JPH04243722A - Method for detecting attitude of component transferred - Google Patents

Abstract

PURPOSE:To surely determine irrespective of the form of a small electronic component whether or not the electronic component takes a predetermined attitude when passing through a transfer passage. CONSTITUTION:Openings are provided through a transfer passage and an optical sensor 43 is used to determine whether or not a characteristic part of a component 1 blocks all of the openings when passing through the openings, thereby detecting the attitude of the component 1.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for determining the orientation of transferred parts.

0002

[Prior Art and its Problems] A vibrating parts supply device uses vibration to transport parts along a predetermined transport path, but generally parts are delivered one by one in a predetermined posture to the next process. ing. For this purpose, various posture determination methods have been developed depending on the shape of the component, and parts that are not in the desired posture are determined by the posture determination method and removed from the transfer path.

However, depending on the position of the center of gravity of small electronic components, currently known posture determination methods cannot be applied, and even if they are applied, they may be uncertain. For example, as an example of an electronic component, the component 1 shown in FIG. Approximately 0.5
mm, and the length N of one side of the protrusion 3 on the platform 2 is approximately 1.2 mm.
, the length P of the other protrusion 3 is about 1.25 mm, the height E of the protrusion 3 is about 0.7 mm, and the lengths N and H are approximate to the length P. There is. Further, the height H and the length N are equal.

An example of conventional means for determining the orientation of a component 1 having this shape is shown in FIGS. 16 to 20.

The illustrated means determines the posture based on the position of the center of gravity G of the parts 1 shown in FIG. It is inclined downward, and the attitude of the part 1 is determined while the part 1 is being transferred by torsional vibration on this inclined transfer surface 68.

However, with this method, all the parts 1 in the postures shown in FIGS. 16 and 20 (because the center of gravity G is outside the edge of the transfer surface 68) are moved to the bowl 67 as shown by the arrow.
However, as shown in FIG. 17, the part in the desired attitude shown in FIG. Components that are not in the desired posture but in a posture in which the longitudinal side of the platform 2 is erected and the platform 2 is brought into contact with the side wall 68a are also transported together. Furthermore, the parts in the postures shown in FIG. 19 are not limited to any of the above, and although they may fall, they may be transported as they are in some cases. As described above, this conventional means cannot accurately determine the posture. Further, the parts 1 in the postures shown in FIGS. 17 and 18 must be further sorted on the downstream side.

The component 10 shown in FIG. 5 is also a small electronic component, and this component 10 has four legs 12, 12.
, 12, 13, the width R of three legs 12, 12, 12 is the same, approximately 0.4 mm, and the width S of only one leg 13 is approximately 0.6 mm, which is the same as that of the other legs. It is wider than the section 12.

[0008] When it is desired to transfer such a component 10 in the direction of the arrow in the illustrated orientation, the cost is high and it is difficult to easily eliminate the component 10 in a different orientation using currently known orientation determination methods. .

[0009]

[Problems to be Solved by the Invention] The present invention has been made in view of the above-mentioned problems, and is suitable for determining the orientation of small electronic components, which is conventionally difficult in relation to the center of gravity, and is inexpensive even when the orientation of small components is determined. It is an object of the present invention to provide a method for determining the posture of a transported part, which can accurately determine the posture of a transported part.

0010

[Means for Solving the Problems] The above object is to provide a method for determining the posture of a transferred part transferred along a predetermined transfer path, in which an opening of a predetermined shape is formed in a part of the transfer path or a side wall thereof. An optical sensor is provided facing the opening, and if a predetermined part of the transferred part passes through the opening and the entire part is occluded, it is determined that the part in the position is not in the predetermined position, and the This is achieved by a method for determining the attitude of a transferred component, characterized in that the transferred component is removed outwardly from the transfer path.

[0011]

[Operation] When the part that characterizes the predetermined posture of the part is transported along the transport path in the correct position, the irradiation light irradiated to the part through the opening passes through a part of the opening, and the optical sensor It is determined that the part is in the correct orientation. On the other hand, if a part is transported in an incorrect orientation, the irradiation light irradiated onto the part through the opening will be completely blocked by the part passing through, and the optical sensor will determine that the part's orientation is incorrect. be done.

