Parts disassembling device and control method of parts disassembling device

Abstract

Provided are a parts disassembly device and a control method for the parts disassembly device, which can move parts in multiple directions and flip parts. The parts disassembly device (6) comprises: a loading platform (18) having a loading surface (19) for loading parts (21); a first motor (16) and a second motor (17) for rotating a rotating shaft and vibrating; and a support part (12) for supporting the loading platform (18), the first motor (16) and the second motor (17), and transmitting the vibration of the first motor (16) and the second motor (17) to the loading platform (18), wherein the axial directions of the rotating shafts of the first motor (16) and the second motor (17) are parallel to the loading surface (19), and intersect with each other in a top view observed from a direction perpendicular to the loading surface (19), and the resonance frequency of the support part (12) is higher in a direction perpendicular to the loading surface (19) than in a direction parallel to the loading surface (19).

Description

Technical Field

[0001] The invention relates to a parts disassembling device and a control method of the parts disassembling device. Background Art

[0002] When an industrial robot picks up a part, a linear feeder moves the part into the range of motion of the robot hand. For example, such a linear feeder is disclosed in Patent Document 1. According to the document, in the linear feeder, a motor and a part conveying trough are connected by a connecting rod mechanism. When the motor is rotated, reciprocating vibration in one direction is excited in the part conveying trough, and the part is conveyed in one direction.

[0003] In addition, when an industrial robot picks up a part, a part separation device is sometimes arranged within the range of motion of the robot hand. The part separation device is a device that reduces the overlap of the individual parts when a plurality of parts overlap on a placement surface.

[0004] According to this part separation device, by distributing the overlapping parts on the same plane, a robot hand can be formed to be easy to pick up, and the robot can operate stably. In addition, if the robot is required to perform the operation of turning the parts over to pick up, the operation takes time, so the productivity is reduced.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2019-064825

[0008] The linear feeder of Patent Document 1 can only move parts in one direction. In addition, there is a problem that the parts cannot be turned over. Summary of the invention

[0009] A parts disassembly device comprises: a loading platform having a loading surface for loading parts; two motors for rotating a rotating shaft and vibrating the rotating shaft; and a supporting part for supporting the loading platform and the two motors and transmitting the vibration of the motors to the loading platform, wherein the axial directions of the rotating shafts of the two motors are parallel to the loading surface and intersect with each other in a top view observed from a direction perpendicular to the loading surface, and the resonance frequency of the supporting part is higher in the direction perpendicular to the loading surface than in the direction parallel to the loading surface.

[0010] A control method for a parts disassembly device, the parts disassembly device comprising: a loading table having a loading surface for loading parts; two motors for rotating a rotating shaft and vibrating the rotating shaft; a supporting part for supporting the loading table and the two motors and transmitting the vibration of the motors to the loading table; and a control part for controlling the rotation of the motors, wherein the axial directions of the rotating shafts of the two motors are parallel to the loading surface and intersect with each other in a top view from a direction perpendicular to the loading surface, and the resonance frequency of the supporting part is higher in the direction perpendicular to the loading surface than in the direction parallel to the loading surface, wherein the control part independently controls the rotation speed, rotation direction or rotation phase of the two motors. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram showing the configuration of the parts supply system according to the first embodiment.

[0012] Figure 2 It is a schematic three-dimensional diagram showing the structure of the parts disassembly device.

[0013] Figure 3 It is a schematic top view showing the structure of the parts disassembly device.

[0014] Figure 4 It is a schematic side view showing the structure of the parts disassembly device.

[0015] Figure 5 It is a schematic side view showing the structure of the parts disassembly device.

[0016] Figure 6 This is a schematic diagram of main parts showing the structure of the motor.

[0017] Figure 7 It is a schematic top view for explaining the arrangement of the rubber feet.

[0018] Figure 8 This is a schematic diagram for explaining the position of the center of gravity of the components.

[0019] Fig. 9 It is a diagram for explaining the operation of the mounting table.

[0020] Fig.10 It is a diagram for explaining the operation of the mounting table.

[0021] Fig.11 It is a diagram for explaining the operation of the mounting table.

[0022] Fig.12 It is a diagram for explaining the operation of the mounting table.

[0023] Fig.13 It is a diagram for explaining the operation of the mounting table.

[0024] Fig.14 It is a diagram for explaining the operation of the mounting table.

[0025] Fig.15 is the block diagram of the circuit.

[0026] Fig.16 It is a schematic diagram for explaining the movement of parts on the mounting surface.

[0027] Fig.17 It is a schematic diagram for explaining the movement of parts on the mounting surface.

[0028] Fig.18 It is a schematic diagram for explaining the movement of parts on the mounting surface.

[0029] Fig.19 It is a schematic diagram for explaining the movement of parts on the mounting surface.

[0030] Fig. 20 It is a schematic diagram for explaining the movement of parts on the mounting surface.

[0031] Fig.21 It is a schematic diagram for explaining the center of gravity position of the components according to the second embodiment.

