Component supply device
By designing the storage container and hand structure of the component supply device, the problem of component assembly collapse when the robot hand grasps a small number of components was solved, thus achieving reliable component retrieval and quality assurance.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- KONICA MINOLTA INC
- Filing Date
- 2022-09-09
- Publication Date
- 2026-07-14
AI Technical Summary
In existing technologies, when a robot hand tries to grasp a small number of parts from a large pile of parts, the pile is prone to collapse, making it difficult to reliably grasp a small number of parts.
A component supply device is designed, comprising a component storage section and a component retrieval device. The storage section has a storage container and a slit opening. A hand is inserted into the storage container through the slit opening to grasp the component, and the component retrieval device achieves reliable component retrieval by controlling the robotic arm and hand.
It enables the reliable removal of a small number of parts from a component group, avoiding changes in component configuration and component damage, and ensuring component quality.
Smart Images
Figure CN115818216B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a component supply device. Background Technology
[0002] As a technology related to a device for retrieving a small number of parts from a pile of parts and supplying them to a designated location, there is the technology disclosed in Patent Document 1. Patent Document 1 discloses a technology in which a robot's arm and hand move freely above a part supply location based on information from an image recognition device, grasping multiple parts from a pile and scattering them, thereby eliminating duplicate parts. Furthermore, it discloses a technology in which the arm and hand grasp parts selected by the image recognition device from the scattered parts and supply them to the part supply location.
[0003] Patent Document 1: Japanese Patent Application Publication No. 06-127698
[0004] However, when using the hand to grasp a small number of parts from a large pile of components, inserting the hand into the pile causes it to collapse, altering the component configuration. Therefore, it is not easy for a robot's arm and hand to reliably grasp a small number of parts from a large pile. Summary of the Invention
[0005] Therefore, the object of the present invention is to provide a component supply device capable of reliably removing a small number of components from a component group.
[0006] The present invention for achieving such an objective is a component supply device comprising: a component storage section for accommodating a plurality of components; and a component removal device for removing the components from the component storage section, the component storage section having a storage container having a component removal opening and a slit opening continuously extending from the removal opening, the component removal device having a hand that inserts its front end into the storage container through the slit opening and holds the components within the storage container, and removes the held components from the removal opening.
[0007] According to the present invention, a component supply device is provided that can reliably remove a small number of components from a component group. Attached Figure Description
[0008] Figure 1 This is a perspective view showing the component supply device of the first embodiment.
[0009] Figure 2 This is a side view showing the component supply device of the first embodiment.
[0010] Figure 3 This is a diagram illustrating an example of component removal from the component supply device based on the first embodiment.
[0011] Figure 4 This is a diagram illustrating a component supply method based on the component supply apparatus of the first embodiment.
[0012] Figure 5 This is a side view showing the component supply device of the second embodiment.
[0013] Figure 6 This is a perspective view showing the component supply device of the third embodiment.
[0014] Figure 7 This is a perspective view showing the component supply device according to the fourth embodiment.
[0015] Figure 8 This is a perspective view showing the component supply device according to the fifth embodiment.
[0016] Figure 9 This is a perspective view showing the component supply device according to the sixth embodiment.
[0017] Figure 10 This is a perspective view showing the component supply device according to the seventh embodiment.
[0018] Figure 11 This is a perspective view showing the component supply device according to the eighth embodiment.
[0019] Explanation of reference numerals in the attached drawings: 1, 2, 3, 4, 5, 6, 7, 8… Component supply device; 10, 10-2, 10-3, 10-5, 10-6, 10-7, 10-8… Component storage section; 11, 11-2, 11-3, 11-5, 11-6, 11-7, 11-8… Storage container; 11a, 11a-7, 11a-8… Retrieval opening; 11b, 11b-3, 11b-5, 11b-6, 11b-7, 11b-8… Slit opening; 11bb… Slit; 11c …loading opening; 11d, 11d-2, 11d-5, 11d-7, 11d-8…bottom surface; 11e…side surface; 12, 12-6, 12-8…gate; 12a…flange; 13…component loading section; 14, 14-8…component supply section; 100, 100-3, 100-3', 100-5, 100-6…component removal device; 102, 102-3, 102-3', 102-5, 102-6…hand; 102aa…claw (front end); [Wo]…component. Detailed Implementation
[0020] Hereinafter, various embodiments related to the component supply device of the present invention will be described in detail based on the accompanying drawings. Furthermore, in the embodiments described below, the same reference numerals are used to refer to the same constituent elements, and repeated descriptions are omitted.