0012

DESCRIPTION OF THE PREFERRED EMBODIMENTS A method for determining the posture of a transferred part according to an embodiment of the present invention will be described below with reference to the drawings.

The attitude determination method of this embodiment is implemented in a spiral parts feeder 4, as shown in FIG. The spiral parts feeder 4 has a known structure, and a spiral parts transfer track 31 is formed on the inner circumferential wall of a bowl-shaped container 30 (also referred to as a bowl). The transfer road surface 31a of the truck 31 is inclined downward toward the outside in the radial direction of the container 30.

The movable core 32 fixed to the bottom of the container 30 of the parts feeder 4 has a base 33 and a plurality of inclined leaf springs 3.
4 and a coil 35 on the base 33.
An electromagnet 36 wound with is fixed to the movable core 32 with a gap therebetween. The base 33 is supported on the floor by anti-vibration rubber 38.

A linear transfer path 39 is integrally formed in the spiral track 31, and at the end portion of the track 31 facing the linear transfer path 39, an optical system consisting of a light emitting section 41 and a light receiving section 42 is provided. A type sensor 43 is provided. The light emitting section 41 and the light receiving section 42 are located on the side wall section 31b of the track 31.
They are arranged on both sides with a slit 44 formed in the boundary.

As shown in FIG. 4, the height J of the slit 44 from the transfer road surface 31a is lower than the height H of the component 1.
And it is higher than the height E of the convex portion 3. Further, the length K of the slit 44 is longer than the length N of the convex portion 3 and the length L of the base portion 2.
formed smaller.

Although not shown, an air jetting means (not shown) is provided downstream of the optical sensor 43 of the truck 31 on which such an optical sensor 43 is installed, and an air jetting port of the air jetting means is provided. is located below the slit 44.

The optical sensor 43 and the air blowing means are connected through a controller (not shown), and the optical sensor 43 is driven together with the parts feeder 4. The air blowing means is such that the light receiving section 42 of the optical sensor 43 is connected to the light emitting section 41.
The air jetting means does not operate while the light receiving section 42 is receiving the irradiated light, and when the light receiving section 42 does not receive the irradiated light, the air jetting means jets out air for a predetermined period of time.

Further upstream of the track 31 on which such an optical sensor 43 and air blowing means are arranged, inner parts of the parts 1 transferred in multiple rows are removed, although not shown. A single-row sorting means and a wiper sorting means for removing the overlapping parts on the upper side of the parts 1 transferred in multiples are arranged.

The spiral parts feeder 4 equipped with the attitude determination method according to an embodiment of the present invention is constructed as described above, and its operation will be explained next.

It is assumed that a large amount of parts 1 are placed in the container 30 shown in FIG. Vibrating parts feeder 4
When an alternating current is applied to the coil 35, a torsional vibration force is generated, and the container 30 is torsionally vibrated approximately around the center line. The parts 1 are sequentially transported upward along the track 31 by vibration, but during the transport, the parts that have been transported in multiple rows and the parts that have been transported in multiple rows are removed by the single-row sorting means and the wiper sorting means (not shown). The transported parts are arranged in a single layer and in a single row, and when passing the position where the optical sensor 43 is disposed, they are separated and transported one by one. Note that due to the transport action of vibration, the component 1 is transported with its longitudinal direction facing the transport direction. Depending on the case, a means for eliminating sideways orientation may be provided on the upstream side (for example, by providing a narrow path).

Therefore, the slit 44 of the optical sensor 43
The part 1 that reaches the side of the body assumes any of the postures shown in A, B, C, and D of FIG.

That is, A in FIG. 4 is a correct and desired posture, with the convex portion 3 of the component 1 facing upward. Further, B in FIG. 4 is an inverted posture of the correct posture shown in A in FIG. 4, and the convex portion 3 is in contact with the transfer road surface 31a. C and D in FIG. 4 are postures in which the parts in the correct posture are turned over, and in C in FIG. 3 is truck 31
It is in contact with the side wall portion 31b of.

