JPS61150916A - Attitude arrangement device - Google Patents

Abstract

PURPOSE:To automize an attitude line-up operation in an attitude line-up device of a vedio head tip by allowing the form of a part on a conveying device to be read out to determine the attitude in comparing with the stored information so as to permit the turn-over operation to be accomplished. CONSTITUTION:A part supplied to a conveying device 2 from a part supply device 3 is transferred to an image read device 5 by means of a swing motion of the conveying device 2. A part form information read out from the image read device 5, is transmitted to an image processing device 4 allowing the image to be compared with a basic attitude of the part which is stored in advance. Here, the attitude of the part is determined whether it is an upside- down attitude or an inside-out one allowing a command signal to be directed to an upside-down turn-over device 6 or an inside-out turn-over device 7 based on the attitude detected. During the period of time when these actions are taken, the part is transferred to each of the devices 6 or 7 by the conveying device 2 allowing its attitude to be corrected. Subsequently, an accepted part is forwarded (8) to a line-up housing device 11 and a disqualified part is taken out (9). This configuration enables an attitude arrangement operation to be automated.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an attitude alignment device that aligns and carries out parts having shapes that are difficult to align with a parts feeder in a certain attitude, and particularly relates to an attitude alignment device that aligns parts that are difficult to align with a parts feeder and carries them out. The present invention relates to a posture alignment device suitable for posture alignment.

[Prior Art] FIG. 9 shows the general shape of a video rad chip. A video rad chip 40 as shown in fig. Various companies are attempting to automatically perform the work of attaching to the base plate and winding the conductive wires. By the way, in general, when automating work, it is necessary that the parts to be worked be fed in a certain attitude, and the automatic machine described above is also required to feed the RAD chip to the video in a certain attitude.

However, conventionally, there has been no automatic device for aligning the RAD tip to a video in a fixed posture, and alignment has been done mostly manually.

[Problems to be solved by the invention] Since the video rad chip is a minute component with a height and width of about 2 mm, if it is done by hand as in the past, the work efficiency is low and the worker is easily fatigued. There was a problem.

The present invention has been made in order to solve the above-mentioned problems, and its purpose is to provide an attitude alignment device that can automatically align components such as video rad chips to a fixed attitude.

[Means for Solving the Problems] In order to solve the above-mentioned problems and achieve the object of the invention, the present invention includes a transport device that intermittently transports parts, and a supply station of the transport device that has upper and lower and front and back sides. A parts supply device that supplies parts in irregular postures, an image reading device that recognizes the shape of the parts conveyed to the image reading station of the conveyance device and sends out predetermined image information, and a basic posture of the parts in advance. an image processing device that stores the shape of the image reading device, inputs image information sent from the image reading device, compares and calculates the stored information with the input image information, and sends out a predetermined work command signal; and the transportation device an up-and-down inversion work device for selectively inverting parts to align their vertical postures based on a predetermined work command signal sent from the image processing device at the up-down inversion work station; and a front-to-back inversion work station for the transport device. The present invention includes a front-back reversing device that selectively reverses the front and back of the parts to align the front and back postures based on a predetermined work command signal sent from the image processing device.

[Example] Hereinafter, one embodiment of the present invention will be described based on the drawings.

1 and 2 are diagrams showing the overall configuration of an attitude alignment device according to an embodiment of the present invention, FIG. 3 is a diagram showing a control system, and FIGS. 4 to 8 are diagrams showing devices constituting each part. FIG.

In FIGS. 1 and 2, l represents a base, and a conveying device W2 is provided on this base 1.

This conveyance device 2 uses an index table that rotates intermittently every 60 inches, and six table jigs 12 are placed on the top surface of the table at intervals of 60 degrees.
... is installed. This 5 table jig 12・fist・
Each of the six work stages 13, 14, 15, 16, 17, 13, 14, 15, 16, 17,
It is indexed to 18.・In the vicinity of a predetermined work station of this conveyance device 2, a component supply device 3,
Image reading device5. Up-down reversing device 6, front-back reversing device 7, unloading device 8, and defective product removal device 9. A cleaning device 10 is provided, and in addition, a device 11 for arranging and storing RAD chips in a video camera is provided in the unloading direction of the unloading device 8. In addition, in the figure, 4 is the image reading device 5.
This is an image processing device connected to.