[0032] Fig. 22 It is a schematic diagram of main parts showing the structure of a motor according to a third embodiment.

[0033] Fig.23 It is a schematic diagram for explaining the position of the motor according to the fifth embodiment.

[0034] Explanation of symbols

[0035] 8. Control unit; 11. Rubber foot as elastic body; 12. Support unit; 12a. Center of gravity of support unit as center of gravity of support unit; 16. First motor as motor; 16a. First rotating shaft as rotating shaft; 16b. Center of gravity of first motor as center of gravity of motor; 17. Second motor as motor; 17a. Second rotating shaft as rotating shaft; 17b. Center of gravity of second motor as center of gravity of motor; 18. Loading table; 18b. Center of gravity of loading table as center of gravity of loading table; 19. Loading surface; 21. Parts; 22. First eccentric weight as eccentric weight; 24. Second eccentric weight as eccentric weight. DETAILED DESCRIPTION

[0036] First embodiment

[0037] In this embodiment, a characteristic example of a parts disassembly device and a control method of the parts disassembly device is described. Figure 1As shown, the parts supply system 1 is a system in which a robot 2 picks up a plurality of parts. The robot 2 uses a horizontal multi-joint robot, a vertical multi-joint robot, an orthogonal robot, etc. The robot 2 includes a robot controller 3. The robot controller 3 controls the posture of the robot 2.

[0038] The robot 2 is provided with a picking mechanism 4 and a camera 5. The robot controller 3 controls the action of the picking mechanism 4 to hold the parts. The robot controller 3 causes the camera 5 to photograph the parts and recognize the positions of the parts. The camera 5 may be mounted on the robot 2, or may be fixed on the upper part of a parts disassembling device other than the robot 2.

[0039] The parts supply system 1 includes one or more parts disassembling devices 6 and a workbench 7. Parts are placed on each of the parts disassembling devices 6. Multiple types of parts may be placed on one part disassembling device. The robot 2 holds the parts of each of the parts disassembling devices 6 and moves them to the workbench 7. The robot 2 supplies parts to the workbench 7. The robot 2 may also perform work of assembling parts on the workbench 7.

[0040] Each of the component disassembling devices 6 includes a control unit 8. Each of the control units 8 is electrically connected to the component disassembling device 6 and the robot controller 3. The control unit 8 receives an instruction signal from the robot controller 3 to operate the component disassembling device 6.

[0041] The camera 5 photographs the parts placed on the parts disassembling device 6. The robot controller 3 analyzes the photographed image and determines whether the picking mechanism 4 is in a state where it can hold the parts. In addition, the orientation of the parts when the picking mechanism 4 holds is set. For example, in this embodiment, the parts are disc-shaped and have a difference between the front and the back. The picking mechanism 4 holds the parts in a state where the front side of the parts faces the picking mechanism 4.

[0042] When the robot controller 3 analyzes the image and finds that there is no part with an appropriate posture, the robot controller 3 sends an instruction signal for changing the posture of the part to the control unit 8. The control unit 8 receives the instruction signal and drives the part separation device 6.

[0043] Figure 2 The parts disassembly device 6 shown has its cover removed, and the inside can be seen. The parts disassembly device 6 has a base 9. The base 9 is a rectangular metal plate. In a top view of the base 9, the longitudinal direction is set to the X direction, and the direction orthogonal to the longitudinal direction is set to the Y direction. The thickness direction of the base 9 is set to the Z direction.

[0044] Four rubber feet 11 as elastic bodies are arranged on the base 9. A support portion 12 is provided on the rubber feet 11. The rubber feet 11 support the support portion 12 in a vibration-capable manner. According to this configuration, since the rubber feet 11 support the support portion 12 in a vibration-capable manner, the support portion 12 can vibrate in all directions of up and down, front and back, left and right. In addition, since the rubber feet 11 attenuate vibration, the rubber feet 11 can function as a shock absorber.

[0045] The support part 12 is composed of a lower structure 13, an intermediate structure 14, and an upper structure 15. The lower structure 13 is located on the negative Z direction side and is connected to the rubber foot 11. The upper structure 15 is located on the positive Z direction side. The intermediate structure 14 is columnar, and four intermediate structures 14 stand upright between the lower structure 13 and the upper structure 15. The material of the support part 12 is metal, and the rigidity of the support part 12 is high.

[0046] A first motor 16 as a vibration motor and a second motor 17 as a vibration motor are arranged between the lower structure 13 and the upper structure 15. The control unit 8 controls the rotation of the first motor 16 and the second motor 17. The first motor 16 is fixed to the surface on the Z positive direction side of the lower structure 13. The second motor 17 is fixed to the surface on the Z negative direction side of the upper structure 15. A mounting table 18 is arranged on the Z positive direction side of the upper structure 15. The mounting table 18 is fixed to the upper structure 15. The material of the mounting table 18 is resin or metal, and the rigidity of the mounting table 18 is high. The mounting table 18 is formed with a recessed portion 18a on the Z positive direction side. The bottom surface of the recessed portion 18a is a mounting surface 19.