As shown in FIG. 4A, when the component 1 in the correct orientation passes by the side of the slit 44, the convex portion 3 covers a part of the slit 44, but the entire area of the slit 44 is covered. Therefore, the light emitting part 41 of the optical sensor 42
A part of the light emitted from the light receiving section is received by the light receiving section. Therefore, the air blowing means does not operate at all, and the component 1 passes through the slit 44.

On the other hand, as shown in FIG. 4B, when the part 1 reaches the slit 44 in an inverted position, the base part 2 of the part 1
closes the entire area of the slit 44, and the light emitting part 4 is connected to the light receiving part 42.
The irradiation light from 1 is not received. Then, it is determined that the posture of the component is incorrect, and the air blowing means blows out air for a predetermined period of time based on the output from the optical sensor 43 to a controller (not shown). be excluded.

In the case of C in FIG. 4 and D in FIG. 4, the above-mentioned FIG.
Similarly to case B, when component 1 reaches slit 44,
The base portion 2 of the component 1 covers the entire area of the slit 44, and it is therefore determined that the orientation of the component is incorrect. Therefore, the air blowing means is actuated by a signal output from the optical sensor 43 to the controller, and the component 1 is ejected into the container 30.

In this way, when the component 1 passes through the optical sensor 43, it is determined whether the component 1 is in the correct orientation, all components in the incorrect orientation are eliminated, and only the components in the correct orientation are placed at the end of the track 31. The parts are transferred to a linear transfer path 39 while maintaining their posture, and are supplied one by one to a process not shown in the posture shown in FIG. 1.

FIGS. 5 to 13 relate to other embodiments of the present invention. As shown in FIG. 5, the component 10 whose orientation is determined by the orientation determination method of this embodiment is a small electronic component (transistor), as in the previous embodiment, and the body 11 is a small electronic component (transistor).
Four legs 12, 12, 12, 13 are arranged around the . The width R of three of these leg parts 12 is formed to be the same, and the width S of the remaining one leg part 13 is formed wider than the width R.

The attitude determination method for determining the attitude of the component 10 is realized by a spiral parts feeder 5 as shown in FIGS. 6 and 7, and the spiral parts feeder 5 is a linear parts feeder 15. It is connected to the.

The spiral parts feeder 5 has a known structure, in which a spiral parts transfer track 7 is formed on the inner circumferential wall of a bowl-shaped container 6, and the spiral parts feeder 5 has a spiral parts transfer track 7 formed on the inner circumferential wall of a bowl-shaped container 6, as shown in FIG. The branch runways 8a, 8b are provided with wipers 9 as clearly shown in FIG.

At the discharge end 7a of the track 7, there are sequentially shown in FIG.
As clearly shown in FIG. 11, the front and back sorting section 50 is connected, and as shown in FIG. 11, the posture determining section 60 and the posture holding section 48 are connected. The parts 10 in a predetermined attitude are supplied one by one from the attitude holding section 48 to the reversing chute 14, and the parts 10 inverted here are supplied to the linear parts feeder 15. In this example, the desired posture of the component 10 is as shown in FIG.
The free ends of the legs 12, 12, 13 are facing upward, and the wide leg 13 is facing forward in the direction of movement indicated by the arrow. ,1
3 with the free end facing upward will be described below as a facing posture.

As shown in FIG. 7, the helical parts feeder 5 has a movable core 16 fixed integrally to the bottom of the container 6, and this is fixed via a base 17 and a plurality of inclined plate springs 18. be combined. The coil 19 is on the base 17.
The fixed core 20 wound with the movable core 16 is fixed and faces the movable core 16 with a slight gap therebetween. When an alternating current is applied to the coil 19, a torsional vibration force is generated, causing the container 6 to torsionally vibrate approximately around the center line. Such a torsional vibration drive unit is covered with a cylindrical cover 22, and the entire parts feeder 5 is supported on a base by a vibration isolating rubber 21.