[0021] First Implementation Method
[0022] Figure 1 This is a perspective view showing the component supply device 1 according to the first embodiment. Additionally, Figure 2 This is a side view of the component supply device 1 according to the first embodiment, viewed from the x-direction. Figure 1 The diagrams show the component supply device 1 used to supply components [Wo] (only) from a large stockpile of components. Figure 2 One or more components [Wo] are taken from the component group (shown) and supplied to a designated position. Such a component supply device 1 has a component storage section 10, a component retrieval device 100, a control section 200, and a sensor 300. Hereinafter, these structures will be described, and then the component supply method based on the component supply device 1 will be described.
[0023] <Component Storage Section 10>
[0024] The component storage section 10 stores a large number of components [Wo] and includes a storage container 11, a gate 12, a component loading section 13, and a component supply section 14.
[0025] [Storage Container 11]
[0026] The storage container 11 is a box-shaped container for accommodating a large number of components [Wo], with the top surface of the box serving as an opening 11a for removing the components [Wo]. The storage container 11 has two opposing sides with slit openings 11b that extend continuously from the removal openings 11a. Each slit opening 11b is equipped with a gate 12, which will be described below, so that the components [Wo] do not need to be considered for falling out of the slit opening 11b. Therefore, the opening width [W11b] and height of each slit opening 11b relative to the size of the components [Wo] are not limited.
[0027] Furthermore, the storage container 11 has a loading opening 11c on its side, in a position independent of the two slit openings 11b, for loading the component [Wo] into the storage container 11. Also, the bottom surface 11d of the storage container 11 is movable along its side, allowing the capacity of the storage container 11 and the height position of the component [Wo] within the storage container 11 to be variable. This bottom surface 11d can move between a height from the lower end of the side wall of the storage container 11 to, for example, near the lower end of the slit opening 11b.
[0028] [Gate 12]
[0029] The gate 12 freely opens and closes the two slit openings 11b of the storage container 11. Such gate 12 is configured to cover each slit opening 11b from the outside of the storage container 11 and moves vertically along the side of the storage container 11 to open and close the slit openings 11b.
[0030] The gate 12 has a flange 12a that protrudes outward from its upper edge. The gate 12 moves downward in conjunction with the descent of the hand 102 of the component removal device 100 (described below) by pressing the flange 12a downward, thus opening the slit opening 11b. Conversely, by releasing the pressure on the flange 12a, the gate 12 moves upward, closing the slit opening 11b.
[0031] Furthermore, the gate 12 may also be equipped with a drive unit. In this case, it is a structure in which the gate moves downward in conjunction with the descent of the hand 102, as instructed by the control unit 200 described below, to open the slit opening 11b. In addition, as long as the gate 12 is a structure that opens the slit opening 11b in conjunction with the descent of the hand 102, it is not limited to a structure that is movable in the vertical direction; for example, it may also be a split structure.
[0032] [Component Loading Section 13]
[0033] The component loading section 13 is a part used to load the component [Wo] into the storage container 11 via the loading opening 11c. It is a box-shaped container that extends outward from the loading opening 11c toward the outside of the storage container 11. The component loading section 13 communicates with the storage container 11 at the loading opening 11c, and the top surface of the box shape becomes the loading opening 13a for the component [Wo]. In addition, the bottom surface of the component loading section 13 becomes an inclined surface 13b that extends obliquely upward from the lower edge of the loading opening 11c toward the outside of the storage container 11.
[0034] With this structure, the component [Wo] inserted from the input opening 13a of the component input section 13 slides down the inclined surface 13b of the component input section 13 and is transferred into the storage container 11 through the input opening 11c.
[0035] [Component Supply Department 14]
[0036] The component supply unit 14 is a part for supplying the components [Wo] that are moved into the storage container 11 to a predetermined height inside the storage container 11. Such a component supply unit 14 is a drive part that moves the bottom surface 11d of the storage container 11 up and down along the wall of the storage container 11.
