JPS61254412A - Parts feeder - Google Patents

Abstract

PURPOSE:To discriminate the observe and reverse of a part to arrange the part in a designated direction, and supply same by judging the observe and reverse of a part from a difference in dimension depending upon the difference in shape between the obverse and reverse, and correcting the posture of the part. CONSTITUTION:Parts 20 are nonuniform in observe and reverse, arranged in a line and fed to a feed path 12 connected to a supply port 10a. A collision portion 24a of a collision block 24 is formed to be fitted to the shape of the surface of the part 20, and a pin 26 is pressed by connecting means 28 connected to a cylinder 29 to be brought into contact with the part 20. An encoder 36 for measuring the position is mounted along a fixed frame 18, and the encoder 36 is adapted to generate a signal corresponding to the position when the collision portion 24a is brought into contact with the part 20. CPU is adapted to read a numerical value of the encoder 36, and control the cylinder 29 and a manipulator 38, whereby parts 20 are arranged in a designated direction and supplied.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a component supply device, and in particular, it is possible to distinguish between the front and back sides of a component that has a shape difference between the front and back sides and a large variation in dimension in the thickness direction. The present invention relates to a component supply device suitable for supplying components in the same direction.

[Background of the invention]

Conventionally, parts feeding devices that feed parts with front and back sides in a fixed direction align the parts in a line on the track of a parts feeder, and detect the difference in shape or surface condition between the front and back sides of the parts using a sensor to determine whether the parts are normal or not. The structure was such that parts that were not oriented were returned from the track into the bowl of the parts feeder.

In conventional configurations, the parts circulate within the bowl until they are properly oriented, which can cause parts to rub against each other, causing wear, scratches, and stains on the parts. For this reason, there are problems in that the quality of the parts deteriorates and post-processing is required to remove dirt.In addition, parts for which the sensor cannot detect differences in shape or surface condition due to variations in one dimension, etc. must be manually inspected. There is a problem in that the number of man-hours increases because the parts have to be oriented in the same direction.

[Purpose of the invention]

An object of the present invention is to provide a component feeding device that can distinguish between the front and back sides of parts that have a difference in shape between the front and back sides, especially those with large variations in dimensions in the thickness direction, and can feed them in a uniform orientation. be.

[Summary of the invention]

The present invention provides a feeding path for feeding parts having different shapes on the front and back sides supplied from a parts supplying means, and based on the shape difference between the front and back sides of the parts fed from the feeding path. a measuring means that determines whether the part is front or back and generates a posture correction signal;
and means for correcting the posture of the component in response to the posture correction signal.

The measuring means includes a central processing unit, an abutment portion that is movably controlled by the central processing unit and comes into contact with the component, and an encoder that detects the position of the abutment portion corresponding to the front and back sides of the component. The central processing unit may be configured to determine the orientation of the component from the difference in the values of the encoders and generate an orientation correction signal as necessary.

[Embodiments of the invention]

Embodiments of the present invention will be described below with reference to FIGS. 20 to 20.

The first figure is a perspective view showing the overall configuration of a component supply device in a first embodiment of the present invention. For example, a part 20 having a shape as shown in FIG. 2 is accommodated in the parts feeder O, which is a parts supply means, as a part to be supplied. The component 20 has a dimensional difference of t between surface irregularities and a total thickness of T.

Δ Further, the plate thickness T has a dimensional tolerance of ±4T.

The parts 20 are fed into a feed path 12 connected to the supply port 10a1 of the parts feeder 0 in a line with the front and back sides separated. Front/back detection device 14 which is part of the measuring means
In this embodiment, as shown in the third frame, there is a fixed frame 18, a fixed block 22 held within the fixed frame 18 and formed with a component feed @ 22a, and a fixed block 22 that is slidably held within the fixed block 22. The abutment block 24 (abutment portion) The abutment portion 24a of the abutment block 24 is part 2
The cylinder 2 is formed in a shape that fits the shape of the surface of the cylinder 2.
The bottle 26 is pressed by the connecting fitting 28 connected to the pin 9 and comes into contact with the component 20 .

When the compression of the cylinder 29 is released, the abutting flock 24 returns to its initial position due to the elastic force of the spring 300. pin 32
is interposed between the fixed block 22 and the fixed frame 18, and holds the fixed block 22 in a predetermined position.