The linear parts feeder 15 has a trough 23 with a linear parts transfer path 45, and a leaf spring support block 24 fixed to the bottom of the trough 23 supports a pair of leaf springs 55, 5.
5 to the lower leaf spring support block 25. The entire linear parts feeder 15 is supported on a base by a vibration isolating rubber 47 via a base 29. A fixed core 26 having a coil 27 wound thereon is fixed on the lower leaf spring support block 25, and a movable core 28 is fixed on the upper leaf spring support block 24 so as to face it with a gap therebetween. When AC current is applied to the coil 27, the leaf spring 5
A linear vibration force is generated in a direction substantially perpendicular to the longitudinal direction of the trough 23, thereby causing the parts in the trough 23 to be transferred to the right along a linear transfer path 45.

The component transfer path 45 has a shallow groove shape, and a pair of push plates 46a and 46b are fixed on both sides of the path.
The component 10 in a predetermined posture is transferred while the legs 12, 12, 12, 13 are prevented from popping upward by the push plates 46a, 46b.

In the spiral parts feeder 5, the branching slideways 8a and 8b are formed as shown in FIG. 8, and the track 7 is thereby made into a narrow path, and the parts 10 that have arrived here in multiple rows are arranged in a single row. It is now facing downstream. That is, only the parts 10 of the radially outermost row of the container 6 advance further downstream (as is known, the track 7 is inclined downwardly toward the radially outer side of the container 6); The parts 10 in the inner row are branch runways 8a, 8
It is designed to be guided above B, slide down here and fall to the lower part of the track 7. In addition, branch runways 8a, 8
There is a step between the lower end of b and the lower track 7,
The impact force on the component 10 is much smaller than if the component 10 were to fall directly from the upper track 7 section.

As shown in FIG. 9, the wiper 9 is connected to the track 7.
The lower edge 9a extends diagonally across the transport direction of the
The distance from to the road surface of the truck 7 is greater than the height of the component 10, but less than twice this height. Therefore, the overlapping parts 10 are now de-overlapped.

As shown in FIG. 10, in the front/back sorting section 50, a block 56 is fixed to the container 6, forming a stepped road surface 51, 52. Upper road surface 51
The width gradually increases toward the downstream side, but the lower road surface 52 slopes downward toward the inside in the radial direction of the container 6, and gradually decreases in width. Therefore,
The part 10' that has arrived at this point face down advances on the road surface 52 with its legs 12, 12 or 12, 13 in contact with the step wall 56a between the road surfaces 51, 52, and the width of the road surface 52 gradually decreases. Because of this, it falls downward into the pocket 70 as shown by the arrow. In addition, the part 10 that has arrived here with its front side and the longitudinal direction of the body 11 facing the transport direction is placed in contact with the upper road surface 51 with its legs 12, 12 or 12, 13, or with the upper road surface 51.
1, the vehicle advances on the road surface 52 and is guided to the posture determining section 60. In addition, since the center of gravity of horizontally facing parts with the short side of the body facing the transport direction is located on the narrow road surface 52 and the center of gravity is located outside the road surface, all of the parts that are transported this far are inside the pocket 70. to fall.

In the posture determining section 60, as shown in FIG. 11, a transfer road surface 53 is formed on a block 54, and the block 54 is fixed to the container 6. The transfer road surface 53 is constructed by forming a shallower groove at the bottom of the groove 57 having a depth equivalent to the height of the component 10, and the transfer road surface 53 slopes downward toward the radially outer side of the container 6. ing.

Air jet holes 58 are formed in the transfer road surface 53, and below the air jet holes 58 are air jet nozzles 5.
9 has been installed. Further, a through hole 61 is formed at a side position of the air jet hole 58 facing the groove 57.
An optical sensor 64 consisting of a light emitting section 62 and a light receiving section 63 is arranged at a position aligned with the light emitting section 62 and the light receiving section 63.

