WO2017212896A1 - Dispositif de distribution d'éléments - Google Patents

Dispositif de distribution d'éléments Download PDF

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Publication number
WO2017212896A1
WO2017212896A1 PCT/JP2017/018798 JP2017018798W WO2017212896A1 WO 2017212896 A1 WO2017212896 A1 WO 2017212896A1 JP 2017018798 W JP2017018798 W JP 2017018798W WO 2017212896 A1 WO2017212896 A1 WO 2017212896A1
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WO
WIPO (PCT)
Prior art keywords
component
unit
components
plate
discharge
Prior art date
Application number
PCT/JP2017/018798
Other languages
English (en)
Japanese (ja)
Inventor
喜教 矢持
大江　慎一
恒史 岩政
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Publication of WO2017212896A1 publication Critical patent/WO2017212896A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
    • B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
    • B65G47/1407—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl
    • B65G47/1442—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl by means of movement of the bottom or a part of the wall of the container
    • B65G47/1471—Movement in one direction, substantially outwards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
    • B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
    • B65G47/1407—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl
    • B65G47/1414—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl by means of movement of at least the whole wall of the container
    • B65G47/1428—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl by means of movement of at least the whole wall of the container rotating movement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0225—Orientation of the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the present invention relates to a component supply device that automatically takes out and supplies components.
  • Patent Document 1 discloses a method in which the position of a component is adjusted by a rotating brush while the component is conveyed by a conveying unit including a linear conveyor, the position is measured by a vision sensor, the component is taken out by a robot, and the removed component is stored in a storage unit.
  • positioned to is disclosed.
  • Patent Document 2 discloses a configuration in which components are fed into a supply chute in a pre-aligned state, and components are supplied from a supply chute to a jig arranged on a disk-shaped table as needed. .
  • the component supply unit performs an arc following operation with respect to the jig rotating on the table.
  • Patent Document 1 it is possible to cope with a change in the type of parts to be supplied.
  • the amount of parts supplied to the transport unit is increased, parts that cannot be taken out by the robot are generated.
  • it is necessary to temporarily stop the transport unit and there is a problem that the amount of supply to the storage unit per hour is reduced.
  • a continuous mechanism for circulating the parts that cannot be taken out again is necessary in order for the transport unit to continuously operate. .
  • Patent Document 2 a mechanism for exchanging pallets and magazines is required to cope with a change in the type of parts to be supplied, so there is a problem that the number of components increases and the entire apparatus becomes large.
  • the present invention has been made in view of the circumstances as described above, and even when the type of component to be supplied or the supply amount to the transport unit is changed, the component can be automated without increasing the size of the entire apparatus.
  • a component supply device capable of stably supplying is obtained.
  • a component supply device includes a component supply unit that supplies a plurality of components, a conveyance plate that is arranged and rotated with a plurality of components, and a plurality of components that are circulated by rotation of the conveyance plate, in a predesignated posture. And a vision sensor that images the rear of the separation plate with respect to the rotation direction of the conveyance plate. Using the captured image, search for a recognition target component that is a component of the target posture among a plurality of components, and based on the rotation angle information and the position information of the conveyance plate, and the position information of the recognition target component, A take-out unit for taking out the recognition target part.
  • the automatic supply of components can be stably performed without increasing the size of the entire device. It can be carried out.
  • FIG. 3 is a perspective view showing an example of a component in Embodiment 1.
  • FIG. FIG. 6 is an explanatory diagram showing a component takeout position in the first embodiment.
  • 3 is a top view of a supply unit in Embodiment 1.
  • FIG. 3 is a cross-sectional view taken along A1-A2 of the supply unit in the first embodiment.
  • FIG. 6 is an explanatory diagram illustrating an operation of a cutout unit in the first embodiment.
  • 3 is a side view of a circulation conveyance unit in Embodiment 1.
  • FIG. FIG. 3 is a side view of a bulkhead portion in the first embodiment.
  • FIG. 5 is an explanatory diagram illustrating an operation of a target part of a brush part and a rotating brush in the first embodiment.
  • FIG. 3 is an explanatory diagram illustrating a measurement unit in the first embodiment. 3 is a top view showing a recognition range of a vision sensor of a measurement unit in Embodiment 1.
  • FIG. 3 is an explanatory diagram illustrating a position calculation diagram of a vision sensor of a measurement unit according to Embodiment 1.
  • FIG. FIG. 4 is a side view and a top view of a takeout part in the first embodiment.
