Workpiece removal device

Abstract

The present invention provides a workpiece taking-out device (1), comprising: a nozzle head (3), the nozzle head (3) having: a plurality of adsorption nozzles (2), each of the plurality of adsorption nozzles (2) having an adsorption portion (2b) for adsorbing a workpiece; a frame body (5), the frame body (5) being mounted on a conveying device; and a supporting portion (8), the supporting portion (8) supporting the plurality of adsorption nozzles (2) and being supported by the frame body (5) so as to be movable, the nozzle head (3) selectively arranging the plurality of adsorption nozzles (2) at a predetermined use position by moving the supporting portion (8) relative to the frame body (5); and a driving portion (4), the driving portion (4) moving one adsorption nozzle (2) arranged at the predetermined use position relative to the frame body (5) and moving the one adsorption nozzle (2) to a predetermined adsorption position for adsorbing the workpiece through the adsorption portion (2b).

Description

Technical Field

[0001] The present invention relates to a workpiece taking-out device. Background Art

[0002] Conventionally, there has been known a device that adsorbs and holds a component using magnetic force or negative pressure (for example, refer to Patent Documents 1 and 2). The device of Patent Document 1 has a plurality of adsorption nozzles and can select an adsorption nozzle for holding a component according to the shape and size of the component.

[0003] Prior Art Documents

[0004] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2006-261325

[0005] Patent Document 2: Japanese Unexamined Patent Application Publication No. 11-114864 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] In Patent Document 1, in order to lower and raise a plurality of adsorption nozzles, a drive unit is provided for each adsorption nozzle. That is, the same number of drive units as the adsorption nozzles are provided, so the device is large-sized and heavy.

[0008] Solutions for Solving the Problems

[0009] One aspect of the present application is a workpiece taking-out device, including: a nozzle head having: a plurality of adsorption nozzles each having an adsorption portion for adsorbing a workpiece; a frame body mounted on a conveying device; and a support portion that supports the plurality of adsorption nozzles and is supported by the frame body so as to be movable. The nozzle head selectively arranges the plurality of adsorption nozzles at a predetermined use position by moving the support portion relative to the frame body; and a drive unit that moves one of the adsorption nozzles arranged at the predetermined use position relative to the frame body and moves the one adsorption nozzle to a predetermined adsorption position for adsorbing the workpiece through the adsorption portion. Brief Description of the Drawings

[0010] Figure 1 It is a side view showing the overall structure of a workpiece taking-out device according to one embodiment, and is a view showing a state where all the adsorption nozzles are arranged at a standby position.

[0011] Figure 2 It is a side view showing the overall structure of a workpiece taking-out device according to one embodiment, and is a view showing a state where the adsorption nozzles at the use position are arranged at the adsorption position.

[0012] Figure 3Side view of the adsorption nozzle.

[0013] Figure 4 Perspective view of a revolver.

[0014] Figure 5 Side view showing the overall structure of a workpiece taking-out device according to other embodiments.

[0015] Figure 6 It is Figure 5 Perspective view of the suspension member of the workpiece taking-out device of Detailed implementation mode

[0016] Hereinafter, a workpiece taking-out device 1 according to one embodiment will be described with reference to the accompanying drawings.

[0017] The workpiece taking-out device 1 takes out one workpiece from a plurality of workpieces arranged at a predetermined taking-out position and conveys the taken-out workpiece to a predetermined conveying position. The workpiece taking-out device 1 is installed on a conveying device and moves between the taking-out position and the conveying position by the conveying device.

[0018] In the present embodiment, the conveying device is an industrial robot having a robot arm, and the workpiece taking-out device 1 is a suction type manipulator device connected to the front end of the robot arm. The industrial robot is, for example, a vertical multi-joint robot, a horizontal multi-joint robot, or a parallel link robot. The conveying device may also be any industrial machine other than an industrial robot.

