WO2011081198A1

WO2011081198A1 - Parts-arranging device

Info

Publication number: WO2011081198A1
Application number: PCT/JP2010/073758
Authority: WO
Inventors: 健一大野; 剛中村
Original assignee: 本田技研工業株式会社
Priority date: 2009-12-28
Filing date: 2010-12-28
Publication date: 2011-07-07
Also published as: JPWO2011081198A1

Abstract

A parts-arranging device which, when inserting and arranging parts having legs, can easily drop and insert the parts into holes with the legs first and can accurately insert and arrange the parts on a table in a short time. A parts-arranging device (1) is provided with arrayed holes (33) each having a front surface-side tapered section (34) provided on at least the front surface side of a table section (31). The inner walls of the arrayed holes (33) are shaped so that the diameter of the tapered sections (34) is reduced toward the center of the table section (31) in the thickness direction thereof. The diameter of each arrayed hole (33) is set so that, when a bolt (40) is turned toward the rear surface of the table section (31) with the contact point (43) between the front surface of the table section (31) and the head (41) of the bolt (40) serving as the support point, the path of the front end (44) of the leg of the bolt (40) is located inside the arrayed hole (33) relative the front surface-side tapered section (34).

Description

Parts placement device

The present invention relates to a component placement device. Specifically, the present invention relates to a component placement device that places components having legs such as bolts and screws in holes in a table.

2. Description of the Related Art Conventionally, in a manufacturing process of an automobile, parts are fixed to a workpiece at a plurality of locations with screws or bolts using a tightening device.
For example, the tightening device includes a robot arm, a nut runner provided at the tip of the robot arm, and a magazine provided in the vicinity of the nut runner (see Patent Document 1). According to this tightening device, bolts are loaded in the magazine, the bolts are sequentially received from the magazine by the nut runner, and the received bolts are inserted into predetermined positions of the workpiece. Then, rotate the socket and tighten the bolt.

By the way, in order to manufacture a plurality of vehicle types in one line, it is preferable that the tightening device is configured so that a plurality of types of bolts can be tightened by one unit. However, in the above-described configuration, since there is only one type of bolt loaded in the magazine, a plurality of types of bolts cannot be tightened.

Therefore, in recent years, a tightening device configured to be able to separate a head engaged with a bolt from a magazine so that a plurality of types of bolts can be tightened has been proposed. In this tightening device, the head is separated from the magazine, and bolts are loaded on the separated head and then returned to the magazine again. Here, in order to sequentially load the bolts into the plurality of heads, the bolts must be aligned on the pallet. A part aligning apparatus for aligning parts on such a pallet has been proposed in the past as shown below.

For example, in Patent Document 1, a plurality of parts are arranged on a pallet provided with a plurality of holes, and vibrations and swings are simultaneously applied to the pallet so that each part is dropped into each hole and engaged. Thus, a part aligning device for aligning parts on a pallet is shown. In relation to such a component aligning apparatus, Patent Document 2 discloses an apparatus that determines whether or not components are correctly aligned on a pallet based on an image taken by a camera.

Japanese Utility Model Publication No. 7-15233 Japanese Patent Laid-Open No. 9-57543

However, since the devices shown in Patent Documents 1 and 2 described above insert and arrange parts without legs in the holes, the parts can be inserted and arranged efficiently without any obstruction. On the other hand, in the case of a component such as a bolt or a screw, there is a foot that hinders insertion, which may reduce the efficiency of the insertion and placement work.

Therefore, it is necessary to optimize the shape of the hole in order to efficiently insert and place the parts with legs.

The present invention has been made in view of the above-mentioned problems, and when inserting and arranging a component having a foot, the component can be easily dropped from the foot into the hole, and the component is accurately inserted and arranged in the hole in a short time. It is an object of the present invention to provide a component placement apparatus that can perform the above-described process.

