JPH08192924A - Small parts picking and supplying device - Google Patents

Abstract

PURPOSE: To provide a low-cost small part supplier which can pick and supply optional small parts required by an work device such as an assembling robot, working machine, etc., in a short time. CONSTITUTION: Many small parts are stored at all times in parts storage hoppers 11A and 11B. The small parts in the parts storage hoppers 11A and 11B are discharged by specified quantity to parts cutting hoppers 13A and 13B by first discharge means (vibrator 12A and 12B), in the case that the parts picking hoppers 13A and 13B are vacant, and small parts are stored temporarily in the parts picking hoppers 13A and 13B until the parts request from outside is made. When the parts request from outside work device is made, a specified quantity of small parts within the parts picking hoppers 13A and 13B are discharged at a time by a second discharge means, and can be supplied immediately to the work device.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a small part for delivering small parts such as screws, gears and springs to the working device in accordance with the demands of an assembly robot for an automatic assembly line or a working device such as a processing machine. The present invention relates to a small-part cutting and supplying device for supplying necessary small-parts to a conveying device.

[0002]

2. Description of the Related Art Conventionally, an assembly robot arranged along an automatic assembly line or a working device such as a processing machine is provided with a spiral transfer track vibrated by a vibrator. A parts feeder is attached, and the parts feeder is often used so that the small parts are sequentially fed to the working device in an aligned state. Then, the parts feeder is replenished with small parts as needed from a storage part such as a parts hopper in which small parts are stored. The storage unit such as the component hopper is generally arranged close to the working device, and when the working device requires different types of components, a large number of storages are stored for each type of component. The part is arranged around the working device.

However, in an automatic assembly line in which a large number of working machines are arranged, not only many kinds of small parts are handled, but even a single working machine is used by a multifunctional machine such as an assembly robot. In many cases, a plurality of types of small parts are handled, and a large space is required in the factory in order to install the storage parts such as the part hoppers around the respective working devices.

Therefore, as described in Japanese Patent Laid-Open No. 60-148814, a large number of hoppers for storing small parts are arranged in multiple stages to reduce the installation space in a factory. The device is considered. As shown in FIGS. 20 and 21, this is the component storage unit 10.
1, a component transfer unit 102, a parts feeder 103, and a vibration linear feeder 104. In the component storage unit 101, a plurality of hoppers 107, 108, and 109 are supported in multiple stages and in a plurality of rows by a gantry 105, and trough-shaped component guides 114 and 116 are connected to the respective hoppers. Then, with respect to the gantry 105, each hopper is supported in a state in which the upper end side is suspended by springs 111 and 112, and together with the respective component guides connected to the vibrators 115 and 117, addition of the vibrators is performed. It is configured to vibrate by vibrating force.

Gate supports 118 and 119 are arranged at the ends of the component guides 114 and 116 on the outlet side. A gate (not shown) for opening and closing the outlet side end of the corresponding component guide is rotatably supported by each of the gate support portions, and the gate is rotated by a rotary actuator 166 to open and close. Is configured to take place. Each gate support 118, 119
The lower end of the chute 122 is arranged so as to face the entrances 124 and 125 of the chute 122 provided in the vertical direction, and the exit of the lower end of the chute 122 is the inclined plate spring 134 of the electromagnetic vibration feeder that constitutes the component transfer unit 102. Is disposed opposite to the upper surface of the trough 128 supported by. The transfer end of the trough 128 has a ball 137 on which a spiral component transfer track 145 is formed.
It is arranged so as to face the upper part of the center of the parts feeder 103 provided with. Further, a vibrating linear feeder 104 having a linear trough is arranged at the exit of the component transfer track 145 of the parts feeder 103.

The schematic structure of the component supply device described in the above-mentioned JP-A-60-148814 is as described above, and the plurality of hoppers 107, 108, 10 are provided.
9 stores different types of small parts. Then, when there is a request for a small component stored in, for example, the hopper 107 from the work device arranged on the downstream side of the vibration linear feeder 104, the electromagnetic vibration feeder is configured by turning on the power of a control circuit (not shown). Alternating current is applied to each drive coil (not shown) of the component transfer unit 102, the parts feeder 103, and the vibration linear feeder 104, and vibrations are started respectively. Then hopper 1
The gate that closes the outlet of the component guide 114 attached to 07 is rotationally driven by the rotary actuator 166 to be opened, and the vibrator 115
Starts to vibrate and vibrates the component guide 114 and the hopper 107 connected thereto.

Due to the above vibration, small parts are cut out from the part guide 114 from the hopper 107, pass through the chute 122, and fall onto the trough 128. And
The small parts are transferred by the vibration of the trough 128 and discharged to the central part of the parts feeder 103. Further, the small parts are transferred toward the outer peripheral portion of the ball 137 along the part transfer track 145 of the parts feeder 103, and the small parts oriented in a predetermined direction pass through the vibrating linear feeder 104, and then the working device. Is transported to the side.

[0008]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
According to the component supply device described in Japanese Patent No. 148814, it is possible to supply a large number of small component parts that are selectively cut out from a plurality of hoppers to the work device side by using a common transfer unit. Although it has an advantage that the space occupied in the factory can be saved, since an electromagnetic vibration feeder, a parts feeder and the like are used as a common conveying means, there is a problem that the conveying efficiency is deteriorated. In particular, for parts with many entanglements such as springs, cutting is not performed smoothly, it takes time to supply from the part request from the working equipment, and after sending a certain amount of parts, different parts should be sent continuously. In such cases, there was a risk that the parts supply would be delayed.