[0019] As Figure 1 and Figure 2 shown, the workpiece taking-out device 1 includes: a nozzle head 3 having a plurality of adsorption nozzles 2; a driving unit 4 that moves one adsorption nozzle 2 at a predetermined use position; a frame 5 that supports the nozzle head 3 and the driving unit 4; a tool automatic changer (ATC) 6 that mounts the frame 5 on the front end of the robot arm; and an air connection unit 7 that supplies negative pressure to the adsorption nozzle 2 at the use position.

[0020] The workpiece taking-out device 1 is connected to a robot control device that controls the movement of the robot arm, and is controlled by the robot control device to synchronize the subsequent actions of the nozzle head 3 and the driving unit 4 with the movement of the robot arm.

[0021] As Figure 1 and Figure 2 shown, one adsorption nozzle 2 at the use position moves in the vertical direction. Figure 1 shows the state where all the adsorption nozzles 2 are arranged at a predetermined standby position, Figure 2A state in which an adsorption nozzle using a position is disposed below a predetermined standby position at a predetermined adsorption position is shown. The standby position is a predetermined position in the vertical direction where the adsorption nozzle 2 is located between the upper plate 5a and the lower plate 5b of the housing 5. The adsorption position is a position where the adsorption nozzle 2 protrudes downward from the housing 5.

[0022] The housing 5 is C-shaped or U-shaped in a side view observed in the horizontal direction, and has an upper plate 5a and a lower plate 5b disposed at intervals in the vertical direction, and a side plate 5c connecting the upper plate 5a and the lower plate 5b. The nozzle head 3 and the drive unit 4 are disposed between the upper plate 5a and the lower plate 5b, and the ATC 6 is fixed to the upper surface of the upper plate 5a.

[0023] The nozzle head 3 includes: a rotating body (support portion) 8 that supports a plurality of adsorption nozzles 2 in the vertical direction respectively; a rotation drive unit 9 that rotates the rotating body 8 around a rotation axis A in the vertical direction; and a magnetic member 10 that magnetically suspends and mounts a plurality of adsorption nozzles 2 supported by the rotating body 8.

[0024] As Figure 3 shown, the adsorption nozzle 2 includes: a tubular tube portion 2a, an adsorption portion 2b connected to the lower end of the tube portion 2a, an engaging portion (first engaging portion) 2c provided at the upper end portion of the tube portion 2a, and an air connection portion 2d.

[0025] In order to prevent the workpiece from being magnetized, the tube portion 2a may also be formed of a non-magnetic material such as aluminum or resin.

[0026] An air suction port 2e is provided on the lower end surface of the adsorption portion 2b, and the workpiece is adsorbed to the adsorption portion 2b by the negative pressure supplied to the air suction port 2e. The sizes and shapes of the adsorption portions 2b of the plurality of adsorption nozzles 2 are different from each other. For example, in Figure 1 and Figure 2 , the plurality of adsorption portions 2b are formed such that the outer diameter of the adsorption portion 2b and the diameter of the air suction port 2e are different from each other. As will be described later, the adsorption portion 2b to be used is selected according to the type of the workpiece to be adsorbed. For example, when the workpiece is a fine-diameter screw, the adsorption portion 2b with a smaller air suction port 2e is selected, and when the workpiece is a thick-diameter screw, the adsorption portion 2b with a larger air suction port 2e is selected.

[0027] The engaging portion 2c and the air connection portion 2d are provided on the radially outer side of the tube portion 2a and on the same side of the tube portion 2a.

[0028] The engaging portion 2c is a concave portion that is recessed in a direction orthogonal to the long-side axis of the tube portion 2a toward the long-side axis of the tube portion 2a, and is disposed above the air connection portion 2d. For example, the engaging portion 2c is formed between the air connection portion 2d and a plate-like member 2f provided above the air connection portion 2d.

[0029] A connection port 2g is formed in the lower surface of the air connection portion 2d. The connection port 2g communicates with the suction port 2e through the interior of the air connection portion 2d, the tube portion 2a, and the adsorption portion 2b.

[0030] A magnet 2h for adsorbing to the magnetic member 10 is provided at the base end portion of the adsorption nozzle 2.