(1) A component placement device (for example, described later) that applies vibration or swing to a table (for example, table portion 31 described later) and places components (for example, bolts 40 described later) having a head and feet. The component placement apparatus 1) includes a plurality of holes (for example, an alignment hole 33 to be described later) provided with a tapered portion (for example, a surface side tapered portion 34 to be described later) on at least the surface side of the table, The inner wall shape of the hole is formed to have a small diameter near the center in the thickness direction of the table, and the diameter of the hole is determined by the surface of the table and the head of the component (for example, the head 41 described later). ) With the contact portion (for example, a contact portion 43 described later) as a fulcrum, the locus of the tip of the foot of the component (for example, the tip portion 44 described later) is rotated when the component is rotated toward the back surface of the table. Than the taper Component placement device, characterized in that it is configured as a condition that is positioned inwardly of Kiana.

According to the invention of (1), the plurality of holes have a tapered portion on the surface side of the table, and when the component is rotated in the back surface direction of the table with the contact portion between the table surface and the component head as a fulcrum The diameter of the hole is set so that the locus of the tip of the component foot is positioned inward of the hole from the tapered portion.

Therefore, when a component having a head and a foot such as a bolt or a screw is inserted and arranged in a large number of holes provided in the table, the table is easily dropped from the foot. Since components can be accurately inserted and arranged in the holes in a short time, the efficiency of component arrangement can be improved.

(2) The diameter of the hole is a contact portion between the head and the tapered portion (for example, when the component is erected substantially perpendicular to the surface of the table with the head facing the hole (for example, (1), wherein a contact portion 36 described later is set on the condition that it is positioned closer to the surface side of the table than a position that is approximately half the distance between both ends of the taper portion. Component placement device.

According to the invention of (2), the contact portion between the head portion and the taper portion is located on the surface side of the table from the position of approximately half the distance between both ends of the taper portion.

Therefore, in addition to the effect of the invention of (1), even when the component head is fitted in the hole, the head is easily removed from the hole by vibration or swinging, so that the head remains fitted in the hole. It is possible to prevent it from being lost.

According to the present invention, when a component having a head and a foot such as a bolt or a screw is inserted and arranged in a large number of holes provided in the table, the component is attached to the hole. Since the components can be inserted and arranged in the holes accurately in a short time, the efficiency of component arrangement can be improved.

It is a mimetic diagram showing a schematic structure of a parts arrangement device concerning one embodiment of the present invention. It is a perspective view which shows the structure of the pallet which concerns on the said embodiment. It is a top view which shows the structure of the pallet which concerns on the said embodiment. It is a figure which shows a part of image of the upper surface of the palette image | photographed with the inspection camera which concerns on the said embodiment. It is a longitudinal cross-sectional view of the table part which concerns on the said embodiment. It is the figure which showed the relationship between the alignment hole and bolt which concern on the said embodiment. It is the figure which showed the state which the leg part of the volt | bolt which concerns on the said embodiment is engage | inserted by the alignment hole. It is the figure which showed the state in which the head of the bolt which concerns on the said embodiment is engage | inserted by the alignment hole. It is a flowchart which shows the procedure which aligns the some volt | bolt which concerns on the said embodiment on a pallet. It is a schematic diagram which shows schematic structure of the components placement apparatus which concerns on the modification of the said embodiment.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic diagram illustrating a schematic configuration of a component placement device 1 according to the present embodiment.
The component placement apparatus 1 includes a transfer robot 10, a gripping tool unit 20 attached to the transfer robot 10, and a control panel 50 that controls the entire system. The component placement apparatus 1 grips a pallet 30 in which a plurality of bolts are scattered with a gripping tool unit 20, and vibrates and swings the pallet 30 to align the plurality of bolts at predetermined positions on the pallet 30. Let

FIG. 2 is a perspective view showing the configuration of the pallet 30.
FIG. 3 is a top view showing the configuration of the pallet 30.
The pallet 30 is substantially box-shaped and includes a square table portion 31 and a wall portion 32 that surrounds the table portion 31 from four directions.

