 22 is positioned and the driving device 23 is driven belt 22 moves, the bolt 11 of the workpiece discharge position _{P 2} is shooter It falls to the upper end side of 70A and 70B.
Bolt 11 that this fall, the chute 70A, slides over 70B, the chute 70A, is discharged from the lower end of the 70B, is returned to the bucket B located in the vicinity of the work supply position _{P 1.}

The preset base 30 includes a preset base body 31 provided on the floor surface, and a disc-shaped fitting portion 32 provided on the preset base body 31.
A plurality of insertion holes 321 into which the bolts 11 are inserted are formed in the fitting portion 32 along the peripheral edge portion.

The first robot 40 includes a bolt holding portion 41 that holds the bolt 11, a first moving mechanism 42 that moves the bolt holding portion 41 up and down, and a second movement that moves the first moving mechanism 42 in a predetermined horizontal direction. A mechanism 43 and a third moving mechanism 44 that moves the second moving mechanism 43 in a direction that is horizontal and intersects with a predetermined direction are provided.
The bolt holding part 41 is an electromagnet and holds the bolt 11 by magnetic force.

The first moving mechanism 42 includes a cylinder 421 that extends in a substantially vertical direction, and a rod 422 that is housed in the cylinder 421 so as to be movable up and down.
According to the first moving mechanism 42, the bolt holding portion 41 can be moved in a substantially vertical direction by moving the rod 422 up and down with respect to the cylinder 421.

The second moving mechanism 43 includes a slide rail 431 that extends in a predetermined horizontal direction, and a slide mechanism 432 that slides the first moving mechanism 42 along the slide rail 431.
According to the second moving mechanism 43, by driving the slide mechanism 432, the bolt holding portion 41 can be moved along the slide rail 431 in a predetermined horizontal direction, here in the width direction of the take-out bases 20 </ b> A and 20 </ b> B.

The third moving mechanism 44 includes a slide rail 441 that extends horizontally and in a direction intersecting with a predetermined direction, a slide mechanism 442 that slides the second moving mechanism 43 along the slide rail 441, and a pair of extraction tables 20A and 20B. And a support column 443 that supports the slide rail 441.
According to the third moving mechanism 44, by driving the slide mechanism 442, the bolt holding part 41 is moved along the slide rail 441 in a direction that intersects the horizontal and predetermined direction, in this case, in the length direction of the take-out bases 20A and 20B. I can move.

More first robot 40, receiving apparatus 10A, the selected buckets B and 10B are located in the vicinity of the work supply position P _1, and drives the moving mechanism 42 to 44, the bolt holding to the selected bucket B The part 41 is made to approach. Then, the bolt holding unit 41 sucks and holds the bolt 11 accommodated in the bucket B, drives the moving mechanisms 42 to 44, and holds the held bolt 11 on the belt 22 of the take-out tables 20 </ b> A and 20 </ b> B. placed and conveyed to the work supply position P _1.

The second robot 50 includes a robot main body 51 provided on the floor surface, and a manipulator 52 provided on the robot main body 51.
The manipulator 52 has seven axes, and includes a robot arm 53 that is pivotally supported by the robot main body 51 and a hand 54 that is pivotally supported by the tip flange surface of the robot arm 53.

  The robot arm 53 includes a first arm portion 531, a second arm portion 532, a third arm portion 533, a fourth arm portion 534, a fifth arm portion 535, and a sixth arm portion 536 in order from the robot body 51 side. Prepare.

  The first arm portion 531 extends substantially linearly and is pivotally supported by the robot body 51. The first arm portion 531 rotates about a substantially vertical direction as a rotation center.

The second arm portion 532 extends substantially linearly and is pivotally supported by the first arm portion 531. The second arm portion 532 is rotated about a direction intersecting the extending direction of the first arm portion 531 by a driving mechanism (not shown). As a result, the angle formed by the extending direction of the first arm portion 531 and the extending direction of the second arm portion 532 changes.
The third arm part 533 extends substantially linearly and is pivotally supported by the second arm part 532. The third arm portion 533 is rotated about the extending direction of the second arm portion 532 by a driving mechanism (not shown).

The fourth arm portion 534 extends substantially linearly and is pivotally supported by the third arm portion 533. The fourth arm portion 534 is rotated about a direction intersecting the extending direction of the third arm portion 533 by a driving mechanism (not shown). As a result, the angle formed by the extending direction of the third arm portion 533 and the extending direction of the fourth arm portion 534 changes.
The fifth arm 535 extends substantially linearly and is pivotally supported by the fourth arm 534. The fifth arm portion 535 is rotated about the extending direction of the fourth arm portion 534 by a drive mechanism (not shown).