  • FIG. 6 is a top view for explaining the component conveying method in the first embodiment. It is the upper side figure and side view for demonstrating the attitude
  • FIG. 4 is a top view and a side view for explaining a component discharge portion in the first embodiment.
  • FIG. 10 is a side view of a rotary brush of a brush part in the second embodiment.
  • FIG. 10 is a top view and a side view for explaining a component discharge portion in the third embodiment.
  • FIG. 6 is a top view and a cross-sectional view showing a structure of a component supply device in a fourth embodiment.
  • FIG. 6 is a top view showing an example of a part dropping path 115 on the disc 21.
  • FIG. 1 shows an outline of a component supply apparatus according to the first embodiment.
  • the component supply device includes a component supply unit 1 that stores and supplies the components to the circulation conveyance unit 2, a circulation conveyance unit 2 that circulates and conveys the components, a ballast unit 3 that reduces overlapping of components or unifies the posture of the components, A measuring unit 4 for measuring the position and the rotation angle, a taking-out unit 5 for taking out the component at the position measured by the measuring unit 4, a posture changing unit 6 for changing the posture of the circulating component, a storage unit 7 for storing the taken-out component, A component discharge unit 8 that discharges components and a control unit (not shown) that controls the configuration of the component supply apparatus described above are included.
  • FIG. 2 is a perspective view showing an example of the component 100 in the first embodiment.
  • FIG. 2A is a perspective view of the component 100.
  • 2 (b) to 2 (d) show the component 100 when arranged in the postures 101, 102, and 103, and the heights in the arrangements shown in the respective drawings are 101a, 102a, and 103a, respectively.
  • 101a, 102a, and 103a are assumed to be height, width, and depth, respectively.
  • the width 102a is the maximum
  • the height 101a is the minimum
  • the depth 103a is a value between 101a and 102a, but it goes without saying that the height, width, and depth may be set in any way.
  • the component 100 is a rectangular parallelepiped shape, arbitrary solid shapes may be sufficient as it.
  • the ballast unit 3 aligns the parts 100 so as to have a posture such as a posture 101, for example.
  • the posture 101 may be referred to as a target posture.
  • the component 100 is taken out by the take-out unit 5 as will be described in detail later.
  • a part whose height changes when the posture of the part is changed will be described as an example.
  • a part whose height does not change even when the posture is changed may be used.
  • the shape of the component is not limited to the rectangular parallelepiped shown in FIG.
  • FIG. 3 is an explanatory diagram showing a part picking position in the first embodiment.
  • FIG. 3A is a view showing the posture 101 of the component 100.
  • FIG. 3B is an example of an extraction position in the front view of FIG.
  • the take-out unit 5 introduces a negative pressure between the pad 100 of the robot hand, which will be described later, and the part 100, for example, due to a pressure difference from the surroundings.
  • Lift 100 For example, taking out the position of the component 100 having a height (short side) of 2B and a width (long side) of 4A will be described as an example.
  • the take-out position is, for example, the black point shown in FIG.
  • the component 100 can be stably gripped by sucking and gripping the component 100 at such two take-out positions. Needless to say, removal by a gripping method other than adsorption may be performed.
  • FIG. 4 is a top view of the component supply apparatus for explaining the component supply unit 1 according to the first embodiment.
  • FIG. 5 is a cross-sectional view taken along the A1-A2 cross section shown in FIG. The detailed structure of the component supply part 1 is demonstrated using FIG. 4 and FIG.
  • the component supply unit 1 includes a hopper unit 11 that stores the component 100 and a cutout unit 12 that supplies the component 100 to the circulation conveyance unit 2.
  • the hopper portion 11 is a box shape surrounded by a back surface 13a, a side surface 13b, a bottom surface 13c, and a front surface 13d.
  • the bottom surface 13c of the hopper portion 11 is higher on the back surface 13a side than on the front surface 13d side.
  • the parts 100 supplied by the height gradient of the bottom surface 13c are collected on the front surface 13d side.
  • the hopper unit 11 further includes a component shortage detection sensor 18 that detects a shortage of the component 100 in the hopper unit 11.
  • the component shortage detection sensor 18 sends a component shortage signal to the control unit when the amount of the component 100 falls below a preset amount.
  • the control unit instructs the component supply unit 1 to supply the component 100 to the hopper unit 11.
  • the cutout part 12 has a cutout plate 15, a cylinder 16 that moves the cutout plate 15 up and down, and a guide 17 that moves the cutout plate 15 up and down.
  • An inclined portion 15 a is formed at the tip of the cutout plate 15.