[0031] As Figure 4 shown, the rotating body 8 is a columnar member arranged in the vertical direction and is supported by the housing 5 so as to be rotatable about the rotation axis A via the shaft 11. The rotation axis A coincides with the central axis of the rotating body 8. Specifically, the shaft 11 penetrates the rotating body 8 along the rotation axis A, and the lower end portion of the shaft 11 is supported by the lower plate 5b of the housing 5 so as to be rotatable about the rotation axis A. The upper end portion of the shaft 11 is connected to the rotation drive portion 9 fixed to the housing 5. Reference numeral 8b is a central hole through which the shaft 11 penetrates.

[0032] In addition, the rotating body 8 has a plurality of grooves 8a. The plurality of grooves 8a penetrate the rotating body 8 in directions parallel to the rotation axis A and respectively accommodate the tube portions 2a of the plurality of adsorption nozzles 2. In the attached drawings for reference, the rotating body 8 has eight grooves 8a and supports eight adsorption nozzles 2. The plurality of adsorption nozzles 2 are supported by the plurality of grooves 8a arranged in the circumferential direction about the rotation axis A and are arranged parallel to each other.

[0033] The plurality of grooves 8a are provided in the outer peripheral portion of the rotating body 8, and openings are formed in the outer peripheral surface of the rotating body 8. The engaging portion 2c and the air connection portion 2d are arranged outside the grooves 8a. Thus, the adsorption nozzle 2 is supported by the groove 8a so as to be movable in the vertical direction. In addition, the engaging portion 2c and the air connection portion 2d are arranged so as to protrude more toward the outer side in the horizontal direction than the tube portion 2a and the rotating body 8.

[0034] The rotation drive portion 9 is, for example, a rotary actuator. The rotation drive portion 9 rotates the shaft 11 about the rotation axis A, thereby rotating the rotating body 8 relative to the housing 5 about the rotation axis A. By the rotation of the rotating body 8, the plurality of grooves 8a and the plurality of adsorption nozzles 2 supported by the plurality of grooves 8a rotate and move about the rotation axis A, and the plurality of adsorption nozzles 2 are selectively arranged at predetermined use positions. That is, the predetermined use position is a portion on the circumference about the rotation axis A. In Figure 1 and Figure 2 , the position of the left adsorption nozzle 2 is the predetermined use position.

[0035] The magnetic member 10 is a plate-shaped member that is horizontally disposed above the rotating body 8 and fixed to the housing 5, and is made of a magnetic metal such as iron. The magnetic member 10 is disposed at a position where the magnets 2h of the plurality of suction nozzles 2 at a predetermined standby position are attracted to the magnetic member 10. Under the action of the magnetic attraction force between the magnet 2h and the magnetic member 10, the suction nozzle 2 in the groove 8a is suspended, and the suction nozzle 2 is held at the standby position against its own weight. In order to maintain the attraction between each magnet 2h and the magnetic member 10 during the rotation of the rotating body 8, the magnetic member 10 is disposed on the entire circumference around the rotation axis A.

[0036] The drive unit 4 moves one suction nozzle 2 disposed at a predetermined use position relative to the housing 5 in the vertical direction, so that one suction nozzle 2 moves up and down between the standby position and the suction position.

[0037] Specifically, the drive unit 4 has a cylinder (linear motion mechanism) having a rod portion 4a extending in the vertical direction and a cylinder body 4b moving along the rod portion 4a. Both ends of the rod portion 4a are fixed to the upper plate 5a and the lower plate 5b. The cylinder body 4b is connected to an air source (not shown) and descends from a predetermined upper position (refer to Figure 1 ) to a predetermined lower position (refer to Figure 2 ) by the air supplied from the air source. In addition, the cylinder body 4b rises from the lower position to the upper position by the discharge of air.

[0038] In addition, the drive unit 4 has an engaging portion (second engaging portion) 4c that is fixed to the cylinder body 4b and can engage with the engaging portion 2c. The engaging portion 4c is a cantilever plate-shaped member that protrudes horizontally from the cylinder body 4b toward the nozzle head 3. By engaging the engaging portion 4c in the engaging portion 2c formed by the concave portion, the engaging portion 4c and the engaging portion 2c are engaged in the up and down two directions, whereby the cylinder body 4b is connected to one suction nozzle 2 at the use position so as to be able to move integrally with the suction nozzle 2 in the up and down two directions.