Further, since the small parts cut out from the respective hoppers are supplied to the parts supply device through a common parts feeder, the kinds of small parts that can be supplied are limited to those similar to each other. In addition, since the structure is such that the small parts are supplied in the same posture, it is necessary to dispose the working device at a close position. Therefore, for an automatic assembly line that requires a large number of small parts with large and different shapes, it is necessary to disperse and install a large number of parts supply devices in the factory. There was also a problem that the layout was greatly limited.

On the other hand, only a parts feeder is provided for each work device, and the small parts are conveyed between the respective work devices and the storage part for the small parts by self-propelled in the factory by mounting the small parts. Although a technology has been developed in which the transportation is performed by a carrier and the storage is installed at a position away from the working device, in response to a part request from the working device, the storage is transferred to the carrier,
Since the technology for promptly supplying the required types of parts has not been established, even with the above-described technology, there has been a problem that delays occur in the supply of parts to the respective working devices.

[0011]

It is an object of the present invention to solve the problems in the prior art as described above, and to cut and supply any small parts required by a working device such as an assembly robot or a processing machine in a short time. The purpose is to provide a low-cost small-parts supply device that is capable of supplying various types of small-parts, and can be installed in a small installation area, limiting the flexibility of the layout of the automatic assembly line. It is an object of the present invention to provide a small-part cutting-out supply device that does not do so.

[0012]

SUMMARY OF THE INVENTION A small-part cutting and feeding apparatus according to the invention as set forth in claim 1 provided for the above-mentioned purpose comprises a parts-receiving hopper for storing small-parts, and A part cutting hopper for temporarily storing a predetermined amount of small parts discharged from the part storing hopper; a first discharging means for discharging small parts in the part storing hopper to the part cutting hopper; It is provided with a second discharging means for discharging the small parts stored in the cutting hopper all at once.

Further, the small-part cutting and feeding apparatus according to the second aspect of the present invention, which is provided for the above-mentioned purpose, conveys the small-parts to the working device arranged in the automatic assembly line. For supplying small parts to the small parts conveying device, a parts supply unit, a traverse carriage, an elevating device, and any parts required by the working means are cut out from the parts supply unit to the traverse carriage, And a controller for controlling a series of operations for transporting to a lifting device by a traversing vehicle and supplying the lifting device to the small component transport device. The component supply unit is provided for each of the component accommodating hoppers for accommodating small component parts and the component accommodating hoppers, and temporarily stores a predetermined amount of small component parts ejected from the component accommodating hoppers. A hopper for cutting out parts, a vibrator for vibrating the parts receiving hopper to send small parts to the hopper for cutting out parts, and a means for tilting the hopper for cutting out parts and discharging the parts stored therein. The traverse carriage has means for receiving small parts discharged from the part cutting hopper, and means for discharging small parts to the elevating device, and between the part supply unit and the elevating device. And a lifting bucket that receives the small parts discharged from the traverse trolley and supplies them to the small parts transporting device. Those having.

[0014]

In the invention described in claim 1 of the appended claims, a large number of small parts are always stored in the parts storage hopper. Then, when the hopper for cutting out the component is empty, a small amount of the small part in the hopper for storing the component is discharged to the hopper for cutting out the component by the first discharging means, and the small part is placed in the hopper for cutting out the component. Is temporarily stored until there is an external request for parts. When a part request is made from an external working device, a predetermined amount of small parts in the part cutting hopper are discharged at once by the second discharging means and immediately supplied to the working device.

Further, in the invention described in claim 2 of the claims, the small parts stored in the plural-stage parts accommodating hoppers provided in the parts supply unit are caused by the vibration of the vibration exciter. A predetermined amount is discharged to a component cutting hopper provided corresponding to each component storage hopper, and is temporarily stored here. Then, when a part request from the working device arranged in the automatic assembly line is input to the control device, the control device causes the traverse trolley to travel to the place where the requested part is stored, The cutting hopper is tilted, and the small parts stored therein are discharged to the transverse carriage.

Upon receipt of the small parts from the parts supply unit, the traverse carriage conveys the small parts to the place where the lifting device is installed and discharges the small parts to the lifting bucket of the lifting device according to the command of the control device. The elevating device raises the elevating bucket in which small parts are accommodated according to a command from the control device, and supplies the lifting bucket to the small part conveying device. The small-parts conveying device, which has received the small-parts, conveys the small-parts to a place where the work device that has made the part request is located.

[0017]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a first embodiment of a small-part cutting and feeding apparatus of the present invention, in which a plurality of working devices 7 are installed along an automatic assembly line 8 in a factory. In this embodiment, the working device 7 is composed of an assembly robot. Each work device 7 has a work head,
In order to supply small parts such as screws and springs, a parts feeder 6 is attached, and above the parts feeder 6 is to receive small parts from a small parts conveying device 2 installed above the factory. The chute 5 is installed.

