JPH04196398A - Component feeder - Google Patents

Abstract

PURPOSE:To enable even components of shape unstable in position and the combined components to be easily and precisely fed to a work by a method wherein light is made to irradiate a magazine, the shadows of components inside the magazine are recognized, and the recognized shadow is compared with the reference position and posture of a component, whereby that a component is rightly fed or not is judged. CONSTITUTION:A magazine 2 fixed in position by a positioning means 2 is made to ascend by a certain distance as supported from below by a support means 16 and irradiated with light from below by an irradiation means 21, whereby the shadows of components 1 inside the magazine 2 are formed. The shadows are picked up by a component position judging means 25, a difference between the shadows and the reference position and posture of the component 1 is recognized, and it is judged that the component 1 is right in position and posture or not. The judged components 1 are successively taken out from the magazine 2 by a component unloading means 46 and transferred to a work 43 as corrected in position and posture basing on data sent from the component position judging means 25. By this setup, even components of shape unstable in position and the combined components which can not be transferred through vibrating transfer can be easily, precisely, and automatically fed to a work.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a parts supply device that supplies automatically transported parts to an automatic workpiece assembly station via a robot, and in particular, The present invention relates to a parts feeding device suitable for accurately and easily feeding parts (including single parts and combined parts) that are stable and have a shape that is difficult to transport by vibration using a parts feeder or the like.

[Prior Art] Conventionally, as a technique for supplying parts to an automatic assembly device, a tray on which parts are arranged is supplied by an automatic supply means.
The supplied trays are stocked in a stock station, and a robot with multiple hands takes out a predetermined tray from the stock station and places it on a parts take-out station, and the hands of the robot pick up parts from the trays in this station. A system in which a plurality of parts are automatically assembled by the one robot using the parts taken out and the parts taken out (
For example, there is a part alignment device (Japanese Patent Application Laid-Open No. 62-277229) that supplies parts aligned in a fixed direction to a work assembly robot. The vibrating part is provided with a compound circular vibration mechanism that combines circular movements of a plurality of unbalanced weights in mutually different directions, and a large number of recesses formed in the shape of a predetermined part of the component held in the vibrating part are provided. There is a device (for example, Japanese Patent Application Laid-Open No. 100326/1983) in which the components on the component arrangement plate are vibrated in almost every direction so that the components fit into the alignment recesses.
As a parts arrangement device that arranges parts so that they can be easily picked up by a workpiece assembly robot, a vibration mode that is set in advance as an arrangement condition for multiple parts handled on a parts arrangement tray is selected in advance, and vibration is applied in the selected mode. A device for arranging parts on the tray (for example, Japanese Patent Laid-Open No. 62-27
No. 5927) and the like have been proposed.

[Problems to be Solved by the Invention] Parts are supplied to the conventional robot that automatically assembles a plurality of parts using a single robot via a parts alignment device.

The component alignment device is configured to use a vibration device or the like to align components in advance on a component array plate formed in the shape of a predetermined portion of the component as described above.

For this reason, for parts with unstable postures and assembled parts, even if a parts arrangement plate having a recess formed in the shape of a predetermined part of the conventional parts described above is used, the alignment or arrangement of the parts may cause the parts to vibrate. Therefore, parts with stable postures (including irregularly shaped parts other than simple shapes such as spheres and disks) should be placed in a fixed direction or in a way that is easy for the workpiece assembly robot to pick up. could not align or arrange the parts. Therefore, with respect to unstable-shaped parts and assembled parts that are difficult to vibrate and transport using such parts feeders, etc., there has been a problem in that the parts cannot be accurately fed to the workpiece in a predetermined orientation.

In view of the above-mentioned problems of the prior art, the present invention provides a parts feeding device that can accurately and easily feed parts to a workpiece, even parts with unstable shapes and combined parts that are difficult to transport by vibration. The purpose is to provide