An encoder 36 for measuring the position is installed along the fixed frame 18, and the encoder 36 generates a signal corresponding to the position when the abutting portion 24a abuts the component 20. In this embodiment, the measuring means 44 includes, as shown in FIG. 5, a front/back detection device 42, an encoder 36 that generates a signal corresponding to the position of the abutment portion 42a, and a cylinder 29 that drives the abutment block 24. 0PU42 reads the numerical value of the encoder 36 and controls the cylinder 29 and manipulator 38
It consists of

The procedure of front/back determination in this embodiment will be explained with reference to FIGS. 6 to 8. In addition, in FIGS. 6 and 7, the part 20
It is assumed that the normal orientation of the part 20 at the time of feeding is such that the flat surface of the part 20 is on the right side.

6(a) to (h+) are the front/back determination procedure when the component 20 is fed in the correct orientation. FIG. 6(a) shows the standby state.The component 20 is set in the specified position. Then (b
), the abutting block 24 moves forward, and the abutting portion 24a touches the part 2.
0 and stops. At this time, the lever 34 fixed to the abutment block 24 also moves at the same time, pushing the lever 36a of the encoder 36 to position 1 corresponding to the stop position of the abutment portion 24a. The value T1 of the encoder 36 at this time is CI
'U42 reads and sets this point as the origin (0)o Next, the abutting block 24 retreats. When the abutment block 24 is completely retracted, the fingers 40 of the manipulator 38 (correction means) are opened, and the manipulator 38 descends to grip the component 20. The manipulator 38 rises to 18
Rotate 0° and reverse the orientation of the part 20 (d).

The manipulator 38 descends again to set the part 20 in a predetermined position (e) o the abutment block 24 advances again;
The abutting portion 24a abuts against the component 20 and stops. At this time, the lever 36a of the encoder 36 is pushed by the lever 34 to a position corresponding to the stop position of the abutting portion 24a.

The 0PU 42 reads the value T of the encoder 36 at this time and determines whether it is positive or negative with respect to the origin (flc-), and the abutment block 24 moves back again. If the value of T is positive, the part 20 Because the direction is opposite to the normal direction at the stage,
The manipulator 38 descends and the finger 40 picks up the part 2.
After gripping part 0, lift it up again, rotate it 180 degrees, and hold part 2.
Return the direction of 0 to the normal direction and feed it to the first input process (h
).

7th [/(a) to (6) are the front/back determination procedures when the component 20 is fed in the opposite direction.

The determination procedure for the same (a) to (f) is shown in Figure 6 (aJ to (f)
It is similar to The determination of whether T is positive or negative with respect to the origin in (f) is negative in this figure. That is, at the stage (f), the component 20 is in the normal orientation. Therefore, when the abutting block 24 retreats, the manipulator 38 descends and grips the component 20, and the direction of the detent-removing component 20 is the same.
At 1 @, the procedure of sending to the next process (h) 0 or more is shown in the 70-chart as the 8th factor. In addition, in determining the front and back sides,
As shown in the flowchart of Figure 9, 'rxe'rt
It is also possible to use the value as is and determine whether the difference is positive or negative, but according to this embodiment, it is possible to determine whether the part is front or back and move the part corrected to the correct orientation to the next process. Since the feeding is performed by a manipulator, the next process does not necessarily have to be on the same straight line as the part feeding path, and the lines can be freely arranged, resulting in space savings. The measuring means and reversing means are not limited to those described above.

FIG. 10 shows the overall configuration of a parts feeding device according to a second embodiment of the present invention. Parts feeder 1 is a parts feeding means.
0 stores parts 20, and the parts 20 are fed in a line through the supply port 10a of the parts feeder 10 and the feeding path 12, with the front and back sides separated. The component 20 is fed in a horizontal state through the feeding path 12, and when it reaches the vicinity of the dimension measuring block 50 (abutment part), it is moved by a transfer lever 59 slidably provided along the feeding path 12. The 0 transfer lever 59, which approaches the dimension measuring block 50 by being pushed at its rear end, may have a built-in motor (not shown) and move by itself according to commands from the 0PU 42 provided in the control box 80. It is fixed to a belt 59C or chain stretched within the guide of the transfer lever 59 installed along the feed path 12,
The belt 59C may be provided to run according to the movement of the chain, and may also be provided with a cylinder (not shown).
The vehicle may also be driven by the vehicle. In addition, the transfer lever 5
9 may be configured such that the distal end portion 59a is retracted above the feeding path by a built-in motor, solenoid, or the like.

