JPH0691445A - Automatic takeout device for part - Google Patents

Abstract

PURPOSE:To takeout even a part which is placed on each single row type tray at irregular intervals by means of a manipulator relatively simple in action. CONSTITUTION:Respective single row type trays 5 which have been longitudinally moved on a moving table A, are laterally moved in a row on a moving table B, so that the presence or absence of each tray is affirmed by a sensor S1, and moreover the presence or the absence of a part over each tray 5 is also affirmed by a sensor 7. A belt conveyor 21 is suspended upon receiving a signal indicating the presence of the part from the sensor 7, the while, the manipulator 6a of a robot 6 is operated so as to allow the part over the tray 5 to be taken out. Each part is taken out in order by repeating the operations. The tray 5 which has run out of parts goes to a moving table D and is taken out of the system.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for picking up parts on a tray by handling a parts tray on which various parts are arranged, and in particular, it is incorporated in an automatic production line to move the tray appropriately and to place it on the tray. The present invention relates to an automatic component take-out device configured to pick up a component appropriately.

[0002]

2. Description of the Related Art Various types of automated equipment are installed in a production line for mass-producing various devices (products) to improve the efficiency of production. In this case, for example, a robot is often used recently in order to incorporate a predetermined part into a device being assembled, but unless the robot and the operation target are devised, the function of the robot does not perform the expected operation sufficiently. There arises a situation that cannot be realized, or an expensive robot that complicates a motion must be used.

[0003]

FIG. 3 shows an example of handling parts using a robot. In this configuration, the tray (X-
The component 2 is arranged on the surface of the tray 1 based on the assumed coordinates, and the robot 3 operates based on the set XY coordinates to pick up the components sequentially. ing. This configuration uses a single large tray and the large tray itself is fixed in a specific position. For this reason, all the work of picking up individual parts from the large number of parts arranged on the tray 1 is performed by the operation on the robot 3 side, and thus the robot 3 is required to perform a complicated operation. As a result, as long as the large tray 1 shown in the figure is fixedly used, this tray 1
In order to pick up a predetermined part from a large number of parts arranged in the, it is inevitable to use an expensive robot having a high degree of freedom.

[0004]

SUMMARY OF THE INVENTION The present invention is an apparatus constructed in view of the above-mentioned problems, in which a component tray to be handled is configured as a single row type tray for arranging components in a single row. Of the component composed of a means for moving the component, a component picking means arranged in the vicinity of the moving means and basically performing only a component picking operation, and a means for detecting the component placed on the tray. It is an automatic take-out device.

[0005]

The tray moving means sequentially moves a large number of single-row trays, and the single-row trays move in a row near the component pick-up means. During this time, the component detection means detects the component, and the signal causes the component pickup means to pick up the component from the single-row trays moving in a line. Since the single-row tray moves in a single row, the parts also move in a single row, so that the part picking means does not have to perform a complicated operation when picking up a part. Therefore, a device for performing a simple operation is sufficient as the component picking means.

[0006]

Embodiments of the present invention will be specifically described below with reference to the drawings.

FIG. 4 shows the whole of the component taking-out apparatus of the present invention, and the outline of the apparatus will be described first with reference to this figure.

This component handling apparatus is a moving table A, B, C, D which is a tray moving means for moving a tray for placing a component, a robot 6 which is a component picking means arranged in the vicinity of this moving means, and a component detecting means. The sensor 7 is a component sensor 7.

The parts tray 5 which is the object of handling of the apparatus
Is a small tray (hereinafter referred to as "single-row tray") that is formed in an elongated shape as a whole and is configured so that components are arranged in a row.
It is called). Each of the single row type trays 5 is independently used as one tray, and by combining a plurality of these single row type trays 5 as shown in the arrow direction of the moving table D in FIG. It is configured so that it can be used as a large XY tray as shown in FIG. By using this single-row tray 5, the tray moving means carries out the following operations to pick up parts.

First, the single-row trays 5 on which the components 4 are placed are arranged in parallel on the moving table A, and the moving table A is conveyed (longitudinal feed) in the arrow direction. Next, the parts sensor 7 detects the presence of the parts placed on the single-row tray 5 while the moving table B is conveyed in a line (transverse feed), and the robot 6 detects the manipulator 6a by this detection signal. Operate it to pick up parts and install it in a specified device. In this case, since the parts 4 placed on the single-row tray 5 are sequentially stopped at predetermined positions by the moving means, the robot 6 needs to be a robot having a degree of freedom in XY directions as shown in FIG. Rather, a mere manipulator that does simple actions is sufficient.