[0037] <Component Removal Device 100>
[0038] The component retrieval device 100 is used to retrieve one or more components [Wo] from a large number of components [Wo] stored in the storage container 11 of the component storage section 10 and deliver them to a predetermined location. This component retrieval device 100 includes a robotic arm 101 and a hand 102. These structures will be described below.
[0039] [Robot Arm 101]
[0040] A robotic arm 101 holds a hand 102 at its front end. Only the front end of the robotic arm 101 is shown in the accompanying drawings. This robotic arm 101 allows the held hand 102 to move freely in the x, y, and z directions. Alternatively, the robotic arm 101 may also have a mechanism for rotating the held hand 102, thereby controlling the direction of the hand 102.
[0041] [Hands 102]
[0042] The hand 102 is held at the front end of the robot arm 101 in a state protruding from the front end of the robot arm 101, and performs actions to hold the component [Wo] and release the held component [Wo]. Such a hand 102 is, for example, a pair of hands arranged opposite each other as shown in the figure.
[0043] A pair of hands 102 are arranged face-to-face with broad, generally flat surfaces, and their front ends can be opened and closed freely by moving closer or further apart from each other at their protruding front ends protruding from the robotic arm 101. The distance between the front ends of the pair of hands 102 in the open state is slightly wider than the spacing between the two slit openings 11b in the storage container 11. Thus, when the robotic arm 101 lowers the hands 102 from above the storage container 11, the front ends of the hands 102 can press against the flange 12a of the gate 12, causing the gate 12 to move downwards and release the slit openings 11b of the storage container 11. Furthermore, in this state, the hands 102 are positioned opposite each other to the slit openings 11b of the storage container 11, effectively closing the slit openings 11b. Moreover, the pair of hands 102 is configured to move to the degree that their front ends are in contact with each other when the front ends are closed.
[0044] Furthermore, each of the hands 102 has a width [W102] smaller than the opening width [W11b] of the slit opening 11b of the storage container 11. Thus, the hands 102 are configured such that their front ends are inserted into the storage container 11 through the two slit openings 11b released by the gate 12. Then, inside the storage container 11, the front ends of the hands 102 are brought together to form a closed state, thereby enabling the components [Wo] inside the storage container 11 to be held between the hands 102.
[0045] Figure 3This is a diagram illustrating an example of removing a component [Wo] from the component supply device 1 according to the first embodiment. As shown in the diagram, a pair of hands 102 positioned on the ground are brought close together with their front ends closed, thereby holding the component [Wo] between the pair of hands 102.
[0046] In this case, such as Figure 3 As shown in (a), the hands 102 bring their front ends into contact with each other, holding the member [Wo] on the inner circumferential side of one hand 102. Additionally, as... Figure 3 As shown in (b), the hand 102 holds the component [Wo] by clamping the component [Wo] between its front ends. Additionally, as... Figure 3 As shown in (C), the hand 102 clamps and holds the component [Wo] between the front ends, and holds the component [Wo] on the inner circumferential side.
[0047] In addition, such a hand 102 releases the held component [Wo] by opening the front end and places the component [Wo] in a specified position.
[0048] <Control Department 200>
[0049] Return to Figure 1 and Figure 2 Based on information from the sensor 300, the control unit 200 controls the drive of the component supply unit 14 in the component storage unit 10, the robot arm 101 and the hand 102 in the component retrieval device 100, to retrieve one or more components [Wo] from the large number of components [Wo] stored in the storage container 11 of the component storage unit 10 and supply them to the designated location.
[0050] This control unit 200 is configured as a computer. A computer is hardware used as a so-called PC. A computer has non-volatile storage units such as a CPU (Central Processing Unit), RAM (Random Access Memory), and ROM (Read Only Memory). Based on programs stored in the storage units, the computer controls the operation of the component supply unit 14 in the component storage unit 10 and the robotic arm 101 and hand 102 in the component retrieval device 100. The drive control of the component supply unit 14, robotic arm 101, and hand 102 based on this control unit 200 will be described in detail in the following section on the component supply method.
