JP6689288B2 - Work storage member, work supply device, and work transfer system - Google Patents

Description

  The present invention relates to a work storage member, a work supply device, and a work transfer system.

  BACKGROUND ART Conventionally, as a work storage member, for example, a hopper has been proposed which has an inclined surface and a bottom portion and adsorbs a stored component (work) by an electromagnet to take out an appropriate amount (for example, refer to Patent Document 1). In this device, a chute is provided near the hopper, and an actuator that can move horizontally and vertically is provided near the chute. This actuator allows the position of the electromagnet to be freely changed, so that the movement of parts is ensured. I'm going to do it.

JP, 6-64753, A

  However, in the work accommodating member described in Patent Document 1, it is stated that the actuator can be provided in the vicinity of the hopper so that the movement of the work can be performed more reliably. I didn't consider what to do. Especially, regarding the hopper, there is no mechanism other than the storage container. Therefore, in the work accommodating member of Patent Document 1, it is only possible to collectively take out a plurality of works.

  The present invention has been made in view of such problems, and it is mainly to provide a work accommodating member, a work supply device, and a work transfer system in which each work is easily collected and the work is easily replenished. To aim.

  The present invention adopts the following means in order to achieve the above-mentioned main object.

The work accommodating member of the present invention is
A work accommodating member used in a work transfer device for moving and mounting a work on a work mounting part,
An inclined surface on which the work can slide down,
A storage unit provided below the inclined surface for storing one or more workpieces;
A collection placement section that is placed above the inclined surface, on which a work transferred from the storage section can be placed, and the mounted work is sampled by the work transfer apparatus,
A housing in which the inclined surface, the storage portion, and the collection mounting portion are formed,
It is equipped with.

  With this work accommodating member, a plurality of works can be placed on the sampling placement section. At this time, for example, the work dropped from the sampling mount is sent to the storage along the inclined surface provided at the lower part thereof. Further, the works accommodated in the storage unit can be collectively taken out and spread on the collection placing unit. In this case, the work is sprinkled on the collection placement part, and the work pieces are easily collected one by one. Therefore, with this work accommodating member, it is easy to collect each of the works and to replenish the works. Here, the work includes, for example, one or more fastening members of bolts, nuts, washers, screws, nails, rivets, and the like.

In the work accommodating member of the present invention, a supply space capable of moving the work from the storage section to the sampling mounting section is formed above the storage section,
A sampling space in which the work can be sampled by the workpiece transfer device may be formed above the sampling platform. In this work accommodating member, since a space is formed above the storage part and the collecting placement part, it is possible to more reliably take out the work or supplement the work.

  In the work accommodating member according to the present invention, the inclined surface is disposed directly below the sampling mounting portion, and the sampling mounting portion is formed with an opening through which the workpiece falls onto the inclined surface. The storage part may be supported by the housing so that the storage part is formed in the housing so as to be adjacent to the sampling mounting part when viewed from above. In this work accommodating member, since the inclined surface is directly below the sampling mounting portion, it is possible to further reduce the size. In this work accommodating member, the sampling mounting section may have the opening formed between an edge of the sampling mounting section and the housing.

  In the work accommodating member of the present invention, the sampling mounting portion may be a rectangular plate-shaped member and may be supported by a supporting member from the side surface side of the housing. In this work accommodating member, since there is no support member in the direction along the side surface of the housing (for example, the front-back direction), even if the work is dropped in that direction, the work member does not get caught on the support member and moves to the inclined surface. Workpieces easily fall.

  In the work accommodating member of the present invention, the collection mounting part may be supported by the housing so as to be tiltable so that the work falls to the inclined surface and / or the storage part. In this work accommodating member, the collection placement section is inclined, so that the work is easily fed from the collection placement section to the storage unit by guiding the work to the inclined surface. Further, the tilting of the sampling mount makes it easy to deal with a case where a plurality of works overlap each other, for example.

  The work supply device of the present invention includes any one of the above-described work storage members, and a supply unit that collects one or more of the works stored in the storage unit and supplies the work to the collection placement unit in an indefinite posture. Be prepared. Since this work supply device is provided with any of the above-mentioned work storage members, it is possible to obtain an effect according to the adopted one. Further, the work can be supplied onto the collecting mount by the supply unit. Here, the “indefinite posture” means a state in which the position, direction, etc. of the work are not unified.

  In the work supply device of the present invention, at least a part of the work may be formed of a magnetic material, and the supply unit may attract and collect the work by magnetic force. In this device, the magnetic force can be used to more easily collect the work and supply the work to the collection mount. In this apparatus, the work placement section may be a pallet having a magnetic force. In this device, the work can be easily fixedly arranged by using magnetic force.

  In the work supply device of the present invention, the supply unit has a collection unit capable of collecting a plurality of the works at one time, and an arm unit in which the collection unit is arranged on one end side and the other end side is supported by a base unit. It may be one. In this device, each of the works can be moved and placed more reliably by the arm mechanism robot. Alternatively, the work supply device may be an XY robot in which a sampling head provided with the imaging unit and the sampling unit moves in the front-rear, left-right directions.

  In the work supply device of the present invention, at least a part of the work is formed of a magnetic material, and the supply unit is supported in a state having a degree of freedom in a vertical direction and attracts and collects the work by magnetic force. You may have a sampling part. With this device, it is possible to more easily collect the work by using magnetic force. Further, since the sampling unit has a vertical degree of freedom, for example, even if the storage unit stores a lying work or a standing work, it is possible to more reliably collect a large number of works. .