FIG. 5 shows an example of a state in which components are arranged on a single-row tray in which component arranging means corresponding to the shape of the component is provided. The tray 5a has a rod-shaped component 4a, the tray 5b has a substantially mushroom-shaped component 4b, the tray 5c has a leg-shaped component 4c, the tray 5d has a button-shaped component 4d, and the tray 5e has a hook. The parts 4e in the shape of a circle are arranged respectively. In this configuration, the components 4a to 4c have holes 8 formed in the component mounting surface of the tray as the component placement means.
Each component is inserted and arranged in the hole 8.

Next, the components 4 arranged on the trays 5d and 5e.
d and 4e are improperly shaped to be inserted into the holes, and are arranged with a predetermined interval with respect to the tray. However, if they are simply arranged, the parts will move while the tray moves, and the arrangement intervals will be different. May go crazy. Therefore, in the case of such a component, a recess 15 is formed as a component placement means on the component mounting surface of the tray, and the component is placed in each of the recesses to stabilize the position and posture of the component. I am trying. Further, the tray 5f is a tray for a coil spring or a tubular component which is difficult to stand upright as it is. A support rod 16 is provided as a component arranging means on the tray, and a component is attached to the support rod 16. 17 (the parts shown in the drawing are coil springs) are inserted and arranged.

Next, as the single-row type tray used in the present apparatus, a tray in which rod-shaped objects or recesses are formed as component arranging means as shown in FIG. With the use of, the capability of the present device can be further exerted. Therefore, the structure of this tray will be explained next.
In addition, the configuration and operation of this device will be described by taking a case where a tray having an adhesive surface is used as an example.

In FIG. 1, reference numeral 10 is a tray for arranging components, and the tray 10 having the illustrated construction is substantially the same as the single-row tray 5 shown in FIG.

Reference numeral 11 is an adhesive rubber which is an adhesive material filled in the tray 10. The adhesive rubber 11 is selected so that its surface has an appropriate adhesiveness, so that when a component is placed, the component is securely held at a predetermined position without falling down, and is picked up by a manipulator or the like. In this case, there is no strong resistance, and it is possible to prevent sticky substances from adhering to the picked-up parts.

The component 12 is placed on the tray 10 having this structure. The arranged component 12 is held so as not to fall at a predetermined position due to the viscosity of the adhesive rubber 11 that is the adhesive material of the tray 10. The tray 10 on which the components 12 are thus arranged is arranged on the moving base of the component take-out device to sequentially move the moving base, and the manipulator 6a of the robot 6 is mounted on the tray 10. 12
Will be taken up in sequence. In this case, as described above, the component 12 is preferably held by the moderate viscosity of the adhesive rubber 11, and when the component 12 is picked up, the resistance is small and no adhesive substance is attached to the component 12.

In addition to the structure in which the adhesive rubber having a certain thickness is filled and arranged in the tray as shown in the drawing, the sheet-shaped thin adhesive rubber is attached to the component arrangement surface of the tray 10. You may Further, as shown in FIG. 2, the side wall 10a of the tray 10 is configured to be releasable by using a hinge or the like to facilitate the placement of the adhesive rubber 11 in the tray 10 and to prevent the adhesive rubber 11 from deteriorating. If it becomes necessary to replace it, it is possible to promptly perform the replacement.

Next, FIGS. 6 and 7 show the operating state of the component take-out device using the single row type tray filled with the adhesive rubber. The configuration and operating state of the device of the present invention will be described in more detail with reference to FIG.

Here, in the apparatus having the structure shown in FIG. 4, the parts placed on the tray 5 which moves (transversely feeds) from the moving table B to C are detected by the sensor 7, and at that position of the tray. The movement is stopped and the component is chucked by the manipulator 6a. Therefore, in this apparatus, since the presence of the component is confirmed by the sensor 7, the component can be accurately taken out even if the arrangement pitch of the components on the tray is non-uniform, which is a great advantage of this device. However, in the tray of the conventional configuration, it is necessary to perform some processing such as forming a recess for arranging the parts. Therefore, the parts are arranged at equal pitches corresponding to the processing, and the position of the parts is detected by the sensor. The function of the means is not fully exerted.

In the configuration of FIG. 6, the tray having the adhesive surface shown in FIGS. 1 and 2 is used. Since the tray does not require any special component locking means other than forming an adhesive material, the component arrangement state with respect to the tray can be freely set. Therefore, it is possible to change the arrangement pitch of the components for each tray, and it is also possible to place the components without considering the arrangement pitch. For this reason, it is not necessary to use a too precise high-grade automatic device in the step of placing the parts on the tray, which is the preceding step of picking up the parts.
It is also possible to automate the work of arranging the parts on the tray at low cost.

In the case of using the component tray having the adhesive surface as described above, first, a method of moving the tray on which the component is placed will be described. The single-row tray 5 (the same tray as the tray 10 shown in FIGS. 1 and 2) is detected by the tray detection sensor S1. That is, it is confirmed that the tray exists on the movable table B by the sensor S1 being in the ON state. When the sensor S1 is turned off, the motor M1 is driven to operate the belt conveyor 20 to move the next tray to the moving table B side (see the flow of FIG. 7).