The small-parts conveying device 2 is composed of a traveling rail 3 installed elevated in the factory and a self-propelled conveying carriage 4 traveling along the traveling rail 3, as shown in FIG. However, the traveling is controlled by the control device 70. The traveling rail 3 is provided so as to bypass a part of the dustproof sheet 9 that isolates the automatic assembly line 8, and the self-propelled conveyance is provided in the detoured portion of the traveling rail 3. A small component cutout supply device 1 for supplying small components to the carriage 4 is installed.

The small-part cutting and feeding apparatus 1 is shown in FIG. 2, and includes a parts feeding unit 10 in which various small parts are stored, and a traverse trolley 30 for receiving and carrying the small parts cut out from the parts feeding unit 10. , The elevator device 50 which receives the small parts conveyed by the traversing carriage 30 and transfers them to the self-propelled carriage 4 and the above-mentioned devices are collectively controlled, which is not shown in FIG. And device 70. Hereinafter, the respective constituent parts of the small-part cutting and feeding apparatus 1 will be described in order.

[0020]

[Component Supply Unit] As shown in FIGS. 3 and 4, the component supply unit 10 includes a component storage hopper 11 in which different types of small components are stored in a frame 15.
A and 11B are arranged vertically in two stages. These component storage hoppers 11A and 11B are
Each of them is supported via elastic supporting means such as a spring (not shown), and is configured to vibrate by vibrating machines (vibrators) 12A and 12B as first discharging means when discharging small parts. Shaker 12A, 1
As 2B, a generally used one that generates vibration by applying an alternating current to the electromagnet is applied, and also a structure that generates a vibration by rotating a weight can be used.

Below the outlets of the component accommodating hoppers 11A and 11B, the component cutting hoppers 13A and 1A are provided.
3B is arranged. Hopper 13A for cutting out parts,
Reference numeral 13B is for temporarily storing a predetermined amount of small parts discharged from the parts storage hoppers 11A and 11B, and is supported so as to be tiltable with respect to the frame 15.

For the small parts stored in the parts cutting hoppers 13A, 13B, the parts cutting hoppers 13A, 13B are tilted by actuating the cylinders 14A, 14B serving as the second discharging means. When the discharge side is tilted downward, it is cut out to the outside. The second discharging means is a cylinder 14
Instead of A and 14B, a rotary drive means such as a rotary actuator may be used. Parts storage hopper 11A,
The amount of small parts discharged from 11B by vibrating the vibrators 12A, 12B to the parts cutting hoppers 13A, 13B is determined by the transmission type sensors 16A arranged on both sides of the parts cutting hoppers 13A, 13B. It is controlled by 16B. That is, the hoppers 13A, 13 for cutting out parts
When small parts discharged from the part storage hoppers 11A and 11B are accumulated in B and light emitted from one of the transmission type sensors 16A and 16B is blocked by the small parts, driving of the shakers 12A and 12B is stopped. It is supposed to be done.
Depending on the type of small parts, a plurality of sets of transmissive sensors may be used in order to improve the detection accuracy and reduce the variation in the cutout amount. Further, the transmissive sensor can adjust the installation position in the horizontal direction and the vertical direction, and can adjust the amount of small parts cut out from the parts cutting hoppers 13A and 13B at one time. Also,
Depending on the type of small article, a reflective sensor may be used instead of the transmissive sensor.

The intensity of vibrations of the exciters 12A and 12B is controlled by a controller (not shown) provided on the back side of the frame 15. In this embodiment, the frame 15
Is formed by assembling aluminum profile members, and can easily cope with changes in the shapes of the component storage hoppers 11A and 11B. Frame 1
Covers can be attached to the both side surfaces and the back surface of 5 in order to prevent dust and to prevent mixing of small parts from the part supply unit 10. Further, below the frame 15, there are provided a limit switch 18 for confirming arrival of the transverse carriage 30 and an optical communication device 17 for transmitting information of the transverse carriage 30, which will be described later.

[0024]

[Truck Carriage] Next, FIGS. 5 and 6 show an example of the structure of the traverse car 30. The traverse vehicle 30 is configured to be able to travel on the floor surface of the factory by the drive wheels 33 and the traveling wheels 35, and the driving force of the DC servo motor 32 is transmitted to a timing belt, a chain or the like that is wound around pulleys or sprockets. It is transmitted to the drive wheel 33 via the member 34. An electromagnetic brake, a tacho-generator, and a planetary gear for speed reduction are integrally attached to the DC servo motor 32. In addition, a guide rail 44 is laid on the floor surface of the factory where the transverse carriage 30 runs,
The guide wheels 43 are in contact with the guide rails 44 from both sides to guide the traveling direction, and the distance between the traverse carriage 30 and the component supply unit 10 is kept constant during traveling. ing. Power supply for traveling the traverse vehicle 30 is performed by a current collecting rail 37 provided in parallel with the guide rail 44. A current collector 37A for receiving power from the current collecting rail 37 is provided on one side of the transverse carriage 30.

The transverse carriage 30 is provided with an upper part receiving hopper 38 and a lower part receiving hopper 39 for receiving the small parts cut out from the parts cutting hoppers 13A and 13B of the parts feeding unit 10 described above. .
Then, the upper component receiving hopper 38 and the lower component receiving hopper 39 are the component cutting hoppers 13A arranged in the upper and lower two stages of the component supplying unit 10 when the traverse vehicle 30 stops at the position of the component supplying unit 10. It is arranged so as to come to the position corresponding to each of 13B.