[0047] like Figure 3 As shown, the parts 21 are placed on the placement surface 19. Some of the parts 21 have their front side 21a facing the positive Z direction. Some of the parts 21 have their back side 21b facing the positive Z direction. In the figure, the parts 21 with their back side 21b facing the positive Z direction are shaded. The parts 21 are placed in the recessed portion 18a, which has a sufficient depth so that the parts 21 do not fly out.

[0048] like Figure 4 As shown, the first motor 16 is provided with a first eccentric weight 22 on the first rotating shaft 16a, and the first eccentric weight 22 is an eccentric weight eccentric to the first rotating shaft 16a as a rotating shaft. According to this configuration, the first eccentric weight 22 can vibrate the first motor 16 with a simple structure. The vibration of the first motor 16 is transmitted to the mounting table 18 via the support portion 12.

[0049] The first motor 16 is provided with first eccentric weights 22 on both sides of the first rotating shaft 16a. According to this configuration, the same centrifugal force acts on the first motor 16 on both sides of the first rotating shaft 16a by the rotation of the first eccentric weight 22. Therefore, the same vibration energy can be supplied to the support portion 12 on both sides of the first rotating shaft 16a. As a result, the vibration of the support portion 12 swinging about the X direction generated by the first motor 16 can be suppressed. A first sensor 23 is arranged on the lower structure 13 on the Y positive direction side of the first eccentric weight 22 on the Y positive direction side. The first sensor 23 can also be arranged on the Y negative direction side.

[0050] like Figure 5 As shown, the second motor 17 is provided with a second eccentric weight 24 on the second rotating shaft 17a, and the second eccentric weight 24 is an eccentric weight eccentric to the second rotating shaft 17a as a rotating shaft. According to this configuration, the second eccentric weight 24 can vibrate the second motor 17 with a simple structure. The vibration of the second motor 17 is transmitted to the mounting table 18 via the support portion 12.

[0051] The second motor 17 is provided with second eccentric weights 24 on both sides of the second rotating shaft 17a. According to this configuration, the same centrifugal force acts on the second motor 17 on both sides of the second rotating shaft 17a by the rotation of the second eccentric weight 24. Therefore, the same vibration energy can be supplied to the support portion 12 on both sides of the second rotating shaft 17a of the second motor 17. As a result, the vibration of the support portion 12 swinging about the Y direction generated by the second motor 17 can be suppressed. A second sensor 25 is arranged on the upper structure 15 on the X negative direction side of the second eccentric weight 24 on the X negative direction side. The second sensor 25 can also be arranged on the X positive direction side.

[0052] The parts disassembling device 6 includes a first motor 16 that vibrates by rotating a first rotating shaft 16a and a second motor 17 that vibrates by rotating a second rotating shaft 17a. The support portion 12 supports the mounting table 18, the first motor 16, and the second motor 17, and transmits the vibration of the first motor 16 and the second motor 17 to the mounting table 18. The resonance frequency of the support portion 12 is higher in a direction perpendicular to the mounting surface 19 than in a direction parallel to the mounting surface 19.

[0053] Figure 6 1 shows the relative positions of the first motor 16 and the second motor 17. Figure 6As shown, the axial direction of the first rotating shaft 16a is the Y direction, and the axial direction of the second rotating shaft 17a is the X direction. The mounting surface 19 is a plane including the X direction and the Y direction. Therefore, the axial direction of the first rotating shaft 16a of the first motor 16 and the axial direction of the second rotating shaft 17a of the second motor 17 are parallel to the mounting surface 19, and intersect each other in a plan view from a direction perpendicular to the mounting surface 19. In detail, the axial direction of the first rotating shaft 16a of the first motor 16 and the axial direction of the second rotating shaft 17a of the second motor 17 are orthogonal in a plan view from a direction perpendicular to the mounting surface 19.

[0054] The first eccentric weight 22 on the positive Y direction side connected to the first motor 16 has a first convex portion 26 protruding toward the positive Y direction side. The first sensor 23 has a first slit 23a. An LED (Light Emitting Diode) and a phototransistor are arranged on the first sensor 23 with the first slit 23a sandwiched therebetween. When the first convex portion 26 passes through the first slit 23a, the first convex portion 26 blocks the light emitted by the LED. The first sensor 23 detects the moment when the first convex portion 26 passes through the first slit 23a.

[0055] The second eccentric weight 24 on the negative X direction side connected to the second motor 17 has a second convex portion 27 protruding toward the negative X direction side. The second sensor 25 has a second slit 25a. An LED and a phototransistor are arranged on the second sensor 25 with the second slit 25a sandwiched therebetween. When the second convex portion 27 passes through the second slit 25a, the second convex portion 27 blocks the light emitted by the LED. The second sensor 25 detects the moment when the second convex portion 27 passes through the second slit 25a.