The sensor S0 detects that the next tray has arrived at the moving table B. If the sensor S0 is turned on, the motor M1 is stopped, and then the motor M2 is driven to drive the lateral feed belt conveyor. The tray on which the parts are placed is laterally moved to the manipulator 6 a side of the robot 6 by the device 21. If the sensor 7 for detecting a component is turned on in this state, it means that the component has reached the pick-up position. Therefore, in this state, the motor M2 is stopped and the manipulator 6a picks up this component. When the pick-up completion signal of the part is transmitted from the manipulator 6a side, the motor M2 is driven again to move the tray until the next part reaches the pick-up position. By repeating this operation, the parts are picked up and the tray on which the parts are placed is replenished in sequence. The tray with no parts is turned on and off by the motors M2 and M3 based on the signals of the sensors S3 and S4, and is moved from the horizontal moving belt conveyor 21 to the vertical moving belt conveyor 22 and is fed vertically. Reference numeral 23 in FIG. 6 is a control device for controlling the above series of operations.

As can be understood from the configurations shown in FIGS. 4 and 6, when the detection range of the sensor 7 is set to be wide to some extent, the detection signal from the sensor 7 is not transmitted so that the vacant seat on the tray will not be transmitted. Since it can be regarded as detection, it is of course possible to reversely operate the manipulator to place the work (component) on the tray. In particular, in the case of this work, if the component mounting target is the tray having the adhesive surface, the components can be mounted on the tray immediately without considering the arrangement intervals of the components. That is, the above-mentioned pre-stage process for taking out the components can be easily realized by operating this device in reverse.

[0024]

As described above, according to the present invention, the component tray to be handled is constructed as a single-row tray for arranging the components in a single row, and the means for moving the single-row tray and the movement thereof. Since it is an automatic device for taking out parts, which is arranged in the vicinity of the means and basically performs only the picking-up operation of parts, and means for detecting the parts placed on the tray, The parts detection means stops the parts on the tray at a predetermined position close to the parts pick-up means, and even if the parts are arranged unevenly, the parts pick-up means does not require a complicated function and can accurately detect the parts. It can be taken out. Therefore, the price of the device can be kept low.

Further, even if the arrangement of the parts is non-uniform, the parts can be taken out accurately, so that a too precise and high-grade automatic device is used also in the step of placing the parts on the tray, which is the preceding step of taking out the parts. There is no need, and for example, the automation of the work of arranging the parts with respect to the tray can be reduced by using the method of reversely operating the manipulator of the device of the present invention by using the non-detection state of the sensor as the empty seat signal of the tray as described above. Can be achieved at cost.

[Brief description of drawings]

FIG. 1 is a perspective partial view of a tray having an adhesive surface as an example of a component tray used in the device of the present invention.

FIG. 2 is a perspective partial view of the tray showing an opened state of a side wall of the tray shown in FIG.

FIG. 3 is a perspective view of an XY tray and a robot.

FIG. 4 is a perspective view showing an entire automatic take-out device showing an embodiment of the present invention.

FIG. 5 is a diagram showing an arrangement state of components in another component tray used in the device of the present invention.

FIG. 6 is a partially cutaway perspective view of the automatic component extracting device according to the embodiment of the present invention.

FIG. 7 is a flowchart showing a control state of the device shown in FIG.

[Explanation of symbols]

 2 parts 5 (parts) tray 6a manipulator 10 (parts) tray 10a open side wall 11 adhesive rubber 12 parts

Claims (4)

[Claims] 1. A component for taking out a component from a single-row tray in which components are arranged in a single row, and moving means for moving the single-row tray, and a component taking-out for taking out components arranged in the single-row tray. Means and component detecting means for detecting a component on the single-row tray, wherein the moving means is connected to the first moving means for vertically feeding a plurality of single-row trays and the first moving means. And a third moving means that laterally feeds the single-row trays that are arranged in a row and a third moving means that is connected to the second moving means, and the component extracting means is the second moving means. Automatic pick-up of parts characterized in that it is possible to take out the parts arranged in close proximity to each other and arranged on the single-row tray by the signal of the part detecting means regardless of the arrangement intervals of the parts. apparatus. 2. The component detection means comprises a tray detection sensor for detecting the position of a single-row tray, and a component detection sensor for directly detecting a component on the tray. Automatic device for taking out the described parts. 3. The component detection sensor does not issue a component detection signal as a vacant seat detection signal of the tray, and the component unloading means is reversely operated based on the vacant seat detection signal to fetch the component into the tray. The automatic device for taking out parts according to claim 2, wherein the device is configured as described above. 4. The automatic component take-out device according to claim 1, wherein the single-row tray has a component placement surface which is an adhesive surface.