  The work supply apparatus of the present invention collects a plurality of the works from the storage unit at a timing when there is no work that can be collected in the collection mounting unit, and mounts the collected work on the collection mounting unit. A supply control unit for controlling the supply unit may be provided. In this apparatus, the supply control unit automatically replenishes the work piece to the sampling placement section, and thus the work continuity is good.

  The work supply device of the present invention collects one or more of the works placed on the collection placement unit at a predetermined timing, and controls the supply unit to send the collected works to the storage unit. A control unit may be provided. With this device, for example, when there is a work that is difficult to collect on the collecting mount, it can be cleared.

  The work transfer system of the present invention comprises any of the above-mentioned work accommodating members and a supply unit that collects one or more of the works stored in the storage unit and supplies the work to the collection mounting unit in an indefinite posture. A work supply device, and a transfer part that collects the works from the collection mount part on which one or more works are mounted and moves and mounts the collected works to the work mount part in a predetermined arrangement. And a work transfer device provided with the work transfer device. Since this work transfer system includes any of the above-mentioned work accommodating members and the work supply device, it is possible to obtain an effect according to the adopted device. Further, since the work is relocated by the work transfer device, the work can be easily used.

1 is a schematic explanatory diagram of a work transfer system 10. FIG. 2 is a schematic explanatory view of the work transfer device 20. FIG. 3 is a schematic explanatory diagram of a work supply device 40. FIG. FIG. 6 is a perspective view of a work storage member 60. Explanatory drawing of the workpiece accommodation member 60. FIG. 3 is a block diagram showing an electrical connection relationship of the work transfer system 10. The flowchart which shows an example of a work processing routine. The top view of the work accommodation member 60 which mounted and stored the work 37. Explanatory drawing of the work supply process which the work supply apparatus 40 performs. Explanatory drawing of the work process which the work transfer apparatus 20 performs. Explanatory drawing of the work collection process which the work supply apparatus 40 performs. Explanatory drawing of the workpiece accommodation member 60B. Explanatory drawing of 60 C of workpiece accommodation members. Explanatory drawing of 60 D of workpiece accommodation members.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic explanatory view of a work transfer system 10 which is an example of the present invention. FIG. 2 is a schematic explanatory diagram of the work transfer device 20 included in the work transfer system 10. FIG. 3 is a schematic explanatory diagram of the work supply device 40 included in the work transfer system 10. FIG. 4 is a perspective view of the work storage member 60. 5A and 5B are explanatory views of the work storage member 60. FIG. 5A is a front view, FIG. 5B is a side view, and FIG. 5C is a plan view. FIG. 6 is a block diagram showing an electrical connection relationship of the work transfer system 10. The work transfer system 10 includes a system control unit 12, a work transfer device 20, a work supply device 40, and a work accommodating member 60. The system control unit 12 controls the entire system, and is configured as a microprocessor centered on the CPU 14 (see FIG. 6). The system control unit 12 is electrically connected to the work transfer device 20 and the work supply device 40, outputs signals to these devices, and inputs signals from these devices. In the work transfer system 10, the left-right direction (X axis), the front-back direction (Y axis), and the up-down direction (Z axis) will be described below as shown in FIGS.

  The work transfer system 10 is configured as a device for moving and mounting the work 37, which is the work target accommodated in the work accommodating member 60, on the work placing portion 36 used for the subsequent work (see FIG. 1). . The work transfer system 10 aligns, for example, the works 37 placed on the sampling placement portion 63 of the work accommodating member 60 in an indefinite posture in a predetermined posture so that an operator can easily perform the work in a subsequent process. It may be placed on the work placing portion 36 in the closed state. Here, the “indefinite posture” means a state in which the position, direction, etc. of the work 37 are not unified. The work 37 is not particularly limited, and examples thereof include mechanical parts, electric parts, electronic parts, and chemical parts. For example, one or more fastening members among bolts, nuts, washers, screws, nails, rivets, and the like can be used. Good. At least a part (predetermined position 38) of the work 37 may be formed of a magnetic material. The work 37 is moved by a predetermined position 38 formed of a magnetic material being attracted by an electromagnet included in the work transfer device 20 or the work supply device 40. The work placement part 36 is a member for placing the works 37 in an array. The work placing section 36 has a magnetic force, and is configured as a pallet that fixes the work 37, which is a magnetic body, with magnetic force. The work placement section 36 has the work 37 arranged and fixed at a position determined according to the type of the work 37. The worker uses the work placing unit 36 to which the work 37 is arranged and fixed by the work transfer system 10 and assembles the work 37 while specifying the work 37 based on the position where the work 37 is arranged and fixed. . The work transfer system 10 may perform, for example, a step of arranging bolts as the work 37 on the work 37, a step of assembling washers as the work 37 to the arranged bolts, or the like. Here, in the case where the work 37 is a bolt whose entire body is a magnetic body, the predetermined position 38 is the tip of the screw shaft, and the head of the bolt is downward and arranged on the work placement portion 36 at predetermined intervals. A specific example will be described.

  The work transfer device 20 collects the works 37 from the work accommodating member 60 on which one or more works 37 are mounted, and transfers the collected works 37 to the work mounting unit 36 in a predetermined arrangement. The unit 21 is provided. The work transfer device 20 also includes a transfer unit 34 that transfers the work placement unit 36, and a transfer control unit 35 (see FIG. 6) that controls the entire device. As shown in FIGS. 2 and 6, the transfer unit 21 includes a sampling unit 22, an imaging unit 25, an arm unit 28, a first drive unit 31, a second drive unit 32, and a base unit 33. is doing.

