JPH0957543A - Parts aligning and feeding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a part aligning and feeding device, capable of having high parts feeding capacity, quickly dealing with the multi-kinds of machines, and being excellent in a space factor. SOLUTION: In this device, separate parts are made so as to be collected into a given part retaining part on a tray 51 by utilizing vibration to be aligned, and moreover by using two trays 51, the parts are collected by the other side tray 51 to make it stand-by on the lower side of the first tray 51 during the parts are supplied to an assembly machine by one tray 51.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parts aligning and supplying apparatus, and more particularly to a parts aligning and supplying apparatus in which a plurality of parts are arranged and supplied on a tray in a predetermined posture, and the parts are supplied by a robot. The present invention relates to a component aligning and feeding device suitable for use in the above.

[0002]

2. Description of the Related Art In recent years, as the times when demanded models and demands are constantly changing, especially in the manufacturing industry, lead times are shortened as much as possible to flexibly respond to model changes and improve the reliability of equipment. The demands for them to grow stronger. Against this background, automatic assembling machines are required to be high-speed and compatible with multiple models, and the component supply apparatus also tends to be required to have improved supply capability, rapid model switching, and versatility.

Conventionally, however, it has been difficult to realize a device that satisfies both high speed and general versatility at the same time, and there have been few examples realized. That is, conventionally, a method of supplying parts by a parts feeder has been generally used. In this method, when the supply capacity is small, a method of increasing the supply amount by using multiple units has been adopted. As another method, a method has been adopted in which parts are transferred to an alignment tray by a transfer machine outside the assembly apparatus and then supplied to the assembly machine by a conveyor or the like.

[0004]

However, in the conventional method of supplying parts by the parts feeder, the supply of parts is temporarily stopped when a defective work is mixed, resulting in a decrease in productivity. Was causing the problem. Further, in order to avoid this problem, a special reject device is provided, and the defective work is discharged by such a reject device, so that there is a problem that the cost of the device increases.

In the method using the parts feeder, it is necessary to remake the hopper, the feeder, and other parts each time the model is replaced, which increases cost and requires time for model switching. was there.
Further, in order to support multiple models, it is necessary to prepare parts feeders corresponding to each model and install them in the supply section, which causes a problem of poor space factor. Also, in the case where multiple parts feeders are provided in order to improve the supply capacity, the problem that the entire unit becomes large similarly occurs.

[0006] Further, in the case of supplying an arrayed tray prepared in advance by using a conveyor or the like, it takes time to change the tray, and the conveyor or the like requires a supply section and a discharge section, so that the space factor is deteriorated. There was a problem to do.

The present invention has been made in view of the above problems, and provides a parts aligning and supplying apparatus having a high part supplying capability, capable of quickly responding to various models, and having an excellent space factor. That is the purpose.

[0008]

SUMMARY OF THE INVENTION The present invention relates to a component aligning and feeding apparatus in which a plurality of components are arranged and fed on a tray in a predetermined posture, and the components are fed to a component holding portion on the tray by vibration. Parts transfer means for transferring the respective parts in a predetermined posture, moving means for pulling out the trays in which the parts have been transferred to the respective component holding parts and moving them to a predetermined position, and positioning for positioning the trays moved to the predetermined position. And a means for aligning and supplying parts.

According to another invention, in the above first invention, at least two trays are used, and while the components on the first tray are being supplied to the assembling machine, the tray on the second tray is described above. Parts are transferred by transfer means, the second tray into which the parts have been transferred is made to stand by under the first tray, and immediately after the supply of the parts from the first tray is finished, the first tray is transferred. The present invention relates to a component aligning and supplying device, characterized in that the second tray is moved to the component supplying position by retracting the tray.

According to another aspect of the invention, a tray is formed by forming a large number of component holders which are aligned with predetermined portions of the components to be supplied, and a tray for aligning the plurality of components by the holders, and the tray and the components are vibrated. The component holding means for holding and aligning the respective components in the component holding portion of the tray by adding the above, and the tray for holding the components in the state aligned by the component aligning means is conveyed and positioned at a predetermined position. And a robot means for picking up the positioned parts one by one and supplying them to a predetermined position.

In still another invention, in the above-mentioned third invention, after aligning the parts on the tray, it is inspected by a video camera whether or not the parts are correctly arranged on the tray. The present invention relates to a characteristic component aligning and supplying device.