[0051] <Sensor 300>
[0052] The sensor 300 is used to detect the position and orientation of the component storage section 10, and the position and posture of the component retrieval device 100 relative to the position of the component retrieval device 100 holding the component [Wo] retrieved by the component retrieval device 100. Such a sensor 300 is, for example, an image recognition device with a camera. The sensor 300 sends the detected information to the control unit 200.
[0053] <Component Supply Method>
[0054] Figure 4 This diagram illustrates a component supply method based on the component supply device 1 according to the first embodiment, and is viewed from the y-direction. Figure 1 The diagram illustrates the component supply method via the aforementioned control unit 200 (see figure). Figure 1 This refers to a component supply method implemented using the component supply procedure of [the entity / organization]. The following refers to the previous [document / method / etc.]. Figure 1 and Figure 2 ,based on Figure 4 The component supply method of component supply device 1 will be described.
[0055] First, such as Figure 4 As shown in (1), the robotic arm 101 of the component retrieval device 100 moves the hand 102 above the component storage section 10. In addition, the hand 102 is in a state with its front end open beforehand. Furthermore, at this time, a large number of components [Wo] are contained in the storage container 11 of the component storage section 10, and the slit opening 11b of the storage container 11 is closed by the gate 12.
[0056] In addition, such as Figure 4 As shown in (2), the component supply section 14 in the component storage section 10 pushes up the bottom surface 11d of the storage container 11 to supply the component [Wo] in the storage container 11 to the height position of the slit opening 11b.
[0057] Next, as Figure 4 As shown in (3), the robot arm 101 lowers the hands 102 and presses the flange 12a of the gate 12 through each hand 102 to pull down the gate 12. As a result, the slit opening 11b of the storage container 11 is opened, and the hands 102 are positioned opposite the slit opening 11b.
[0058] Next, as Figure 4 As shown in (4), one pair of hands 102 brings their front ends together and closes them, thereby inserting the front ends of the hands 102 into the interior of the storage container 11 through the slit opening 11b. Moreover, the hands 102 clamp and hold the component [Wo] at at least one point between the front ends in the closed state and on the inner circumferential side of the two hands 102 with their front ends closed. In addition, following the movement of the hands 102, the gate 12 rises and closes the slit opening 11b.
[0059] Then, as Figure 4 As shown in (5), the robotic arm 101 raises the hand 102 and removes one or more parts [Wo] that are gripped between the hands 102 from the storage container 11.
[0060] Following the above, the illustrations are omitted here, but the robotic arm 101 moves the hand 102 to a predetermined position. At the destination, the hand 102 separates and opens its front end portion, thereby supplying one or more parts [Wo] held in one hand of the hand 102 to the predetermined position.
[0061] <Effects of the First Implementation>
[0062] The component supply device 1 of the first embodiment described above has a structure in which a slit opening 11b is provided on the side of the storage container 11 for the insertion of the hand 102 of the component removal device 100. Therefore, a group of components inside the storage container 11 can be gripped from the outside of the storage container 11 using one hand 102 without affecting the arrangement of the large number of components [Wo] contained within the storage container 11. Thus, one or more small quantities of components [Wo] can be reliably removed from a large number of components [Wo].
[0063] Furthermore, since the hand 102 is not inserted into the component group of the storage container 11, the component [Wo] will not be damaged due to the insertion of the hand 102 into the component group, and the quality of the component [Wo] can be ensured.
[0064] Second Implementation Method
[0065] Figure 5 This is a side view showing the component supply device 2 according to the second embodiment. The component supply device 2 of the second embodiment shown in this figure is used in conjunction with... Figures 1-4 The difference between the component supply device 1 of the first embodiment and the component storage device 1 described herein is that the bottom surface 11d-2 of the storage container 11-2 in the component storage section 10-2 is fixed. Therefore, the component storage section 10-2 of the component supply device 2 of the second embodiment does not have the component supply section 14 present in the component supply device 1 of the first embodiment. In other respects, the component supply device 2 of the second embodiment is the same as the component supply device 1 of the first embodiment.
[0066] In this second embodiment of the component supply device 2, the component loading section 13 functions as a component supply section at a height position to the slit opening 11b of the storage container 11-2.
[0067] The component supply method based on such a component supply device 2 is the same as that used in the first embodiment. Figure 4The same steps are performed as described. However, the supply of component [Wo] into storage container 11-2 is performed by component [Wo] falling from component loading section 13 into storage container 11-2.