  The sampling part 22 is a member that attracts and collects a predetermined position 38 of the work 37, and is rotatably attached to the tip of the arm part 28 (see FIG. 2). The sampling unit 22 includes an attracting unit 23, a sandwiching unit 24, two plates 70, a fixing member 71, and a sandwiching pin 72. The attracting portion 23, the sandwiching portion 24, and the fixing member 71 are arranged between the two plates 70. The plate 70 is a plate-shaped member arranged at the tip of the arm portion 28. In this plate 70, a groove portion 73 is formed as a guide for guiding the holding pin 72. The attracting section 23 has an electromagnet and a shaft member connected to the electromagnet, and attracts and collects a magnetic work 37 to the tip of the shaft member. The attracting portion 23 is fixed below the plate 70. The attracting portion 23 is configured to generate a magnetic force (attracting force) in a plurality of stages (for example, three stages) according to the supplied electric power. The sandwiching portion 24 is a member that sandwiches and supports the work 37 in a posture after the attracting portion 23 has attracted the workpiece 37. In the sampling unit 22, the work 37 is held by the two holding units 24, but the work 37 may be held by three or more holding units. The holding portion 24 is rotatably supported by both ends of the fixed member 71. Further, a holding pin 72 is fixed to the surface of the holding portion 24 on the plate 70 side. The holding pin 72 is inserted into the groove portion 73 formed in the plate 70. The fixing member 71 is arranged on the plate 70 so as to be vertically movable, and is vertically moved by an air cylinder. The fixing member 71 has an initial position above the plate 70, and moves downward when the work 37 is clamped. The holding portion 24 is housed inside the plate 70 when the fixing member 71 is in the initial position (left view of the blowout in FIG. 2). Further, when the fixing member 71 moves downward, the sandwiching portion 24 is exposed from the plate 70 while the sandwiching pin 72 is guided to a predetermined track by the groove portion 73. When the fixing member 71 is located at the lowermost portion (clamping position), the tip of the clamping section 24 comes into contact with the clamping section 24 to clamp the work 37 (right side of blowout in FIG. 2).

  The imaging unit 25 is a unit that captures an image, and is fixed to the tip side of the plate 70. The image pickup unit 25 includes an illumination unit 26 and an image pickup element 27. The illumination unit 26 is illumination arranged in a circular shape on the outer peripheral side of the image sensor 27, and irradiates an image pickup target located below with light. The illumination unit 26 is arranged in the image pickup unit 25 so as to irradiate the whole of the collection placement unit 63 which is an image pickup target with light. The image sensor 27 is an element that generates an electric charge by receiving light and outputs the generated electric charge. The image sensor 27 may be a CMOS image sensor. The image pickup unit 25 generates image data based on the charges output from the image pickup device 27, and outputs the generated image data to the transfer control unit 35.

  As shown in FIG. 2, the arm portion 28 has the sampling portion 22 and the image pickup portion 25 arranged on one end side, the base portion 33 arranged on the other end side, and is supported by the base portion 33. The arm portion 28 includes a first arm 29 and a second arm 30. The first arm 29 is a longitudinal member in which the sampling unit 22 that operates the work 37 is arranged. Inside the first arm 29, a drive unit (not shown) that rotationally drives the sampling unit 22 is arranged. The second arm 30 is a longitudinal member provided with the first arm 29. The second arm 30 is provided with a first drive unit 31 for rotating the first arm 29 on the tip side thereof. The first drive unit 31 includes a bevel gear mechanism in which the first arm 29 is arranged, and a motor that rotationally drives the bevel gear mechanism. The second arm 30 is disposed on the base 33. The base portion 33 supports the second arm 30 via a support shaft formed in the up-down direction. A motor is arranged on the base 33, and the support shaft is rotated by the motor. The base portion 33 has a second drive portion 32 arranged to rotate the second arm 30 on the tip side thereof. The second drive unit 32 includes a bevel gear mechanism in which the second arm 30 is arranged, and a motor that rotationally drives the bevel gear mechanism.

  The transport unit 34 is a unit that carries in and transports the work placement unit 36, fixes the work 37 at the transfer position, and carries it out. The transport unit 34 has a pair of conveyor belts that are provided in front and back of FIG. The work placing section 36 is conveyed by this conveyor belt.

  The transfer control unit 35 controls the entire work transfer device 20 (see FIG. 6). The transfer control unit 35 outputs a signal to the sampling unit 22, the imaging unit 25, the first drive unit 31, the second drive unit 32, and the transport unit 34. The transfer control unit 35 also receives a signal from the imaging unit 25. It should be noted that the first drive unit 31 and the second drive unit 32 are equipped with position sensors (not shown), and the transfer control unit 35 inputs the position information from these position sensors, and the motors of the respective drive units are input. To control. The transfer control unit 35 moves the sampling unit 22 to a predetermined position 38 of the work 37 recognized based on the captured image of the sampling mounting unit 63 on which the work 37 is mounted in an indefinite posture, and aligns the collection unit 22 in a predetermined posture. Then, the sampling unit 22 and the imaging unit 25 are controlled so that the work 37 is placed on the work placing unit 36.

  The work supply device 40 collects one or more works 37 stored in the storage unit 62 (see FIGS. 4 and 5) of the work storage member 60 so that the work transfer device 20 can collect the work 37 in an indefinite posture. The supply unit 41 that supplies the collection placement unit 63 of the storage member 60 is provided (see FIG. 3). Further, the work supply device 40 includes a work storage member 60, a moving unit 54, and a supply control unit 55 (see FIG. 6). As shown in FIGS. 3 and 6, the supply unit 41 includes a collection unit 42, an arm unit 48, a first drive unit 51, a second drive unit 52, and a base unit 53.