An alignment hole 33 for engaging the plurality of bolts 40 is formed at a position where the plurality of bolts 40 are aligned in the table portion 31 formed substantially flat. As shown in FIG. 3, the square table portion 31 is provided with 25 alignment holes 33 at equal intervals. The inner diameters of these alignment holes 33 are slightly larger than the outer diameter of the columnar foot portion 42 in which the thread groove of the bolt 40 is formed (the details of the inner diameter are described in detail with reference to FIGS. 5 and 6). To do). That is, the bolts 40 can be aligned on the pallet 30 by fitting the foot portions 42 of the bolts 40 into the plurality of alignment holes 33. Hereinafter, the bolt in which the foot portion 42 is fitted in the alignment hole 33 is referred to as an aligned bolt.

Moreover, in this embodiment, as shown in the following formula (1), the ratio of the number of aligned bolts to the number of alignment holes 33 is defined as the alignment rate.
Alignment rate (%) = (Number of aligned bolts / Number of aligned holes) × 100 (1)

In addition, as shown in the following formula (2), when only a predetermined region of the pallet 30 is targeted, the alignment rate for the region is the target for the number of alignment holes 33 in the target region. Defined as the percentage of the number of aligned bolts in the region.
Area alignment ratio (%) = (number of aligned bolts in area / number of alignment holes in area) × 100 (2)

Returning to FIG. 1, the transfer robot 10 includes a robot body 11 attached to the floor surface and an articulated arm 13 pivotally supported by the robot body 11. A gripping tool unit 20 is pivotally supported on the distal end side of the articulated arm 13.

The multi-joint arm 13 includes a first arm part 131, a second arm part 132, a third arm part 133, and a fourth arm part 134 in order from the robot body 11 side.
The first arm 131 extends substantially linearly and is pivotally supported by the robot body 11. The robot body 11 rotates the first arm portion 131 about an axis extending in a substantially vertical direction as a rotation center.
The second arm portion 132 extends substantially linearly and is pivotally supported by the first arm portion 131. The first arm portion 131 rotates the second arm portion 132 with a driving mechanism (not shown) about the direction intersecting the extending direction of the first arm portion 131 as the rotation center. As a result, the angle formed by the extending direction of the first arm 131 and the extending direction of the second arm 132 changes.
The third arm portion 133 extends substantially linearly and is pivotally supported by the second arm portion 132. The second arm portion 132 rotates the third arm portion 133 with a driving mechanism (not shown) about the direction intersecting the extending direction of the second arm portion 132 as the rotation center. As a result, the angle formed by the extending direction of the second arm portion 132 and the extending direction of the third arm portion 133 changes.

The fourth arm part 134 extends substantially linearly and is pivotally supported by the third arm part 133. The third arm 133 rotates the fourth arm 134 with a driving mechanism (not shown) around the direction intersecting the extending direction of the third arm 133 as the rotation center. As a result, the angle formed between the extending direction of the third arm portion 133 and the extending direction of the fourth arm portion 134 changes.
In addition, the gripping tool unit 20 is pivotally supported on the distal end side of the fourth arm portion 134. The fourth arm part 134 rotates the gripping tool unit 20 about a shaft extending in the extending direction of the fourth arm part 134 by a driving mechanism (not shown).

The transfer robot 10 changes the position of the pallet 30 in the three-dimensional space or swings the pallet 30 in various modes by the articulated arm 13 composed of the plurality of arms 131 to 134 as described above. Can be. The operation of the transfer robot 10 is controlled by a robot controller 51 connected to the control panel 50.

The gripping tool unit 20 includes a bracket 21 attached to the distal end portion of the articulated arm 13, a vibrator 22 fixed to the bracket 21, an air chuck 24, and an inspection camera 23.