[0068] <Effects of the Second Implementation>
[0069] The component supply device 2 in the second embodiment is designed to supply the component [Wo] to the height position of the slit opening 11b of the storage container 11-2, and does not use the component supply section 14 used in the first embodiment (see reference). Figure 1 , Figure 2 The component loading section 13 functions as a component supply section positioned at the height of the slit opening 11b of the storage container 11-2, using such a driving force. With this structure, in addition to the effects of the component supply device 1 of the first embodiment, energy saving and simplification of the device structure can also be achieved.
[0070] Third Implementation Method
[0071] Figure 6 This is a perspective view showing the component supply device 3 according to the third embodiment. The component supply device 3 shown in this figure is used in conjunction with... Figures 1-4 The difference between the component supply device 1 of the first embodiment and the component storage device 1 described herein lies in the structure of the slit opening 11b-3 of the storage container 11-3 in the component storage section 10-3 and the structure of the hand 102-3 in the component retrieval device 100-3. Furthermore, the component storage section 10-3 of the component supply device 3 of the third embodiment does not have the gate 12 present in the component supply device 1 of the first embodiment. In all other aspects, the component supply device 3 of the third embodiment is the same as the component supply device 1 of the first embodiment. Hereinafter, the differences between the component supply device 3 of the third embodiment and the component supply device 1 of the first embodiment will be described for each component, omitting repeated descriptions of identical components.
[0072] <Component Storage Section 10-3>
[0073] [Storage Container 11-3]
[0074] Storage container 11-3 is a box-shaped container for accommodating a large number of components [Wo] (not shown), with the top surface of the box serving as the retrieval opening 11a for the components [Wo]. The storage container 11-3 has two opposing wall surfaces with slit openings 11b-3 continuously extending from the retrieval opening 11a. Each slit opening 11b-3 is divided into multiple (here, three) slits 11bb continuously extending from the retrieval opening 11a. Furthermore, each slit opening 11b-3 can also be divided into multiple slits 11bb from a position continuous with the retrieval opening 11a.
[0075] Each slit 11bb has an opening width such that the component [Wo] will not fall off the storage container 11-3, and multiple (three) slits 11bb are arranged in parallel on each wall.
[0076] <Component Removal Device 100-3>
[0077] [Hands 102-3]
[0078] Hands 102-3 are held at the front end of the robot arm 101, protruding from the front end, and move to hold and release the held part [Wo]. Such hands 102-3 are, for example, a pair of hands arranged opposite each other as shown in the figure, and are forked hands whose front ends branch into multiple (three in this example) claws 102aa corresponding to the slits 11bb of the storage container 11-3. The claws 102aa in each hand 102-3 are configured with a width and spacing that allows them to be inserted into each slit 11bb.
[0079] Such hands 102-3 open and close freely by the movement of the front ends of the claws 102aa protruding from the robotic arm 101 approaching or separating from each other. The distance between the front ends of the claws 102aa of one pair of hands 102-3 in the open state is slightly wider than the distance between the two slit openings 11b-3 in the storage container 11-3. Thus, the robotic arm 101 lowers the hands 102-3 from above the storage container 11-3, thereby positioning the hands 102-3 on the outside of the storage container 11-3. Furthermore, the degree to which the front ends of one pair of hands 102-3 contact each other when the front ends of the claws 102aa are closed.
[0080] The component supply method based on such a component supply device 3 is the same as that used in the first embodiment. Figure 4 The same steps are performed as described. However, the component storage section 10-3 does not have a gate, so there is no gate opening or closing based on the movement of the hand 102-3.
[0081] <Effects of the Third Implementation>
[0082] The component supply device 3 of the third embodiment of this structure has a slit 11bb structure on the side of the storage container 11-3 into which the claw 102aa on the front end side of the hand 102-3 of the component retrieval device 100-3 is inserted. This achieves the same effect as the first embodiment. Furthermore, by making the front end of the hand 102-3 fork-shaped, the component supply device 3 of the third embodiment can divide the corresponding slit opening 11b-3 of the storage container 11-3 into multiple slits 11bb. Therefore, the slit opening 11b-3 does not need to be equipped with a gate to prevent the component [Wo] from falling off, thus simplifying the device structure.