  The sampling unit 42 is a member that attracts and collects a large number of works 37, and is rotatably attached to the tip of the arm unit 48 (see FIG. 3). The sampling unit 42 includes an attracting unit 43 and a support shaft 44. The attracting portion 43 is a relatively strong electromagnet fixed to the lower end of the support shaft 44, and attracts and collects a plurality of works 37 at the same time as much as possible. The support shaft 44 is supported by the tip of the arm portion 48 in a state of being freely movable in the vertical direction (blowing diagram in FIG. 3). Since the attracting part 43 can freely move up and down, it is possible to magnetically sample the works 37 in various postures. As shown in FIG. 3, the arm portion 48 has the sampling portion 42 arranged on one end side, the base portion 53 arranged on the other end side, and is supported by the base portion 53. The arm part 48 includes a first arm 49, a second arm 50, and a first drive part 51. The base portion 53 also includes a second drive portion 52. The first arm 49, the second arm 50, the first drive unit 51, the second drive unit 52, and the base unit 53 are the first arm 29, the second arm 30, the first drive unit 31, and the second drive unit of the arm unit 28. Since the configuration is the same as that of the base 32 and the base 33, a detailed description thereof will be omitted.

  As shown in FIG. 1, the moving unit 54 moves the accommodating table 56 on which one or more work accommodating members 60 are placed, and the accommodating table 56 between the retracted position (see the dotted line in FIG. 1) and the transfer processing position. The rail 57 and a drive unit (not shown) for moving the housing 56 are provided. The operator moves the accommodation table 56 to the retracted position, and then adds a new work 37 to the work accommodation member 60.

  The supply controller 55 controls the entire work supply device 40 (see FIG. 6). The supply control unit 55 outputs a signal to the sampling unit 42, the first driving unit 51, the second driving unit 52, and the moving unit 54. The supply control unit 55 collects a plurality of works 37 from the storage unit 62 at the timing when there is no work 37 that can be collected on the collection mounting unit 63, and supplies the collected works to the collection mounting unit 63. The part 41 is controlled. Further, the supply control unit 55 controls the supply unit 41 to collect one or more works 37 placed on the collection placement unit 63 at a predetermined timing and send the collected works 37 to the storage unit 62.

  The work accommodating member 60 is a member that stores the work 37, and is used in the work transfer device 20 that moves and mounts the work 37 on the work mounting portion 36. As shown in FIGS. 4 and 5, the work accommodating member 60 includes an inclined surface 61, a storage portion 62, a sampling mounting portion 63, and a housing 64. The inclined surface 61 is a workpiece. 37 is a surface on which the work accommodating member 60 is formed. The storage portion 62 is a portion provided below the inclined surface 61 and storing one or more works 37. The sampling mounting portion 63 is a member that is disposed above the inclined surface 61 and that mounts the workpiece 37 transferred from the storage portion 62. The housing 64 constitutes an outer wall of the work accommodating member 60, and has an inclined surface 61, a storage portion 62, and a sampling mounting portion 63. The work accommodating member 60 is a box whose top is open. That is, a supply space 65 in which the work 37 can be moved from the storage section to the sampling mounting section 63 is formed above the storage section 62. Further, a sampling space 66 in which the work 37 can be sampled by the work transfer device 20 is formed above the sampling platform 63. The inclined surface 61 is an inclined surface that guides the workpiece 37 that has fallen from the collection mounting portion 63 to the storage portion 62. The inclined surface 61 is arranged directly below the sampling mounting portion 63. The storage part 62 is a part for storing a large number of works 37, and is formed below the housing 64 so as to be adjacent to the sampling mounting part 63 when viewed from above (see FIG. 5C). The sampling mounting portion 63 is a rectangular plate-shaped member, and is supported by a cylindrical support member 68 from the side surface side of the housing 64. In this work accommodating member 60, there is no support member 68 in the front-back direction of the housing 64 (see FIG. 4). The work accommodating member 60 is formed with an opening 67 between the edge of the collecting mount 63 and the housing 64, through which the work 37 falls onto the inclined surface 61.

  Next, an operation of the work transfer system 10 of the present embodiment configured as described above, particularly a process of array-fixing the works 37 on the work placement unit 36 will be described. FIG. 7 is a flowchart showing an example of a work processing routine executed by the system control unit 12 of the work transfer system 10. Further, FIG. 8 is a plan view of the work accommodating member 60 on which the work 37 is placed and stored. 9A and 9B are explanatory diagrams of the work supply process executed by the work supply device 40. FIG. 9A is a diagram for collecting the work 37 from the storage unit 62, and FIG. 9B is a placement table for collecting the work 37. FIG. 9C is a diagram in which the work 37 is spread on the sampling placement unit 63, and FIG. 10A and 10B are explanatory diagrams of the work processing executed by the work transfer device 20, FIG. 10A is a diagram for imaging the collecting placement unit 63, and FIG. 10B is a diagram for collecting the work 37. FIG. 10C is a diagram in which the work 37 is fixed by the sandwiching portion 24. Further, FIG. 10D is a diagram in which the workpiece 37 is attracted to the attracting portion 23, FIG. 10E is a diagram in which the holding portion 24 is moved, and FIG. 10F is a diagram in which the workpiece 37 is fixed by the holding portion 24. 10 (g) is a diagram showing the arrangement and placement on the work placement section 36. FIG. 11A and 11B are explanatory views of the work recovery process executed by the work supply device 40. FIGS. 11A and 11B are views for recovering the work 37 on the collecting placement unit 63, and FIG. 11C. It is a figure which returns the work 37 which was collect | recovered to the storage part 62. Although details are omitted here for the sake of convenience of description, when there are a plurality of work accommodating members 60 and a plurality of types of works 37 are arranged and mounted on the work mounting portion 36, the steps described below are performed. The processing of S100 to 200 may be performed for each work accommodating member 60.