According to a preferred aspect of the present invention, at least two trays are used, the parts are transferred to the first tray by the part transfer means, and the parts are transferred to the first tray.
Tray is transported to the component supply position and positioned.
Then, the parts on the first tray are held by the robot and supplied to the automatic assembler. Meanwhile, the tray in which the components are transferred to the second tray by the component transfer means and arranged is conveyed to the lower part of the component supply point and is on standby. Immediately after all the parts have been removed from the first tray and emptied, a tray change for replacing the first tray with the second tray is performed. In this way, only when the tray is lifted, the tray can be exchanged.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described below based on embodiments shown in the drawings. The embodiments described below are
Although preferred specific examples of the present invention are provided with various technically preferable limitations, the technical scope of the present invention is not limited to the following unless otherwise stated in the following description. It is not limited to such an embodiment.

1 to 3 show a component aligning and supplying apparatus according to an embodiment of the present invention. This device is a part transfer means 2
And an alignment tray supply device 3 and a robot 4.

The component transfer device 2 is a device for aligning a component 50 having a predetermined shape as shown in FIG. 5, for example, on an alignment tray 51 as shown in FIG. A hopper 25 for supplying in a state,
Applying vibration to the component 50 and the tray 51 for alignment, the component 5
The transfer device 22 for inserting 0 into the component holding hole 53 of the tray 51, and the surplus part 50 that has passed through the transfer device 22.
And a lifter 28 for receiving the.

The hopper 25 includes a shooter 29 and a shutter 27.
And the shooter 29 is provided with the separated parts 5
While holding 0, the component 50 slides down along the inclined surface of the shooter 29. Then, the rotation of the motor 24 vibrates the vibration generating unit 26, which makes the component 50 on the shooter 29 slip better. Shutter 27
Plays a role of a weir for quantitatively controlling the component 50 sliding down from the shooter 29, and is vertically moved by the cylinder 27a.

The transfer section 22 includes a slope 21, an alignment tray 51 mounted in the slope 21, and a motor 2
2a and 22b (see FIG. 3). When the component 50 is fed from the hopper 25, when the component 50 passes through the oscillating slope 21 and the aligning tray 51, the component 50 is inserted into the aligning holes formed on the surface of the aligning tray 51, that is, the component holding holes 53. It is supposed to be transferred. The component holding holes 53 formed in alignment with the tray 51 are tapered at the entrances as shown in FIG. 6, and a small hole 54 is formed at the bottom of the component holding holes 53.

The slope 21 of the transfer portion 22 is rotatably held by the support shaft 23 shown in FIG. 1 from a horizontal posture as shown in FIG. 7 to an angle having a predetermined inclined posture, and the slope 21 is shown in FIG. In the horizontal state as shown, the alignment tray 51 can be slid from the bottom of the slope 21 and mounted, and when the slope 21 is inclined at a predetermined angle as shown in FIGS. 1 and 3, transfer is started. It is supposed to be done.

The lifter 28 located at the lower end of the slope 21 of the transfer part 22 is a box-shaped container.
The parts 50 that have passed over the inner slope 21 are stored. The lifter 28 can be moved up and down from the tip of the transfer section 22 to above the hopper 25 by an elevator mechanism (not shown). The lifter 28 is rotatably supported by a support shaft 28a shown in FIG. 1, and after receiving the component 50 at a lower position, the lifter 28 is raised to the upper side of the hopper 25 and rotated about the support shaft 28a by a predetermined angle. 5
0 is returned to the hopper 25 again.

Next, the structure of the tray supply device 3 will be described with reference to FIGS. Alignment tray supply device 3
Draws out the alignment tray 51 mounted on the slope 21 of the transfer portion 22 and positions it below the component supply position, or the tray 51 emptied after all the components have been removed.
Is to be mounted on the slope 21 again.

As shown in FIG. 7, the tray supply device 3 has a pin 31. The pin 31 is held so as to project from the upper end of the holding member 32, and is adapted to be detachably connected to the engaging hole 56 of the alignment tray 51 by the cylinder 33. The cylinder 33 is connected to a moving element of a rodless cylinder 35 via a connecting member 34, and is movably held by the rodless cylinder 35. Therefore, the piston rod of the cylinder 33 is pushed out, the slider 31 of the rodless cylinder 35 moves to the left with the pin 31 engaged with the engagement hole 56 of the tray 51, and the alignment tray 51 is moved from the slope 21. It is designed to be withdrawn.

