JPS60161839A - Parts takeout - Google Patents

Abstract

PURPOSE:To take out parts one by one with a takeout in an accurate manner, by forcibly separating parts one by one through a magnetic separating action by dint of a magnet, while widening each separated gap among plural sheets of parts themselves open largely. CONSTITUTION:Plural sheets at a topmost part of parts W loaded by lifting operation of a push-up plate 10 are magnetically separated in a space between magnets 6a and 6b as being guided by a guide rod 4, and at a time when the parts W on a topmost part is detected by a detector 16, a control unit 17 stops an ascent motion of the push-up plate 10 by the signal and after that, the push- up plate 10 goes down as long as the setting time of a timer 19 and stops. With this descent motion, a lowermost part of plural sheets of parts W penetrating in a space between these magnets 6a and 6b and the topmost part of the parts W being accumulated outside the range of magnetic force in a space between these magnets 6a and 6b become widened largely. Under this condition, each part W on the topmost part is taken out by a holding claw 13.

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to an apparatus for separating and taking out magnetic components made of thin iron plates stacked vertically one by one.

<Prior art> When parts such as thin steel plates stacked vertically are separated one by one and supplied to a predetermined position, conventionally, a vacuum or magnetic suction device is installed at the take-out position, and the suction effect of this suction device is The parts are separated one by one. In the case of this kind of adsorption separation, there is a problem that reliable separation of parts cannot be obtained if the planes of the parts are in close contact with each other or if one part has oil etc. attached and is touching each other. there were.

In order to solve this problem, the patent applicant filed a patent application in
No. 8-202781, a patent application has been filed for a device for separating fully laminated magnetic components.

As shown in Fig. 1, this separation device is equipped with a turntable l.
A guide member 2 is provided on top of the turntable 1 to guide vertically stacked magnetic components W, and a support base 3 is fixed on the turntable 1 in proximity to the guide member 2. A pair of guide rods 4 are attached to the table 3 for being guided by the guide member 2 and for positioning the parts W on the upper layer.

The stacked parts W are guided so as to be movable in a downward direction by the guide part 2, for example, on a turntable 10.
They are installed in two locations at the 1 &) 0 positions that sandwich the rotating knob b.
The turntable 10 is indexed to the component removal position shown in FIG. 1 by indexing rotation of 180 degrees.

A support frame 5 is erected near the outer periphery of the turntable 1 at the component extraction position, and a pair of parts W located on the upper part of the guide member 2 is sandwiched between the support frame 5 and the support stand 3. Magnets 6a and 6b are arranged. The pair of magnets 6a and 6b have different polarities, for example, the magnet 6a of the support base 3-1 is the north pole,
Component W with the magnet 6b on the support frame 5 as the S pole
They are placed facing each other with the two in between.

Furthermore, a hole 7 is opened in the turntable 1 below the stacked parts W. A push-up mechanism for pushing up the parts W one by one is arranged directly below the hole 7 of the turntable 1 indexed to the parts take-out position. The configuration of this push-up mechanism is that a support body 8 is provided at a position below the turntable l on the side of the support frame 5, a rack par 9 is held on the support body 8 so as to be movable in the vertical direction, and the upper end of the rack par 9 is A push-up plate 10 is provided which comes into contact with the lower surface of the lowermost component W through the hole 7. Further, a pulse motor 11 for pushing up is installed on the support body 8 and rotates a certain amount each time the part W is taken out. It has a structure that meshes with the rack.

The device with the above structure has parts W stacked at the parts extraction position.
When the parts W are positioned by the indexing of the turntable 1, the plurality of parts W stacked on the upper layer are vertically separated one by one by the magnetism of the magnets 6a and 6b. The principle is the second
As shown in the figure, the N-pole magnet 6a on the support base 3 is positioned opposite to the S-pole magnet 6b on the support frame 5, so that the magnetic component W sandwiched therebetween
The magnets 6a and 6b generate an attraction action on the outer periphery of the parts W, and a repulsive action occurs in the vertical direction between the parts W. Therefore, the parts W held between the magnets 6a and 6b are separated one by one by the magnetic separation action while the guide rod 4 holds the centering position of the parts W.

Then, the parts W in the highest layer are
11 based on the ejection signal.
is activated, and the push-up plate 10 pushes up the parts W one by one.

However, when the part W is pushed away, the upper part W is elongated in the direction of the guide rod 4 due to the frictional resistance of sliding contact with the guide rod 4, as shown in FIG. When the gap between the several parts W becomes smaller and the part W is held down by a predetermined amount by a take-out device equipped with the gripping claw 13 to hold the part W substantially horizontally, the gripping claw 13
As shown in the figure, there is a problem in that the next part W is also gripped.

<Object of the Invention> The object of the present invention is to solve the above-mentioned problems by making the separation gap as large as possible in the magnetic separation device using magnets, and making it possible to reliably take out one piece at a time using a parts take-out device. .

<Configuration of the Invention> The characteristic configuration of the present invention is that the magnetic parts are stacked and stacked downward and guided movably in the direct downward direction, and a plurality of magnetic pieces are mounted on the upper part of the guide mechanism. A magnetic separator that separates the components is arranged, a push-up device that pushes up the stacked magnetic components is provided, a detection device that detects the uppermost magnetic component pushed up by the push-up device, and a detection device that detects the uppermost magnetic component pushed up by the push-up device; The device is provided with a control device for stopping the upward movement of the push-up device and moving it downward by a required amount in response to a signal, and a take-out device provided with a gripping claw for gripping the uppermost magnetic component.