As shown in FIG. 13, the through hole 61 is formed in a rectangular shape, and its width V is wider than the width R of the leg portion 12 and narrower than the width S of the leg portion 13. Further, the distance W from the stepped portion of the through hole 61 is
It is formed at a position shorter than the length X from

The optical sensor 64 is driven together with the parts feeder 5.
4 and the air jet nozzle 59 are connected via a controller (not shown). The air jet nozzle 59 is operated by a command signal from the controller when the light emitted from the light emitting part 62 of the optical sensor 64 is not received by the light receiving part 63.
At that time, air is ejected for a predetermined period of time.

All of the parts 10 conveyed from the front/back sorting unit 50 to the attitude determining unit 60 are in the face-up attitude, and the body portion 11
A portion of the transport surface 53 is positioned within the groove that constitutes the transfer road surface 53. That is, the parts 10 leading to the posture determination section 60 are shown in FIG.
As shown in FIG. 13, the wide leg portion 13 is facing forward in the direction of travel indicated by the arrow, and the posture is facing the same side as the through hole 61 on the rear side, or as shown in FIG. 13, the wide leg portion 13 is 13
It is either in a posture facing toward the front side with respect to the direction of travel and opposite to the through hole 61.

As shown in FIG. 12, wide leg portions 13
When the component 10 reaches the posture determining section 60 with the component 10 facing backward, the through hole 61 is completely closed by the wide leg portion 13 as the component 10 passes through. In this way, when the through hole 61 is completely closed by the leg part 13, the light emitted from the light emitting part 62 is no longer received by the light receiving part 63, and therefore, the air is ejected from the air ejection nozzle 59 according to a command from the controller. Spouts for a predetermined period of time.

When air is ejected from the air ejection nozzle 59, the component 10 on the air ejection hole 58 is blown away from the transfer road surface 53 and accommodated in the pocket 70.

As shown in FIG. 13, wide leg portions 13
When facing forward and reaching the posture determining section 60, the legs that pass through the through hole 61 are two narrow legs 12 having the same width.
The through hole 61 is not completely covered. Therefore, even when the component is passing through, the air jet nozzle 59 does not operate, and the component 10 is supplied from the posture determining section 60 to the posture holding section 48 downstream.

All the parts thus supplied to the attitude holding unit 48 are in the desired attitude, and in the attitude holding unit 48, the attitude of the parts is maintained by the push plate 65, and the parts are conveyed to the reversing chute 14. do.

The reversing chute 14 has a known structure,
The linear parts feeder 15 has an arcuate cross-sectional shape as shown in FIG. 7, and functions to turn over the front and back of the parts 10 in a predetermined posture. Note that the reversing chute 14 may be fixed to the spiral parts feeder 5 side or may be fixed to the linear parts feeder 15 side. In the example, it is not fixed in any way,
It is assumed that the base is supported via supports (not shown). A pocket 70 is integrally fixed to the container 6 so as to surround the outer periphery of the front/back sorting section 50 and the posture determining section 60.

Another embodiment of the present invention is constructed as described above, and its operation will be explained next.

First, a large number of parts 10 are placed into the container 6 of the spiral parts feeder 5. The container 6 undergoes torsional vibrations and transports the parts 10 along the track 7. Although the parts 10 are shown scattered in the figure, it is assumed that they actually exist at a higher density. Branch runways 8a, 8b
In this case, the parts 10 are arranged in a row, and the overlapping parts 10 are removed by the wiper 9.

The parts 10 that have reached the end 7a of the track 7 in a single layer and in a single row are guided into the front and back sorting section 50 as shown in FIG. parts 10' facing down, i.e. legs 12, 12;
The part 10' with the free ends of 12 and 13 facing downward is the leg part 1.
2, 12 or the legs 12, 13 are brought into contact with the step wall 56a, and guided by this, it falls into the pocket 70, passes through the opening formed in the side wall of the container 6, and enters the inside of the container 6. will be returned to. Further, the part turned sideways (not shown in FIG. 10) advances with the body 11 in contact with the step wall 56a, and also falls into the pocket 70.

[0051] Front-facing parts 10, ie legs 12, 12
, 12, 13 with their free ends facing upwards is the leg 1.
2 and 12 or legs 12 and 13 above the road surface 51, and is guided into the posture determining section 60.