The stroke of the rodless cylinder 35 is substantially the same as the dimension from the center of the engaging hole 56 of the aligning tray 51 to the rear end 57 of the aligning tray 51. By repeating the operation, the tray 51 is fed in the longitudinal direction in the same manner as the rod feeding.

Next, the elevating mechanism of the backup plate 36 arranged below the component supply position will be described with reference to FIG.
Further, as shown in FIG. 10, four backup plates 36 are respectively held up and down by a pair of cylinders 37, which are arranged below the tray supply device 3 one by one in front and rear. In FIG. 1, the tray 51 carried by the rodless cylinder 35 below the positioning unit 6 is lifted by the cylinder 37 ascending.

As shown in FIG. 10, the tray 51 lifted by the backup plate 36 is positioned by the positioning claw 41. Positioning claw 4
1 is a support shaft 40, which is fixedly arranged.
It is rotatably supported about the center of the stopper 4 and is urged clockwise by the tension spring 38 about the support shaft 39.
It is positioned in contact with 0a. When the tray 51 rises from below the pawl 41, the end 41b of the pawl 41 is pushed up, and when the tray 51 is further raised, the tray 51 gets over the positioning pawl 41, so that the positioning pawl 41 is automatically moved by the spring 38. It is supposed to return to the position.

Next, the positioning device provided in the positioning unit 6 will be described. As shown in FIG. 11, a right-angled positioning block 44 and a flat positioning block 45 are provided on the left side of the tray 51 of the positioning unit 6 in the traveling direction. Each is arranged. And these positioning blocks 4
Cylinders 43 and 48 are arranged at positions on the opposite side to 4 and 45, respectively. The cylinder 43 presses the side end of the tray 51 on the front end side by a single roller 46 provided on the piston rod. On the other hand, a pair of rollers 49 are attached to the tip of the rod of the cylinder 48 via an intermediate member 47, and these rollers 49 press the corner of the rear end of the tray 51. It has become. Therefore cylinder 4
When 3, 48 act, the tray 51 is positioned in the XY directions by the reference surfaces of the positioning blocks 44, 45.

Further, as shown in FIG. 12, the positioning portion 6 is provided with a rodless cylinder 65 for pulling out the empty tray 51, and the ratchet pawl 61 discharges the empty tray 51. Ratchet claw 6
Reference numeral 1 is rotatably supported by a movable member 63 by a support shaft 64, is urged to rotate counterclockwise about the support shaft 64 by a tension spring 62, and is positioned by contacting a stopper 64. It is like this.

The movable member 63 is moved by the rodless cylinder 65 in the conveying direction of the tray 51. When the movable member 63 moves from right to left in FIG. 12, the ratchet pawl 61 is moved. The movable member 63 is detached from the tray 51 and slides on the side surface of the tray 51.
When is moved from the left to the right, the ratchet claw 61 is caught on the end surface 57 of the tray 51, and the tray 51 is moved from the left to the right.

Next, the operation of the component aligning and feeding apparatus having the above-mentioned structure will be described. First, the operation of the component transfer device 2 will be described. The loose components 50 put into the hopper 25 slide down along the shooter 29 and are temporarily dammed by the shutter 27.
A predetermined amount is supplied onto the slope 21 in the descending section 22 below. When the component 50 slides down on the slope 21 of the transfer portion 22, the motor 22a shown in FIG.
Axial vibrations are applied to the X and Z axis directions by the motor 22b, respectively, and such a vibration causes the component 50 to vibrate integrally with the slope 21 as shown in FIG. It is introduced into the component holding hole 53 shown. In this way, the components 50 are arranged on the tray 51 in an aligned state.

The parts that slide down the slope 21 of the transfer part 22 and are not held in the part holding holes 53 of the aligning tray 51 are received by the lifter 28. And parts 50
The lifter 28 having accumulated is lifted as shown by an arrow in FIG. 3, and when it reaches the side of the hopper 25, it is turned over by 90 °,
The component 50 is again loaded into the hopper 25. By repeating such an operation, all the component holding holes 53 on the aligning tray 51 are filled with the components 50.
In this state, the alignment tray 51 is conveyed to the tray supply device 3. When the model is switched, the tray 51 for alignment corresponding to the model is replaced, and another type of component is supplied through the hopper 25.