<Examples> Examples of the present invention will be described below with reference to FIGS. 3 and 4. The main structure ζ is the same as that shown in FIG. 1 of the prior invention described above. That is, 1 is a turno table, 2 is an IT guide member, 3 is a support stand, 4 is a guide rod, 5 is a support frame, 6a, fib! f magnet; 7 is a hole; 8 is a support; 9 is a rack bar 1IO push-up plate; 11 is a pulse motor; There is. This take-out device 14 has an abutment L'll 1 for abutting the upper surface of the part W with the gripping claw 13 in the center to correct the posture horizontally.
5 is provided.

Therefore, the present invention provides a detection device 16 such as a photoelectric sensor for detecting the uppermost part W pushed down between the mags 6a and 6b, and also provides a detection device 16 using a photoelectric sensor or the like.
The push-up device, that is, the pulse motor 1
1 is provided with a control device 17 that stops the upward movement of the push-up plate 10 and lowers it by the required amount. This control device 17 is also connected to a controller 18 of the robot. Further, the downward movement of the required amount of push-up play 1-1 (+) is controlled by detecting the descending distance or time of the push-up plate 10. For example, when controlling by time, the control device 17 A timer 19 is connected to the device 1, and after the detection device 16 has finished checking the component W, the timer 19 controls the push-up plate 10 to move downward for a required period of time.

Next, the operation of the present invention will be explained with reference to the flowchart shown in FIG. 1. Check whether there is a part W on the push-up plate 10 by starting. Check the external signals, ie, the signals from the robot controller 18. When the detection device 16 does not detect the uppermost component W, the control device 1i17 causes the push-up plate 10 to move upward until the detection device 116 detects the component W. As shown in FIG. 5, due to the upward movement of the push-up plate 10, the uppermost parts W of the stacked parts W are completely guided by the guide rod 4 and separated by magnetic force between the magnets 6a and 6b. When detected by the detection device 16, the control device 17 stops the upward movement of the push-up plate 10 based on the signal, and then moves the push-up plate 10 down. This downward movement of the push-up plate 10 is controlled by a timer 1
9, the downward movement of the push-up plate IO is stopped after a certain period of time has elapsed. This push-up plate 10
Due to the downward movement for a certain period of time, the lowest part of the plurality of parts W that has entered between the magnets 6a and 6b and the magnet 6a,
There is a large gap between the uppermost parts of the parts W stacked outside the magnetic force between the magnets 6b, and the parts W that have entered between the magnets 6a and 6b are pressed by the parts W from below. Since the parts W are removed and can move downward, the gaps between the parts W, which were narrowed during the pushing up shown in FIG. 5, are widened as shown in FIG. 6. Then, as shown in FIG. 7, the take-out device 14 corrects the tilted part W to be approximately horizontal with the abutting member 15, and grips and takes out the uppermost part W with the gripping claws 13. However, at this time, since there is a wide gap between the uppermost component W and the lower component W, the gripping claws 13 hold the two components W together as shown in FIG. As shown in FIG. 7, only the part W at the edge is reliably gripped without any gripping.

Effects> According to the device of the present invention, even when laminated parts are not easy to separate due to close contact or oil adhesion, the parts can be forcibly separated one by one by the magnetic separation action of the magnet. Since the separation gap between the plurality of parts is kept wide open, the gripping claws of the takeout device have the effect of being able to reliably grip and take out only the topmost part.

[Brief explanation of the drawing]

Fig. 1 is a sectional view showing the component separation device of the prior application, Fig. 2 is a diagram explaining the principle of magnetic separation, Fig. 3 is a sectional view of the device of the present invention, Fig. 4 is a plan view of Fig. 3, and Fig. 5 The figure is a sectional view of the part being pushed up by the pushing up device, Figure 6 is a sectional view of the pushing up device being moved down the required amount from the part pushing up state in Figure 5, and Figure 7 is
The figure is a cross-sectional view of the state in which the part is taken out by the take-out device in the state shown in Fig. 6, and the figure 8 is a defect in which, for example, when the part is taken out by the take-out device in the state shown in Fig. 5, the gripping claws grip two parts. FIG. 9 is a cross-sectional view showing the removal state (this is a flowchart showing the operation of the device of the present invention. 2 fists: guide member, 4m: guide roller, 6a16)
b...Magnet, 9...Rack bar-110-Fist
n-1: keg 1 no 1-. 11-...Pulse motor, 1
2... Binion, I3 - gripping claw, 14... Takeout device, 16... Detection device, 17... Control device, 18...
...Robot controller, 1.9...Timer. Figure 1 Figure 3 Figure 4 Figure 5 Figure 6

Claims (1)

[Claims] A guide mechanism guides vertically stacked and laminated magnetic components so as to be movable in the vertical direction, and a magnetic separator for separating a plurality of magnetic components is disposed above the guide mechanism, and the stacked magnetic components a detection device that detects the uppermost magnetic component pushed up by the push-up device; and a control that stops the upward movement of the push-up device and moves it downward by a required amount based on a signal from the detection device. A component ejecting device comprising: a device and a ejecting device equipped with a gripping claw for grasping the uppermost magnetic component.