In the attitude determining section 60, both the parts in a predetermined attitude and the parts not in a predetermined attitude are stably transferred on the road surface 53. The wide leg part 13 of does not pass over the through hole 61,
Since the light receiving section 62 is always irradiated with light, it is determined that the object is in the desired posture, and the object passes through the posture determining section 60 as it is. In the posture determining section 60, if the component is not in the desired posture, the wide legs 13 close all the through holes 61, and the light receiving section 6
2, it is determined that the object is not in a predetermined posture, and is accommodated in the pocket 70 by the air ejected from the air ejection nozzle 59.

The parts conveyed through the attitude determining section 60 in a predetermined face-up attitude are held in the attitude by the component holding section 48;
The orientation is reversed in the reversing chute 14, and thereafter, the orientation is transferred to the linear vibrating feeder 15 in the face down state. In the linear vibration feeder 15, the push plates 46a and 46b
The legs 12, 12, 12, 13 are held down, and each piece is
It is supplied face down to the next process.

Although each embodiment of the present invention has been described above, the present invention is of course not limited to these embodiments, and various modifications can be made based on the technical idea of the present invention.

For example, in the above embodiments, the attitude determination method is configured in the spiral parts feeder 4 or 5, but it may also be configured in the linear vibrating parts feeder 15 having a linear trough, or it may be configured in the linear vibrating parts feeder 15 having a linear trough, or it may be configured in the linear vibrating parts feeder 15 having a linear trough. It may also be configured as a linear chute that transfers only by gravity.

Furthermore, the applied part 1 or 10 is not limited to the shape shown in the drawings, but generally, even if the external shape of the part is similar in any orientation when viewed in a fixed position, the dimensions of the parts that characterize the orientation are different. The present invention is applicable to all different parts.

For example, the present invention is also applicable to a rectangular part m as shown in FIG. Furthermore, the opening 44 of the first embodiment can be applied as is. That is, in FIG. 14A, if the standing posture is the predetermined posture, the height of this part m is q,
If the horizontal length is u, the length u is smaller than the length K of the opening 44 when passing through the opening 44, so the entire area of the opening 44 is not blocked when passing through the opening 44. You can pass through here as is, but the sideways parts are shown in Figure 14.
As shown by B, the length q is larger than the length K of the opening 44, and the length u is larger than the height J from the transfer road surface 31a to the opening 44.
Therefore, as in the first embodiment, the entire area of the light emitting section 4 is closed.
By blocking all the light rays from 1 to the light receiving section 42,
It is determined that this is not in a predetermined posture, receives jetted air from an air jetting means (not shown), and is ejected into the bowl, for example. In addition, for parts whose longitudinal direction is oriented laterally with respect to the transfer direction, the center of gravity is aligned with the transfer road surface 3 by making the width of the transfer road surface 31a smaller than q/2 on the upstream side.
By being located outward from the edge of 1a, it can be expelled into the bowl by the action of gravity.

The present invention is also applicable to a component Y as shown in FIG. In other words, although the component Y is plate-shaped, it is transferred along the transfer path 71 while standing up against the inner wall surface of the bowl 70, and as shown in FIG. This part Y has a rectangular hole t that is offset to one side, but when the hole t is transported in the position shown in FIG. 15B, it is in the correct position. If it is determined that the length is shorter than the length T of the opening 72, and
It is assumed that the heights from the transfer road surface 71 are approximately the same. Even for such a part Y, if it is transported in the attitude shown by B in FIG. 15, the entire area of the opening 72 will not be blocked, so that it can pass through the opening 72 as it is.

However, as shown in FIG. 15C, parts transported in an upside-down position do not fit through the opening 72.
By occluding the entire area, this is considered to be a part in a different position and is removed, for example, by air jetting means.

In the above embodiments, the light emitting element and the light receiving element were provided in alignment with the aperture, but instead of this, a reflective type consisting of the light emitting element and the reflected light receiving element was provided only on one side of the aperture. The present invention is also applicable to the use of optical sensors.