Figure 1L, the 12th prisoner is the measuring means 44a in this embodiment.
A stopper 54 is retractably provided at the 1-method measurement position of the 0-feeding path 12 whose shape and configuration are shown respectively. The dimension measuring block 50 is held movably and slidably in the earthwork direction by a shaft 52, and the part 20 is mounted on the lower surface.
A recess 50a having a shape that can fit with the shape of the upper surface of the feeding path 1
A lever 50c that is in contact with the lever 36a of the encoder 36 is formed on both sides.
, 50(l) are provided in a protruding manner.

The method for determining front and back sides in this embodiment will be explained using the 13th factor. In addition, in No. 13-, encoder 3G, lever 50c
, 50d and the transfer lever 59 are omitted.

In the same figure (al indicates a standby state. The dimension measurement block is located above the feed path 12 with the recess 50a facing the dimension measurement position, and a stopper 54 protrudes from the feed path 12. When part 20 is delivered in the same condition as 19 (1
: As shown at +l, the part 20 comes into contact with the stopper 54 and stops at the dimension measurement position. Next, the stopper 54 is
) VC7Ff, the dimension measuring block 50 descends and the concave portion 50a abuts the component 20 and stops as shown in dJ. At this time, the lever SOC The lever 36a is pushed to the stop position of the dimension measuring block 50, and the CPU 42 reads the value T of the encoder 36 at that time.Then, the dimension measuring block 50 is moved to the cylinder 2 as shown in FIG.
9, the motor 57 drives the motor 57 to rotate 1800 times, and the plane 5 rises as shown in FIG. 9(f).
01) faces the dimension measurement position. Next, the dimension measuring block 50 is lowered as shown in FIG. At this time, the lever 50d pushes the lever e36a of the encoder 36 to the stop position of the dimension measurement block 50, and the 0PU42 reads the value T of the encoder 36 at that time. Next, Ii&(
As shown in h), the dimension measuring block 50 rises, and after the part 20 is ejected from the measuring means by the transfer lever 59 provided to move along the feeding path, the block 50 is moved to the stopper 54.
protrudes into the feeding path, and then the dimension measuring block 50 moves 180°
It rotates and returns to the standby state shown in FIG. Next, the state of contact between the component 20, the recess 50a, and the flat surface sob when the flat surface of the component 20 is fed upward is shown in FIGS. 1A and 2J, respectively. Now, assuming that the normal feeding state is when the 7-rat surface of the component 20 is fed downward, in this embodiment, for the part in the normal feeding state, T, -T, ) o, T for reversed parts.

-T, = 0, which allows us to determine whether the part is front or back, and for parts in the opposite direction, C! The PU 42 issues a command to drive the reversing means to return the part to its normal state. No. 14- shows a first modification of the measuring means in this embodiment. In this modification, the measuring means 44t) is configured as shown in FIG.
A lever 50a that comes into contact with the lever 36a of No. 6 is provided in a protruding manner. Stoppers 54a and 54b are provided in the feed path at a position corresponding to the recess 50a of the measurement block 50 and a position corresponding to the flat surface sob, respectively, so as to be able to protrude and retract. It will be done.

In this embodiment, in the initial state ``''C Fig. 14 (
As shown in a), the stopper 54a protrudes and the feed path 12
The component 20 that has been fed comes into contact with the stopper 54a,
It stops at a position corresponding to the recess 50a of the measurement block 50. Next, as shown in (1) of the same figure, the stopper 54a,
54b is retracted below the bottom of the feeding path, and the measurement block 5
0 descends and the recess 50a comes into contact with the component 20 and stops. The 0PU 42 reads the value T1 of the encoder 36 corresponding to the position of the dimension measurement block 50 at this time. next,
As shown in the figure (cl), the dimension measuring block 50 rises, and then the stopper 541) protrudes. The component 20 is transferred by the transfer lever 59 and stops when it comes into contact with the stopper 54b. Next, as shown in the PI diagram (dl), the transfer lever 59
Then, the stoppers 54a and 54b are retracted, the dimension measuring block 50 is lowered, and the flat surface 501) comes into contact with the component 20 and stops. The 0PU 42 reads the value T of the encoder 36 corresponding to the position of the dimension measurement block 50 at this time.