[0056] Figure 7 FIG. 1 shows the configuration of the rubber foot 11. Figure 7 As shown in FIG. 1 , four rubber feet 11 are arranged on the base 9. The rubber feet 11 are arranged symmetrically with respect to the first rotation axis 16a. Furthermore, the rubber feet 11 are arranged symmetrically with respect to the second rotation axis 17a. With this arrangement, the amplitude of the vibration of the support 12 in the X direction is equal on both sides, and the amplitude of the vibration in the Y direction is also equal on both sides, and the control of the direction of conveying parts becomes easy.

[0057] Figure 8 The center of gravity of the components constituting the parts disassembling device 6 is shown. Figure 8Among them, the center of gravity 22a of the first counterweight is the center of gravity of the two first eccentric counterweights 22. The center of gravity 24a of the second counterweight is the center of gravity of the two second eccentric counterweights 24. The center of gravity 12a of the support part, which is the center of gravity of the support part, is the center of gravity of the support part 12. The center of gravity 18b of the mounting table, which is the center of gravity of the mounting table, is the center of gravity of the mounting table 18. The center of gravity 22a of the first counterweight, the center of gravity 24a of the second counterweight, the center of gravity 18b of the mounting table, and the center of gravity 12a of the support part are arranged on a first imaginary line 28 extending in the Z direction. The first imaginary line 28 is a line extending in a direction perpendicular to the mounting surface 19. Therefore, in a top view observed from a direction perpendicular to the mounting surface 19, the center of gravity 22a of the first counterweight, the center of gravity 24a of the second counterweight, the center of gravity 18b of the mounting table, and the center of gravity 12a of the support part overlap.

[0058] The center of gravity 22a of the first counterweight becomes the center of vibration of the first motor 16. The center of gravity 24a of the second counterweight becomes the center of vibration of the second motor 17. According to this configuration, in a top view observed from a direction perpendicular to the mounting surface 19, the center of vibration generated by the first motor 16, the center of vibration generated by the second motor 17, the center of gravity of the mounting table 18, and the center of gravity of the support part 12 overlap. Therefore, the first motor 16 and the second motor 17 can vibrate the mounting surface 19 equally.

[0059] Next, a control method for the part splitting device 6 will be described. Figures 9 to 14 The relationship between the rotation of the first eccentric counterweight 22 in the first motor 16 and the vibration of the mounting surface 19 is shown. Let the rotational speed of the first motor 16 per second be N. Let the resonance frequency of the support part 12 in the direction perpendicular to the mounting surface 19 be Rv. Let the resonance frequency of the support part 12 in the direction parallel to the mounting surface 19 be Rh.

[0060] Viewed from the Y negative direction side, the first motor 16 rotates clockwise around the first rotation axis 16a. When N = Rh, as Fig. 9 shown, the mounting surface 19 vibrates in a reciprocating manner in the X positive direction and the X negative direction. Since the part 21 maintains a state of contact with the mounting surface 19, it is difficult for the part 21 to move. Even if the part 21 moves, the moving distance is short.

[0061] When Rh < N < Rv, as Fig.10 shown, the mounting surface 19 vibrates in a reciprocating manner in the X positive direction and Z positive direction and the X negative direction and Z negative direction. The part 21 moves away from the mounting surface 19 while moving in the X positive direction, so the part 21 moves in the X positive direction. The control method of the part splitting device 6 is that when the part 21 is moved in the X positive direction along the mounting surface 19, the control unit 8 rotates the first motor 16 within the range of Rh < N < Rv.

[0062] The values of Rh and Rv are not particularly limited, but in this embodiment, for example, Rv = 40 Hz and Rh = 10 Hz. When moving the part 21 along the placement surface 19, N = 25 to 30 Hz is preferred. The part 21 can be moved reliably.

[0063] When N = Rv, as Fig.11 shown, the placement surface 19 vibrates in a reciprocating manner in the +Z direction and the -Z direction. The part 21 jumps on the placement surface 19. Several parts 21 are turned inside out. For example, when the back side 21b can be seen for all the parts 21, several parts 21 are turned over and the front side 21a can be seen.

[0064] Next, when viewed from the -Y direction side, the first motor 16 rotates the first rotating shaft 16a counterclockwise. When N = Rh, as Fig.12 shown, the placement surface 19 vibrates in a reciprocating manner in the +X direction and the -X direction. Since the part 21 maintains the state of being in contact with the placement surface 19, it is difficult for the part 21 to move. Even if the part 21 moves, the moving distance is short.

[0065] When Rh < N < Rv, as Fig.13 shown, the placement surface 19 vibrates in a reciprocating manner in the -X direction and +Z direction and the +X direction and -Z direction. The part 21 moves away from the placement surface 19 while moving in the -X direction, so the part 21 moves in the -X direction. The control method of the part splitting device 6 is that when moving the part 21 along the placement surface 19 in the -X direction, the control unit 8 rotates the first motor 16 within the range of Rh < N < Rv.

[0066] When N = Rv, as Fig.14 shown, the placement surface 19 vibrates in a reciprocating manner in the +Z direction and the -Z direction. The part 21 jumps on the placement surface 19. Several parts 21 are turned inside out.