[0061]

As explained above, according to the method for determining the posture of a transferred component according to the present invention, it is possible to determine whether or not the part that characterizes the posture of the component has been conveyed along the transfer path in the correct position. This is done by detecting whether the irradiated light that is irradiated to the opening provided in the path is blocked in the entire area, so even if the part is small, the correct posture can be accurately determined. Can be done.

[Brief explanation of the drawing]

FIG. 1 is an enlarged perspective view of parts applied to a posture determination method according to an embodiment of the present invention.

FIG. 2 is a partially cutaway side view of a parts feeder equipped with a posture determination method according to the same embodiment of the present invention.

FIG. 3 is a plan view of the parts feeder.

FIG. 4 shows the operation of the attitude determination method according to the same embodiment of the present invention, in which A is a side view when a component in a predetermined attitude is conveyed to the attitude determination unit, and B is a side view of the attitude determination unit. C and D are side views of the case where the component is conveyed in an inverted position, and C and D are side views of the case where the component is conveyed to the posture determination section in a sideways posture.

FIG. 5 is an enlarged perspective view of parts applied to a posture determination method according to another embodiment of the present invention.

FIG. 6 is a plan view of a vibrating parts feeder equipped with an attitude determination method according to another embodiment.

FIG. 7 is a partially cutaway side view of the parts feeder.

FIG. 8 is an enlarged perspective view of the branch runway in FIG. 6;

9 is an enlarged perspective view of the wiper in FIG. 6. FIG.

10 is an enlarged perspective view of the front and back sorting section in FIG. 6. FIG.

11 is an enlarged sectional view taken along line [11]-[11] in FIG. 6;

FIG. 12 is a plan view illustrating the operation of a posture determining method according to another embodiment of the present invention, when a component that is not in a predetermined posture is transported to the posture determining section.

FIG. 13 is a plan view illustrating a case where a component is conveyed to the same attitude determination unit in a predetermined attitude.

FIG. 14 shows an example in which the attitude determination method according to an embodiment of the present invention is applied to a rectangular part; A is a case where the part is transported to the side wall of a truck in an upright position; B is a side view of the same rectangular parallelepiped component being transported sideways to the side wall of the truck.

FIG. 15 shows an example in which a plate-shaped part with holes is applied to the attitude determination method according to a modification of the embodiment of the present invention; B is a cross-sectional view of the same plate-shaped component being transported along the side wall of the truck in the correct orientation, and C is a front view of the same plate-shaped component being transported along the side wall of the truck. FIG. 3 is a front view of the vehicle being transported along the side wall of the truck in an upside-down position.

FIG. 16 is a cross-sectional view of a conventional attitude determination method in which a component is conveyed in an upright position with a convex portion in contact with a side wall of a truck.

FIG. 17 is a cross-sectional view of the conventional attitude determination method when the component is transported in an upright position with the platform in contact with the side wall of the truck.

FIG. 18 is a cross-sectional view of the conventional attitude determination method when the component is transported sideways with the platform in contact with the side wall of the truck.

FIG. 19 is a cross-sectional view of the conventional attitude determination method when the component is conveyed sideways with the platform 2 facing the transfer surface.

FIG. 20 is a cross-sectional view of the conventional attitude determination method when the component is transported sideways with the convex portion facing toward the transfer surface.

[Explanation of symbols]

1 Parts 2　　　　　Table part 10 Parts 13 Legs 31 Transfer truck 31a Transfer road surface 31b Side wall part 43 Optical sensor 44 Slit 53 Transfer road surface 61 Through hole 64 Optical sensor

Claims (1)

[Claims] In a method for determining the attitude of a transferred part being transferred along a predetermined transfer path, an opening of a predetermined shape is formed in a part of the transfer path or a side wall thereof, an optical sensor is provided facing the opening, and the transfer part is transferred. If a predetermined part of the part that has been transported is completely occluded when passing through the opening, it is determined that the part in the position is not in the predetermined position, and is removed outward from the transfer path. A method for determining the posture of transferred parts.