  The work processing routine is stored in the system control unit 12 and is executed by a start instruction from an operator. When this routine is started, the CPU 14 of the system control unit 12 causes the carrying unit 34 to carry in and carry the work placing unit 36, and fixes the work placing unit 36 at the transfer position (step S100). Next, the CPU 14 causes the work supply device 40 to execute the work supply process (step S110). In the work supply process, the supply control unit 55 of the work supply device 40 moves the attracting unit 43 of the collecting unit 42 to the storage unit 62 and causes the attracting unit 43 to collect a large number of works 37 (see FIG. a)). Next, the supply control unit 55 moves the attracting unit 43 to the upper center of the sampling mounting unit 63 (FIG. 9B), demagnetizes the electromagnet, and places the work 37 on the sampling mounting unit 63. A sprinkling process is executed (FIG. 9C). The work 37 may be dispersed and mounted in an indefinite posture on the sampling mounting portion 63, and a part thereof may drop downward from the opening 67 and return to the storage portion 62 via the inclined surface 61. In the work supply process, the work supply device 40 moves the sampling unit 42 along a predetermined trajectory without considering the posture of the work 37 accommodated in the storage unit 62.

  After step S110, the CPU 14 causes the imaging unit 25 to capture an image of the collection mounting unit 63 (Step S120), recognizes the mountable work 37 that can be collected, and determines the predetermined position 38 of the work 37. Is recognized (step S130). The work transfer device 20 moves the imaging unit 25 to the upper center of the sampling placement unit 63 to perform the imaging process (see FIG. 10A). The captured image is sent to the system control unit 12, and the work 37 is recognized. The recognition processing of the work 37 is prepared in advance by, for example, binarization processing or pattern matching processing, for example, by distinguishing the area of the collection placement unit 63 in the captured image from the other area (area of the work 37). This can be done by identifying a work area that matches the reference shape data of the created work 37. For example, as shown in FIG. 7, the CPU 14 recognizes an area, which is suitable for the reference shape data of the work 37, in the area of the work 37 of the captured image 80 as the extractable work area 81, and sets it as the reference shape data of the work 37. The area that does not match may be recognized as the uncollectable work area 82. The reference shape data may include, for example, the shape when the work 37 is viewed from a plurality of angles. From the viewpoint of more reliably collecting the work 37, the work 37 that can be collected may be, for example, one that does not overlap in a complicated manner, or one that is not placed on the edge of the collection mount 63. . In the recognition processing of the predetermined position 38, after recognizing the collectable work 37, the tip portion of the collectable work 37 is recognized (see FIG. 8).

  Next, the CPU 14 sets the attraction force according to the type of the work 37 (step S140). The work transfer device 20 controls the attraction unit 23 to the set attraction force. This attracting force may be set to a value at which only one work 37 can be collected, for example. By doing so, the work transfer device 20 can attract and collect one work 37 even from the overlapped works 37. Next, the CPU 14 determines whether or not there is a work that can be collected based on the result of step S130 (step S150). When there is a work 37 that can be collected, the CPU 14 sets the work 37 to be collected (step S160), and causes the work transfer device 20 to execute the work transfer mounting process (step S170). The workpieces 37 to be collected can be set in any order, for example, the workpieces 37 that have not been collected from the left to the right of the image, or from the top to the bottom of the image. In the work moving / mounting process, the transfer control unit 35 of the work transfer device 20 moves the attracting unit 23 to the position of the predetermined position 38 of the set work 37 to be sampled, and pulls the work 37 to be collected. The attachment portion 23 is attracted (FIG. 10 (b)). Next, the transfer control unit 35 moves the sampling unit 22 upward so that the work 37 is suspended from the tip of the attracting unit 23 (FIG. 10D). Subsequently, the transfer control unit 35 moves the fixing member 71 downward (FIG. 10E), and causes the clamping unit 24 to clamp the work 37 (FIGS. 10C and 10F). After that, the transfer control unit 35 moves the sampling unit 22 onto the work placement unit 36, demagnetizes the electromagnet, opens the holding unit 24, and places the work 37 in an array position at which it should be placed ( FIG. 10 (g)).