  The sixth arm portion 536 extends substantially linearly and is pivotally supported by the fifth arm portion 535. The sixth arm portion 536 rotates about a direction intersecting the extending direction of the fifth arm portion 535 by a driving mechanism (not shown). As a result, the angle formed between the extending direction of the fifth arm portion 535 and the extending direction of the sixth arm portion 536 changes.

The hand 54 is rotated about the extending direction of the sixth arm portion 536 by a driving mechanism (not shown).
The hand 54 includes a base portion 541 that is pivotally supported on the front end flange surface of the robot arm 53 and a pair of holding portions 542 that are provided on the base portion 541 and can hold the bolt 11.

More second robot 50 takes out stand 20A, a bolt 11 which is placed on the workpiece discharge position _{P 2} on the 20B of the belt 22 is gripped by the hand 54, the insertion hole of the preset table 30 a bolt 11 which is the grasping 321.

The camera 60 photographs the take-out bases 20A and 20B from above, and includes a camera body 61 that photographs and a fixed base 62 that is provided on the floor and supports the camera body 61.
The camera 60 recognizes the bolt 11 in the work discharge position P ₂ on the basis of the captured image, and a known sensing techniques. As this sensing technique, for example, there is a template matching method for recognizing the position and orientation of the bolt 11 by comparing a master image of the bolt 11 with a captured image.

  The control device 80 causes the second robot 50 to grip the bolt 11 based on the recognition result of the camera 60. The control device 80 includes a determination unit 81 that determines whether or not the number of bolts 11 recognized by the camera 60 is smaller than the number of bolts 11 that need to be aligned with the preset base 30, and the determination unit 81 If the determination is YES, the driving unit 23 is driven to move the belt 22, and then the command unit 82 that causes the camera 60 to recognize the bolt 11 again is provided.

The above workpiece alignment system 1 operates as follows.
First, as shown in FIG. 2A, the type of bolt 11 to be aligned is selected. Here, the bucket _{B 1} bucket _{B 1} and accommodating apparatus 10B of the container device 10A, it is assumed that the selection.
Therefore, receiving devices 10A, by driving the rotation device 13 of 10B, to move the bucket _{B 1} the type of bolts 11 that this selection is housed, extraction table 20A, in the vicinity of the work supply position _{P 1} of 20B.

Then, based on the captured image of the camera 60, the first robot 40 holds the bolt 11 accommodated in the bucket B ₁ of the receiving apparatus 10A, on the belt 22 of the extraction stage 20A of bolt 11 and the held workpiece It is conveyed to the feed position _{P 1.}

Next, as shown in FIG. 2 (b), by driving the drive unit 23, is taken out table 20A, and moved 20B of the belt 22, the bolt 11 located on the work supply position _{P 1} the workpiece discharge position _{P 2} Transport to.

Next, as shown in FIG. 2 (c), the second robot 50 grips the bolt 11 located at the workpiece discharge position P ₂ on the belt 22 of the take-out table 20 </ b> A, and this bolt 11 is placed on the preset table 30. Align. Specifically, on the basis of the position and orientation information of the bolts 11 sensed by the camera 60, the order is assigned in order from the bolts 11 that are easy to grip, and the bolts 11 are gripped and aligned with the preset stand 30 according to this order. I will do it.

Here, the bolts 11 overlap each other on the belt 22, and it may be difficult to sense the position and posture of each bolt 11 with the camera 60.
Therefore, in this case, the control unit 80, is slightly moved toward the belt 22 to the workpiece discharge position P _2, again, to recognize the bolt 11 by the camera 60. This is necessary because a large number of bolts 11 are placed between the workpiece supply position P ₁ and the workpiece discharge position P ₂ on the belt 22, and sensing is performed again after the belt 22 is moved a little. This is because a large number of workpieces may be recognized.
For example, although it is necessary to align the six bolts 11 with the preset stand 30, when only four bolts 11 can be recognized by the camera 60, the belt 22 is moved slightly.
If the necessary number of bolts 11 cannot be secured even if the operation is performed in this way, the operation is finished, or the bolt 11 with the tip of the hand 54 of the second robot 50 is hooked and the position of the bolt 11 is set. Disperse moderately and continue work.

Simultaneously with the operation of the second robot 50, based on the captured image of the camera 60, the first robot 40 holds the bolt 11 accommodated in the bucket B ₁ of the receiving device 10B, a bolt 11 which is the holding to place the bolt 11 to the work supply position _{P 1} on the belt 22 of the take-out stand 20B.