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a parts supply device that supplies automatically transported parts to an automatic workpiece assembly station via a robot. (ii) a plurality of magazines of the same shape and size made of flat transparent material loaded with parts and stacked with the same external shape in a supply station; (ii) the magazine is transferred from the supply station to the parts in the magazine; (iii) positioning means for positionally fixing the magazine moved by the transport means at the component extraction position; and (iv) the size of the component loaded in the magazine. (v) supporting means having a mesh surface with dimensions corresponding to the size of the mesh surface, and having an elevating means for lifting and supporting the positioned magazine from below on the mesh surface and descending to release the support; (vi) illumination means for irradiating light toward the magazine from the mesh surface of the support means to create a shadow of the external shape of the parts in the magazine; Determine the position and orientation of the part by comparing the position and orientation with the reference position and orientation of the part,
(regret) a part orientation determination means that outputs difference information between the two; and (regret) an orientation correction that sequentially takes out parts from the magazine and corrects the position and orientation of the taken out parts to the reference position and orientation based on information from the part orientation determination means. (vjl) the magazine from which all the parts have been taken out is sequentially moved by the conveying means from the component take-out position, and is moved a predetermined distance by the conveying means; After being moved, the magazine is dropped into the magazine and is stored therein, and includes a discharge means provided with a case for sequentially discharging the stored magazines.

The magazine is provided with a plurality of partitions formed to correspond to the shapes and dimensions of the parts to be loaded, and within each partition a transparent sheet of plastic is used to store the parts in approximately the same attitude as the one to be assembled to the workpiece. Well, also in said magazine.

A plurality of drawn holes for setting the magazine position are provided at symmetrical positions in the left and right directions and front and rear of the magazine, and a plurality of drawn holes are provided near the holes and in asymmetric positions in the left and right and front and rear directions for maintaining vertical spacing and horizontality when stacking magazines. It is desirable that the drawn holes are provided so as to protrude from the lower surface of the magazine.

Preferably, the conveying means includes a pusher that presses the magazine in the supply station from behind, and a conveyor that conveys the magazine pushed out by the pusher to a component removal position. Preferably, the fixing means fixes the magazine by fitting a tapered protrusion into a plurality of drawn holes for position setting provided in the magazine. and the supporting means,
It has a mesh surface formed by pasting wires on a transparent thin plate,
It is desirable that the mesh size of the mesh surface can be changed arbitrarily.

On the other hand, it is preferable that the illumination means is formed in the shape of a box having a milky-white plate on the upper surface, a light source provided below the plate, and the lower surface and the surrounding area shielded from light.

Furthermore, the component orientation determination means is configured to calculate a positional deviation between a TV camera attached to the robot and an image captured by the TV camera and an image captured in a reference position and orientation of the component photographed in advance, and output the calculated information. It is preferable to have a configuration including an information output means for outputting the information, and the component extraction means.

A sensor that determines the shape of the magazine and outputs drive information that determines the direction of the robot's hand, and a correction mechanism that corrects the position and orientation of the part gripped by the hand to the reference state, and the corrected part. It is desirable to have a configuration that includes a robot that transports the robot onto the workpiece.

[Function] With the above configuration, the plurality of magazines stacked in the supply station loaded with unstable-shaped parts are transported one by one from the supply station to the position where the parts in the magazine are taken out by the conveyance means. be moved sequentially. Then, the position of the magazine is fixed at the position by the positioning means, and the fixed magazine is supported by the support means at the lower side and raised a predetermined distance, and is irradiated with light from below by the irradiation means. This irradiation creates a shadow of the external shape of the component in the magazine, and the created shadow is photographed by the component orientation determining means to recognize the difference from the reference position and orientation of the component. It is determined whether the position and orientation of the part are correct or not. The determined parts are sequentially taken out from the magazine by the parts take-out means, corrected to the reference position and orientation based on the information from the part attitude determination means, and conveyed onto the workpiece. When all the parts have been taken out of the magazine, the magazine is moved from the parts take-out position by the conveying means and is dropped into the case of the ejecting means and stored therein.

By repeating this action, even parts with unstable shapes and combinations of parts with difficult postures that are difficult to transport by vibration can be automatically fed to the work accurately and easily.

[Embodiment] An embodiment of the present invention will be described below with reference to FIGS. 1 to 9. Figure 1 is an overall perspective view of the parts supply device;
The figure is an explanatory diagram of the structure of the magazine. Fig. 2 (a) is a perspective view of the magazine, Fig. 2 (b) is a detailed view of the drawn holes provided in the magazine, and Fig. 3 shows the structure of the magazine supply station. FIG. 4 is a perspective view showing the structure of the magazine positioning means, FIG. 5 is an explanatory view of the structure of the magazine support means, FIG. ) is a sectional view taken along the line vb-vb in FIG. 5(a), FIG. 6 is a perspective view showing the structure of the illumination means of the magazine, and FIG. 7 is an explanatory diagram of the component orientation determination means. Diagram showing its configuration, No. 7
FIG. 8 is a diagram illustrating the configuration of a determining means for determining the orientation of the magazine, and FIG. 9 is a diagram illustrating the configuration and operation of the component ejecting means.