Next, as shown in FIG. 6(e), the dimension measuring block 50 rises again, and after the transfer lever 59 ejects the component 20 from the dimension measuring block 50 and returns it to the initial position *rc(lI!), the stopper 54a protrudes. Return to the initial state.(g) in the same figure.
(hl is the concave portion 50a when the parts are fed in the opposite direction.

It shows the state of contact with the plane sob. In this embodiment as well, T and -T are applied to parts that are in a normal feeding state.

〉0. For parts that are oriented in the opposite direction, T, -T, = O, so this allows us to distinguish between the front and back of the part, and for parts that are oriented in the opposite direction, it is C! The PU 42 issues a command to drive the reversing means to return the parts to their normal state.

In the above-mentioned second and third embodiments, as shown in FIG. It is desirable that the recess 50a be formed in this way.
If the depth of tl is the depth of
Since T −tl* T2 =T, T, −T, =
t1)O, and if the part 20 is fed in the opposite direction, the same II (cl).

As shown in (e)? , =T, T, =T, so T.

-T,=O, and thus it is possible to reliably determine whether the component is front or back.

Next, the correction means in this embodiment will be explained. FIGS. 17 and 18 show the correction means in this embodiment.

In this embodiment, the feed path 12 is provided substantially horizontally, and a reversing drum 100 having an insertion hole 100a is rotatably fitted into a groove 12a provided in the feed path 12, and the reversing drum 100 is driven by a motor. 102 is fixed to the shaft 102a. Assuming that the normal orientation is for the flat surface of the component 20 to come into contact with the bottom surface of the feeding path 12, when the component 20 is fed in the normal orientation, the reversing drum 100 will not rotate and the component 20 in the direction 11, and when the part 20 is fed in the opposite direction, when the part 20 enters the insertion hole 100a of the reversing drum 100, the reversing drum 100
The part 20 is reversed so that the part 20 is in the correct orientation and then supplied to the next process. The feed path 12 does not need to be completely horizontal, but may be inclined so that the parts 20 are fed by vehicle acceleration. In this embodiment, in order to prevent the component 20 from falling off from the reversing drum 100 during the reversing operation, a stopper 104 formed in a tubular shape on the outer periphery of the reversing drum 100 is installed as shown in FIGS. 17 and 18. The stopper 104 has openings 1 at positions corresponding to the inlet and outlet of the insertion hole 100a of the reversing drum 100 and having substantially the same dimensions as the inlet and outlet.
04a is provided. The stopper 104 is driven and rotated by a motor (not shown) or the like. FIG. 18(a) shows the insertion hole 100a of the reversing drum 100 and the opening portion 104 of the stopper 104 (7) in the standby state and the parts ejection state.
The positional relationship with a is shown. In this state, the opening 104a of the stopper 104 is inserted into the insertion hole 1 of the reversing drum 100.
00a, and the part 20 is inserted into the insertion hole 10.
It becomes possible to insert it inside 0a. When the component 20 is fed in the opposite direction, the stopper 104 rotates when the component 20 enters the insertion hole 100a based on the signal from the dimension measuring means indicating that it is in the opposite direction. As shown in b), the opening $104a of the stopper 104 is shifted from the entrance and exit of the insertion hole 100a of the reversing drum 100,
The inlet and outlet of the component 20 are blocked and the inverting drum 100
prevent it from falling off. A motor (not shown) that drives the stopper 104 is configured to rotate in synchronization with the motor 102, and the stopper 104 rotates once per ffi while the opening 104a maintains a constant angle with the insertion hole 100a.
After the drum 100 finishes reversing and stops, the opening 10
19 and 20 show a first modification of the correcting means in this embodiment.