[0067] When the second motor 17 rotates the second rotating shaft 17a, the placement surface 19 also performs the same operation as when the first motor 16 rotates the first rotating shaft 16a. Let the rotational speed of the second motor 17 per second be N.

[0068] When viewed from the +X direction side, the second motor 17 rotates clockwise around the second rotating shaft 17a. When N = Rh, the placement surface 19 vibrates in a reciprocating manner in the +Y direction and the -Y direction. Since the part 21 maintains the state of being in contact with the placement surface 19, it is difficult for the part 21 to move. Even if the part 21 moves, the moving distance is short.

[0069] When Rh < N < Rv, the placement surface 19 vibrates in a reciprocating manner in the +Y direction and +Z direction and in the -Y direction and -Z direction. The part 21 moves away from the placement surface 19 while moving in the +Y direction, so the part 21 moves in the +Y direction. The control method of the part splitting device 6 is that when moving the part 21 along the placement surface 19 in the +Y direction, the control unit 8 rotates the second motor 17 within the range of Rh < N < Rv.

[0070] When N = Rv, the placement surface 19 vibrates in a reciprocating manner in the +Z direction and -Z direction. The part 21 jumps on the placement surface 19. Several parts 21 are turned inside out.

[0071] Next, when viewed from the +X direction side, the second motor 17 rotates the second rotating shaft 17a counterclockwise. As shown when N = Rh, the placement surface 19 vibrates in a reciprocating manner in the +Y direction and -Y direction. Since the part 21 maintains the state of being in contact with the placement surface 19, it is difficult for the part 21 to move. Even if the part 21 moves, the moving distance is short.

[0072] When Rh < N < Rv, the placement surface 19 vibrates in a reciprocating manner in the -Y direction and +Z direction and in the +Y direction and -Z direction. The part 21 moves away from the placement surface 19 while moving in the -Y direction, so the part 21 moves in the -Y direction. The control method of the part splitting device 6 is that when moving the part 21 along the placement surface 19 in the -Y direction, the control unit 8 rotates the second motor 17 within the range of Rh < N < Rv.

[0073] When N = Rv, the placement surface 19 vibrates in a reciprocating manner in the +Z direction and -Z direction. The part 21 jumps on the placement surface 19. Several parts 21 are turned inside out.

[0074] When the control unit 8 drives the first motor 16 and the second motor 17 simultaneously, the height at which the part 21 jumps on the placement surface 19 can be adjusted higher than when only driving one of the first motor 16 and the second motor 17. When the part 21 is heavy and difficult to turn over, the control unit 8 drives the first motor 16 and the second motor 17 simultaneously at the same rotation speed. Even if the part 21 is heavy, the part splitting device 6 can turn it over.

[0075] In detail, by staggering the rotational phase difference between the first eccentric weight 22 and the second eccentric weight 24 between 0 and 180 degrees, the amplitude in the vertical direction can be amplified or eliminated, and the flipping strength of the part 21 can be adjusted. If the phase difference between them is 0 degrees, the flipping strength is doubled, and if it is 180 degrees, the flipping strength is approximately zero. The rotational phase of the first eccentric weight 22 is based on the position where the first protrusion 26 passes through the first slit 23a of the first sensor 23, and is determined by the angle starting from this position. The rotational phase of the second eccentric weight 24 is based on the position where the second protrusion 27 passes through the second slit 25a of the second sensor 25, and is determined by the angle starting from this position. It is preferred to adjust the rotational phase difference between the first eccentric weight 22 and the second eccentric weight 24 according to the weight of the part 21.

[0076] According to the configuration of the parts disassembling device 6, two motors vibrate. The vibration of the motor is transmitted to the mounting table 18 via the support portion 12. The support portion 12 vibrates in a direction parallel to and perpendicular to the mounting surface 19. When the motor rotates the rotating shaft at a rotation speed close to the resonant frequency in the direction perpendicular to the mounting surface 19, the support portion 12 and the mounting table 18 vibrate in a direction perpendicular to the mounting surface 19. At this time, the part 21 jumps on the mounting surface 19. Therefore, the part 21 can be turned over.

[0077] When the motor rotates the rotating shaft at an intermediate speed between the resonance frequency in the direction parallel to the mounting surface 19 and the resonance frequency in the direction perpendicular to the mounting surface 19, the support portion 12 and the mounting table 18 vibrate in a direction parallel to the mounting surface 19 and orthogonal to the rotating shaft of the motor. At this time, the part 21 moves along the mounting surface 19. By controlling the rotation speed and rotation direction of the two motors, the part disassembling device 6 can change the moving direction of the part 21. As a result, the part disassembling device 6 can perform the flipping of the part 21 and the control of the moving direction of the part 21.

[0078] When the parts 21 are blocked on the mounting surface 19 , the parts disassembling device 6 can separate and disperse the blocks of the parts 21 by repeatedly moving and turning the parts 21 .