Next, an aligning tray 5 on which the parts 50 are arranged
The operation of transporting 1 by the tray supply device 3 and positioning it below the component supply position will be described. After the transfer of the component 50 is completed by the component transfer device 2, the slope 21 of the transfer portion 22 is brought into a horizontal state as shown in FIG. 7. Then, the cylinder 33 pushes out the piston rod, and the holding member 32 raises the pin 31 held in a state of protruding upward, and the pin 31 is inserted into the engaging hole 56 of the tray 51. Then, the member 34 is moved to the left by the rodless cylinder 35. As a result, the alignment tray 51 is pulled out to a predetermined position as shown by a chain line in FIG.

Next, the pin 31 is pulled out from the engagement hole 56 as the guide cylinder 33 descends, and the connecting member 34 holding the cylinder 33 is connected to the rodless cylinder 3.
5 moves to the right in FIG. Then, the piston rod of the cylinder 33 is again pushed out, the pin 34 rises, and this time, the pin 31 comes into contact with the rear end 57 of the aligning tray 51 as shown in FIG. Then, the connecting member 34 is moved leftward by the rodless cylinder 35 and stops at the stroke end of the rodless cylinder 35. After this, the pin 31 returns to the original position and stands by. At this point, the alignment tray 51 is located below the positioning portion 6 in FIG.

Next, the front or left side backup plate 36 shown in FIG. 9 is lifted by the cylinder 37, comes into contact with the aligning tray 51, and is lifted as it is. Therefore, the alignment tray 51 comes into contact with the positioning claw 41 shown in FIG. 10 and further rises to the stroke end of the cylinder 37, and then the cylinder 37 descends to the lower end. At this time, the alignment tray 51 has the positioning claw 4
1 is hooked on and held.

When the aligning tray 51 is lifted to a predetermined height and held in this way, the piston rods of the cylinders 43 and 48 shown in FIG. The tray 51 is abutted against the reference surfaces of the positioning blocks 44 and 45, respectively, and is positioned in the XY directions.
In this way, the positioning of the alignment tray 51 is completed,
The parts 50 will be supplied.

The alignment tray 51 is thus moved to the component supply position, and the components 50 on the tray 51 are picked up by the pickup head 5 provided at the tip of the arm 5a of the robot 4 as shown in FIG. At the same time, the picked-up component 50 is mounted on the platen 10 flowing on the conveyor 8 and a predetermined assembling operation is performed. Then, the pick-up head 5 of the robot 4 sequentially takes out the components 50 from the tray 51 for alignment, and eventually the components on the tray 51 disappear.

The tray 51 that has run out of the parts 50 is ejected, and another new tray 51 is used to remove the parts 50.
Is supplied.

Explaining the discharging operation of the aligning tray 51 which has been emptied after all the parts 50 have been taken out, the backup plate 36 shown in FIGS.
Ascend by 7 and wait at that position. And FIG.
The piston rods of the cylinders 43 and 48 are retracted to separate the rollers 46 and 49 from the tray 51. Thereafter, the movable member 63 is moved to the right by the rodless cylinder 65 shown in FIG. 12, and the alignment tray 51 is placed on the backup plate 36 and moved to the right.

The backup plate 36 is a cylinder 37.
And the alignment tray 51 descends,
It is placed on the guide plate 70 shown in FIG.

Then, the pin 31 waiting at the lower side is lifted by the cylinder 33, and the engaging hole 5 of the aligning tray 51.
6 is inserted. In this state, the rodless cylinder 35 is moved to the right, so that the connecting member 3
The tray 51 for alignment is moved from the position shown by the chain line in FIG. 7 to the position shown by the solid line via the cylinder 33 supported via 4 and is inserted into the slope 21 of the transfer part 22 of the component transfer device 2. .

By repeating such an operation, 2
The sheet aligning tray 51 reciprocates between the component transfer device 2 and the positioning section 6 alternately as shown in FIG. Here, in FIG. 3, arrows A and B indicate movement operations of the first tray 51 on which components are arranged, and arrows C and D,
E shows the operation of the tray 51 in which the parts are taken out and become empty.