The lower end of the upper part receiving hopper 38 is communicated with the lower part receiving hopper 39 by a communicating chute 41, and the small parts introduced from the upper part receiving hopper 38 fall in the communicating chute 41. It is configured to be accommodated in the lower part receiving hopper 39. The lower part receiving hopper 39 has a function of accommodating small parts cut out from the part supply unit 10 when the traverse carriage 30 travels, and a function of discharging the small parts to an elevating device 50 described later. That is, the lower part receiving hopper 39
Is formed in a trough shape in which the front and the top are open, the front end side thereof is supported by the rotating shaft 39A, and can be tilted forward with the rotating shaft 39A as a fulcrum. By tilting the lower part receiving hopper 39, small parts inside can be discharged.

Further, the traverse vehicle 30 is provided with a control panel 31 in which a servo motor driver for controlling the drive of the DC servo motor 32 and a CPU for controlling all of the traverse vehicle 30 are incorporated. There is. The trolley 30
Further, after the small parts are cut out from the optical communication device 36 that receives information transmitted from the optical communication device 17 of the component supply unit 10 and the component cutting hoppers 13A and 13B, the traverse carriage 30 is moved to the lifting device 50. Limit switches 40, 4 for starting, which generate a signal to start the movement of the
6. After discharging small parts to the lifting device 50, the traverse truck 3
Limit switch 42 for returning to the origin for returning 0 to the origin, reflective photosensor 4 for self-position confirmation
5a and 45b are provided. Then, the self-position is confirmed by the combination of the signals of the reflective sensors 45a and 45b. If necessary, a reflection type sensor may be added to increase the number of position confirmation patterns.

[0028]

[Elevating Device] As shown in FIGS. 7 and 8, the elevating device 50 is provided with an elevating bucket 51 that elevates and descends along the support column 60. The elevating bucket 51 is tiltably supported by an elevating frame 51A, which is attached in parallel to the support column 60 and is connected to a rodless cylinder 54 and is moved up and down, by a horizontal rotating shaft (not shown). Normally, it is held horizontally on the elevating frame 51A by the positional relationship between the rotating shaft and the center of gravity of the elevating bucket 51. At a position above the column 60, a transfer chute 5 for discharging small parts from the lifting bucket 51 to the self-propelled carrier 4 of the small part carrier 2 shown in FIG.
8 is provided, and in the vicinity of the upper end of the column 60, a reversing cylinder 55 for tilting the lifting bucket 51 with respect to the lifting frame 51A to discharge small parts to the transfer chute 58 is provided. ing. The reversing cylinder 55 includes a rod 55A that expands and contracts downward, and at the position where the lifting bucket 51 is moved upward by the rodless cylinder 54, the front end side of the lifting bucket 51 is pushed by the rod 55A to lift the lifting frame 51A. It is structured so as to be tilted around the rotation axis. The transfer chute 58 is provided with a telescopic cover 56 that can move forward and backward with respect to the lift bucket 51 located at a position that is moved upward. The lift chute 51 is tilted to move the lift chute 51 to the transfer chute 58. When the small parts are discharged, the expandable cover cylinder 57 extends the expandable cover 56 toward the lifting bucket 51 to prevent the small parts from spilling outside. The expandable cover 56 is held at the retracted position so as not to interfere with the lifting operation when the lifting bucket 51 is lifted.

On the lower side of the column 60 of the lifting device 50,
A tilt lever 53 and a rotary actuator 52 for rotating the tilt lever 53 are provided, and an over-rotation preventing member 59 is provided above the tilt lever 53. The tilting lever 53 comes into contact with the lower part receiving hopper 39 of the traverse carriage 30 when the traverse carriage 30 shown in FIGS. 5 and 6 described above reaches the position of the elevating device 50. Then, by rotating the tilt lever 53, the lower part receiving hopper 39 is tilted forward around the rotating shaft 39A, and the stored small parts are on standby at the lower part of the column 60. The operation of discharging into the lifting bucket 51 is performed. The excessive rotation preventing member 59 is
The lower part receiving hopper 39 is provided in order to prevent the lower part receiving hopper 39 from being excessively rotated and unable to return to its original position. The hopper 39 is brought into contact with the hopper 39 to regulate its rotation range.

[0030]

[Control Device] Next, FIG. 9 is a diagram showing an outline of a control system of the small-part cutting and feeding device 1, which is used as a component feeding unit 10, a traverse carriage 30, a lifting device 50, and a next process device. The small-parts conveying device 2 is collectively controlled by the control device 70. That is, the component request signal issued from the working device of the automatic assembly line is the control device 7
When 0 is input, a series of articles is discharged from the parts supply unit in which the requested small parts are stored to the traverse carriage, conveyed to the lifting device by the traverse carriage, and supplied from the lifting device to the small parts conveying device. A controller 70 for performing the operation
Is a parts supply unit 10, a traverse carriage 30, an elevating device 5
0 and the next process device 2 are controlled.

[0031]

[Control Flow of Parts Supply Unit] FIGS. 10 and 11
9 shows a flow of control of the component supply unit 10 performed by the control device 70 in FIG. 9, and here, the component storage hopper 1 shown in FIG. 3 and FIG.
An example of taking out small parts accommodated in 1A will be described below.