[0079] like Fig.15 As shown, the control unit 8 includes a central computing unit 29, a first motor driving unit 30, and a second motor driving unit 31. The central computing unit 29 is electrically connected to the first motor driving unit 30 and the second motor driving unit 31. The central computing unit 29 sends an instruction signal of the start of rotation and the end of rotation to the first motor driving unit 30 and the second motor driving unit 31. In addition, the central computing unit 29 sends an instruction signal of the rotation speed and the rotation direction to the first motor driving unit 30 and the second motor driving unit 31. In addition, the central computing unit 29 sends an instruction signal of the angle starting from the reference position of the rotation phase to the first motor driving unit 30 and the second motor driving unit 31.

[0080] The first motor driving unit 30 is electrically connected to the first motor 16 and the first sensor 23. When driving the first motor 16, the first motor driving unit 30 drives the first motor 16 according to the rotation speed, rotation direction, and rotation phase indicated by the instruction signal. The first motor driving unit 30 rotates the first rotating shaft 16a and receives a signal indicating the reference position of the first rotating shaft 16a detected by the first sensor 23. Then, the first rotating shaft 16a is rotated by the indicated rotation phase from the reference position of the received signal. Then, the first rotating shaft 16a is rotated at the indicated rotation speed and rotation direction.

[0081] The second motor driving unit 31 is electrically connected to the second motor 17 and the second sensor 25. When driving the second motor 17, the second motor driving unit 31 drives the second motor 17 according to the rotation speed, rotation direction, and rotation phase indicated by the instruction signal. The second motor driving unit 31 rotates the second rotating shaft 17a and receives a signal indicating the reference position of the second rotating shaft 17a detected by the second sensor 25. Then, the second rotating shaft 17a is rotated by the indicated rotation phase from the reference position of the received signal. Then, the second rotating shaft 17a is rotated at the indicated rotation speed and rotation direction.

[0082] Next, the movement of the part 21 on the mounting surface 19 will be described. Fig.16 As shown, the back side 21b of all the parts 21 on the placement surface 19 can be seen. When the picking mechanism 4 of the robot 2 grasps the part 21 with the front side 21a visible, the robot controller 3 sends an instruction signal to the control unit 8 to turn the part 21 over.

[0083] The control unit 8 drives at least one of the first motor 16 and the second motor 17 at a rotation speed N exceeding Rv. When the parts are turned in place, the rotation speed N of at least one of the first motor 16 and the second motor 17 is set to N>Rv. The mounting surface 19 reciprocates in the positive Z direction and the negative Z direction and vibrates. The parts 21 jump on the mounting surface 19, and some parts 21 turn over. As a result, Fig.17 As shown, the front side 21a of several parts 21 can be seen. Then, the picking mechanism 4 holds the parts 21 whose front side 21a can be seen and moves them.

[0084] like Fig.18 As shown, when the part 21 deviates to the negative X direction, it is difficult for the picking mechanism 4 to hold the part 21. When the picking mechanism 4 of the robot 2 holds the part 21, the robot controller 3 sends an instruction signal to the control unit 8 to move the part 21 to the positive X direction.

[0085] The control unit 8 drives the first motor 16 at a rotational speed of Rh < N < Rv. When viewed from the negative Y direction, the first motor 16 rotates clockwise about the first rotation axis 16a. The placement surface 19 reciprocally vibrates in the positive Z direction and the positive X direction and in the negative Z direction and the negative X direction. The part 21 moves in the positive X direction while jumping on the placement surface 19. As a result, as Figure 3 shown, since the parts 21 are dispersed, the picking mechanism 4 holds the parts 21 and moves them.

[0086] As Fig.19 shown, when the part 21 is biased in the positive Y direction, it is difficult for the picking mechanism 4 to hold the part 21. When the picking mechanism 4 of the robot 2 holds the part 21, the robot controller 3 sends an instruction signal to the control unit 8 to move the part 21 in the negative Y direction.

[0087] The control unit 8 drives the second motor 17 at a rotational speed of Rh < N < Rv. When viewed from the positive X direction, the second motor 17 rotates counterclockwise about the second rotation axis 17a. The placement surface 19 reciprocally vibrates in the positive Z direction and the negative Y direction and in the negative Z direction and the positive Y direction. The part 21 moves in the negative Y direction while jumping on the placement surface 19. As a result, as Figure 3 shown, since the parts 21 are dispersed, the picking mechanism 4 holds the parts 21 and moves them.

[0088] As Fig. 20 shown, when the part 21 is biased in the negative X direction and the positive Y direction, it is difficult for the picking mechanism 4 to hold the part 21. When the picking mechanism 4 of the robot 2 holds the part 21, the robot controller 3 sends an instruction signal to the control unit 8 to move the part 21 in the positive X direction and the negative Y direction.

[0089] The control unit 8 drives the first motor 16 and the second motor 17 at a rotational speed of Rh < N < Rv. When viewed from the negative Y direction, the first motor 16 rotates clockwise about the first rotation axis 16a. When viewed from the positive X direction, the second motor 17 rotates counterclockwise about the second rotation axis 17a. The placement surface 19 reciprocally vibrates in the positive Z direction and the positive X direction and the negative Y direction and in the negative Z direction and the negative X direction and the positive Y direction. The part 21 moves in the positive X direction and the negative Y direction while jumping on the placement surface 19. As a result, as Figure 3 shown, since the parts 21 are dispersed, the picking mechanism 4 holds the parts 21 and moves them.