  • the inclined portion 15a is formed to increase in height from the front surface 13d to the back surface 13a. Thereby, it has the shape which supplies the components 100 to the circulation conveyance part 2.
  • FIG. 6 is an explanatory diagram showing an example of the operation of the cutout unit 12 in the first embodiment.
  • 6A shows the cutout portion 12 when the cylinder 16 is contracted
  • FIG. 6B shows the cutout portion 12 when the cylinder 16 is extended.
  • the control unit instructs the cutting unit 12 to expand and contract the cylinder 16.
  • the cutout unit 12 is controlled by the control unit, and expands and contracts the cylinder 16.
  • the cutout plate 15 moves up and down along the front surface 13d by the guide 17. Specifically, first, as shown in FIG. 6A, when the cylinder 16 is contracted, the upper end of the cutout plate 15 is lowered to the same height as the bottom surface 13c.
  • the component 100 is disposed between the inclined portion 15a of the cutout plate 15 and the front surface 13d.
  • the inclined portion 15a of the cutout plate 15 moves to a position higher than the upper end of the front surface 13d.
  • the component 100 between the inclined portion 15a and the front surface 13d is supplied to the circulation conveyance portion 2 beyond the upper end of the front surface 13d.
  • the quantity of the components 100 which the hopper part 11 supplies to the circulation conveyance part 2 at once changes by changing the height of the front surface 13d, for example.
  • FIG. 7 shows an example of the configuration of the circulating conveyance unit 2 in the first embodiment.
  • the circulation conveyance unit 2 includes a component conveyance disk (conveyance plate) 21, an encoder (rotation angle measurement unit) 22 that measures the rotation angle of the disk 21, a non-slip rubber 23 disposed on the surface of the disk 21, A disk guide 24, a motor 25 that rotates the disk 21, a gear head 26 of the motor 25, a shaft body 27 that transmits the power of the motor 25 to the disk 21, and rotates the disk 21, a mounting plate 28 of the motor 25, and mounting A base 29 for supporting the plate 28 is provided.
  • the shaft body 27 includes a coupling, a set collar, and a shaft.
  • the circulating transport unit 2 rotates the motor 25 so that the disk 21 rotates clockwise.
  • the disc 21 conveys the component 100 while circulating it.
  • a rotation center is provided on the disk 21, and the disk 21 rotates, that is, rotates around the rotation center.
  • the rotation direction of the disc 21 is clockwise when viewed from above in the present embodiment, but may be counterclockwise in the arrangement of the device.
  • the conveyance board of the circulation conveyance part 2 may not be the disc 21, and may be a square plate.
  • the component supply apparatus according to the present embodiment is configured to rotate the component 100 on the transport plate about the rotation center by rotating the integrally formed transport plate around the rotation center. Thereby, a component supply apparatus can be reduced in size.
  • FIG. 8 is a side view of the bulk unit 3 in the first embodiment.
  • the ballast unit 3 includes a rotating brush 31 for reducing the overlap of parts 100 and unifying the posture, a shaft 32 of the rotating brush 31, a motor 33 for driving the rotating brush, a gear head 34, and a shaft coupling between the shaft of the motor 33 and the shaft 32.
  • a set collar (not shown) that controls the operation of the shaft 32 by changing the tightening amount of the shaft 32 is provided inside the coupling 35.
  • FIG. 9 is an explanatory diagram showing the operation of the rotating brush 31 of the ballast portion 3 in the first embodiment.
  • FIG. 9B is a cross-sectional view taken along the B1-B2 cross section shown in FIG.
  • the height position of the rotary brush 31 is set to be higher than the height 101a of the posture 101, and the value and height of the depth 103a. Is set to be smaller than one of the smaller values of the double value of 101a. That is, the height position of the rotating brush 31 is not less than the smallest one of the width, the depth, and the height, and is less than the smaller one of the second largest and the smallest twice. Good.
  • the components 100 supplied from the component supply unit 1 overlap each other and are supplied to the ballast unit 3 in various postures (101, 102, 103, etc.) shown in FIG.
  • the rotary brush 31 rotates in the M direction, which is the clockwise direction in the cross-sectional view of FIG. In the drawing, the N direction is a direction in which the disc 21 conveys the component 100.
  • the rotating brush 31 rotates so that the tangential direction at the portion 31a closest to the disc 21 is directed in the opposite direction to the N direction, that is, the U direction. Due to the rotation of the rotating brush 31, the superposed part is pushed back in the U direction, and the superposed state of the part 100 is reduced.