In step 1A, the component storage hopper 11A
The presence or absence of small parts is inspected. This is determined as "absent" if the light of the transmissive sensors 16A, 16A is not blocked by the small parts, and "present" if it is blocked, and if "absent", proceeds to the next step 2A. , "Yes"
In the case of, the process proceeds to step 5A and enters the standby state. In step 2A, the vibration exciter 12A is driven to start discharging small components from the component housing hopper 11A to the component cutting hopper 13A. By driving the vibration exciter 12A, small parts are gradually accumulated in the part cutting hopper 13A. Then, in step 3A, the transmission sensor 16
When A and 16A detect that a predetermined amount of small parts are filled in the part cutting hopper 13A, step 4A
Then, the vibration exciter 12A is stopped, and the discharge of the small parts from the parts housing hopper 11A to the parts cutting hopper 13A is completed. At that time, the small parts are emptied in the parts storage hopper 13A because the small parts are empty in the parts storage hopper 11A or the small parts are clogged when the small parts are discharged to the parts cutting hopper 13A. not,
If the shaker 12A does not stop even after a predetermined time has elapsed since the shaker 12A started driving, the shaker 12A is stopped and an alarm is issued to the main control panel of the control device 70.

Then, with the inside of the hopper 13A for cutting out parts being filled with a predetermined amount of small parts, the standby state of step 5A is entered.

In step 6A, when the arrival of the traverse vehicle 30 is confirmed by the limit switch 18, step 7
Move to A, and the hopper 13A for cutting out parts is the cylinder 1
It is tilted by 4A and cutting out of small parts is started. At that time, the operation of the cylinder is confirmed, and in step 8A, when the small parts are transferred to the traverse vehicle 30, the cylinder 14A repeats expansion and contraction for a predetermined time from the start of the operation. This is because the hoppers 13A and 13B for cutting out the parts are vibrated to cause the entanglement of the spring or the like to completely discharge the small parts that are easily caught. Then, after the lapse of the predetermined time, the component cutting hopper 13A returns to the original position in step 9A, at which time the return of the cylinder 14A to the original position is confirmed, and the process returns to step 1A.

[0035]

[Control Flow of Traversing Vehicle] Next, FIG. 12 and FIG.
7 shows a control flow of the transverse carriage 30 performed by the control device 70. In step 1B, the transverse carriage 30 stands by at the origin position, the position is confirmed by the reflection type sensor 45, and the control device 70 is confirmed. The main control panel of
The lamp indicating the standby state is lit at the home position. In step 2B, it is judged whether or not the automatic assembly line 8 has been stopped for a set time or longer. The set time can be changed according to the production tact, the transfer capability of the next process device, etc. in order to prevent excessive supply of parts when a product is not produced due to a trouble in the automatic assembly line. When the automatic assembly line 8 is stopped, a temporary stop lamp is lit on the main control panel by a limit switch provided on the automatic assembly line 8. Then, when stopped for a set time or longer, the process returns to step 1B, and when the automatic assembly line 8 starts to move within the set time, step 3B
Then, the traverse vehicle 30 is instructed of the destination via the optical communication device 36. In step 4B, the transverse carriage 30 travels to the component supply unit 10 at the designated location. While the traverse vehicle 30 is traveling, the traveling position is confirmed by the reflective sensor 45, and the DC servo motor 32 is servo-controlled in a predetermined acceleration / deceleration pattern. When the transverse carriage 30 arrives at the designated position, it stops at step 5B. Positioning at the time of stop is performed by confirming the stop position by the reflection type sensors 45a and 45b.

Next, in step 6B, the supply of small parts is started from the part cutting hopper 13A of the part supply unit 10. When the supply of the small parts is completed in step 7B, the limit switches 40, 46 for starting are interlocked with the returning operation of the cylinder 14A of the parts supply unit 10.
Is operated, and the transverse carriage 30 travels toward the lifting device 50 in step 8B. During traveling, as in step 4B, the traveling position is confirmed by the reflection type sensors 45a and 45b, and the DC servo motor 32 is servo-controlled in a predetermined acceleration / deceleration pattern.

In step 9B, the transverse carriage 30 confirms the position with the reflection type sensors 45a and 45b, and then the lifting device 50
Stop at the position. Next, in step 10B, the lower part receiving hopper 39 is tilted by the tilting lever 53 of the lifting device 50, and the small parts are discharged to the lifting bucket 51 of the lifting device 50. In step 11B, the discharge of the small parts is completed, the lower part receiving hopper 39 returns to the original position, and at the same time, the limit switch 42 for returning to the origin.
Is operated in conjunction with the return operation of the rotary actuator 52 of the lifting device 50, the vehicle travels toward the origin position in step 12B, and the process returns to step 1B. While the traverse vehicle 30 is traveling to the origin position, the DC servo motor 32 is controlled in the same manner as described above, and the arrival at the origin position is confirmed by the reflection type sensors 45a and 45b and the limit switch 18, and is kept constant. If the vehicle has been running for longer than this time, an alarm will be issued to the main control panel.

