JPH0891549A - Part feeding device - Google Patents

Abstract

PURPOSE: To provide a part feeding device in which the perfect automation of a part assembling line can be attained. CONSTITUTION: A feeding linear feeder 2 is provided on the part delivering part of a ball feeder 1 having a touring part, a light transmitting plate 3 is provided on the downstream side end part of the feeding linear feeder 2, and a part guide part 4 for horizontally guiding a part is provided on the downstream side of the light transmitting plate 3. A returning linear feeder 5 for returning the part guided by the part guide part 4 to the ball feeder 1 is provided to circulate the part not retrieved, a recessed part 3a determined according to the form of the part and the posture regulated by the touring part is formed on the upper surface of the light transmitting plate 3 to support the part in the horizontal state, and an image detecting processing part is provided in conformation to the light transmitting plate 3 to identify the retrievable part.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component supply device,
More specifically, the present invention relates to a component feeding device in which a linear feeder is provided in a component feeding portion of a bowl feeder, and a tooling portion provided at a predetermined position of the bowl feeder regulates a component in a predetermined posture to feed the component to the linear feeder.

[0002]

2. Description of the Related Art Conventionally, various devices have been proposed as devices for automating parts supply. Of these,
A linear feeder is installed in the parts feeder of the bowl feeder,
A component supply system including a component supply device that regulates a component to a predetermined posture by a tooling portion provided at a predetermined position of a bowl feeder and sends the component to a linear feeder has been proposed as shown in FIG. In FIG. 6, 61 is a bowl feeder having a spiral component conveying path, 62 is a linear feeder provided in the component feeding section of the bowl feeder 61, and 63 is a temporary storage of components for supplying to the bowl feeder 61. A hopper to be placed, 64 is a parts take-out robot, 65 is a full detection sensor for detecting that the number of parts on the linear feeder 62 is more than a predetermined amount, and 67 is that the number of parts in the bowl of the bowl feeder 61 is less than the predetermined amount. A level sensor for detecting, 68 is an escape device for picking up the parts one by one at the most downstream end of the linear feeder 62 and supplying them to the part picking robot 64, 69 is a base member of the bowl feeder 61, 70 is a parts detector,
Reference numeral 71 is a base, and 73 is a controller for controlling the operation of each component. Although not shown in FIG. 6, tooling suitable for the component to be supplied is provided near the component feeding portion of the bowl feeder 61. Further, above the linear feeder 62, a pressing plate for ensuring the aligned state of the components sequentially delivered by the bowl feeder 61 (for example, preventing the inconvenience of the succeeding component from riding on the preceding component). Is provided.

If the component supply system having the above-mentioned configuration is adopted, the components are separated from each other by operating the vibration source (not shown) of the bowl feeder 61 in a state where the components of the bowl feeder 61 are put into the bowl from the hopper 63. In addition, the parts can be sequentially delivered to the linear feeder 62 in a state where the parts are regulated so as to have a predetermined posture in the tooling section. And in the linear feeder 62,
The received parts are moved forward in the same posture. Also,
At the downstream end of the linear feeder 62, the escape device 68 takes out the parts one by one and supplies them to the part taking-out robot 64.

Therefore, the parts can be efficiently supplied.

[0005]

Even when the component supply system having the above-mentioned configuration is adopted, a component having a posture different from the predetermined posture may be delivered to the linear feeder 62. In such a case, Is clogged in the escape device 68, and the parts cannot be picked up by the parts picking robot 64. In addition, the parts may be delivered to the linear feeder 62 in an overlapping state, and in such a case, the parts are blocked by the pressing plate, and the parts are not conveyed by the linear feeder 62. I will end up.

Even if the component supply device is designed and manufactured so that the probability of occurrence of such an inconvenience is sufficiently low, a large number of component supply devices are arranged in the component assembly line. Therefore, when viewed from the whole line, the probability that the above-mentioned inconvenience occurs in any one of the component supply devices becomes considerably high. As a result, even if you try to achieve complete automation of the parts assembly line,
An operator is required to deal with the above-mentioned inconvenience, and it is impossible to achieve complete automation (complete unmanned operation).

[0007]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and completely prevents the occurrence of the inconvenience that a component having a posture different from a predetermined posture is supplied or the component transportation is interrupted. An object of the present invention is to provide a component supply device capable of performing the above.

[0008]

According to a first aspect of the present invention, there is provided a component feeding device which has a translucent plate downstream of a feeding linear feeder provided in a component feeding portion of a bowl feeder having a spiral component feeding path. Is provided on the upper surface of the plate, which is adapted to the shape and regulated posture of the component and which extends in the component transport direction, and on the downstream side of the plate, the direction orthogonal to the component transport direction by the linear feeder for feeding. Is provided with a part guide part for guiding the part, and a return linear feeder for returning the part guided by the part guide part to the bowl feeder is further provided.
An image processing unit is provided for performing image processing to detect an image of a component supported by the transparent plate and identify a component that can be taken out.