FIG. 4 is a diagram showing the configuration of the table jig 12, in which FIG. 4(a) is a plan view and FIG. 4(b) is a front sectional view. 2a, and a rotating member 23 is attached to this jig body 21 via a bearing 22. V-shaped notch grooves 24, 24 are formed at two locations on the outer periphery of this rotating member 23 with an interval of 180@, and a stopper 25 engages with either of these notch grooves 24, 24 to rotate. Free rotation of the member 23 is restricted.

The central shaft portion of the one-rotation member 23 is a hollow portion 26, and a vacuum chamber 29 is formed at the upper end of the hollow portion 26, which is partitioned by a light-transmitting plate material 27, 28 such as a glass plate or a transparent acrylic plate. There is. This vacuum chamber 29 communicates with a vacuum pump (not shown) via a vacuum pipe 30, and a small hole 31 is bored in the center of the upper plate 27 to communicate with the upper surface of the rotating member 23. In FIG. 0, reference numeral 32 denotes an annular member fitted onto the rotating member 23, which is fixed by a stopper 33, and has an annular groove 34 formed in its sliding surface with the rotating member 23. The vacuum pipe 30 is connected to this annular groove 3.
4, and the rotating member 23 has this annular groove 34.
By providing a hole 35 through which the rotary member 23 communicates with the vacuum chamber 29, the rotary member 23 is configured to always communicate with the vacuum chamber 29 even when the rotating member 23 rotates. The configuration related to the vacuum chamber 29 is a vacuum chuck placed on the upper surface of the rotating member 23 for vacuum suction and fixing the RAD chip 40 to the video. Furthermore, by making the plate materials 27 and 28 forming the vacuum chamber 29 light-transmissive as described above, light can be transmitted from the bottom to the top of the table jig 12, and therefore, as will be described later, The configuration is such that the image of the chip 40 can be made incident on the image reading device 5 with transmitted light. Further, the lower end of the rotating member 23 is engaged with a driver of an up-and-down reversing device 6, which will be described later. 36
is formed.

The component supply device 3 provided at the first station (supply station) 13 is configured by a combination of a known vibrating component automatic supply device and a pick-and-place device. This feeding device 3 feeds the RAD chip 40 to the video camera at the feeding station 1 of the conveying device 2 in one of four different postures, top and bottom and front and back, as shown in FIG. 1O.
It is supplied to the table jig 12 of No. 3.

The image reading device 5 provided at the second station (image reading station) 14 has a video camera 39 as shown in FIG. It is set up. As described above, the light from the light source 41 passes through the hollow portion 26 of the table jig 12 and enters the bidet camera 39 of the image reading device 5. The image information read by the video camera 39 is immediately input to the image processing device 4.

The image processing device 4 includes a storage unit 42 as shown in FIG. 3(a).
and an arithmetic unit 43, and the storage unit 42 stores the basic posture of the Radchip 40 (attitude 4 shown in Fig. 1θ) in advance on the video.
0a), inputs the image information sent from the image reading device 5, and compares and calculates the stored information with the input image information. This comparison operation is performed in the following manner.

■ Comparison of RAD chip area to video → If it is smaller than the memorized value by more than a certain percentage, it is a defective product.

(N) Compare the shapes of the 12 tochitsubu to the video → If they match, use the basic posture (posture 40a in Figure 10).

■Flip the Radchip image vertically to the video in the input image information and compare the shapes → If they match, the vertically overturned posture (first
Posture 40b in Figure 0).

■Flip the RAD chip image to the video in the input image information and compare the shapes → If they match, the front and back inverted position (10th
Posture 40c).

・Flip the RAD chip image to the video in the middle input image information upside down and upside down and compare the shapes → If they match, the upside down and upside down orientation (posture 40d in Figure 10).

(See the Φ video: Comparison of important parts of RAD chips → Smaller than specified size)
pi
The calculation result on the handle is sent as a work command signal to each work device to be described later through a register 44 as shown in FIG.

The up-down reversing work device t6 provided at the third station (up-down reversing work station) 15 has a driver (not shown) that can engage with the groove 36 of the table jig 12 described above. The video head chip 40 on the table jig 12 is in the position 4 shown in FIG.
0b or 40d, the driver is raised based on the work command signal and the table jig 1 is
2 and rotates the rotating member 23 by 180''.