First, in FIGS. 1 and 2, reference numeral 1 indicates a part to be supplied to a workpiece, and the present invention targets single or combined parts whose posture is unstable and whose shape is difficult to transport by vibration using a parts feeder or the like.

2 is a flat magazine in which a large number of partitions 2a are formed in an orderly manner so that a plurality of parts 1 can be loaded;
is vacuum-formed into the same size and shape from a thin sheet-like material, such as polystyrene, with a thickness of 1 m or less. The partition 2a is formed in a size (area and depth) that almost matches the external shape and dimensions of the component 1 to be mounted, and there is a space inside the partition 2a that is approximately the same as the posture in which the component 1 is assembled to the workpiece. It is made of a transparent sheet like a plastic egg pack that can be stored in any position. 2b.

Reference numeral 2c denotes a circular drawn hole with a diameter of approximately 10 mm that is formed at the periphery of the magazine 2 so as to protrude downward. As shown in FIG. 2(b), the lower side has a tapered conical shape. The drawn hole 2b is
This is used when positioning the magazine 2, as shown in Figure 2 (
As shown in a), they are provided at symmetrical positions on the left and right sides and front and back of the magazine 2, and the drawn holes 2c are located in the magazine 2.
It maintains the vertical spacing and horizontality when the magazines 2 are stacked (i. It is provided at 糺≠ra≠shima≠ne in (a).

2d is a notch in a part of the corner of magazine 2.
It is provided at only one location to determine the direction of transport.

As shown in Fig. 3, each magazine 2 has a notch 2d.
A plurality of magazines are stacked so that the left and right sides are alternately arranged, and the vertical spacing and horizontality of the magazine 2 are maintained by the drawn holes 2c, and the magazine 2 is stored in the supply station 3 shown in FIG. These magazines 2 have a plate 4. whose lowermost surface is smaller than the external dimensions of the magazines 2 provided at the bottom of the supply station 3. Screw 5 and screw 5 screwed together with plate 4
It is supported by a lifter 7 consisting of a motor 6 that rotates it, and can be moved up and down. 7 shown in Figure 1
is a conveyance means for moving the magazine 2 from the supply station 3 to a position where the parts 1 in the magazine 2 are taken out; the conveyance means 8 includes a pusher 9 that presses the magazine 2 in the supply station 3 from behind; The conveyor 10 conveys the loaded magazine 2 to a position where the parts 1 are taken out. Reference numeral 11 denotes a guide plate provided on the conveyance means 8 for guiding the direction of the magazine 2 during conveyance. The transport means 8 includes a positioning means 12 for fixing the transported magazine 2 at a position from which the parts 1 are taken out.
is provided. As shown in FIG. 4, the positioning means 12 fixes the taper pins 13.13 that are respectively fitted into the two drawn holes 2b on one side of the magazine 2, and one end side of the bar that supports the taper pins 13.13. A rotatable shaft 14 and a cylinder 15 that rotates the shaft 14
When the magazine 2 is transported to a predetermined position (the position to take out the part 1), the cylinder 15 is driven to fit the taper pins 13, 13 into the drawn holes 2b, thereby positioning the magazine 2. Let's do it.

Reference numeral 16 denotes support means for supporting the magazine 2 from below at the position where the component 1 is taken out, and the support means 16 is shown in FIG.
), a mesh surface 17 with dimensions corresponding to the external dimensions of the parts 1 loaded in the magazine 2, a plate 18 to which the mesh surface 17 is attached, a frame 18a supporting the plate 18, and a mesh surface 17.
．． It consists of a plate 18 and a lifting means 19 for lifting and lowering the frame 18a. The mesh surface 17 is formed by pasting wires 17b with a diameter of about 0.5 mm in a mesh pattern to a transparent thin plate 17a, and each wire 17b has both ends fixed around the plate 18 with pins 20. There is. The pin 20 is freely movable in a groove provided around the plate 18, so that the mesh size can be arbitrarily changed in accordance with the size and arrangement of the partitions 2a of the magazine 2. The elevating means 19 is a lighting means 2, which will be described later, on which the supporting means 16 is placed.
It consists of a screw 19a screwed onto a bracket fixed to the bracket 1, and a motor 19b for rotating the screw 19a.By rotating the screw 1.9a and raising the support means 16, the magazine is 2 is supported, and the support is released by descending in the opposite direction.