[0039] Here, the engaging portion 2c is provided with openings on both sides in the circumferential direction around the rotation axis A, whereby the engaging portion 2c is rotated in the circumferential direction by the rotation of the rotating body 8, so that the engaging portion 2c and the engaging portion 4c are engaged.

[0040] As the cylinder main body 4b descends from the upper position to the lower position, the magnet 2h of the suction nozzle 2 in the use position is separated from the magnetic member 10, and the suction nozzle 2 in the use position descends from the standby position to the suction position. In order to allow the suction nozzle 2 in the use position to move between the standby position and the suction position, a hole 5d through which the suction nozzle 2 in the use position passes is formed in the lower plate 5b. In order to stabilize the posture of the suction nozzle 2 in the suction position, it is preferable that the suction nozzle 2 in the suction position is supported by the inner surfaces of the lower ends of the grooves 8a and the inner surface of the hole 5d at two positions.

[0041] In addition, as the cylinder main body 4b ascends from the lower position to the upper position, the suction nozzle 2 in the use position ascends from the suction position to the standby position.

[0042] The air connection portion 7 is fixed to the upper surface of the lower plate 5b and is disposed between the suction nozzle 2 in the use position and the drive portion 4. A connection port 7a is formed on the upper surface of the air connection portion 7, and the connection port 7a is connected to the connection port 2g of the suction nozzle 2 disposed in the suction position. The air connection portion 7 is connected to a negative pressure source (not shown) such as a vacuum pump via a pipe 12, and the negative pressure generated by the negative pressure source is applied to the connection port 2g via the pipe 12, the air connection portion 7, and the connection port 7a, and is further applied from the connection port 2g to the suction port 2e.

[0043] Next, the operation of the workpiece take-out device 1 will be described.

[0044] The workpiece take-out device 1 is connected to the front end of the robot arm in the ATC 6 and moves between the take-out position and the transfer position by the operation of the robot arm. Many workpieces scattered in a box are arranged at the take-out position, for example.

[0045] First, the suction nozzle 2 having the suction portion 2b corresponding to the type of the workpiece is selected, and the selected suction nozzle 2 is arranged at the use position by the rotation of the rotating body 8. At this time, due to the rotational movement of the selected suction nozzle 2 to the use position, the engaging portion 2c of the selected suction nozzle 2 is engaged with the engaging portion 4c, and further, the selected suction nozzle 2 is connected to the cylinder main body 4b.

[0046] Next, the workpiece take-out device 1 is positioned at the take-out position by the operation of the robot arm.

[0047] Next, as the cylinder main body 4b descends, the suction nozzle 2 in the use position descends from the standby position to the suction position, the suction portion 2b is disposed near the workpiece, and the air connection portion 2d is connected to the air connection portion 7.

[0048] Next, a negative pressure is applied to the air connection portion 7 via the pipe 12 from the negative pressure source. Further, a negative pressure is applied to the suction port 2e from the air connection portion 7 via the air connection portion 2d. As a result, one workpiece near the suction port 2e is adsorbed by the adsorption portion 2b, and the adsorption nozzle 2 at the adsorption position of one workpiece is held.

[0049] Next, the workpiece taking-out device 1 moves from the taking-out position to the conveying position by the operation of the robot arm. The negative pressure applied to the air connection portion 7 is stopped at the conveying position, the adsorption of one workpiece is released, and the released one workpiece is placed on the conveying position.

[0050] Next, the workpiece taking-out device 1 moves from the conveying position to the taking-out position by the operation of the robot arm and is positioned at the taking-out position. Hereinafter, the same operation is repeated.