[0009]

According to the component supply device of the first aspect, when the bowl feeder provided with the tooling section delivers a component regulated to a predetermined posture with a high probability, this component is fed by the feeding linear feeder. It is transported and supplied on a transparent plate. Then, an image of the component on the transparent plate is detected by the image processing device, and image processing based on the detected image is performed to identify the component that can be taken out. Therefore,
It is possible to take out the retrievable component from the transparent plate by a component retrieving robot or the like arranged at a predetermined position with respect to the component supply device. In this case, since the component is supported on the translucent plate while engaging with the concave portion, the portion to be gripped by the component extraction robot or the like is held horizontally. As a result, it is possible to satisfactorily grip or suck and hold the component. In addition, parts conveyed in a posture different from the posture that should be regulated by the tooling unit are not grasped or held by suction by a take-out robot or the like, but are guided to the return linear feeder by the component guide unit as they are, so the bowl feeder To be recirculated and subjected to the above-mentioned processing again. As a result, there is no need to interrupt the operation of the component supply device even if there is a component that is conveyed in a posture different from the posture that should be regulated by the tooling unit. Further, since it is not necessary to provide a pressing plate above the linear feeder for feeding, it is possible to prevent the occurrence of the inconvenience that the conveyance of the parts is blocked due to the existence of the pressing plate and the overlapping of the parts. Also, the interruption of the operation of the component supply device can be reliably prevented. Therefore, it is possible to completely unmanned a component assembly line or the like in which a large number of component supply devices are arranged.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the accompanying drawings showing embodiments. 1 is a plan view showing an embodiment of the component supply device of the present invention, FIG. 2 is a front view, FIG. 3 is a plan view showing an internal mechanism, FIG. 4 is a front view, and FIG. 5 is a front view showing an image processing unit. Is.

This component feeder has a bowl feeder 1 having a bowl 1a for accommodating components and a spiral component transport path 1b, and a tooling section (not shown) provided near the component delivery section of the component transport path 1b. A linear feeder 2 for feeding continuously provided at the component feeding end of the component feeding path 1b, a transparent plate 3 provided at a predetermined position on the downstream side of the linear feeder 2 for feeding, Of the component guide portion 4 provided on the downstream side of the plate 3 having a groove, the returning linear feeder 5 that receives the component from the component guide portion 4 and returns it to the bowl feeder 1, and the component on the transparent plate 3 It has an image detection processing unit 6 that detects an image and performs image processing to identify a part that can be taken out.

The configurations of the bowl feeder 1 and the linear feeders 2 and 5 are well known in the art, and therefore detailed description thereof will be omitted. However, the feeding linear feeder 2 is provided with a convex portion, a groove portion, and the like on the conveying surface so that the component whose posture is regulated by the tooling portion can be conveyed as it is. The translucent plate 3 is, for example, an acrylic plate or the like, and accommodates a protrusion on the lower surface of the component, which is determined by the shape of the component to be supplied and the posture regulated by the tooling portion, at a predetermined position on the upper surface. The concave portion 3a for holding the component horizontally is formed continuously with the feeding linear feeder portion.

The component guide portion 4 is closed at the end portion in the component feed direction by the feeding linear feeder 2 and has a tapered surface for guiding the component laterally with respect to the component feed direction. Parts guide part 4
It is possible to guide the parts guided to the horizontal direction with reference to the feeding direction of the feeding linear feeder. The return linear feeder 5 receives the component from the component guide portion 4 and returns it to the predetermined position of the bowl feeder 1 (in the middle of the component conveying path 1b or inside the bowl 1a). The entire image detection processing unit 6 is housed inside the casing 7. Of course, the transparent plate 3 is also housed inside the casing 7. A lid 7b that is opened and closed by the cylinder device 7a is provided at a position directly above the translucent plate 3 to allow the components to be taken out by a robot for taking out the components. The lid 7b has a planar light-emitting body 7c made of EL or the like on the lower surface. Inside the casing 7, a reflection mirror 6a tilted by a predetermined angle is provided at a predetermined position below the translucent plate 3, and the image of the component on the translucent plate 3 is reflected by the reflection mirror 6a.
An image detection unit 6b including a CCD camera or the like is provided at a position where it can be detected via. Then, the image detection unit 6
The image processing unit 6 receives the image signal obtained in step b.
The connectivity analysis process by c, the creation process of a window including a group of images obtained by the connectivity analysis process, the feature value extraction process based on the image in the window {selected from a variety of conventionally known feature values , Optimal feature value for front / back identification of parts to be supplied (eg hole position)
Processing for extracting the extracted feature value, identification processing for comparing the extracted feature value with a reference value set in advance by teaching or the like to identify whether or not the component is retrievable, the center of gravity of the image of the retrievable component, and the like. Calculation processing of a reference gripping position is performed, and the gripping position of a removable component is supplied to a robot controller (not shown). Further, it detects that there is no removable component on the translucent plate 3, and instructs the linear feeder 2 for feeding to start the feeding operation.