[0038]

[Control Flow of Lifting Device] FIGS. 14, 15 and 1
6 shows a control flow of the lifting device 50 performed by the control device 70, and in step 1C,
The elevating bucket 51 of the elevating device 50 is at the lower origin position, the position of the rodless cylinder 54 is confirmed, and a lamp indicating that the elevating bucket 51 is at the origin position is lit on the main control panel of the control device 70. are doing. Step 2
When the transfer limit switch (not shown) confirms the arrival of the traverse carriage 30 at C, the rotary actuator 52 is driven and the tilt lever 53 is actuated at step 3C, and the lower part receiving hopper 39 of the traverse carriage 30 is moved. Rotation axis 3
The small parts that are tilted around 9A and are conveyed are discharged to the lifting bucket 51. Also, the operation of the rotary actuator 52 is confirmed by a detection means (not shown),
In step 4C, the rotary actuator 5
2 repeatedly swings, and the lower part receiving hopper 39 vibrates up and down during the discharge of small parts. The above-described operation is performed in order to completely discharge the entangled component, similar to the above-described slicing of the small component from the component hopper 13A of the component supply unit 10.

After the elapse of the predetermined time, in step 5C,
The tilt lever 53 returns to the original position, and the lower part receiving hopper 39 of the traverse carriage 30 returns to the original position. The return operation is confirmed by detecting the return operation of the rotary actuator 52. In step 6C, the rodless cylinder 54 is extendedly driven, the lifting bucket 51 is raised,
In step 7C, the lifting bucket 51 stops at the raised position. In step 8C, it is determined by the optical communication device whether or not the self-propelled transport carriage 4 of the small component transport device 2 which is the next process device has reached the position of the elevating device 50 and is ready to receive the small component. It is judged by communication. Then, when the preparation is not completed, the process returns to step 7C, and the lifting bucket 51 stops at the raised position and stands by. On the other hand, when the next process apparatus is ready to receive small parts, the process proceeds to step 9C, and the telescopic cover 56 is extended to the lifting bucket 51 side by the telescopic cover cylinder 57. At this time, the extension operation of the telescopic cover cylinder 57 is confirmed.

In step 10C, the reversing cylinder 55 is actuated, the lifting bucket 51 is tilted, and the discharge of small parts is started. The tilting operation of the lifting bucket 51 is confirmed by detecting the operation of the reversing cylinder 55. In step 11C, small components are discharged to the self-propelled carrier 4 which is the next process device. During this time, the lifting / reversing cylinder 55 repeats the repeated expansion / contraction operation for a predetermined time to lift the lifting bucket 51. Is vibrated to ensure the discharge of small parts. When the discharge of the small parts is completed, the reversing cylinder 55 returns to the original position and stops at step 12C, and the lifting bucket 51 returns to the original position. At this time, the return operation of the elevating bucket 51 is confirmed by detecting the return of the reversing cylinder 55.

Next, in step 13C, the telescopic cover cylinder 57 contracts and the telescopic cover 56 returns to its original position. The return operation of the expandable cover 56 is confirmed by detecting the contraction of the expandable cover cylinder 57. Then, in step 14C, the rodless cylinder 54 is driven and the lifting bucket 51 is lowered. At this time, when the lowering operation of the elevating bucket 51 requires more than a predetermined time, an alarm is issued. Then, when the lowering of the elevating bucket 51 is completed, the process returns to step 1C.

[0042]

[Second Embodiment] FIG. 17 is a plan view showing a second embodiment of the present invention. The small-part cutting and feeding apparatus 1 of this embodiment includes a component feeding unit 10, a traverse carriage 30, and an elevating / lowering device 50 having the same configurations as those of the first embodiment described above. A plurality of component supply units 10 are arranged on both sides of the carriage 30 along the guide rails 44. With the above arrangement, since small parts can be supplied from both sides of the traverse carriage 30, it is possible to accommodate a large number of parts supply units 10 in a small installation area.

The component storage hoppers of the respective component supply units 10 can store different types of small components, but when a large amount of one type of small components is required, a plurality of small components can be stored. Small parts of the same type can be stored in the parts storage hopper. Further, small parts of the same type are stored in the component storage hoppers of the component supply unit 10 at the positions opposite to each other on both sides of the traverse carriage 30, so that the traverse carriage 30 can store the component supply units 10 on both sides. It is possible to cut out and supply the same kind of small parts at the same time. Therefore, when a large number of small parts of the same type are required on the working device side, they can be supplied in a short time.

[0044]

[Third Embodiment] FIG. 18 shows a third embodiment of a small-part cutting and feeding apparatus according to the present invention. In this embodiment, the lifting device 50 is the same as that of each of the above-described embodiments. The component supply unit 10 is the same as that of the first embodiment except that the number of stages of the component storage hoppers provided is different. In this embodiment, the transverse carriage 30 is
An elevating box 49 for elevating the elevating guide 48 is provided, and the elevating box 4 is placed at a position corresponding to a component cutting hopper for cutting out the requested component of the component supply unit 10.
9 is vertically positioned to receive small parts in the lifting box 49.