  Subsequently, the CPU 14 determines whether or not the transfer of the current work placement part 36 is completed based on the progress of the work (step S180), and the transfer of the work placement part 36 is completed. If not, the processes of step S150 and subsequent steps are executed. On the other hand, in step S150, when there is no work that can be collected on the collection placement unit 63, the CPU 14 causes the work supply device 40 to execute the work recovery processing (step S190), and executes the processing from step S110. In the work recovery process, the supply control unit 55 of the work supply device 40 moves, for example, the attracting unit 43 of the collection unit 42 on the collection placement unit 63, and leaves the work remaining on the collection placement unit 63. 37 is collected by the attracting portion 43 (FIGS. 11A and 11B). Next, the supply control unit 55 moves the attracting unit 43 to above the opening 67 to demagnetize the electromagnet and drop the work 37 (FIG. 11C). The dropped work 37 returns to the storage unit 62 via the inclined surface 61. In the work recovery process, the work supply device 40 may move the sampling unit 42 along a predetermined trajectory without considering the position of the work 37 remaining on the sampling placement unit 63. On the other hand, when the transfer of the work placing section 36 is completed in step S180, the CPU 14 causes the conveying section 34 to eject the work placing section 36, and conveys and fixes a new work placing section 36 ( Steps S200) and S150 and subsequent steps are executed. In this way, in the work transfer system 10, the works 37 can be arrayed and mounted on the work mounting part 36 by the work transfer device 20 and the work supply device 40. A work transfer system may be provided downstream of the work transfer system 10 in which washers are attached to the bolts arranged on the work placement unit 36. It is assumed that the worker uses the work 37 arranged and placed on the work placing section 36 to produce the product.

  Here, the correspondence relationship between the components of the present embodiment and the components of the present invention will be clarified. In the present embodiment, the inclined surface 61 corresponds to the inclined surface, the storage unit 62 corresponds to the storage unit, the sampling mounting unit 63 corresponds to the sampling mounting unit, and the housing 64 corresponds to the housing. The supply space 65 corresponds to the supply space, the collection space 66 corresponds to the collection space, the opening 67 corresponds to the opening, and the support member 68 corresponds to the support member. The supply unit 41 corresponds to the supply unit, the collection unit 42 corresponds to the collection unit, the arm unit 48 corresponds to the arm unit, the base unit 53 corresponds to the base unit, and the supply control unit 55 corresponds to the supply control unit. To do.

  In the work accommodating member 60 of the present embodiment described above, the work accommodating member 60 is provided with an inclined surface 61 on which the work 37 can slide down, and a storage provided under the inclined surface 61 for storing one or more works 37. The part 62 and the work 37 placed on the inclined surface 61 and transferred from the storage part 62 can be placed, and the work transfer device 20 collects the placed work 37. It is provided with a portion 63, a slanted surface 61, a storage portion 62, and a housing 64 in which a sampling mounting portion 63 is formed. In this work accommodating member 60, a plurality of works 37 can be placed on the collection placement part 63, and the work dropped from the collection placement part 63 follows the inclined surface 61 provided at the lower part thereof. It is sent to the storage unit 62. Further, the works 37 accommodated in the storage section 62 can be collectively taken out and placed on the sampling placing section 63. In this case, the work 37 is sprinkled on the collection placement unit 63, and the work pieces 37 are easily collected one by one. Therefore, in the work accommodating member 60, each of the works 37 can be easily collected and the works 37 can be easily replenished. Further, in the work accommodating member 60, since the supply space 65 and the collection space 66 are formed above the storage part 62 and the collection placement part 63, it is possible to more reliably take out the work or supplement the work. it can.

  Further, the inclined surface 61 is disposed directly below the sampling mounting portion 63, and the sampling mounting portion 63 has a housing 64 so that an opening 67 through which the workpiece 37 falls is formed on the inclined surface 61. Supported by. Further, the storage section 62 is formed in the housing 64 so as to be adjacent to the sampling mounting section 63 when viewed from above. In this work accommodating member 60, since the inclined surface 61 is directly below the sampling mounting portion 63, it is possible to make it more compact. Further, in the work accommodating member 60, an opening 67 is formed between the edge of the sampling mounting portion 63 and the housing 64. Therefore, the opening 67 can be formed relatively easily. Furthermore, since the sampling mounting portion 63 is a rectangular plate-shaped member and is supported by the support member 68 from the side surface side of the housing 64, it is not possible to move in the direction along the side surface of the housing 64 (for example, in the front-back direction). There is no support member, and even if the work 37 falls when moving the work 37 in that direction, the work 37 easily falls onto the inclined surface 61 without being caught by the support member 68.

  Further, since the work supply device 40 includes the work accommodating member 60 and the supply unit 41 that collects the one or more works 37 accommodated in the storage unit 62 and supplies them to the collection placing unit 63 in an indefinite posture, the supply unit The work 37 can be supplied onto the sampling mount 63 by 41. Further, since the work 37 is at least partially formed of a magnetic material, and the supply unit 41 attracts and collects the work 37 by magnetic force, the work 37 can be more easily collected by using the magnetic force and placed for collection. Can be supplied to the part 63. Furthermore, since the work placing section 36 is a pallet having a magnetic force, the work 37 can be easily fixedly arranged by using the magnetic force.

  The supply unit 41 has the collection unit 42 capable of collecting the plurality of works 37 at one time, and the arm unit 48 in which the collection unit 42 is arranged at one end side and the other end side is supported by the base unit 53. By the mechanical robot, each of the works can be moved and placed more reliably. Further, since the supply unit 41 has the collecting unit 42 that is supported in a state of having a degree of freedom in the vertical direction and attracts and collects the work 37 by the magnetic force, the work can be more easily collected by using the magnetic force. . Further, since the sampling unit 42 has a degree of freedom in the vertical direction, for example, even if the work 37 in a lying posture or the work 37 in a standing posture is accommodated in the storage unit 62, a large number of works 37 can be more reliably stored. Can be collected.

  Further, the supply control unit 55 collects a plurality of works from the storage unit 62 at the timing when there is no work 37 that can be collected on the collection mounting unit 63, and mounts the collected works 37 on the collection mounting unit 63. For this reason, the supply control unit automatically replenishes the work piece to the collection placement section, and thus the work continuity is good. In addition, the supply control unit 55 collects one or more works 37 placed on the collection placement unit at a predetermined timing and sends the collected works to the storage unit 62. Therefore, for example, the collection placement unit 63 is used. When there is a work 37 that is difficult to collect in the case, it can be cleared.