  • the rotary brush 31 changes the posture to the posture 101 when the component 100 conveyed in the posture 102 or 103 is pushed back in the U direction by the rotary brush 31. As a result, the posture of the component 100 is unified with the target posture 101. Note that the material of the rotating brush 31 may be changed depending on the material of the target component 100. Thereby, the time required to eliminate the polymerization state can be reduced.
  • FIG. 10 is an explanatory diagram showing the measurement unit 4 in the first embodiment.
  • FIG. 10B is a cross-sectional view taken along the C1-C2 cross section in FIG.
  • the measuring unit 4 acquires the rotation angle by the encoder 22 attached to the disk 21.
  • the measurement unit 4 captures the image on the disk 21 and acquires the position information of the component 100 that has passed through the ballast unit 3, the illumination 42 when the vision sensor 41 captures images, the vision sensor 41, and the illumination 42. And a jig 43 for attaching the.
  • the position of the disk 21 taken by the vision sensor 41 is, for example, between the ballast portion 3 and the take-out portion 5. Thereby, the position information can be acquired in a short time with respect to the component 100 whose posture is adjusted by the ballast unit 3, and can be taken out by the take-out unit 5 using the position information.
  • the vision sensor 41 performs imaging after turning on the illumination 42. When the imaging is completed, the illumination 42 is turned off.
  • the vision sensor 41 searches the position of the component 100 that is the target posture 101 using the captured image, and acquires the position information of the searched component 100. At this time, the vision sensor 41 is adjusted to recognize the component 100 even if the component 100 in the target posture 101 rotates on the disk 21.
  • the detailed operation of the vision sensor 41 will be described in the following description of the operation.
  • FIG. 11 is a top view showing the recognition range of the vision sensor 41 of the measurement unit 4 in the first embodiment.
  • a direction toward the rotation center O of the disc 21 is set as an X direction
  • a direction orthogonal to the X direction in a plane parallel to the disc 21 is set as a Y direction.
  • a region surrounded by a dotted line in FIG. 11 is a measurement range 44, and the vision sensor 41 can recognize the component 100 in this range.
  • the center position of the measurement range 44 is used as the imaging reference 41 a of the vision sensor 41.
  • the origin of the imaging reference 41a is a vision sensor coordinate.
  • the reference component 140 is placed in the imaging reference 41a.
  • FIG. 12 is an explanatory diagram illustrating a position calculation diagram of the vision sensor 41 of the measurement unit 4 according to the first embodiment.
  • the vision sensor 41 calculates the positional relationship between the imaging reference 41a and the recognition target component 141 using the vision sensor coordinates. Specifically, the vision sensor 41 calculates the X coordinate difference of the component position in the vision sensor coordinates as Xa and the Y coordinate difference as Ya with respect to the imaging reference 41a and the component position 141a of the recognition target component 141. Further, the angle difference Ca is calculated.
  • the angle difference Ca is a rotation angle of the recognition target component 141 with respect to the reference component 140 placed on the imaging reference 41 a of the vision sensor 41.
  • the measurement unit 4 stores a set of Xa, Ya, and the angle difference Ca as position information in a storage unit (not shown).
  • the storage unit calculates position information for each of the plurality of recognition target parts and stores the calculation result. Thereby, even when there are a plurality of recognition target parts, the measurement unit 4 can predict the positions of the plurality of recognition target parts, so that the take-out part 5 can take out the recognition target parts in a short time.
  • FIG. 13 is a side view and a top view of the take-out unit 5 in the first embodiment.
  • the take-out unit 5 includes a robot drive unit 51 and a robot hand 52.
  • FIG. 14 is a top view for explaining a method of conveying component 100 in the first embodiment.
  • a method of gripping the component 100 by the take-out unit 5 will be described by taking as an example a case where the reference component 140 is moved from the component position 140a to the component position 140b.
  • the reference component 140 moves, for example, at a rotation angle ⁇ with the movement of the disc 21 when a certain time elapses.
  • a calculation unit (not shown) of the robot drive unit 51 uses a positional information of the reference component 140 measured by the vision sensor 41 and a rotation speed of the disk 21 of the circulation transport unit 2 for the component to be gripped. 100 gripping scheduled positions are predicted.
  • the calculation unit of the robot drive unit 51 further acquires the planned grip position in the vision sensor coordinates calculated by the measurement unit 4 after the measurement unit 4 recognizes the reference component 140.
  • the grasping position in the vision sensor coordinates is converted into robot coordinates.