The vibrator 22 vibrates in a manner set by a vibrator controller 53 connected to the control panel 50. The vibration generated by the vibrator 22 is transmitted to the air chuck 24 via the bracket 21 to vibrate the pallet 30 gripped by the air chuck 24.

The vibrator controller 53 includes a function generator that generates a waveform of vibration generated by the vibrator 22, a power amplifier that amplifies the generated waveform and supplies the amplified waveform to the vibrator 22, and the like. The vibration exciter controller 53 operates based on the control signal transmitted from the control panel 50, and causes the vibration exciter 22 to generate vibration in the set mode.

The air chuck 24 includes two

claw portions

241 and 242 that can be freely opened and closed. The air chuck 24 grips the pallet 30 by sandwiching the wall portion 32 of the pallet 30 with the two

claw portions

241 and 242.

The inspection camera 23 is fixed to the bracket 21 with the upper body with the photographing lens facing the upper surface of the pallet 30, and photographs a plurality of bolts 40 on the pallet 30. The distance between the photographing lens and the pallet 30 is preferably set so that all the bolts 40 scattered on the pallet 30 can be photographed by the inspection camera 23. The inspection camera 23 is controlled by a camera controller 52 connected to the control panel 50. The camera controller 52 transmits an image signal of an image on the upper surface of the pallet 30 photographed by the inspection camera 23 to the control panel 50.

The control panel 50 performs an operation based on an input circuit to which various signals are input, a storage device in which various programs relating to execution of a flowchart shown in FIG. 9 to be described later are stored, and the above various programs and various signals. And a computer including a CPU. In addition, the control panel 50 includes an output circuit that outputs a control signal to the controllers 51 to 53, an image processing unit that performs image processing on the image signal output from the inspection camera 23, and the like.

The control panel 50 calculates the alignment rate of the bolts on the pallet 30 based on the output of the inspection camera 23. Then, as will be described in detail later with reference to FIG. 9, the control panel 50 determines how the pallet 30 vibrates by the vibration exciter 22 and how the pallet 30 swings by the transfer robot 10 according to the calculated alignment rate. By changing, a plurality of bolts are aligned on the pallet 30.

In the control panel 50, the alignment rate is calculated as follows.
FIG. 4 is a view showing a part of the image on the upper surface of the pallet 30 photographed by the inspection camera. FIG. 4 shows a state where three of the four bolts 40 are aligned on the pallet 30.

The aligned bolts 40 are in a state in which the head portion 41 is directed to the inspection camera side when the foot portion 42 is fitted into the alignment hole 33. On the other hand, the bolts 40 that are not aligned do not have the head portions 41 directed toward the inspection camera 23 because the foot portions 42 are not fitted in the alignment holes 33.
Therefore, in this embodiment, the image processing unit extracts the hexagonal outline of the head 41 indicating that aligned bolts are present from the image of the top surface of the pallet photographed by the inspection camera. Thereby, the number of bolts arranged on the pallet can be calculated. The alignment rate is calculated based on the above formulas (1) and (2) using the number of aligned bolts calculated as described above.

FIG. 5 is a longitudinal sectional view of the table unit 31.
FIG. 6 is a diagram showing the relationship between the alignment holes 33 and the bolts 40.

The alignment hole 33 of the table part 31 has a taper part. The tapered portion is formed such that the inner wall shape of the alignment hole 33 has a small diameter near the center of the table portion 31 in the thickness direction. Further, a front surface side taper portion 34 is formed on the table surface side on which the bolt 40 is placed, and a back surface side taper portion 35 is formed on the table back surface side opposite to the table surface side. .

The diameter of the alignment hole 33 is such that when the bolt 40 is rotated in the back direction of the table portion 31 with the contact portion 43 between the surface of the table portion 31 and the head portion 41 of the bolt 40 as a fulcrum, the foot portion 42 of the bolt 40 is rotated. It is set on condition that the trajectory of the front end portion 44 is positioned inward of the alignment hole 33 from the front side taper portion 34.