Reference numeral 21 denotes an illumination means for irradiating light from below toward the magazine 2 through the mesh surface 17.As shown in FIG. It consists of a milky white glass plate 23 covering the top surface and a fluorescent lamp 24 placed inside the case 22.

Reference numeral 25 denotes a component posture determining means for determining the posture and position of the component 1 in the magazine 2, and the component posture determining means 25 includes a seventh
As shown in Figure (a), a TV camera 26 that photographs the shadow of the external shape of the component 1 in the magazine 2 created by the illumination of the illumination means 21, an analog circuit 28, an AD converter 29 that converts the captured image from AD to AD, Video memory 30, reference position and posture of component 1 in magazine 2, and imaged component 1
control means 31 for calculating the amount of deviation from the position and orientation of
It consists of a control device main body 27 consisting of a DA converter 32 and a monitor 33, and is configured to output calculation information of the amount of deviation. In addition, as mentioned above, magazine 2
1 at the supply station 3 as shown in FIG.
Since the sheets are stacked one by one with left and right orientations opposite to each other, and are supplied to the conveying means 8 in the opposite orientation, the presence or absence of the notch 2d in the magazine 2 is detected by the proximity sensor 34 provided at a certain location. The orientation of magazine 2 is determined.

35 is the magazine 2 positioned by the positioning means 12
As shown in FIGS. 1 and 9, the parts taking out means 35 is a part taking out means for taking out parts in a more sequential manner.As shown in FIGS. Parts removal mechanism 37
, a hand 38 that grips the part 1, a motor 39 that rotates the hand 38, and an attitude correction mechanism 40 that corrects the position and attitude of the part 1 to a reference position and attitude based on information from the part attitude determination means 25. There is.

41, the part 1 gripped by the hunt 38 is a workpiece 43
A correction station 42 is a position and attitude correction mechanism provided on the top surface of the correction station 41, and the correction mechanism 42 corrects the position and attitude of the part 1 before being assembled on the top. In cases where the position is corrected by bringing a pin fixed to the mechanism 42 into contact, or where a single hole is drilled in the component 1, the pin fitted into the hole may be brought into contact with the pin at two locations on the outer periphery of the component 1. A configuration in which the position is corrected by adjusting the position is adopted. 44 is a platen for positioning the workpiece 43; 45 is a platen 4 positioned at a predetermined position
This conveyor conveys the workpiece 43 on which the assembly of the part 1 has been completed on the workpiece 4. Reference numeral 46 denotes a case 4 in which the magazines 2 conveyed by the conveyor 10 are stored in a state in which the front part is dropped diagonally downward, and the stored magazines 2 are sequentially discharged.
6a.

Next, the operation of the above embodiment will be explained. In advance, the unstable-shaped part 1 is mounted on the workpiece 43 in a posture as close as possible to the posture when assembling it, and the part 1 is placed at the supply station 3.
Since the outer shape and dimensions of the plurality of magazines 2 stacked in the interior are constant regardless of the type of parts, the pusher 9
The parts 1 are sequentially pushed out one by one by a certain size, and further moved by a certain distance by the conveyor 10 to the position where the parts 1 in the magazine 2 are taken out. The position is fixed by the positioning means 12 shown in FIG. 4, but when the pusher 9 pushes out the magazine 2.
may bend to some extent in the extrusion direction, resulting in insufficient extrusion amount even after extrusion by a predetermined dimension. However, positional deviation due to insufficient extrusion amount occurs between the drawn hole 2b of the magazine 2 and the taper pin 13.13 of the positioning means 12.
By fitting with the above, automatic correction can be easily and reliably performed.

The magazine 2 whose position is fixed is supported by a support means 6, raised a predetermined distance by an elevating means 19, and irradiated with light from below by an illumination means 21. In this case, since the magazine 2 is transparent, only the component 1 part is not penetrated by light, but the others are transmitted. Therefore, regardless of whether or not Part 1 reflects light when irradiated with light, even if it is a pressed part, machined part, plastic part, etc., its external shape will be used as a shadow. It is possible to take it out. A shadow matching the external shape of the component 1 is created, the created shadow is photographed by the TV camera 26 of the component orientation determining means 25, and the position and orientation of the component 1 are determined by the method shown in FIG. 7(b). It will be judged.