As an elevating mechanism for the elevating box 49 with respect to the elevating guide 48, a chain connected to the elevating box 49 is provided in the elevating guide 48 and driven by a sprocket, or a chain such as a normal forklift. A generally known lifting mechanism using a hydraulic cylinder and a hydraulic cylinder can be used. Also, instead of the lifting guide 48,
An elevating box 49 may be provided at the tip of the telescopic type telescopic column. The mechanism for discharging the small parts from the lifting box 49 to the lifting bucket 51 of the lifting device 50 is provided with the lifting box 49 tiltably forward like the lower part receiving hopper 39 of the embodiment shown in FIG. 5 described above. In addition to the above structure, the bottom of the elevating box 49 can be opened and closed so that small parts can be discharged downward from the elevating box 49.

In the small-part cutting and supplying apparatus of this embodiment, the traversing carriage 30 is operated according to the parts request from the working apparatus side.
Moves to the component supply unit 10 accommodating the required small component, and moves the elevating box 49 up and down to the position of the component cutting hopper where the target small component is cut out and positioned. After the small parts are cut out from the hopper for cutting out the parts into the elevating box 49, the transverse carriage 30 is moved to the elevating device 5
It moves to the position of 0, and here, from the lifting box 49 to the lifting device 5
Small parts are discharged to the lifting bucket 51 of 0. The elevating device 50 raises the elevating bucket 51 in the same manner as in the above-described embodiment, discharges small parts to the self-propelled transport carriage 4 on the traveling rail 3 provided on the elevated rail, and the self-propelled transport carriage 4 operates as follows. , Small parts are transported to the work equipment where parts are requested. In this embodiment, since the elevating box 49 is provided on the traversing carriage 30 so as to be movable up and down by the elevating guide 48, the multi-stage component accommodating hopper arranged in the component supply unit 10 is
One lifting box 49 can be used, and the traverse truck 30
The structure of is simplified.

[0047]

[Fourth Embodiment] FIG. 19 shows a fourth embodiment of the present invention, in which the component supply unit 10 has the same structure as that of each of the above-described embodiments.
In this embodiment, the traversing carriage and the lifting device are omitted, and the self-propelled carriage 4 has these functions. That is, the lifting device 50 used in each of the above-described embodiments.
Instead of this, a lifter 61 is arranged at the position.
The lifter 61 is provided with an elevating rail 3A that lifts up and down with a part of the traveling rail 3 separated. The elevating rail 3A rises and falls to a position aligned with the traveling rail 3 and downward. Then, it is movably provided at a position aligned with the upper side traverse rail 3B or the lower side traverse rail 3C arranged on the component supply unit 10 side.

In the above structure, when a part is requested from the working device 7, the self-propelled carriage 4 travels on the traveling rail 3 to the position of the lifter 61 and stops on the elevating rail 3A. The lifter 61 lowers the elevating rail 3A on which the self-propelled carrier 4 is placed to move the upper traverse rail 3B or
The elevating rail 3A is aligned with any of the lower traverse rails 3C and stopped. For example, when the lifting rail 3A is aligned with the upper traverse rail 3B, the self-propelled carrier 4
Move from the lifting rail 3A to the upper traverse rail 3B,
Parts supply unit 1 in which requested parts are stored
Stop at 0 position.

Then, the required small parts are cut out from the hopper for cutting out parts on the upper stage of the parts supply unit 10 to the self-propelled carrier 4. When the required small parts are cut out from the lower part cutting hopper, the elevating rail 3A is aligned with the lower traverse rail 3C, and the self-propelled carrier 4 is used as the lower part cutting hopper. Move to the corresponding position. The self-propelled transport carriage 4 that has received the small parts moves to the lifter 61 side and shifts to the lift rail 3A, and then the lift rail 3A rises and aligns with the traveling rail 3. The self-propelled carriage 4 moves from the lifting rail 3A to the traveling rail 3 and travels on the traveling rail 3 and is attached to the working apparatus 7 at a position where the working apparatus 7 has a component request. The small parts that have been conveyed are discharged to the chute 5 that communicates with the feeder 7. These series of operations are automatically performed by a control device (not shown).

According to the above-mentioned embodiment, since the small accessory parts required can be cut out and supplied directly from the component supply unit 10 to the self-propelled transport carriage 4, it is possible to remove the small accessory parts in the traverse carriage or the lifting device. Since there is no delivery, the time from component request to supply can be further shortened as compared with the case of each of the embodiments described above. If the lifting rail 3A and the traveling rail 3, the upper traverse rail 3B, and the lower traverse rail 3C are not in the alignment position, a stopper such as a stopper that prevents the self-propelled carriage 4 from moving beyond each rail. It is preferable to provide a safety device.

[0051]

As described above, according to the invention described in claim 1 of the claims, the small parts stored in the parts storage hopper are temporarily discharged after being discharged to the parts cutting hopper by a predetermined amount. When the small parts are cut out, they are discharged at once from the hopper for cutting out parts, so that a quick cutting operation can be performed.

Therefore, when a part request is made from the work device, entanglement occurs between the parts, as in the conventional case where a small part is directly cut out from the part accommodating hopper using a vibration feeder or the like. Therefore, it does not take time to cut out the parts, and the parts can be supplied to the working device for which the parts are requested in a short time, and the working efficiency can be improved. Moreover, compared to the conventional structure for directly cutting out small parts from the parts storage hopper, the structure is simpler with the addition of a parts cutting hopper, so that it can be implemented at low cost.

Further, according to the invention described in claim 2 of the invention, the component supply unit is provided with a plurality of stages of component storage hoppers for accommodating small components and also with a component cutting hopper. Thus, various kinds of small parts can be stored in a small installation area, and small kinds of small parts according to the demand from the working device can be quickly cut out.