Here, the distal end portion 44 is a portion of the foot portion 42 that is located at a position farthest from the contact portion 43, and the locus of the distal end portion 44 is inward of the alignment hole 33 from the surface side tapered portion 34. The diameter of the alignment hole 33 is set so as to be positioned.
Therefore, when the bolt 40 is dropped from the foot portion 42 into the alignment hole 33 by applying vibration or swing to the table portion 31, the foot portion 42 does not hit the surface side taper portion 34.

FIG. 7 is a view showing a state in which the foot portion 42 of the bolt 40 is fitted in the alignment hole 33.

The diameter of the alignment hole 33 is formed so that both the front side taper portion 34 and the back side taper portion 35 gradually become smaller in diameter toward the center of the table portion 31 in the thickness direction. And the boundary part of the surface side taper part 34 and the back surface side taper part 35 is formed so that it may become the smallest diameter. The foot portions 42 fitted in the alignment holes 33 are arranged at intervals inside the front surface side taper portion 34 and the back surface side taper portion 35.
Further, since the diameter of the collar portion 45, which is the portion of the head 41 that is closest to the foot portion 42, is larger than the diameter of the alignment hole 33 on the surface of the table portion 31, the collar portion 45 is separated from the surface of the table portion 31. By abutting, it is possible to prevent the head 41 from fitting into the alignment hole 33.

FIG. 8 is a view showing a state in which the head portion 41 of the bolt 40 is fitted in the alignment hole 33, and the head portion 41 side is fitted in the alignment hole 33 when the table portion 31 is vibrated or swung. It is the figure which assumed the case.

The contact portion 36 between the head portion 41 and the surface side taper portion 34 is located on the surface side of the table portion from a position that is substantially half the distance between both ends of the surface side taper portion 34.

That is, the diameter of the alignment hole 33 is such that when the bolt 40 is erected substantially perpendicularly to the surface of the table portion 31 with the head portion 41 directed toward the alignment hole 33, the contact between the head portion 41 and the surface side taper portion 34. The contact portion 36 is set on the condition that the contact portion 36 is positioned on the surface side of the table portion from a position that is substantially half the distance between both ends of the surface side taper portion 34.

Therefore, even when the bolt 40 is fitted in the alignment hole 33 from the head 41 side, the fitted head 41 is easily removed by applying vibration or swing to the table portion 31.
Therefore, it is possible to prevent the head 41 from being pulled out while being fitted in the alignment hole 33, and the efficiency of arrangement of the bolts 40 in the alignment hole 33 can be improved.

Next, the procedure for aligning the bolts on the pallet will be described with reference to FIG.

FIG. 9 is a flowchart showing a procedure for aligning the bolts on the pallet. As will be described in detail below, in the component placement device of the present embodiment, the vibration and swing modes of the pallet are changed according to the alignment rate of the bolts on the pallet. Therefore, the procedure for aligning the bolts includes a diverging process (steps S1 and S2), a rough alignment process (steps S3 and S4), and a fine alignment process (steps S5 and S5) according to the vibration and swinging modes of the pallet. S6) and a guide alignment process (step S7).

In step S1, the pallet is vibrated by generating vibrations having a frequency f1 and an amplitude r1 with a vibrator, and the pallet is swung in a predetermined manner by a transfer robot.
In step S2, the bolt alignment rate in the entire pallet is calculated, and it is determined whether or not this alignment rate is greater than a predetermined first threshold value. In the present embodiment, the first threshold is set to 10%, for example. If this determination is YES, the process proceeds to step S3, and if NO, the process proceeds to step S1.

Specifically, the vibration mode of the pallet in the diverging step (S1, S2), that is, the frequency f1 and the amplitude r1, and the swinging mode of the pallet are specifically determined by a plurality of bolts placed on the pallet over the entire surface of the pallet Set to be scattered. In the present embodiment, for example, the frequency f1 is set to 35 Hz, and the amplitude r1 is set to 1.5 mm. Moreover, it is preferable that the plurality of bolts swing in multiple directions so that the bolts are scattered on the entire surface of the pallet without being biased.