[0090] The control unit 8 independently controls the rotation speed, rotation direction or rotation phase of the two motors to make the two motors vibrate. The vibration of the motor is transmitted to the mounting table 18 via the support unit 12. The support unit 12 vibrates in a direction parallel to and perpendicular to the mounting surface 19. When the motor rotates the rotating shaft at a rotation speed close to the resonant frequency in the direction perpendicular to the mounting surface 19, the support unit 12 and the mounting table 18 vibrate in a direction perpendicular to the mounting surface 19. At this time, since the part 21 jumps on the mounting surface 19, the part 21 can be flipped. By staggering the rotation phase difference of the two motors between 0 degrees and 180 degrees, the force that makes the part 21 jump can be changed. Therefore, according to the weight of the part 21, the motor can make the mounting surface 19 vibrate with an appropriate amplitude.

[0091] When the motor rotates the rotating shaft at a rotation speed between the resonance frequency in the direction parallel to the mounting surface 19 and the resonance frequency in the direction perpendicular to the mounting surface 19, the support portion 12 and the mounting table 18 vibrate in a direction parallel to the mounting surface 19 and orthogonal to the rotating shaft of the motor. At this time, the part 21 moves along the mounting surface 19. By independently controlling the rotation directions of the two motors, the part disassembling device 6 can change the vibration direction of the mounting table 18, thereby changing the moving direction of the part 21.

[0092] In a top view observed from a direction perpendicular to the mounting surface 19, the axial directions of the rotating shafts of the two motors are orthogonal. According to this configuration, the moving direction of the part 21 can be controlled by combining two orthogonal directions. Therefore, the part disassembling device 6 can easily control the moving direction of the part 21. In detail, the part disassembling device 6 can move the part 21 in the positive X direction, the negative X direction, the positive Y direction, the negative Y direction, the positive X direction and the positive Y direction, the positive X direction and the negative Y direction, the negative X direction and the positive Y direction, and the negative X direction and the negative Y direction.

[0093] Preferably, the rotation speed of at least one of the motors can be changed by adjusting the resonance frequency in the vertical direction of the support portion 12. According to this configuration, the part disassembly device 6 can make the rotation speed of the motor lower than the resonance frequency in the vertical direction of the support portion 12. At this time, the part disassembly device 6 can move the part 21 along the mounting surface 19. The part disassembly device 6 can make the rotation speed of the motor higher than the resonance frequency in the vertical direction of the support portion 12. At this time, the part disassembly device 6 can make the part 21 jump on the mounting surface 19 and flip over.

[0094] Second embodiment

[0095] In the first embodiment, the first counterweight center of gravity 22 a , the second counterweight center of gravity 24 a , the mounting table center of gravity 18 b , and the support portion center of gravity 12 a overlap in a plan view viewed from a direction perpendicular to the mounting surface 19 .

[0096] exist Fig.21, the first motor gravity center 16b as the gravity center of the motor is the gravity center of the first motor 16. The second motor gravity center 17b as the gravity center of the motor is the gravity center of the second motor 17. The first motor gravity center 16b, the second motor gravity center 17b, the mounting table gravity center 18b, and the support portion gravity center 12a are arranged on the first imaginary line 28 extending in the Z direction. The first imaginary line 28 is a line extending in a direction perpendicular to the mounting surface 19. Therefore, in a top view observed from a direction perpendicular to the mounting surface 19, the first motor gravity center 16b, the second motor gravity center 17b, the mounting table gravity center 18b, and the support portion gravity center 12a overlap. According to this configuration, in a top view observed from a direction perpendicular to the mounting surface 19, the center of vibration generated by the first motor 16, the center of vibration generated by the second motor 17, the gravity center of the mounting table 18, and the gravity center of the support portion 12 overlap. Therefore, the first motor 16 and the second motor 17 can vibrate the mounting surface 19 in the same manner.

[0097] Third embodiment

[0098] In the first embodiment, the first eccentric weights 22 are provided on both sides of the first rotating shaft 16a. The second eccentric weights 24 are provided on both sides of the second rotating shaft 17a. The eccentric weights may be provided only on one side of the rotating shaft.

[0099] like Fig. 22 As shown, in the first motor 16 of the parts disassembling device 34, the first eccentric weight 22 is provided only on one side of the first rotating shaft 16a. The first sensor 23 detects the moment when the first eccentric weight 22 passes through the first slit 23a. In the second motor 17, the second eccentric weight 24 is provided only on one side of the second rotating shaft 17a. The second sensor 25 detects the moment when the second eccentric weight 24 passes through the second slit 25a.

[0100] In the configuration of the component disassembling device 34 , similarly to the component disassembling device 6 of the first embodiment, the component disassembling device 34 can perform the inversion of the component 21 and the control of the moving direction of the component 21 .

