Component supply apparatus

Abstract

[Purpose] To provide a component supply apparatus for arranging variously shaped components supplied in bulk at high speed by using general-purpose means. [Solution] The component supply apparatus is provided with: a three-dimensional vision sensor (1) for measuring a distance image; a bulk component box (2); a robot (3) for picking out components from the bulk component box (2); a provisional table (4) on which several components are rolled; a two-dimensional vision sensor (5) for measuring the outer shape of the components; a group of robots (6) for picking up the components rolled on the provisional table (4) and changing the position / posture of the components with less than a certain amount of error with respect to a pre-designated position / posture while changing the position / posture of the components; and a control apparatus (7) for controlling the various means.

Description

technical field [0001] The present invention relates to a component supply device for stacking scattered and supplied components for an automatic assembly device or an automatic assembly robot, and in particular to a component supply device that uses a plurality of vertical articulated robots (hereinafter referred to as "robots") for stacking. parts supply device. Background technique [0002] Usually, on the product assembly line, for the parts delivered from the supplier or the previous process, in order to reduce the vehicles required for the delivery and storage of the parts, or to reduce the space occupied by the parts box, most of the so-called scattered Transport in stacked packaging. [0003] Therefore, in order to promote the automation of product assembly, it is necessary to make the positions and postures of the components supplied to the assembly device consistent by some means. [0004] Conventionally, a dedicated parts stacking device called a parts feeder ha...

AI Technical Summary

Problems solved by technology

Therefore, there are parts that do not have the function of a suction pad, such as parts that cannot handle planar shapes, parts with complex shapes, parts with uneven surfaces, parts with many small holes, and parts with thin shapes. Problems with components on suction cups

[0012] In addition, when the suction cup cannot be used, it is also conceivable to use a blower to perform suction, but in this case, there are problems of large noise and large power consumption.

[0013] In addition, in either case of Patent Documents 1 and 2, a dedicated robot designed for each component is used in order to absorb large errors that may lead to final stacking failure. Therefore, the same robot cannot be used. Stacking multiple parts requires the same number of robots as the number of parts, which requires time for switching between robots and a wide space for temporary placement of robots.

[0014] In addition, it is necessary to redesign the robot for each part, so when the model to be produced is changed, there is a problem that costs for remaking the robot (design, production, and adjustment costs) are required

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