Next, as illustrated in Fig. 3 (a), to drive the drive unit 23 moves the belt 22 of the take-out base 20B, a bolt 11 mounted on the work supply position P ₁ the workpiece discharge position P ₂ Transport to. At this time, in order to move the belt 22 of the take-out table 20A also synchronously, bolt 11 located on the workpiece discharge position _{P 2} on the belt 22 of the take-out stand 20A is dropped onto the chute 70A, slides on this chute 70A Te is returned to the bucket _{B 1} of the receiving device 10A.

Next, as shown in FIG. 3 (b), the second robot 50 grips the bolt 11 located at the workpiece discharge position P ₂ on the belt 22 of the take-out stand 20 </ b> B, and this bolt 11 is placed on the preset stand 30. Align.
Simultaneously with the operation of the second robot 50, by driving the rotation device 13 of the receiving apparatus 10A, the bucket _{B 2} of the container device 10A, is positioned in the vicinity of the work supply position _{P 1} of the extraction stage 20A.

Next, as shown in FIG. 3 (c), subsequently, the second robot 50 grips the bolt 11 located on the workpiece discharge position _{P 2} on the belt 22 of the take-out stand 20B, the preset stage the bolt 11 Align to 30.
Simultaneously with the operation of the second robot 50, the first robot 40 holds the bolt 11 housed in the bucket B ₂ of the housing device 10 </ b> A based on the captured image of the camera 60. , it conveyed to the work supply position _{P 1} on the belt 22 of the take-out stand 20B.

According to this embodiment, there are the following effects.
(1) by controlling the first robot 40 and second robot 50 automatically retrieves the bolt 11 is taken out table 20A from the bucket _B 1 .about.B _4, the 20B, further, the extraction stage 20A, the 20B The bolts 11 can be aligned.
When changing the type of bolt 11 to be aligned, receiving apparatus 10A, and drives the rotary device 13 of 10B, it is only switching the buckets _B 1 .about.B _4, facilitate the type of bolt 11 to align Can be changed.

In addition, the first robot 40 that only takes out the bolt 11 from the buckets B _{1 to} B ₄ of the storage devices 10A and 10B and places the bolt 11 on the belt 22, and the work that aligns the bolt 11 on the belt 22 are performed. A second robot 50 is provided. Thus, since each robot 40 and 50 is specialized for one work, work efficiency can be improved.

Further, the first robot 40 is working in the vicinity of the work supply position P _1, the second robot 50 so was working in the vicinity of the workpiece discharge position P _2, work because the location is different for each robot 40, 50, these robots Even if 40 and 50 are operated simultaneously, they can be prevented from interfering with each other, and the degree of freedom of work can be improved.

(2) the bolts 11 recognizes the camera 60 in the work discharge position P ₂ is provided, the mobile number of the bolt 11 which is recognized by the camera 60 when it is less than the predetermined number, the belt 22 controls the drive unit 23 After that, the bolt 11 was recognized by the camera 60 again.
Extraction stage 20A, since a large number of bolts 11 to 20B of the belt 22 is placed, only by slightly moving the belt 22 to the workpiece discharge position P ₂ side, the bolt 11, which is outside of the sensing range of the camera 60 The necessary number of bolts 11 can be secured.
Moreover, since it is not necessary to separately provide a vibration means, cost can be suppressed.

  (3) Since two take-out stands are provided, the waiting time of each robot 40, 50 can be shortened by each robot 40, 50 working in turn on these two take-out stands 20A, 20B. Efficiency can be improved.

(4) Four buckets B _{1 to} B ₄ are arranged along the circumference of a predetermined circle, and the four buckets B _{1 to} B ₄ are rotated about the center of the predetermined circle by the rotating device 13. . Therefore, the switching of the _four buckets B _{1 to} B ₄ can be efficiently performed in a narrow space.

  (5) Since the accommodation apparatuses 10A and 10B are provided one for each of the two take-out stands 20A and 20B, compared to the case where the workpiece is transferred from one accommodation apparatus to a plurality of take-out stands by the first robot, Since the moving distance of the bolt 11 can be shortened, work efficiency can be improved.

(6) shooter 70A, the 70B, is inclined downwardly toward the workpiece discharge position _{P 2} side to the work supply position _{P 1} side. Therefore, when returning the excess bolt 11, the bolt 11 located on the workpiece discharge position _{P 2,} simply by dropping the chute 70A, on 70B, the bolt 11, the chute 70A, containment device slipped over 70B Returned to bucket B of 10A, 10B. As described above, since the remaining bolts 11 can be automatically returned using the difference in height between the ends of the shooters 70A and 70B, a dedicated device for returning the bolts 11 is not necessary and the cost is reduced. it can.