  Further, since the work transfer system 10 includes the work transfer device 20, the work supply device 40, and the work accommodating member 60, the work transfer device 20 arranges the works 37 on the work placement portion 36 in an array. It is easy to use the work 37.

  It is needless to say that the present invention is not limited to the above-described embodiments and can be implemented in various modes as long as they are within the technical scope of the present invention.

  For example, in the above-described embodiment, the work accommodating member 60 has the inclined surface 61, the storage section 62, and the sampling mounting section 63, but the invention is not particularly limited thereto. FIG. 12 is an explanatory diagram of a work accommodating member 60 </ b> B provided with two inclined surfaces 61 and two sampling mounting portions 63. The work accommodating member 60B also makes it easy to collect each of the works 37 and to replenish the works 37.

  In the above-described embodiment, the work accommodating member 60 has been described as including the sampling mounting portion 63 fixed to the housing 64, but the present invention is not particularly limited to this. FIG. 13 is an explanatory diagram of the work accommodating member 60C in which the sampling mounting portion 63 rotates so as to be tiltable. In the work accommodating member 60C, the sampling mounting portion 63 is supported by the housing 64 via a support member 68 so as to be inclined so that the work 37 falls on the inclined surface 61. One end of the sampling mounting portion 63 is supported (on the left end side in FIG. 13), and the other end is a free end (on the right end side in FIG. 13). Is urged by. At a predetermined timing, for example, the free end side is pushed down by the sampling unit 42, so that the workpiece 37 is sent from the inclined sampling placement unit 63 to the storage unit 62. This may be a work recovery process. Also in this work accommodating member 60C, it is easy to collect each of the works 37 and to replenish the works 37 easily. In addition, in the work accommodating member in which the collecting mount 63 is inclined, the inclination direction may be any direction as long as one end of the collecting mount 63 moves downward. Further, the sampling placing section 63 is not limited to the one tilted by the sampling section 42, and a driving section may be provided to tilt the sampling placing section 63.

  In the above-described embodiment, the work accommodating member 60 has the inclined surface 61 below the sampling mounting portion 63, but the present invention is not limited to this. FIG. 14 is an explanatory diagram of the work accommodating member 60D in which the collection mounting portion 63, the inclined surface 61, and the storage portion 62 are connected in a line. In such a work accommodating member 60D, although it becomes long in the front-rear direction, it is easy to collect each of the works 37 and to replenish the works 37 easily.

  In the above-described embodiment, the work 37 is made of a magnetic material, and it is described that the collection units 22 and 42 attract the work 37 by magnetic force, but the collection units 22 and 42 attract and collect the work. If it is a thing, it will not be specifically limited to this. For example, the collection unit may be one that attracts the work 37 using an ER (Electro-rheological) gel whose adhesiveness can be controlled by electricity. The ER gel may be, for example, a silicone gel containing ER particles. Also in this apparatus, it is easy to collect each of the works 37 and to replenish the works 37 easily. The work placement unit 36 may also use the ER gel to fix the work 37.

  In the above-described embodiment, the work collecting process and the work supplying process are executed with the timing when the collectable works 37 are exhausted as a predetermined timing, but the present invention is not limited to this. For example, the work recovery process or the work supply process may be executed after a certain time has passed as a predetermined timing, or the work recovery process or the next work supply process may be performed according to the number of the works 37 that can be collected after the work supply process. The execution time of may be set as a predetermined timing.

  In the above-described embodiment, the transfer control unit 35 controls the attracting unit 23 of the sampling unit 22 with the attracting force that attracts one workpiece 37, but the present invention is not limited to this. For example, assuming that the work 37 independently placed on the collection mounting portion 63 is identified as the work 37 that can be collected, even if the attraction force for collecting two or more works 37, Only one work 37 can be sampled.

  In the above-described embodiment, the work supply device 40 is described as a device including the arm portion 48, but the work supply device 40 is not particularly limited to this. For example, the sampling head provided with the sampling portion 42 moves in the front-rear, left-right direction. It may be an apparatus including an XY robot. Also with this device, it is easy to collect each of the works 37 and to replenish the works 37. The same applies to the work transfer device 20.

  In the embodiment described above, the system control unit 12 executes the work processing routine, but the invention is not particularly limited to this, and the transfer control unit 35 and the supply control unit 55 share the work processing routine. It may be one. For example, the transfer control unit 35 may execute the work processing routine, and the supply control unit 55 may execute the work supply process or the work recovery process in response to a command from the transfer control unit 35.

  In the embodiment described above, the work transfer system 10 includes one work transfer device 20 and one work supply device 40, but the invention is not particularly limited to this, and one or more devices are provided. May be

  In the above-described embodiment, the work transfer system 10 including the work transfer device 20, the work supply device 40, and the work accommodating member 60 has been described, but only the work accommodating member 60 may be used, or the work accommodating member 60 may be used. The work supply device 40 may be provided.

  INDUSTRIAL APPLICABILITY The present invention can be used in the technical field of an apparatus that performs processing such as collecting and placing a work.