In step S3, the pallet is vibrated by generating vibrations having a frequency f2 and an amplitude r2 with a vibrator.
In step S4, the bolt alignment rate in the entire pallet is calculated, and it is determined whether or not this alignment rate is greater than a predetermined second threshold value. In the present embodiment, the second threshold is set to 45%, for example. If this determination is YES, the process proceeds to step S5, and if NO, the process proceeds to step S3.

Specifically, the aspect of the vibration of the pallet in the rough alignment step (S3, S4), that is, the frequency f2 and the amplitude r2, is such that a plurality of bolts scattered over the entire surface of the pallet stay in the vicinity of each other. Is set. In the present embodiment, for example, the frequency f2 is set to 50 Hz larger than f1, and the amplitude r2 is set to 1.0 mm smaller than r1. Further, in this rough alignment process, the pallet is basically not swung so that the bolts are not scattered on the pallet. That is, it vibrates with the pallet kept horizontal.

In step S5, the pallet is vibrated by generating vibrations of frequency f3 and amplitude r3 with a vibrator.
In step S6, the bolt alignment rate in the entire pallet is calculated, and it is determined whether or not this alignment rate is greater than a predetermined third threshold. In the present embodiment, the third threshold is set to 80%, for example. If this determination is YES, the process proceeds to step S7, and if NO, the process proceeds to step S5.

The vibration mode of the pallet in the fine alignment step (S5, S6), that is, the frequency f3 and the amplitude r3 are specifically set so that a plurality of bolts on the pallet are engaged with the alignment holes in the vicinity. To do. In the present embodiment, for example, the frequency f3 is set to 40 Hz smaller than f2, and the amplitude r3 is set to 1.4 mm larger than r2. In these steps S5 and S6, the pallet is basically not swung so that the bolts are not scattered on the pallet. That is, it vibrates with the pallet kept horizontal.

In step S7, the pallet is vibrated by generating vibrations having a frequency f4 and an amplitude r4 with a vibration exciter, and the pallet is swung in the procedure described later.

The mode of vibration of the pallet in this induction alignment step (S7), that is, the frequency f4 and the amplitude r4, and the mode of rocking of the pallet when the sensing rocking process is executed, can be performed without removing the aligned bolts. The unaligned bolt is set to be guided to the aligned hole where the bolt is not engaged. In the present embodiment, for example, the frequency f4 is set to 55 Hz larger than f3, and the amplitude r4 is set to 1.0 mm smaller than r3.

With reference to FIG. 3, the procedure for swinging the pallet in the above-described guide alignment step will be described.
First, the region in which the alignment holes 33 are formed is divided into eight regions (region 1 to region 8) as shown in FIG. The swinging procedure in the guide alignment process is mainly composed of the following four processes.

[First step]
In the first step, the bolts are mainly guided to the regions 1 to 4 having a relatively large number of alignment holes among the eight regions.
Specifically, first, the alignment ratios of the areas 1 to 4 are calculated, and the alignment ratios of the areas are compared. Next, the bolts are tilted downward in order from the region with the low alignment rate so that the bolts are aligned from the region with the low alignment rate, and the unaligned bolts are sequentially guided to the region with the low alignment rate. In addition, it does not incline to the area | region where an alignment rate is 100%, and when there exists an area | region with the same alignment rate, it guide | induces first to the area | region with a small number.
In the first step, when the procedure for guiding the bolts to the regions 1 to 4 is repeated a predetermined number of times (for example, 3 times), when the alignment rate of all the regions 1 to 4 is 100%, Alternatively, when there is only one region with an alignment rate of less than 100% among the target regions 1 to 4, the process proceeds to the next second step.