  • the robot drive unit 51 operates the robot hand 52 based on the planned holding position in the robot coordinates. Further, based on the rotation angle information from the encoder 22, the robot hand 52 performs a follow-up operation in accordance with the rotation of the disk 21. The robot hand 52 sucks and holds the reference component 140 while performing the following operation. Thereafter, the take-out unit 5 conveys the reference component 140 to the storage unit 7.
  • the robot hand 52 takes out the recognition target part 141 other than the reference part 140 using the difference between the current position and the relative position of the reference part 140 and the recognition target part 141. The operation may be performed again.
  • the taken-out parts are put in alignment on the pallet of the storage unit 7.
  • the storage part 7 can supply the taken-out component 100 directly to another apparatus by connecting with another apparatus. Note that the case where there is one recognition target component has been described as an example, but the measurement unit 4 may be configured to recognize a plurality of recognition target components.
  • FIG. 15 is a top view and a side view of the component supply device for explaining the posture changing unit 6 in the first embodiment.
  • the posture changing unit 6 includes a posture changing block 61 and a block fixing plate 62 for changing the posture of the circulating component 100.
  • the posture changing unit 6 is for changing the posture of the component 100 that could not be picked up by the picking-up unit 5. Specifically, the posture changing unit 6 changes the posture by placing the conveyed component 100 against the posture changing block 61 on the lower part of the component 100.
  • the posture change block 61 has a convex portion whose cross-sectional shape is a triangle.
  • the height of the convex portion of the posture changing block 61 may be less than or equal to half of the second largest value of the width, height, and depth of the component 100, and is smaller than half of the depth 103a in the example of FIG. Set.
  • the parts 100 in the postures 102 and 103 are subjected to a force on the lower portion thereof, and the posture of the part 100 is changed when the part 100 falls down.
  • the cross-sectional shape of the posture changing block 61 may be a square or a circle instead of a triangle.
  • FIG. 16 is a top view and a side view of the component supply apparatus for explaining the component discharge unit 8 according to the first embodiment.
  • the component discharge unit 8 according to the first embodiment includes a discharge plate 81 that blocks the conveyance path of the disk 21, a discharge cylinder 82, a cylinder mount 83, a discharge guide 84, a discharge duct 85, and a component discharge box 86.
  • the discharge plate 81 discharges the component 100 installed on the circular plate 21 of the circulation conveyance unit 2 from the circulation conveyance unit 2.
  • the discharge cylinder 82 moves the discharge plate 81 up and down.
  • the discharge guide 84 discharges the component 100 by performing an opening operation.
  • the discharge duct 85 communicates the component discharge box 86 and the discharge guide 84.
  • the component discharge unit 8 discharges the component 100 from the disc 21 when changing the type of component to be used. In the normal conveyance state, that is, when the component 100 is supplied, the component discharge unit 8 closes the discharge guide 84 and arranges the discharge plate 81 at a height position 81 a that does not collide with the component 100.
  • the discharge guide 84 is first opened.
  • the discharge plate 81 is lowered to the height position 81b.
  • the discharge plate 81 is placed on the disc 21.
  • the discharge plate 81 blocks the transfer path on the disc 21 so that the component 100 is not transferred beyond the discharge plate 81.
  • the component 100 stays in the vicinity of the discharge plate 81.
  • the component 100 on the disc 21 is conveyed along the discharge plate 81 from the discharge guide 84 toward the discharge duct 85. Further, the component 100 conveyed to the discharge duct 85 falls into the component discharge box 86. Thereby, the component 100 can be discharged from the circulation conveyance unit 2.
  • the discharge guide 84 When the discharge guide 84 remains open for a predetermined time or longer, the discharge plate 81 is raised and the discharge guide 84 is closed. As a result, the component supply device returns to the normal conveyance state.
  • the discharge guide 84 and the discharge plate 81 are operated, and at the same time, the unnecessary brush mechanism is stopped by raising the rotary brush 31 of the brush unit 3. Since the component discharge unit 8 is provided, the component supply apparatus can realize the component discharge operation by full automation. Furthermore, immediately after the discharge of the component 100 of the component supply unit 1 is completed, another type of component can be introduced, and the switching time to another type of component can be shortened.
  • Embodiment 1 of the present invention even when the type or amount of components to be supplied is changed, automatic supply of components can be stably performed without increasing the size of the entire apparatus. Moreover, since it is the structure which takes out, circulating the components 100 on the disc 21, the whole apparatus can be reduced in size.
  • FIG. FIG. 17 is a side view of the ballast portion in the second embodiment.
  • the height position of the ballast portion 3 according to the first embodiment is set to a predetermined height.
  • the ballast portion according to the second embodiment is different in that it has a vertical adjustment mechanism 37 and can change the height position of the ballast portion.