According to this component aligning and supplying apparatus, while the component 50 is being supplied from the first aligning tray 51 by the positioning unit 6, the other aligning tray 51 is located below the positioning unit 6. Waiting, the last part 50 on the first tray 51 has been fed and the ratchet pawl 6 shown in FIG.
1 and right after the rodless cylinder 65 moves to the right, the front backup plate 36 is moved to the position shown in FIG.
Since it is moved up by the cylinder 37 shown in FIG. 0, the exchange from the first tray 51 to the second tray 51 is performed in almost no time.

The robot 4 for picking up parts from the tray 51 positioned in the positioning section 6 is equipped with a pickup head 5, picks up the parts 50 from the positioned tray 51 for alignment, and is conveyed and positioned by the conveyor 8. Parts are mounted on the platen 10. Since the arm 5a of the robot 4 is provided with each pickup head 5,
By providing the component transfer device 2 and the alignment tray supply device 3 on both sides of the robot 4, it becomes possible to simultaneously supply two different types of components onto the platen 10.

Next, another embodiment will be described with reference to FIG. In this embodiment, the same component aligning and supplying device as the above embodiment is arranged on one side of the robot 4, and the parts feeder 7 is arranged on the opposite side of the robot 4. Special parts such as pins that are relatively easy to supply are supplied by the parts feeder 7, and general-purpose parts are supplied through the part transfer device 2 and the tray supply device 3 on the right side. By combining the two types of component supply systems in this manner, a more optimal system can be constructed.

FIG. 14 shows still another embodiment. In this embodiment, the video camera 11 for checking the component 50 on the tray 51 pulled out from the slope 21 of the transfer portion 22 is provided. That is, the video camera 11 is provided so that the parts 50 on the aligning tray 51 pulled out from the slope 21 of the transfer portion 22 by the rodless cylinder 35 via the cylinder 33 and the pin 31 can be confirmed. Video camera 11
The image is processed by the image processing board 12, and the image information is supplied to the CPU 14 as a digital signal. On the other hand, predetermined information is input in advance from the keyboard 13.

The image on the surface of the tray 51 captured by the video camera 11 is processed by the image processing board 12, and the CPU 14 compares the information previously input by the keyboard 13 with the information captured by the video camera 11. By doing so, it is inspected whether or not the component 50 is correctly inserted into each component holding hole 53 on the alignment tray 51 in the correct posture. Then, the information regarding the inspection result is transmitted to the robot controller 15. If the component 50 is not fitted correctly, the robot 4 is prevented from moving in the air. It should be noted that the surface of the tray 51 is illuminated by the illumination lamp 16 in order to ensure that the image is captured by the video camera 11.

According to this structure, the tact time is shortened, and the pickup head 5 provided at the tip of the arm 5a of the robot 4 is prevented from being damaged.

In the embodiment shown in FIG. 1, the robot 4 is a scalar type robot having a double arm. However, it is not always necessary to use such a robot, and for example, a single-arm scalar type robot may be used, or an XY type robot can also be used.

In the above embodiment, the free flow system using the conveyors 8 and 9 is adopted, but the present invention is not necessarily limited to the assembling machine including such a free flow system conveyor. Instead, for example, a combination with an index type assembling machine is also possible.

[0048]

According to the first aspect of the present invention, the vibrating means vibrates the components into the component holding portions on the tray in respective predetermined postures, and the tray in which the components are fed into the respective component holding portions is moved by the moving means. The tray is pulled out and moved to a predetermined position, and the tray moved to the predetermined position is positioned by the positioning means.

Therefore, according to the present invention, it becomes possible to arrange the discrete parts on the tray in a predetermined posture and correctly supply the parts to a predetermined position.

A second aspect of the present invention uses at least two trays and transfers the parts on the first tray to the assembling machine while transferring the parts onto the second tray by the transfer means. , The second tray into which the parts have been transferred is made to stand by under the first tray, and when the supply of the parts from the first tray is finished, the first tray is immediately evacuated to the parts supply position to the second tray. Is to move.

Therefore, after the parts on the first tray are exhausted, it becomes possible to quickly move the second tray, which is waiting in the state where the parts are aligned, to the parts supply position, and the tray can be replaced in a short time. Can be done in.