The fourth station 16 is an idle stage, and the next fifth station (front/back reversal stage) 17
As shown in FIG. 5, the front/back reversing device 17 provided in the front/back reversing device 17 has a working rod 51 that moves linearly reciprocally in the left-right direction in the drawing by the operation of a cam lever 53 that engages with a drive cam 52, and engages with a drive cam 54. The cam lever 55 rotates about the axis via a slide 56 and a rack and pinion mechanism 57, and the cam lever 59 engages with a drive cam 58 to move vertically via a slide 60. It has become. In addition, the work rod 5
A vacuum chuck portion 61 is formed at the tip of the tip.

This front/back reversal work device M7 moves the work rod 51 forward based on the work command signal to move the vacuum chuck part 61 to the table jig when the video Radchip 40 is in the posture 40c or 40d shown in FIG. The working rod 51 rotates 180 degrees and flips the video head chip 40 upside down. At this time, the table jig is attached to a vacuum chuck. Automatically release the status. If the conveyed video head chip 40 has a normal front and back posture, the seventh r! A stopper device 62 as shown at 4 is activated. That is, the driving force from the air cylinder 63 causes the moving hinge 64 to protrude and engage the cam lever 53, thereby stopping the working rod 51 at the retracted position shown by the imaginary line in FIG. The front-back reversal operation as described above will not be performed.

A carry-out device 8 is also provided at the fifth station 17, and as shown in FIG.
The work holding member 66 is attached to a base plate 67, and this base plate 67 is attached to the drive cam 6 as shown in FIG.
8. In addition to being moved in the vertical direction by a cam lever 69 etc., another driving cam (not shown) and a cam lever (not shown)
It moves in the extending direction of the slide 70 (that is, in the left-right direction in FIG. 6). First work holding member 65
and the second work holding member 66 are both attached to the substrate 67 in a vertically movable manner.

It is biased downward by compression springs 71 and 72, and its free movement is restricted. Furthermore, the first work holding member 65
An air cylinder 73 is connected to the upper end of the first holding member 65, so that only the first holding member 65 can be raised independently. Incidentally, vacuum chuck portions 74 and 75 for sucking the video head chip 40 are formed at the lower ends of the first work holding member 65 and the second work holding member 66, respectively. In the unloading device 8 having the above-described structure, first, the substrate 67 moves to the right of No. 6r14, that is, to the right in FIG. The two-work holding member 66 is located above a relay carry-out table 76, which will be described later. At this time, if the vacuum chuck section 61 of the above-mentioned front-back reversing device 7 is positioned on the table jig 12 as shown in FIG. The vacuum chuck section 74 is raised by a predetermined amount to prevent a collision.Next, the substrate 67 is lowered and the RAD chip 40 is transferred to the video camera held by the table jig 12 or the front/back reversing device 7 on the first workpiece holding member. 65 vacuum chuck section 7
Hold it by adsorption at 4 and rise. After that, the first work holding member 65 is moved together with the board 67 and the relay carrying out table 7 is moved.
In the next unloading cycle, the first workpiece holding member 65 transports the video head chip 40 onto the relay unloading table 76, and the second workpiece holding member 66 transports the video head chip 40 onto the unloading table 76. The RAD chips are held by suction onto a video camera and transported to an alignment storage device 11, which will be described later.

FIG. 8 is a diagram showing the configuration of the defective product removal device 9. As shown in FIG. 8, the device 9 includes a drive cam 81. The take-out tray 83 is moved above the relay carry-out table 76 by a drive mechanism including a cam lever 82 and the like. Removing this defective product! i
9 moves above the relay carry-out table 76 based on the work command signal if the video rad chip carried out by the carry-out device 8 is defective. If the RAD chip is normal when the video is carried out, the cam lever 82 is locked by a stopper device 84 having the same structure as the stopper device i62 in the front-back reversing device 7, and the take-out tray 83 is moved toward the carry-out table 76. In this way, the defective products are sent above the relay carry-out table 76 by the first work holding member 65 of the carry-out device 8 and are dropped into the take-out tray 83. At this time, the air cylinder 73 is actuated in advance to raise the first workpiece holding member 65 so that the vacuum chuck section 74 does not interfere with the takeout tray 83.

The video head chip alignment/storage device 11 is for aligning and storing the video head chips 40 in a disc-shaped magazine 85, and is well known and will not be described in detail here.

The cleaning device IO blows air to the top of the table jig 12 that has reached the sixth station (cleaning station) 18 to clean the top surface of the table jig 12, and also blows air into the vacuum chamber 29 to clean the top surface of the table jig 12 and clean it using a vacuum chuck. A certain pore 3
This prevents clogging of item 1.