  • the present embodiment only the configuration different from that in Embodiment 1 will be described, and the description of the same or corresponding configuration will not be repeated.
  • the vertical adjustment mechanism 37 of the rotating brush 31 includes a direct operation unit 371 that operates in the vertical direction, a guide 372 for performing the direct operation, and a stand 373 that supports the direct operation unit 371.
  • the vertical adjustment mechanism 37 automatically changes the distance between the lower surface of the rotating brush 31 and the upper surface of the disk 21, that is, the height position 374 by, for example, servo drive.
  • the height position of the rotating brush 31 can be changed without changing the constituent members of the ballast portion 3. Work time when the type of parts to be supplied is changed can be shortened.
  • the vertical adjustment mechanism 37 can be driven by a motor that can specify an operation amount, such as a stepping motor.
  • the height position 374 is set to a value equal to or higher than the height 101a of the posture 101 as described above, and is the smallest value among the value of the height 102a, the value of the height 103a, and the value twice the height 101a. Must be set to:
  • a vertical adjustment mechanism 37 for adjusting the height of the rotating brush 31 is provided.
  • FIG. 18 is a top view and a side view of a component supply apparatus for explaining a component discharge unit 8A in the third embodiment.
  • FIG. 18A is a side view of the component supply apparatus according to the present embodiment
  • FIG. 18B is a top view of the component supply apparatus according to the present embodiment.
  • the component discharge unit 8A according to the third embodiment is different from the first embodiment in that a component detection sensor 87 and a component discharge box full sensor 88 are further provided. In the present embodiment, only the configuration different from that of the first embodiment will be described, and the description of the same or corresponding configuration will not be repeated.
  • the control unit assumes that all the components on the disk 21 have been discharged and raises the discharge plate 81. At the same time, the discharge guide 84 is closed. As a result, the component supply device returns to the normal conveyance state. If the component detection sensor 87 does not detect the component 100 for a preset time, the component detection sensor 87 determines that the component discharge of the component discharge unit 8A has been completed. By providing the component detection sensor 87, it is possible to accurately detect the time when the discharge is completed, and it is possible to reduce the time required for the discharge.
  • the component detection sensor 87 may be replaced with the vision sensor 41.
  • the component discharge box full sensor 88 detects that the discharge duct 85 or the component discharge box 86 of the component 100 is full for a preset time or longer, the rotation of the circular plate 21 of the circulation transport unit 2 is stopped. Let As a result, it is possible to suppress clogging due to the entry of more than the allowable amount of components 100 in the component discharge duct 85 and the component discharge box 86.
  • the component discharge box full sensor 88 the component 100 in the component supply unit 1 can be more reliably supplied to the circulation conveyance unit 2 when all the components in the apparatus are discharged.
  • a component detection sensor 87 is provided in the component discharge portion 8A.
  • FIG. 19 is a top view and a cross-sectional view showing the structure of the component supply apparatus in the fourth embodiment.
  • 19 (a), 19 (b), and 19 (c) are top views showing the supply port position changing unit 9 interlocked with the rotational movement of the disc 21.
  • FIG. FIG. 19D is a cross-sectional view taken along the D1-D2 cross section shown in FIG.
  • FIGS. 19 (e) and 19 (f) are cross-sectional views taken along lines D1-D2 shown in FIGS. 19 (b) and 19 (c), respectively.
  • the present embodiment only the configuration different from that in Embodiment 1 will be described, and the description of the same or corresponding configuration will not be repeated.
  • the component 100 is directly supplied to the disc 21 from the component supply unit 1 (the front surface 13d in the hopper unit 11).
  • a supply port position changing unit 9 is further provided, and the component 100 is supplied from the component supply unit 1 to the disc 21 via the supply port position changing unit 9.
  • the supply port position changing unit 9 includes a component distribution mechanism 91 and a slider link mechanism 92 that moves the component distribution mechanism 91.
  • the component distribution mechanism 91 is provided with a component drop space 93 therein.
  • An intake port 93a is provided in the upper part of the component drop space 93, and a supply port 93b is provided in the lower part of the component drop space 93 (shown in FIGS. 19D to 19F).
  • the component distribution mechanism 91 has a function of taking in the component 100 from the component supply unit 1 through the intake port 93a and a function of supplying the component 100 taken in from the intake port 93a to the disc 21 from the supply port 93b. Is provided.
  • the component supply range 21a on the disc 21 is set according to the position of the supply port 93b.