That is, (i) in FIG. 7(b) is an image of the shadow of the component 1 taken by the TV camera 26, and (2) is the posture of the reference position of the component 1 accurately installed in the partition 2a of the magazine 2. (3) is an image obtained by superimposing the images of (i) and (2),
, and it is determined whether the superimposed images match. If they do not match, the control device shown in FIG. 7(a) shifts the image (i) in the X and y directions and in the θ direction, which is the rotational direction, and determines the amount of deviation until it matches the image (2). The position of the hand 38 of the component ejecting means 35 is automatically corrected based on the calculated deviation amount in the main body 27 until it matches the orientation of the image (2), and the component 1 is removed from the magazine 2 as shown in the image (2). Hold this position and take it out. During this ejection, a pressing force is applied to the magazine 2 from above, but since the magazine 2 is supported by the mesh surface 17, the pressing force can be supported without causing the magazine 2 to bend. In addition, in this example,
It is also possible to photograph the position of the part assembly of the workpiece 43 using the TV camera 26 by the posture correction mechanism 40, and determine the amount of deviation from the image (2) using the same method as described above.

The part 1 gripped by the hand 38 is conveyed by the robot 36 to a correction station 41, as shown in FIG. 9, and placed on a correction mechanism 42 provided in the correction station 41, where it is finally corrected to an accurate posture. be done. In the case of this embodiment, as described above, the three
It is corrected by a mechanical structure using book pins. When the correction is completed, the part 1 is held in an accurate position and posture by the hand 38, and the assembly on the workpiece 43 is automatically supplied to the position accurately and easily by the robot 36. Note that the component orientation determining means 25 can also determine the positional deviation of the workpiece 43, so even if there is a positional deviation of the workpiece 43, the assembly position of the component 1 is determined each time, and the part 1 is supplied to the correct position. Is possible.

When all the parts 1 in one magazine 2 are supplied to the workpiece 43, the magazine 2 is moved by the conveyor 10 of the transport means 8, and is placed diagonally from the front of the magazine 2 into the case 46a of the ejection means 46. It is dropped downward and stored. During this dropping, the magazine 2 has a flexible structure made of vacuum-formed plastic sheets as mentioned above, so it will not deform even if the magazines 2 collide with each other, and it can be stored and ejected just by dropping it. It is possible.

Thereafter, the parts 1 in all the stacked magazines 2 are fed to the workpiece 43 by repeating the above operation, but as mentioned above, the direction of each magazine 2 differs by 18o0, so the close proximity shown in FIG. The sensor 34 detects the presence or absence of the notch 2d, and depending on the presence or absence of the notch 2d, the motor 39 shown in FIG. It is now possible to do so.

[Effects of the Invention] As explained above, the present invention allows workpieces to be accurately and easily handled, not only for parts in stable postures, but also for parts with unstable postures and combinations of parts that are difficult to transport by vibration such as parts feeders. It has a remarkable effect that can be supplied on top.

[Brief explanation of the drawing]

Fig. 1 is an overall perspective view showing an embodiment of the parts supply device of the present invention, Fig. 2 is an explanatory diagram of the structure of a magazine, and Fig. 2(a)
is a perspective view of the magazine, FIG. 2(b) is a detailed view of the drawn holes provided in the magazine, FIG. 3 is a perspective view showing the configuration of the magazine supply station, and FIG. 4 is the configuration of the magazine positioning means. A perspective view and FIG.
Figure (b) is a sectional view of Figure 5 (a) (7) Vb-Vb,
The figure is a perspective view showing the configuration of the illumination means of the magazine, FIG. 7 is an explanatory diagram of the component attitude determination means, FIG. 7(a) is a diagram showing the configuration, and FIG. 7(b) is a diagram showing the component attitude determination method explanatory diagram,
FIG. 8 is an explanatory diagram of the configuration of the determining means for determining the orientation of the magazine, and FIG. 9 is an explanatory diagram of the configuration and operation of the parts ejecting means. 1... Parts, 2... Magazine, 2a... Partition,
2b, 2c...Drawn hole, 2d...Notch, 3...
- Supply station, 8... Conveying means, 9... Pusher, 10... Conveyor, 12... Positioning means, 13, 13... Taper pin, 16... - Supporting means,
17.Mesh surface, 17b...Wire, 21...Illumination means, 24...Fluorescent lamp, 25..Component posture determination means, 2
6...TV camera, 27...control device body, 33...
・Monitor, 34. Proximity sensor, 35. Parts extraction means, 36. Robot, 38. Hand, 42.
- Correction mechanism, 43... Work, 46 - Discharge means, 46a
·Case. Patent Applicant Hitachi, Ltd. Patent Attorney Tadashi Akimoto Younger Brother 2 Figure 3 Figure 4 Figure 5 (Q) Figure 51 (b) 1B -tyb Figure 2 6 Figure 2 - Illumination head throw 24 - Jihi Yu X-ding Figure 7 (a) Figure 7 (b) 26 2 sun - Figure 8 No. 34 - Stopping figure 9