10 work transfer system, 12 system control unit, 14 CPU, 20 work transfer device, 21 transfer unit, 22 sampling unit, 23 attraction unit, 24 clamping unit, 25 imaging unit, 26 illumination unit, 27 imaging device, 28 arm part, 29 first arm, 30 second arm, 31
1st drive part, 32 2nd drive part, 33 base part, 34 conveyance part, 35 transfer control part, 36
Work placement part, 37 work, 38 predetermined position, 40 work supply device, 41 supply part, 42 sampling part, 43 attracting part, 44 support shaft, 48 arm part, 49 first arm, 50 second arm, 51 1st drive part, 52 2nd drive part, 53 Base part, 54 Moving part, 55 Supply control part, 56 Storage stand, 57 Rail, 60, 60B, 60C, 60D Work storage member, 61 Inclined surface, 62 Storage part, 63 Sampling mount, 64 housing, 65 supply space, 66 sampling space, 67 opening, 68 support member, 70 plate, 71 fixing member, 72 clamping pin, 73 groove, 80 imaged image, 81 sampleable work Area, 82 Work area that cannot be collected.

Claims (12)

A work accommodating member used in a work transfer device for moving and mounting a work on a work mounting part,
An inclined surface on which the work can slide down,
A storage unit provided below the inclined surface for storing one or more workpieces;
A collection placement section that is placed above the inclined surface, on which a work transferred from the storage section can be placed, and the mounted work is sampled by the work transfer apparatus,
And a housing mounting a portion is formed for the collection and the inclined surface and the reservoir,
A work accommodating member , wherein the sampling mounting part is supported by the housing so as to be tiltable so that the work falls onto the inclined surface and / or the storage part . Above the storage unit, a supply space in which the work can be moved from the storage unit to the sampling placement unit is formed,
The work accommodating member according to claim 1, wherein a collection space in which the work can be collected by the work transfer device is formed above the collection placement unit. The inclined surface is disposed directly below the sampling mounting portion,
The sampling mounting portion is supported by the housing so that an opening through which the work falls is formed on the inclined surface,
The work accommodating member according to claim 1 or 2, wherein the storage section is formed in the housing so as to be adjacent to the sampling mounting section when viewed from above.   The work accommodating member according to any one of claims 1 to 3, wherein the sampling mounting portion is a rectangular plate-shaped member and is supported by a supporting member from a side surface side of the housing. A work accommodating member used in a work transfer device for moving and mounting a work on a work mounting part, wherein the work is a slant surface on which the work can slide down, and one or more work provided below the slant surface. And a storage unit for storing the workpieces transferred from the storage unit disposed on the inclined surface and for collecting the mounted workpieces by the workpiece transfer device. A work accommodating member including a mounting part, a housing in which the inclined surface, the storage part, and the sampling mounting part are formed,
And a supply unit for supplying to the platform for the collection in one or more of the work was collected indeterminate posture contained in the reservoir,
The supply unit has a collecting unit capable of collecting a plurality of the works at one time, and an arm unit in which the collecting unit is disposed on one end side and the other end side is supported by a base unit.
Work supply device. A work accommodating member used in a work transfer device for moving and mounting a work on a work mounting part, wherein the work is a slant surface on which the work can slide down, and one or more work provided below the slant surface. For storing, and a work disposed on the inclined surface, on which a work transferred from the storage can be placed, and for collecting the placed work by the work transfer device. A work accommodating member including a mounting part, a housing in which the inclined surface, the storage part, and the sampling mounting part are formed,
And a supply unit for supplying to the platform for the collection in one or more of the work was collected indeterminate posture contained in the reservoir,
At least a part of the work is formed of a magnetic material,
The supply unit has a sampling unit that is supported in a vertical direction with a degree of freedom and that collects the work by attracting the work by magnetic force.
Work supply device. A work accommodating member used in a work transfer device for moving and mounting a work on a work mounting part, wherein the work is a slant surface on which the work can slide down, and one or more work provided below the slant surface. And a storage unit for storing the workpieces transferred from the storage unit disposed on the inclined surface and for collecting the mounted workpieces by the workpiece transfer device. A work accommodating member including a mounting part, a housing in which the inclined surface, the storage part, and the sampling mounting part are formed,
A supply unit that collects the one or more workpieces stored in the storage unit and supplies the workpieces to the collection mounting unit in an indefinite posture ;
A supply control unit that controls the supply unit to collect one or more works placed on the collection placement unit at a predetermined timing and to send the collected works to the storage unit;
Work supply device equipped with. At least a part of the work is formed of a magnetic material,
The work supply device according to claim 5, wherein the supply unit attracts and collects the work by magnetic force. The supply unit includes a harvestable collecting unit at a time a plurality of said workpiece, said collecting portion is disposed at one end the other end is an arm portion which is supported by the base, one of the claims 6-8 The work supply device according to item 1 . At least a part of the work is formed of a magnetic material,
The work supply device according to any one of claims 5 and 7 to 9 , wherein the supply unit includes a collection unit that is supported in a state having a vertical degree of freedom and that attracts and collects the work by magnetic force. The work supply apparatus according to any one of claims 5 to 10 , wherein
Controlling the supply unit so as to collect a plurality of the works from the storage unit at a timing when there is no work that can be collected on the collection mounting unit and to mount the collected works on the collection mounting unit. A work supply device including a supply control unit. A work accommodating member according to any one of claims 1 to 5 , and a supply unit that collects the one or more works stored in the storage unit and supplies the work to the collection placement unit in an indefinite posture. A work supply device provided , or the work supply device according to any one of claims 5 to 11,
Work transfer including a transfer unit that collects the work from the collection mounting unit on which one or more works are mounted and moves the collected work to the work mounting unit in a predetermined arrangement. Mounting device,
Work transfer system equipped with.

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