It should be noted that the present invention is not limited to the above-described embodiment, and modifications, improvements, etc. within a scope that can achieve the object of the present invention are included in the present invention.
For example, in the present embodiment, the bolt 11 is used as the workpiece, but the present invention is not limited thereto, and a nut may be used.

  In the present embodiment, the belt 22 of the take-out bases 20A and 20B is synchronized by the driving device 23, but the present invention is not limited thereto, and the belt 22 may be driven separately. In this way, the following effects are obtained.

  (7) Since the plurality of pick-up table driving devices are driven separately, the degree of freedom of work of the first robot and the second robot can be improved as compared with the case where the plurality of pick-up table driving devices are driven in synchronization. .

1 Work alignment system 11 Bolt (work)
B ₁ .about.B ₄ bucket P ₁ work supply position P ₂ the workpiece discharge position 10A, 10B accommodating apparatus 13 rotating device (mobile device)
20A, 20B Extraction table 22 Belt (mounting part)
23 drive device 40 first robot 50 second robot 60 camera (recognition device)
70A, 70B Shuter (return device)
80 controller

Claims (9)

A workpiece alignment system for gripping and aligning workpieces,
A take-out stand comprising: a placement unit on which a workpiece is placed; and a drive device that reciprocates the placement unit between a workpiece supply position and a workpiece discharge position;
A storage device comprising: a plurality of buckets in which different types of workpieces are stored; and a moving device that positions one selected from the plurality of buckets in the vicinity of the workpiece supply position of the take-out table;
A return device that returns the workpiece located at the workpiece discharge position on the placement unit to a bucket near the workpiece supply position;
A first robot that takes out the workpiece using an electromagnet from a bucket near the workpiece supply position and places the workpiece on the workpiece supply position on the placement unit;
A workpiece alignment system comprising: a second robot that grips and aligns a workpiece positioned at the workpiece discharge position on the placement unit. The workpiece alignment system according to claim 1,
A recognition device for recognizing a workpiece at the workpiece discharge position;
A control device for causing the second robot to grip a workpiece based on a recognition result of the recognition device,
When the number of workpieces recognized by the recognition device is less than a predetermined number, the control device drives the drive device to move the placement unit, and then recognizes the workpiece again by the recognition device. Work alignment system characterized by letting The workpiece alignment system according to claim 1 or 2,
The plurality of buckets of the storage device are arranged along a circumference of a predetermined circle,
The moving device rotates one of the plurality of buckets with the center of the predetermined circle as a rotation axis, thereby positioning one selected from the plurality of buckets in the vicinity of the workpiece supply position of the pickup table. Work alignment system characterized by The workpiece alignment system according to any one of claims 1 to 3,
A workpiece alignment system, wherein a plurality of the takeout tables are provided. The workpiece alignment system according to claim 4, wherein
The plurality of pick-up table driving devices drive the plurality of placement units separately. The workpiece alignment system according to claim 4 or 5,
One workpiece arranging system is provided for each of the plurality of take-out tables. A workpiece moving method for moving the workpiece between a storage device and a take-out table,
A mounting unit on which the workpiece is mounted, and a driving device that reciprocates the mounting unit between a workpiece supply position and a workpiece discharge position;
The storage device is provided with a plurality of buckets in which different types of workpieces are stored,
A first step of selecting a type of a workpiece to be moved, driving the storage device, and positioning a bucket in which the selected type of workpiece is stored in the vicinity of a workpiece supply position of the take-out base;
Using the first robot having an electromagnet at the tip of the arm, the electromagnet of the first robot sucks the selected type of work from a bucket located in the vicinity of the work supply position of the take-out table, and sucks the work A second step of transporting the workpiece to a workpiece supply position on the mounting portion of the take-out table;
A third step of moving the workpiece located at the workpiece supply position to the workpiece discharge position by moving the placement portion of the take-out table;
And a fourth step of returning a surplus work located at the work discharge position on the placement section to a bucket located near the work supply position. In the work movement method according to claim 7,
Repeating the first to fourth steps a plurality of times,
In the first step, different types of workpieces are selected, and a plurality of types of workpieces are moved by positioning a bucket containing the selected types of workpieces in the vicinity of the workpiece supply position of the take-out base. A workpiece moving method characterized by: In the work movement method according to claim 7 or 8,
A plurality of the above-mentioned placement parts are provided,
In the second step, the first robot conveys the work to work supply positions on a plurality of placement units of the take-out table,
In the third step, the work moving method characterized in that the plurality of placement parts are moved separately.

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