Claims (1)

[Claims] 1. In a parts supply device that supplies automatically transported parts to an automatic workpiece assembly station via a robot, (i) flat plate-like parts loaded with unstable-shaped parts and stacked with the same external shape in the supply station; a plurality of magazines of the same shape and size made of transparent material; (ii) a transport means for sequentially moving the magazines from the supply station to a position for taking out parts in the magazines; and (iii) a plurality of magazines that are moved by the transport means. (iv) having a mesh surface with dimensions corresponding to the size of the components loaded in the magazine, and positioning means using the mesh surface to fix the position of the loaded magazine at the component removal position; (v) a support means having an elevating means for raising and supporting the loaded magazine from below and lowering it to release the support; (vi) recognizes the created shadow and compares the position and orientation of the part in the magazine of the recognized shadow with the reference position and orientation of the part; (vii) a part orientation determining means for determining the position and orientation and outputting difference information between the two; (vii) taking out parts one by one from the magazine and determining the position and orientation of the taken out parts at the reference position based on information from the part orientation determining means; and (viii) the magazine from which all the parts have been taken out is sequentially moved from the component take-out position to the transport means, which has a posture correction means for correcting the posture, and transports the part whose posture has been corrected onto the workpiece. 1. A component supply device comprising: a discharge means provided with a case that is moved by a magazine, is dropped and stored after moving a predetermined distance, and sequentially discharges the stored magazines. 2. The magazine has a plurality of partitions formed in accordance with the shapes and dimensions of the parts to be loaded, and each partition has a transparent sheet made of plastic that stores the parts in approximately the same attitude as the part to be assembled to the workpiece. 2. The component supply device according to claim 1, which comprises: 3. The magazine has a plurality of drawn holes for magazine position setting at symmetrical positions on the left and right sides and front and back of the magazine;
3. A plurality of drawn holes for vertical spacing and horizontal maintenance when stacking magazines are provided in the vicinity of the holes and at asymmetric positions in the left-right and front-rear directions, each of which protrudes from the lower surface of the magazine. parts supply device. 4. 2. The component supply device according to claim 1, wherein the conveyance means comprises a pusher that presses the magazine in the supply station from behind, and a conveyor that conveys the magazine pushed out by the pusher to a component removal position. 5. 4. The component supply device according to claim 1, wherein the positioning means comprises a fixing means for fixing the position by fitting a tapered protrusion into a plurality of drawn holes for position setting provided in the magazine. 6. 2. The component supply device according to claim 1, wherein the supporting means has a mesh surface formed by adhering wires to a transparent thin plate, and the mesh size of the mesh surface can be arbitrarily changed. 7. 2. The component supply device according to claim 1, wherein the illumination means has a milky-white plate on the upper surface, a light source is provided below the plate, and is formed in a box shape with the lower surface and the surrounding area shielded from light. 8. Information in which the component orientation determining means calculates a positional deviation between a TV camera attached to the robot, an image captured by the TV camera, and an image captured in a reference position and orientation of the component photographed in advance, and outputs the calculated information. 2. The component supply device according to claim 1, further comprising an output means. 9. The component extraction means conveys drive information that determines the direction of the robot's hand to a sensor that determines the shape of the magazine and outputs it, and a correction mechanism that corrects the position and orientation of the component gripped by the hand to the reference state. 2. The parts supply apparatus according to claim 1, further comprising a robot for transporting the corrected parts onto the workpiece.