  • the dimensions of the component drop space 93 are adjusted so that the component 100 can be taken in by the intake port 93a and the component 100 can be supplied to the disc 21 by the supply port 93b.
  • the slider link mechanism 92 has a function of moving the supply port 93b in the component distribution mechanism 91 in the radial direction (corresponding to + M direction or -M direction in the drawing).
  • the component distribution mechanism 91 disposed on the front side of the front surface 13d of the hopper 11 fixes the pair of first plates 911 and the pair of first plates 911 at both ends, and is attached to the slider link mechanism 92.
  • a second plate 912 is fixed.
  • the pair of first plates 911 are provided on the front side of the front surface 13d of the hopper unit 11.
  • the second plate 912 is disposed on the opposite side to the front surface 13d of the hopper portion 11 with respect to the pair of first plates 911.
  • a virtual component drop space 93 is formed between the pair of first plate 911, second plate 912, and members on the front side of the hopper portion 11 including the front surface 13 d of the hopper portion 11.
  • virtual means that the component drop space 93 is not a space that is completely surrounded by the above-described configuration, but the component drop space is formed inside a communication pipe that connects the intake port and the supply port. It may be configured.
  • the intake opening 93 a of the component drop space 93 is provided between the pair of first plates 911.
  • the component distribution mechanism 91 in this Embodiment is comprised with a pair of 1st board 911 and the 2nd board 912, you may comprise these members as an integral member, As long as the supply port 93b through which the component 100 can be dropped is provided, the same effect as the present embodiment can be obtained regardless of the structure and material.
  • the shape of the supply port 93 b is rectangular, but any shape may be used as long as the component 100 can be dropped.
  • the slider link mechanism 92 includes a first shaft 921, a driven link 922, and a second shaft 923.
  • the slider link mechanism 92 further includes a guide portion (not shown) for allowing the component distribution mechanism 91 to move only in the radial direction (+ M direction or ⁇ M direction) of the disc 21.
  • the driven link 922 has a first shaft 921 and a second shaft 923 fixed at both ends. One end of the first shaft 921 is fixed to the driven link 922 and the other end is rotatably fixed to the second plate 912 of the component distribution mechanism 91.
  • the second shaft 923 has one end fixed to the driven link 922 and the other end fixed on the disc 21.
  • the component distribution mechanism 91 takes in the component 100 from the component supply part 1 through the supply port 93b. Furthermore, after the component distribution mechanism 91 drops the captured component 100 toward the supply port 93b in the component drop space 93, the component distribution mechanism 91 discharges the component 100 to the disc 21 through the supply port 93b. Thereby, the component 100 taken in from the component supply part 1 is supplied to the disc 21.
  • FIG. 19 shows an example in which the component distribution mechanism 91 reciprocates once while the disk 21 rotates once.
  • the supply port 93b component supply range 21a
  • FIGS. 19 (a) to 19 (c) the supply port 93b moves from the outside to the inside of the disk 21 in FIGS. 19 (a) to 19 (c), and FIGS. 19 (d) to 19 (f). In, move toward the left side in the figure.
  • the component distribution mechanism 91 moves in the (+ M direction) until the disc 21 exceeds 0.5 rotation.
  • one end side of the follower link 922 fixed to the second shaft 923 moves in the circumferential direction of the disk 21 by moving the second shaft 923 in conjunction with the rotational movement of the disk 21.
  • stress in the (+ M direction) is applied to the driven link 922 and the first shaft 921, and is also applied to the component distribution mechanism 91 (second plate 912) via the first shaft 921.
  • the component distribution mechanism 91 is arranged so as to be movable only in the radial direction via the guide portion as described above, the component distribution mechanism 91 moves in the (+ M direction) due to the stress applied to the driven link 922. .
  • the supply port 93b and the component supply range 21a move in the (+ M direction).
  • the supply port position changing unit 9 moves the supply port 93b to change the component supply range 21a with time, so that the arrangement of the components 100 on the disk 21 can be made more uniform, thereby changing the overlapping state of the components 100. It is possible to further reduce the time required for solving the problem.
  • FIG. 19 illustrates the case where the slider link mechanism 92 makes one reciprocation while the disk 21 makes one revolution.
  • the relationship between the number of reciprocations of the component distribution mechanism 91 and the number of revolutions of the disk 21 is arbitrarily determined. It may be changed.
  • the supply port position changing unit 9 and the disk 21 may be connected via a speed reduction mechanism such as a gear.
  • FIG. 19 shows an example in which the relationship between the number of reciprocations of the component distribution mechanism 91 and the rotational speed of the disc 21 is changed from FIG.