[0051] When changing the type of workpiece to be conveyed, the adsorption nozzle 2 for adsorbing the workpiece is changed. Specifically, the adsorption nozzle 2 located at the use position is lifted from the adsorption position to the standby position by the rising of the cylinder body 4b. By adsorbing the magnet 2h to the magnetic member 10, the adsorption nozzle 2 at the use position is suspended and mounted, and the adsorption nozzle 2 at the use position is held at the standby position. Next, by the rotation of the rotating body 8, the reselected adsorption nozzle 2 is arranged at the use position.

[0052] Thus, according to the present embodiment, a plurality of adsorption nozzles 2 having different adsorption portions 2b are supported by the rotating body 8, and the adsorption portion 2b for adsorbing the workpiece can be changed by the rotation of the rotating body 8. Therefore, it is possible to hold and convey a plurality of types of workpieces by one workpiece taking-out device 1, and there is no need to prepare a workpiece taking-out device as a manipulator device for each type of workpiece.

[0053] In addition, the adsorption nozzle 2 for adsorbing the workpiece can be changed only by a simple mechanism that rotates the rotating body 8.

[0054] In addition, a plurality of adsorption nozzles 2 are selectively arranged at the use position, and the drive unit 4 is configured to lift and lower the adsorption nozzle 2 at the use position. Therefore, regardless of the number of adsorption nozzles 2, only one drive unit 4 is required. That is, even if the number of adsorption nozzles 2 is increased to cope with more types of workpieces, only one drive unit 4 is required, so that an increase in the size and weight of the workpiece taking-out device 1 can be suppressed. As a result, it is possible to realize a small and lightweight workpiece taking-out device 1 that can be conveyed by a small and lightweight industrial robot, and it is also possible to prevent an increase in interference between the workpiece taking-out device 1 and surrounding objects.

[0055] In the above-described embodiment, the magnet 2h is provided at the upper end of the suction nozzle 2. However, alternatively, it may be provided at other positions of the suction nozzle 2. For example, the magnet 2h may be fixed to the outer peripheral surface of the tube portion 2a, and the magnetic member 10 may be fixed to the inner surface of the groove 8a.

[0056] In the above-described embodiment, the nozzle head 3 has the magnetic member 10 in order to keep the plurality of suction nozzles 2 against their own weights and hold them in the standby position. However, alternatively, as Figure 5 and Figure 6 shown, it may have a substantially C-shaped hanging member 13 fixed to the frame body 5. The hanging member 13 is, for example, a flat plate-like member.

[0057] The hanging member 13 is arranged coaxially with the rotation axis A around the rotating body 8 and has a partial ring shape extending over the entire circumference except for the portion corresponding to the use position. Each suction nozzle 2 is provided with a hook portion that protrudes more outward in the horizontal direction than the tube portion 2a and the rotating body 8 and is hooked on the upper surface of the hanging member 13. For example, the hook portion is a cantilever plate-like member 2f arranged above the engaging portion 2c. The hanging member 13 is arranged near the upper end of the rotating body 8, and the hook portions 2f of the other suction nozzles 2 in the standby position are hooked on the upper surface of the hanging member 13 except for one suction nozzle 2 in the use position. Thus, the other suction nozzles 2 are hung and held in the standby position.

[0058] When the cylinder main body 4b is arranged at the upper position, an engaging portion 4c is arranged at the opening portion 13a corresponding to the use position of the hanging member 13. By hooking the hook portion 2f on the upper surface of the engaging portion 4c, the suction nozzle 2 in the use position is hung and installed.

[0059] During the rotation of the rotating body 8, the hooking of the hook portion 2f and the hanging member 13 is maintained at positions other than the use position. At the use position, the hooking of the hook portion 2f and the hanging member 13 is released, and instead, the hook portion 2f is hooked on the engaging portion 4c.

[0060] In the above-described embodiment, the plurality of suction nozzles 2 are selectively arranged at the use position by the rotation of the support portion 8. However, alternatively, it may be configured such that the plurality of suction nozzles 2 are selectively arranged at the use position by the movement of the support portion other than rotation.

[0061] For example, the support portion may support the plurality of suction nozzles 2 in a row in the horizontal direction, or the plurality of suction nozzles 2 may be selectively arranged at the use position by the linear movement of the support portion in the horizontal direction.