[Second step]
In the second step, the bolts are mainly guided to the regions 5 to 8 in which the number of alignment holes is relatively small among the eight regions.
Specifically, first, the alignment ratios of the areas 5 to 8 are calculated, and the alignment ratios of the areas are compared. Next, the bolts are tilted downward in order from the region with the low alignment rate so that the bolts are aligned from the region with the low alignment rate, and the unaligned bolts are sequentially guided to the region with the low alignment rate. In addition, it does not incline to the area | region where an alignment rate is 100%, and when there exists an area | region with the same alignment rate, it guide | induces first to the area | region with a small number.
In the second step, when the procedure for guiding the bolt to the regions 5 to 8 is repeated a predetermined number of times (for example, three times), when the alignment ratio of all the regions 5 to 8 is 100%, Alternatively, when there is only one region having an alignment rate of less than 100% among the target regions 5 to 8, the process proceeds to the next third step.

[Third step]
In the third step, bolts are guided to a region with a low alignment rate for all eight regions.
Specifically, first, the alignment ratios of the areas 1 to 8 are calculated, and the alignment ratios of the areas are compared. Next, the bolts are tilted downward in order from the region with the low alignment rate so that the bolts are aligned from the region with the low alignment rate, and the unaligned bolts are sequentially guided to the region with the low alignment rate. In addition, it does not incline to the area | region where an alignment rate is 100%, and when there exists an area | region where the alignment rate is equal, it guide | induces first to the area | region with a small number.
In the third step, when the procedure for guiding the bolt to the regions 1 to 8 is repeated a predetermined number of times (for example, three times), the alignment rate of all the regions 1 to 8 is 100%, Alternatively, when there is only one region having an alignment rate of less than 100% among the target regions 1 to 8, the process proceeds to the next fourth step.

[Fourth step]
In the fourth step, the bolt is guided to only the region having an alignment rate of less than 100% among the eight regions.
Specifically, first, the alignment ratios of the areas 1 to 8 are calculated, and areas where the alignment ratio is less than 100% are extracted. Next, the extracted area and the area at a position symmetrical to this area are alternately tilted. That is, for example, when the alignment rate of the region 8 is less than 100%, the region 8 and the region 6 at the symmetrical position are alternately inclined.
In this fourth step, when the procedure for guiding the bolt to the region where the alignment rate is less than 100% is repeated a predetermined number of times (for example, 3 times), or the alignment rate of all the regions 1 to 8 becomes 100%. If so, the process ends.

The frequency and amplitude values described above are examples of setting when 8 g bolts are used for alignment. Therefore, the specific values of the above-described frequency (f1, f2, f3, f4) and amplitude (r1, r2, r3, r4) may be changed as appropriate according to the size and weight of the bolt. However, even in this case, these frequencies (f1 to f4) and amplitudes (r1 to r4) satisfy the following formulas (3) and (4) or the following formulas (5) and (6). It is preferable.
f1 <f2, f2> f3, f3 <f4 (3)
r1> r2, r2 <r3, r3> r4 (4)
f1 <f3 <f2 <f4 (5)
r4 <r2 <r3 <r1 (6)

According to this embodiment, there are the following effects.
(1) According to the present embodiment, the plurality of alignment holes 33 have the surface side taper portion 34 on the surface side of the table portion 31, and the contact portion between the surface of the table portion 31 and the head portion 41 of the bolt 40. When the bolt 40 is rotated in the direction of the back surface of the table portion 31 with 43 as a fulcrum, alignment is performed so that the locus of the tip portion 44 of the foot portion 42 of the bolt 40 is positioned inward of the alignment hole 33 from the front side taper portion 34 The diameter of the hole 33 is set.
Therefore, when the parts having the head portion 41 and the foot portion 42 such as the bolts 40 are inserted and arranged in the alignment holes 33 provided in a large number in the table portion 31 so as to vibrate or swing the table portion 31, On the other hand, the bolt 40 can be easily dropped from the foot portion 42, and the bolt 40 can be accurately inserted and arranged in the alignment hole 33 in a short time. Therefore, the efficiency of the arrangement of the bolt 40 can be improved.