[0101] Fourth embodiment

[0102] In the first embodiment, the axial direction of the first rotating shaft 16a of the first motor 16 and the axial direction of the second rotating shaft 17a of the second motor 17 are orthogonal to each other in a top view observed from a direction perpendicular to the mounting surface 19. In a top view observed from a direction perpendicular to the mounting surface 19, the axial direction of the first rotating shaft 16a and the axial direction of the second rotating shaft 17a may not necessarily be orthogonal. For example, the intersection angle between the first rotating shaft 16a and the second rotating shaft 17a may also be 70 degrees or 80 degrees. By independently controlling the rotation of the first rotating shaft 16a and the second rotating shaft 17a, the part 21 can be moved in a specified direction.

[0103] Fifth embodiment

[0104] In the first embodiment, the first motor 16 and the second motor 17 are arranged side by side in the Z direction. The first motor 16 and the second motor 17 may also be arranged at the same position in the Z direction. Fig.23 As shown, in the parts disassembling device 37 , the pair of first eccentric weights 22 are connected by a first connecting rod 38 , and the pair of second eccentric weights 24 are connected by a second connecting rod 39 .

[0105] A first pulley 41 is provided on the first rotating shaft 16a of the first motor 16. The first motor 16 rotates the pair of first eccentric weights 22 via the first pulley 41 and the first connecting rod 38. A second pulley 42 is provided on the second rotating shaft 17a of the second motor 17. The second motor 17 rotates the pair of second eccentric weights 24 via the second pulley 42 and the second connecting rod 39.

[0106] By arranging the two motors at the same height, even if a motor with a larger power is used, the height of the component disassembling device 37 can be reduced. The center of gravity of the component disassembling device 37 can be lowered.

Claims

1. A parts disassembly device, characterized in that: have: A mounting table, the mounting table having a mounting surface for mounting parts; Two motors, causing the rotating shaft to rotate so that the motors themselves vibrate; a support portion, the support portion supports the mounting table and the two motors, and transmits vibration of the motors to the mounting table, The axial directions of the rotating shafts of the two motors are parallel to the mounting surface and intersect each other in a plan view viewed from a direction perpendicular to the mounting surface. The resonance frequency of the support portion is higher in a direction perpendicular to the mounting surface than in a direction parallel to the mounting surface. The motor includes an eccentric weight on the rotating shaft that is eccentric with respect to the rotating shaft.

2. The parts disassembly device according to claim 1, characterized in that: The axial directions of the rotating shafts of the two motors are orthogonal to each other in a plan view viewed from a direction perpendicular to the mounting surface.

3. The parts disassembly device according to claim 1 or 2, characterized in that: The motor includes the eccentric weights on both sides of the rotating shaft.

4. The parts disassembly device according to claim 3, characterized in that: In a plan view seen from a direction perpendicular to the mounting surface, the centers of gravity of the two eccentric weights respectively provided on the two motors, the center of gravity of the mounting table, and the center of gravity of the support portion overlap.

5. The parts disassembling device according to claim 1, characterized in that: In a plan view seen from a direction perpendicular to the mounting surface, the centers of gravity of each of the two motors, the center of gravity of the mounting table, and the center of gravity of the support portion overlap.

6. The parts disassembling device according to claim 1, characterized in that: An elastic body is further provided for supporting the support portion in a vibration-capable manner.

7. The parts disassembling device according to claim 1, characterized in that: The rotation speed of at least one of the motors can be changed with respect to a resonance frequency in a vertical direction of the support portion.

8. A control method for a parts disassembly device, characterized in that: The parts disassembling device comprises: a loading platform having a loading surface for loading parts; two motors that rotate a rotating shaft so that the motors themselves vibrate; a supporting part that supports the loading platform and the two motors and transmits the vibration of the motors to the loading platform; and a control part that controls the rotation of the motors, wherein the axial directions of the rotating shafts of the two motors are parallel to the loading surface and intersect with each other in a top view observed from a direction perpendicular to the loading surface, and the resonance frequency of the supporting part is higher in the direction perpendicular to the loading surface than in the direction parallel to the loading surface. The control unit independently controls the rotation speed, rotation direction or rotation phase of the two motors. The motor includes an eccentric weight on the rotating shaft that is eccentric with respect to the rotating shaft.

9. The control method of the parts disassembling device according to claim 8, characterized in that: The rotation speed of the motor per second is N, the resonance frequency of the support portion in a direction perpendicular to the mounting surface is Rv, and the resonance frequency of the support portion in a direction parallel to the mounting surface is Rh. When moving the part along the placement surface, the control unit rotates the motor within the range of Rh < N < Rv.

10. The control method of the part splitting device according to claim 8 or 9, characterized in that the flipping intensity is adjusted by making the rotational speeds of the two motors the same and controlling the rotational phase difference within 0 to 180°.

11. The control method of the part splitting device according to claim 9, characterized in that when flipping the part in place, it is set that N > Rv.

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