[0062] In the above-described embodiment, the drive portion 4 has a cylinder as a linear motion mechanism. However, alternatively, it may have other types of linear motion mechanisms such as an electric cylinder.

[0063] In the above-described embodiment, the suction nozzle 2 sucks the workpiece by negative pressure. However, alternatively, the workpiece may be sucked by magnetic force. In this case, a magnet may also be provided on the lower surface of the suction portion 2b.

[0064] Explanation of Reference Numerals

[0065] 1: Workpiece taking-out device

[0066] 2: Suction nozzle

[0067] 2a: Tube portion

[0068] 2b: Suction portion

[0069] 2c: First engaging portion

[0070] 2e: Suction port

[0071] 2f: Hook portion

[0072] 2g: Connection port

[0073] 2h: Magnet

[0074] 3: Nozzle head

[0075] 4: Driving portion

[0076] 4a: Rod portion, cylinder, linear motion mechanism

[0077] 4b: Cylinder main body, cylinder, linear motion mechanism

[0078] 4c: Second engaging portion

[0079] 5: Frame

[0080] 7: Air connection portion

[0081] 8: Rotating body (support portion)

[0082] 8a: Groove

[0083] 10: Magnetic member

[0084] 13: Suspension member

[0085] A: Axis of rotation

Claims

1. A workpiece taking-out device, characterized in that, Comprising: A nozzle head having: a plurality of suction nozzles, each of the plurality of suction nozzles having a suction portion for sucking a workpiece; a frame body mounted on a conveying device; And a support portion that supports the plurality of suction nozzles and is supported by the frame body so as to be movable. The nozzle head selectively arranges the plurality of suction nozzles at a predetermined use position by moving the support portion relative to the frame body; A driving portion that moves one of the suction nozzles arranged at the predetermined use position relative to the frame body and moves one of the suction nozzles to a predetermined suction position for sucking the workpiece through the suction portion; And A single air connection portion for supplying negative pressure to one of the suction nozzles; Each of the plurality of suction nozzles has a suction port provided at the suction portion and a connection port communicating with the suction port, The air connection portion is connected to the connection port of one of the suction nozzles arranged at the predetermined suction position, and applies negative pressure to the connection port of only one of the plurality of suction nozzles.

2. The workpiece taking-out device according to claim 1, wherein The support portion is a rotating body that can rotate relative to the frame body about a rotation axis in the vertical direction.

3. The workpiece taking-out device according to claim 2, wherein The rotating body supports the plurality of suction nozzles so as to be movable in the vertical direction, and the suction portion is provided at the lower end of each suction nozzle, The driving portion moves one of the suction nozzles in the vertical direction between a predetermined standby position and the predetermined suction position in the vertical direction, wherein the predetermined suction position is located below the predetermined standby position.

4. The workpiece taking-out device according to claim 3, wherein Magnets are respectively provided on the plurality of suction nozzles, The nozzle head has a magnetic member for adsorbing the magnets, The magnets of the plurality of suction nozzles arranged at the predetermined standby position are adsorbed to the position of the magnetic member.

5. The workpiece taking-out device according to claim 3, wherein Hook portions protruding radially along a direction orthogonal to the rotation axis are respectively provided on the plurality of suction nozzles, The nozzle head has a hanging member configured to be coaxial with the rotation axis and having a partial ring shape extending over the entire circumference except for a portion corresponding to the predetermined use position, The hanging member is arranged at a position where the hook portions of the other suction nozzles at the predetermined standby position except for one of the suction nozzles are hooked on the upper surface of the hanging member.

6. The workpiece taking-out device according to any one of claims 3 to 5, wherein Each of the suction nozzles is provided with a first engaging portion protruding outward in the radial direction orthogonal to the rotation axis, The driving unit has: a second engaging portion that engages with the first engaging portion of one of the suction nozzles at a predetermined use position in two vertical directions; and a linear motion mechanism that moves the second engaging portion in the vertical direction. The first engaging portion is engaged with the second engaging portion by using the movement of the first engaging portion in the circumferential direction around the rotation axis through the rotation of the rotating body.

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