(2) According to the present embodiment, the contact portion 36 between the head 41 of the bolt 40 and the surface side taper portion 34 is located at a position approximately half the distance between both ends of the surface side taper portion 34 of the table portion 31. It will be located on the surface side.
Therefore, in addition to the effect (1), even when the head 41 of the bolt 40 is fitted in the alignment hole 33, the head 41 can be easily removed from the alignment hole 33 by vibration or swinging. It is possible to prevent the portion 41 from being removed while being fitted in the alignment hole 33.

It should be noted that the present invention is not limited to the above-described embodiment, and modifications, improvements, and the like within the scope that can achieve the object of the present invention are included in the present invention.

In the above embodiment, the bolt 40 has been described as an example. However, the present invention is not limited to this, and a screw or the like may be used as long as the part has a foot and a head.

In the above embodiment, the front surface side taper portion 34 and the back surface side taper portion 35 are provided in the alignment holes 33, but the present invention is not limited to this, and only the front surface side taper portion 34 may be provided.

In the above embodiment, the inspection camera 23 is attached to the bracket 21 of the gripping tool unit 20, but the present invention is not limited to this. The inspection camera 23 may be provided separately from the gripping tool unit 20 and the transfer robot 10. Thereby, the calculation accuracy of the alignment rate may be improved.

In the above embodiment, the inspection camera 23 takes an image of the top surface of the pallet 30 including the bolts, and detects the aligned bolts based on the taken image. However, the present invention is not limited to this. For example, as shown in FIG. 10, a plurality of proximity sensors 26 may be provided on the back side of the pallet 30, and the aligned bolts on the pallet 30 may be detected by the proximity sensors 26. Or you may detect the aligned bolt on the pallet 30 combining the proximity sensor 26 and the inspection camera 23 of the said embodiment.

In the above embodiment, the gripping tool unit 20 is provided with the vibrator 22 and the gripping tool unit 20 itself is vibrated to vibrate the pallet 30, but this is not limitative. For example, the vibrator may be provided separately from the gripping tool unit and the transfer robot. In this case, the pallet can be vibrated by bringing the pallet into contact with the vibrator provided separately.

In the above embodiment, in the diverging process, the bolt alignment rate in the entire pallet is calculated, and when the alignment rate is larger than the predetermined first threshold, the process moves to the next coarse alignment step. However, the present invention is not limited to this. For example, the diverging step may be shifted to the rough alignment step on condition that a predetermined time has elapsed since the diverging step was executed.

DESCRIPTION OF SYMBOLS 1 ... Parts placement apparatus 31 ... Table part 33 ... Alignment hole 34 ... Surface side taper part 35 ... Back surface side taper part 36 ... Contact part of a bolt head part and a surface side taper part 40 ... Bolt (component)
41 ... Head 42 ... Foot 43 ... Abutting part between bolt head and table surface 44 ... Tip

Claims

In the component placement device that gives vibration or swing to the table and places components having a head and feet,
A plurality of holes provided with a tapered portion at least on the surface side of the table;
The tapered portion is formed such that the inner wall shape of the hole has a small diameter near the center in the thickness direction of the table,
The diameter of the hole is such that when the part is rotated in the direction of the back surface of the table with a contact portion between the surface of the table and the head of the part as a fulcrum, the locus of the tip of the foot of the part is the tapered part. It is set on condition that it is located further inside the hole.
The diameter of the hole is such that when the part is erected substantially perpendicularly to the surface of the table with the head facing the hole, the contact portion between the head and the tapered portion is the tapered portion. 2. The component placement device according to claim 1, wherein the component placement device is set on the condition that the table is positioned on the surface side of the table with respect to a position approximately half of the distance between both ends.