The posture alignment device configured as described above operates as follows.

That is, the video rad chip 40 supplied to the table jig 12 is indexed and rotated intermittently by the conveying device 2 and sent to the image reading station 14. At this station 14, predetermined image information is read by the image reading device 5, and this image information is sent to the image processing device 4.
The image processing device 4 performs the above-mentioned calculations and outputs the calculation results to the register 44. The register 44 sequentially shifts work command signals corresponding to the calculation results and sends them to predetermined work devices.

FIG. 3(b) shows the operation of the register 44. That is, if the calculation result indicates the basic posture 40a, no work command signal is output to any work device.
If the calculation result indicates a defective product 40e, the calculation result is sent to the No. 1 Lujistar 91. Second register 92. It is sent as a work command signal to the defective product removal device 9 via the third register 93. If the calculation result shows the front and back inverted orientation 40c, the calculation result is the first Lujista 91. It is sent as a work command signal to the front/back reversing work device 7 via the second register 92.

If the calculation result shows an upside down or upside down orientation 40d,
The calculation result is sent as a work command signal to the up-and-down reversing work device 16 via the first Lujista 91. It is sent as a work command signal to the front/back reversing work device 7 via the second register 92. If the calculation result shows the upside down attitude 40b, the calculation result is
The signal is then sent to the up-and-down reversing work device 6 as a work command signal. Although not shown in the figure, the second register 92
The work command signal sent from is also sent to the air cylinder 73 of the unloading device 8 to raise the first work holding member 65. Further, the work command signal sent from the third register 93 is sent to the air cylinder 73 of the unloading device 8, and the work command signal is sent to the first register 93.
The workpiece holding member 65 is raised, and the RAD chip is also sent to the video RAD chip alignment storage device 11 to stop indexing rotation.

As described above, each working device that receives the work command signal operates to correct the RAD tip to a predetermined posture on the video.

The basic operations of each device are automatically performed by the drive and cam mechanisms as described above.

In this way, all the video rad chips are arranged in the basic position 40a shown in FIG. 1O and stored in the magazine 85. Furthermore, the video rad chips stored in this magazine 85 are only normal parts with no defective parts.

[Effects of the Invention] As is clear from the above description, according to the present invention, a supplied video head chip can be processed by an up-down reversing device and a front-to-back reversing device that operate based on the calculation results performed by one image processing device. Since the alignment can be automatically constant, it is possible to align the posture of the video head chip accurately and with high efficiency.

[Brief explanation of the drawing]

Figures 1 to 8 show the configuration of an apparatus in an embodiment of the present invention. Figure 1 is a plan view showing the overall configuration, Figure 2 is a front view, and Figure 3 (&) is a plan view showing the overall configuration. A block diagram of the control system, Fig. 3 (b) is an explanatory diagram of register operation, and Fig. 4 (a) is a block diagram of the control system.
) is a plan view of the table jig, and FIG. 4(b) is a front sectional view. Figure 5 is a sectional view of the front-back reversing device and unloading device;
The figures are a line A-A line in Fig. 5, Fig. 7 is a block diagram of the stopper device attached to the front-back reversing device, Fig. 8 is a plan view showing the structure of the defective product removal device, and Fig. 9 10 is a diagram showing the shape of the video head chip, and FIG. 10 is a diagram showing the attitude of the video head chip at the time of supply. 2. Transport device, 3. Component supply device, 4. Image processing device, 5. Φ image reading device, 6. Vertical inversion work device, 7. Front and back reversal work device. 8... Carrying out device, 9. Φ-sha defective product removal device.

Claims (1)

[Claims] A transport device that intermittently transports parts; a parts supply device that supplies parts in irregular vertical and front/back positions to a supply station of the transport device; and parts that have been transported at an image reading station of the transport device. an image reading device that recognizes the shape of the component and sends out predetermined image information; an image processing device that compares and calculates the information and sends out a predetermined work command signal, and selectively removes the parts based on the predetermined work command signal sent from the image processing device at an up-and-down reversing work station of the conveyance device. A top-down reversing work device that flips the parts upside down to align the vertical posture, and a front-side reversing work station of the conveying device selectively flips the parts inside out based on a predetermined work command signal sent from the image processing device. 1. An attitude alignment device comprising: a front-back reversing device for aligning the postures of the objects;