Since the small parts cut out from the parts supply unit are handed over to the elevating device via the traverse carriage, a plurality of parts supply units are arranged along the moving path of the traverse carriage to increase the number of parts. Since types or a large number of small parts can be distributed and stored in the respective component supply units, it is possible to efficiently store the small parts with a layout having a high degree of freedom.
Moreover, since the small parts can be stored in a place separated from the automatic assembly line in the factory, it becomes easy to manage the small parts.

In addition to the above effects, according to the invention described in claim 2 of the appended claims, the small parts cut out from the parts supply unit are conveyed upward by the elevating device, and the elevated rail is provided. Since it can be easily and quickly supplied to the traveling small-parts conveying device, it is possible to supply the parts to the working device in which the parts are requested without delay. Moreover, the control device controls a series of operations for discharging arbitrary parts required by the working means from the parts supply unit to the traversing carriage, transporting them to the lifting device by the traversing car, and supplying them from the lifting device to the small parts conveying device. Since they are collectively controlled and automatically performed, it is possible to save labor in supplying components to the work device.

[Brief description of drawings]

FIG. 1 is a perspective view showing a first embodiment of a small-part cutting-out supply device of the present invention.

FIG. 2 is a side view of the small component cutout supply device shown in FIG.

FIG. 3 is a side view of the component supply unit.

FIG. 4 is a front view of the component supply unit.

FIG. 5 is a side view of a traversing carriage in the small-part cutting and feeding apparatus of the present invention.

FIG. 6 is a front view of a traverse carriage in the small-part cutting and feeding apparatus of the present invention.

FIG. 7 is a side view of an elevating device in the small-part cutting-out supply device of the present invention.

FIG. 8 is a front view of an elevating device in the small-part cutting-out supply device of the present invention.

FIG. 9 is a diagram showing an outline of a control system of the small-part cutting-out and feeding device of the present invention.

FIG. 10 is a diagram showing a preceding stage of the control flow of the component supply unit.

FIG. 11 is a diagram showing a latter stage of the control flow of the component supply unit.

FIG. 12 is a diagram showing a front stage of a control flow of a traverse vehicle.

FIG. 13 is a diagram showing a latter stage of the control flow of the traverse vehicle.

FIG. 14 is a diagram showing a former stage of a control flow of the lifting device.

FIG. 15 is a diagram showing the middle stage of the control flow of the lifting device.

FIG. 16 is a diagram showing a latter stage of the control flow of the lifting device.

FIG. 17 is a plan view showing a second embodiment of the small-part cutting-out supply device of the present invention.

FIG. 18 is a perspective view showing a third embodiment of a small-part cutting-out supply device of the present invention.

FIG. 19 is a perspective view showing a fourth embodiment of the small-part cutting-out supply device of the present invention.

FIG. 20 is a plan view of a conventional device.

21 is a front view of the component storage unit and the component transfer unit taken along the line AA of FIG.

[Explanation of symbols]

1 small parts cutting and feeding device, 2 small parts conveying device, 7 working device, 8 automatic assembly line,
10 parts supply unit, 11A / 11B parts accommodating hopper, 12A / 12B vibrator (first discharging means), 13A / 13B parts cutting hopper, 14
A · 14B cylinder (second discharging means), 30
Traverse truck, 33 drive wheels, 35 running wheels, 3
7 Current collecting rail, 38 Upper part receiving hopper, 3
9 lower parts receiving hopper, 41 communication chute,
43 guide wheels, 44 guide rails, 48
Lift guides, 49 lift boxes, 50 lift devices,
51 Lifting Bucket, 54 Rodless Cylinder, 58 Transfer Chute, 60 Prop, 70
Control device.

Claims (2)

[Claims] 1. A parts housing hopper for storing small parts, a parts cutting hopper for temporarily storing a predetermined amount of small parts discharged from the parts housing hopper, and a small parts inside the parts housing hopper. A first discharging means for discharging to a parts cutting hopper; and small parts stored in the parts cutting hopper,
A small-part cutting and feeding device comprising: a second discharging means for discharging at one time. 2. A small-part cutting and feeding device for feeding small-parts to a small-parts conveying device that conveys small-parts to a working device arranged in an automatic assembly line. The device and arbitrary parts required by the working means are cut out from the parts supply unit to a traverse carriage, transported to the lifting device by the traverse car, and a series of operation control to be supplied from the lifting device to the small parts conveying device is controlled. And a controller for performing the component supply unit, wherein the component supply unit is provided for each of the component accommodating hoppers for accommodating small component parts and the component accommodating hopper, and a predetermined amount of the accessory component ejected from the component accommodating hopper A hopper for cutting out parts that temporarily stores
A vibrating machine that vibrates the component storage hopper to send small components to the hopper for component cutting, and a means for tilting the hopper for component cutting and discharging the components stored therein, the traverse cart Is provided with a means for receiving small parts discharged from the hopper for cutting parts, and a means for discharging small parts to the lifting device, and is provided so as to be able to travel between the parts supply unit and the lifting device, The lifting device includes a lifting bucket that receives small parts discharged from the traverse trolley and supplies the small parts conveying device to the small parts conveying device.