Reference numeral 7d is a lamp provided at a predetermined position inside the casing 7, and is turned on only when the position of a hand portion such as a parts picking robot is adjusted.
In this case, the hand portion is kept in contact with the upper surface of the translucent plate 3, the translucent plate 3 is illuminated from below by the lamp 7d, and the reflected light is detected by the image detection unit 6b.
The position of the hand portion is detected by the image processing portion 6c using the image obtained by the image detecting portion 6b as an input. Then, a parameter for coordinate conversion is obtained in order to match the coordinate system of the robot for taking out the component with the coordinate system of the image processing unit 6c based on the detected position and the movement target position for the robot for taking out the component.

In the component feeder having the above construction, since the tool feeding path 1b of the bowl feeder 1 is provided with the tooling portion, the components are fed in a regulated state and separated from each other. Can be supplied to the linear feeder 2. Then, the feeding linear feeder 2 conveys the components while maintaining the above posture and supplies the components onto the transparent plate 3.

After the parts have been conveyed by the feeding linear feeder 2 for a predetermined time, the conveyance is stopped and the casing 7
The planar light-emitting body 7ba is turned on with the lid 7b closed, the silhouette image of the component is detected by the image detection unit 6b, and the image processing unit 6c can take out the silhouette image based on the silhouette image detected by the image detection unit 6b. It identifies whether or not there is a possible component, calculates the grip position for the component that can be removed, and gives a removal instruction to a robot controller (not shown). Of course, when giving a take-out instruction, an operation instruction is given to the cylinder device 7a in order to open the lid 7b of the casing 7.

Therefore, only the parts that can be taken out can be taken out by the parts taking-out robot or the like. Further, since the removable parts on the translucent plate 3 are held in the horizontal state by the recesses 3a, stable and reliable removal can be achieved at the time of removal. In particular, when the component is gripped by vacuum suction instead of physical gripping, it is possible to achieve reliable suction holding by holding the component in a horizontal state.

Further, the parts that cannot be taken out are sent to the parts guide portion 4 when the feeding linear feeder 2 restarts the feeding operation, and are guided to the returning linear feeder 5 along the tapered surface. Then, it is returned to the bowl feeder 1 by the returning linear feeder 5. Since the parts returned to the bowl feeder 1 undergo the above-mentioned series of processing again, it is not necessary to interrupt the operation of the parts feeder even if the parts which cannot be taken out are sent by the linear feeder 2 for feeding. . Furthermore, since it is not necessary to provide a pressing plate above the linear feeder 2 for feeding, there is no possibility of interruption of the flow of parts due to the pressing plate, and from this point as well, it is necessary to interrupt the operation of the component supply device. Disappears. In other words, in order to deal with the case where the operation of the component supply device is interrupted, an operator has conventionally been required on the component assembly line or the like, but when the component supply device of this embodiment is adopted, No workers required,
Complete unmanned parts assembly line and the like can be achieved.

The component supply device of this embodiment can also be provided with a full sensor, a level sensor and the like.

[0020]

According to the first aspect of the present invention, even if there is a component which is conveyed by the linear feeder for feeding in a posture different from the posture regulated by the tooling portion, such a component is returned to the bowl feeder. Parts can be supplied without interrupting the operation of the parts supply device.
It is possible to reliably prevent clogging of parts due to overlapping of parts, etc., and to supply parts without interrupting the operation of the part supply device. It has the unique effect of being able to achieve complete unmanned operation such as.

[Brief description of drawings]

FIG. 1 is a plan view showing one embodiment of a component supply device of the present invention.

FIG. 2 is a front view of the same.

3 is a plan view showing an internal mechanism of the component supply device of FIG. 1. FIG.

FIG. 4 is a front view of the same.

FIG. 5 is a front view showing an image processing unit.

FIG. 6 is a perspective view showing a configuration of a component supply system including a conventional component supply device.

[Explanation of symbols]

 1 Bowl Feeder 1b Component Conveying Path 2 Feeding Linear Feeder 3 Translucent Plate 3a Recess 4 Component Guide 5 Returning Linear Feeder 6 Image Detection Processing Unit

Claims (1)

[Claims] 1. A feed linear feeder (2) is provided in a component feeding part of a bowl feeder (1) having a spiral part conveying path (1b), and a tooling part provided at a predetermined position of the bowl feeder (1) is used. In a component supply device that regulates a component in a predetermined posture and sends it to a linear feeder for feeding (2), a transparent plate (3) is provided on the downstream side of the linear feeder for feeding (2). The upper surface of (3) is provided with a concave portion (3a) adapted to the shape of the component and the regulated posture and extending in the component conveying direction, and the feed linear feeder (2) is provided on the downstream side of the plate (3). A part guide part (4) for guiding the part in a direction orthogonal to the part conveying direction is provided, and a returning linear feeder (5) for returning the part guided by the part guide part (4) to the bowl feeder (1) is provided, In addition, the transparent An image detection processing unit (6) for performing image processing to detect an image of a component supported by a plate (3) and identify a component that can be taken out.