In this modification, the feeding path 12 is provided with a groove 12a, and the reversing drum 1 has an insertion hole 100a in the groove 12a.
00 is rotatably fitted, and the reversing drum 100 is fixed to the shaft 102a of the Tanabata 102. The component 20 is fed through the feed path 12 in a vertical state. What is the operation of the reversing drum Zoo in this implementation? 0 explained by 0
In order to make it easier to understand the direction of the reversing drum 100, a mark "1115 Kr." is attached to the reversing drum 100. Further, in this modification, it is assumed that the normal direction is the direction in which the flat surface of the component 2o comes into contact with the bottom surface of the feeding path 12. Fig. 20 (0 reversing drum 10 showing company a standby state)
The insertion hole 100a of No. 0 is parallel to the feeding path, and the fed part 2o enters therein as shown in FIG. 10
0 does not rotate, and the part 20 is sent to the next process in the same direction as shown in 11(c)K. Part 20 is the same (
As shown in (1), it is fed in the opposite direction, and (e) K
When the reversing drum 100 enters the insertion hole 100a as shown in FIG.
After 0 rotation, the part 20 returns to its normal orientation. When the reversing drum stops, the part 20 is supplied to the next process in the normal state as shown in 19 (gl). In this modification, a stopper is provided so that the part will not fall off due to single-force acceleration. It is not necessary to use the motor 102. Although a stepsetter driven by pulses is normally used as the motor 102, a motor rotated by pneumatic or hydraulic pressure may also be used.
02 may be one that rotates only in one direction, or may even be able to rotate in forward and reverse directions.According to this embodiment, the reversal of the component is performed not by gripping the component by a manipulator, but by a reversing drum. , even parts with fragile end faces can be turned over to the correct orientation.

〔Effect of the invention〕

According to the present invention, it is possible to obtain a component supply device that can distinguish between the front and back sides of a component that has a difference in shape between the front and back sides, and can feed the component in a uniform direction by discriminating between the front and back sides, even for components that have a large variation in dimension in the thickness direction. I can do it.

[Brief explanation of drawings]

FIG. 1 is a top view showing the overall configuration of the parts supply device in the Ml embodiment of the present invention. FIG. 2 is a perspective view showing an example of the shape of the parts to be fed. FIG. 4 is a sectional view showing the configuration of the front/back detection device in the first embodiment of the present invention, and FIG. 5 is a perspective view showing the configuration of the measuring means in the first embodiment of the present invention. ′
Lock diagram, No. 6 (a) - (Japanese is a plan view showing the measuring means when the parts are fed in the correct orientation in the first embodiment of the present invention, No. 7 (a) - (Japanese) 8 is a plan view showing the measuring means when parts are fed in the opposite direction in the first embodiment of the present invention, and FIG. 8 is a flowchart showing the operation of the parts feeding device in the first embodiment of the present invention. FIG. 9 is a flowchart showing a modified example of the operation of the parts supply device in the first embodiment of the present invention, and FIG.
1 is a perspective view showing the configuration of the measuring means in the second embodiment of the present invention, FIG. 12 is a block diagram showing the configuration of the measuring means in the second embodiment of the present invention, and FIG. 13 (a3 to (j )
117-(- show the measurement procedure of the first modification of the measurement means in the second embodiment of the present invention. 1
111, FIG. 15 is a block diagram showing the configuration of a second modified example of the measuring means in the second embodiment of the present invention, and FIG. 16 is a recess 550a of the dimension measuring block 50 in the second embodiment of the present invention. A side surface showing the dimensional relationship between and the part 20 must be 1.
Figure a17 is a perspective view showing the correction means in the second embodiment of the present invention, and Figure 18 [1Q (aXb) shows the open and closed states of the stopper 104, respectively! ! FIG. 19 is a perspective view showing a first modification of the correction means in the second embodiment of the present invention, and FIG. 10: s product Supply means, 12: Feeding path, 20: Parts, 24
, 50: Abutting portion, 36: En;-da, 38° 100 = correction means, 42: Central processing unit, 44° 44a, 44
b: Measuring means 2nd figure $3TB 4th figure $5 Figure L--1--J $6 Figure (a) (IJ 1h. (e) tb) ()1tc)

(/,) (e) Nohi ＼ 9th area $ 11 Figure 72 Cause (C) (dJ (Shun (f) +91
(Meshi) No. I4 (force) (eICl)
(11+5912 -)””
! ;46 5
Q Yu No. 150 Ku No. 16

Claims (1)

[Scope of Claims] 1. A feeding path for parts supplied from a parts supplying means that have different shapes on the front and back sides, and a dimensional difference based on the difference in shape between the front and back sides of the parts fed from the feeding path. A component supply device comprising: a measuring device that determines whether the component is front or back and generates a posture correction signal; and a device that receives the posture correction signal and corrects the posture of the component. 2. The measuring means includes a central processing unit, an abutment portion that is movably controlled by the central processing unit and comes into contact with the component, and detects the position of the abutment portion corresponding to the front and back sides of the component. and an encoder, wherein the central processing unit determines the orientation of the component from the difference between the values of the encoder and generates an orientation correction signal as necessary. Component supply device according to item 1.