  • FIG. 20 is a top view showing an example of the dropping path 115 of the component 100 on the disc 21.
  • FIG. FIG. 20A shows a case where the disk 21 rotates three times while the supply port position changing unit 9 reciprocates 0.5 times.
  • A is the start point and B is the end point.
  • FIG. 20B shows a case where the disk 21 rotates once while the supply port position changing unit 9 reciprocates four times.
  • the configuration other than the disc 21 in the circulation transport unit 2 is omitted.
  • the dropping path 115 of the component 100 onto the disc 21 is changed.
  • the drop path 115 is a path through which the representative point passes when the representative point (for example, the center of gravity, etc.) of the component supply range 21a is set. Since the falling path 115 of the component 100 onto the disc 21 can be changed according to the shape of the target component 100 or the amount of the component 100 supplied from the component supply unit 1, the component 100 is made into a circle. It can be uniformly arranged on the plate 21. Thereby, the time required for eliminating the polymerization state of the component 100 can be further shortened.
  • the present embodiment has the following effects in addition to the effects of the first embodiment. That is, the supply port position changing unit 9 moves the supply port 93b to change the component supply range 21a with time, thereby making it possible to make the arrangement of the components 100 on the disk 21 more uniform and to change the overlapping state of the components 100. There is an effect that the time required for the elimination can be further shortened.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feeding Of Articles To Conveyors (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

La présente invention a pour but d'obtenir un dispositif de distribution d'éléments qui peut effectuer de façon stable la distribution automatique d'éléments sans engendrer d'augmentation de la taille globale du dispositif, même dans le cas où le type ou le nombre d'éléments à distribuer est modifié. Pour atteindre ce but, l'invention porte sur un dispositif de distribution d'éléments qui comprend : une unité de distribution d'éléments (1) qui distribue une pluralité d'éléments ; une plaque de transport rotative sur laquelle une pluralité d'éléments est disposée ; une unité de brosse (3) qui ajuste la pluralité d'éléments mis en circulation par la rotation de la plaque de transport jusqu'à une orientation cible qui est stipulée à l'avance ; une unité de mesure (4) qui possède un capteur optique qui capture une image de la plaque de transport, qui détecte un élément cible de reconnaissance qui est un élément ayant l'orientation cible parmi la pluralité d'éléments à l'aide de l'image capturée par le capteur optique, et qui obtient des informations de position concernant l'élément cible de reconnaissance ; une unité de sortie (5) qui extrait l'élément cible de reconnaissance sur la base d'informations d'angle de rotation de la plaque de transport et des informations de position.
PCT/JP2017/018798 2016-06-09 2017-05-19 Dispositif de distribution d'éléments WO2017212896A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016114938A JP2019135179A (ja) 2016-06-09 2016-06-09 部品供給装置
JP2016-114938 2016-06-09

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021234241A1 (fr) * 2020-05-19 2021-11-25 Etablissements Andre Zalkin Et Cie Procédé automatisé de distribution d'obturateurs

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0410863U (fr) * 1990-05-15 1992-01-29
JPH0426922U (fr) * 1990-06-27 1992-03-03
US6311825B1 (en) * 1998-04-23 2001-11-06 Hoppmann Corporation Recirculation system for a robotic pickup
JP2002192486A (ja) * 2000-12-25 2002-07-10 Seiko Epson Corp ロボット制御方法及び該方法を適用したロボットコントローラ
WO2014168241A1 (fr) * 2013-04-12 2014-10-16 株式会社オーテックメカニカル Dispositif d'apport d'éléments, et procédé de commande d'apport d'éléments

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0410863U (fr) * 1990-05-15 1992-01-29
JPH0426922U (fr) * 1990-06-27 1992-03-03
US6311825B1 (en) * 1998-04-23 2001-11-06 Hoppmann Corporation Recirculation system for a robotic pickup
JP2002192486A (ja) * 2000-12-25 2002-07-10 Seiko Epson Corp ロボット制御方法及び該方法を適用したロボットコントローラ
WO2014168241A1 (fr) * 2013-04-12 2014-10-16 株式会社オーテックメカニカル Dispositif d'apport d'éléments, et procédé de commande d'apport d'éléments

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021234241A1 (fr) * 2020-05-19 2021-11-25 Etablissements Andre Zalkin Et Cie Procédé automatisé de distribution d'obturateurs
FR3110559A1 (fr) * 2020-05-19 2021-11-26 Etablissements Andre Zalkin Et Cie Procédé automatisé de distribution d’obturateurs

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