According to a third aspect of the present invention, the tray and the components are vibrated by the component aligning means so that the components are respectively held and aligned by the component holding portions of the tray, and the components are aligned by the component aligning means by the positioning means. The tray holding the is conveyed and positioned at a predetermined position, and the parts positioned by the robot means are picked up and supplied to the predetermined position.

Therefore, it becomes possible to provide a parts aligning and supplying apparatus capable of surely supplying parts for automatic assembly or automatic supply by robot means.

A fourth aspect of the present invention is designed to inspect whether or not the components are correctly arranged on the tray by a video camera after the components are aligned on the tray.

Therefore, according to such a configuration, it becomes possible to prevent the robot from idling when the component is not correctly held at the predetermined position on the tray.

[Brief description of drawings]

FIG. 1 is an external perspective view of a component alignment supply device according to a first embodiment of the present invention.

FIG. 2 is a plan view of a main part of the component supply and alignment device.

FIG. 3 is a front view of the main part.

FIG. 4 is an external perspective view of an alignment tray.

FIG. 5 is an external perspective view of components that are supplied in an aligned state on a tray.

FIG. 6 is a vertical cross-sectional view of a main part of the tray.

FIG. 7 is a front view of the tray supply device.

FIG. 8 is a front view showing a transport operation by the tray supply device.

FIG. 9 is a front view of an apparatus for backing up a tray.

FIG. 10 is a side view of an apparatus for backing up a tray.

FIG. 11 is a plan view showing a tray positioning device.

FIG. 12 is a plan view showing a mechanism for returning an empty tray.

FIG. 13 is a plan view of a component alignment supply device according to another embodiment.

FIG. 14 is a front view of a component alignment supply device according to still another embodiment.

[Explanation of symbols]

 2 parts transfer device 3 tray supply device 4 robot 5 pickup head 5a robot arm 6 positioning unit 7 parts feeder 8, 9 conveyor 10 platen 11 video camera 12 image processing board 13 keyboard 14 CPU 15 robot controller 16 illumination lamp 21 slope 22 transfer unit 22a, 22b Motor 23 Support shaft 24 Motor 25 Hopper 26 Vibration generator 27 Shutter 27a Cylinder 28 Lifter 28a Support shaft 29 Shooter 31 Pin 32 Holding member 33 Cylinder 34 Connecting member 35 Rodless cylinder 36 Backup plate 37 Cylinder 38 Tension spring 39 Support Shaft 40 Supporting member 40a Stopper 41 Positioning claw 41b End 43 Cylinder 44 Right angle positioning block 45 Flat positioning block 4 Roller 47 Intermediate member 48 Cylinder 49 Roller 50 Parts 51 Alignment tray 52 Tapered portion 53 Parts holding hole 54 Small hole 56 Engagement hole 57 Rear end 61 Ratchet pawl 62 Tension spring 63 Movable member 63a Stopper 64 Spindle 65 Rodless cylinder 70 Guide plate

Claims (4)

[Claims] 1. A component aligning and feeding apparatus configured to feed a plurality of components arranged on a tray in a predetermined posture, wherein a component is fed into a component holding section on the tray in a predetermined posture by vibration. And a positioning unit that positions the tray that has been moved to a predetermined position, and a moving unit that pulls out the tray in which the component has been transferred to each of the component holding units and moves the tray to a predetermined position. Alignment supply device. 2. At least two trays are used, and while feeding the parts on the first tray to the assembling machine, the parts are transferred onto the second tray by the transfer means, and the parts are transferred onto the second tray. The transferred second tray is made to stand by below the first tray, and when the supply of the components from the first tray is finished, the first tray is immediately retracted to the second position at the component supply position. The tray according to claim 1, wherein the tray is moved. 3. A tray, which is formed by forming a large number of component holders that are aligned with predetermined parts of the components to be supplied, and which applies vibration to the tray and the components by aligning the plurality of components by the holders. A component aligning unit that holds and aligns the components on the component holding unit of the tray, and a transport positioning unit that transports and positions the tray that holds the components in the state aligned by the component aligning unit at a predetermined position. And a robot means for picking up the positioned parts one by one and supplying them to a predetermined position. 4. The parts alignment according to claim 3, wherein after arranging the parts on the tray, it is inspected by a video camera whether or not the parts are correctly arranged on the tray. Supply device.