[0083] Furthermore, this third embodiment can also be combined with the second embodiment, without providing the component supply section 14, and using the component loading section 13 as a component supply section at the height of the slit opening 11b-3 of the storage container 11-3. Thus, the effects of the second embodiment can also be obtained.
[0084] Fourth Implementation Method
[0085] Figure 7 This is a perspective view showing the component supply device 4 according to the fourth embodiment. The component supply device 4 shown in this figure is a device that uses... Figure 6 The variation of the component supply device 3 of the third embodiment described herein differs from the third embodiment only in that the fork-shaped bending of the hand portion 102-3' in the component removal device 100-3' is present.
[0086] Such hands 102-3' are open and closed freely by the movement of the front ends of the claws 102aa protruding from the robotic arm 101 approaching or separating from each other. The distance between the front ends of the claws 102aa in the open state of one pair of hands 102-3' is slightly wider than the interval between the two slit openings 11b in the storage container 11-3. Thus, the robotic arm 101 lowers the hands 102-3' from above the storage container 11-3, thereby positioning the hands 102-3' on the outside of the storage container 11-3. Furthermore, the accompanying drawings show the closed state of the claws 102aa. The degree to which the front ends of one pair of hands 102-3' contact each other is shown when the front ends of the claws 102aa are closed.
[0087] The component supply method based on such a component supply device 4 is the same as that used in the first embodiment. Figure 4 The same steps are performed as described. However, the component storage section 10-3 does not have a gate, so there is no gate opening or closing based on the movement of the hand 102-3'.
[0088] <Effects of the Fourth Implementation>
[0089] Even with this structure, the component supply device 4 of the fourth embodiment can achieve the same effect as the component supply device 3 of the third embodiment. Furthermore, by bending the fork-shaped part 102-3', the claw 102aa at the front end of the fork-shaped part 102-3' can be inserted into the storage container 11-3 along the bottom surface 11d of the storage container 11-3 and scoop up the component [Wo]. Therefore, the component [Wo] can be scooped up and removed from the storage container 11-3 without applying pressure to it, the component [Wo] will not be damaged, and the quality of the component [Wo] can be ensured.
[0090] Fifth Implementation Method
[0091] Figure 8 This is a perspective view showing the component supply device 5 according to the fifth embodiment. Figure 8 The component supply device 5 shown is used to remove one or more components from a component group that has accumulated a large number of components [Wo] (not shown) and supply them to a designated position. This component supply device 5 includes a component storage section 10-5, a component removal device 100-5, a control section 200, and a sensor 300. The structures of the control section 200 and the sensor 300 are the same as in the first embodiment, and therefore descriptions are omitted. Hereinafter, the structures of the component storage section 10-5 and the component removal device 100-5 will be described.
[0092] <Component Storage Section 10-5>
[0093] The component storage section 10-5 is used to pre-store a large number of components and includes a storage container 11-5, a component loading section 13, and a component supply section 14.
[0094] [Storage Container 11-5]
[0095] The storage container 11-5 is a box-shaped container for accommodating a large number of parts [Wo], and the top surface of the box-shaped container serves as the opening 11a for taking out the parts [Wo]. In addition, the upper part of one of the four sides 11e of the storage container 11-5 is configured with an inclined wall 11ee that is inclined toward the upper edge so as to expand the opening 11a.
[0096] The storage container 11-5 has a continuous slit opening 11b-5 extending from the take-out opening 11a in the inclined wall portion 11ee. This slit opening 11b-5 is divided into a plurality of (three in this case) slits 11bb extending continuously from the take-out opening 11a. Each slit 11bb has an opening width sufficient to prevent the component [Wo] from detaching from the storage container 11-5, and the plurality of (three) slits 11bb are arranged parallel to each other in the inclined wall portion 11ee.
[0097] Furthermore, the storage container 11-5 has a side opening 11c for the component [Wo] to be inserted into the storage container 11-5, in a position independent of the slit opening 11b-5. The bottom surface 11d-5 of the storage container 11-5 is configured to slope towards the side 11e with the inclined wall portion 11ee. This bottom surface 11d-5 is movable along the side of the storage container 11-5, allowing the capacity of the storage container 11-5 and the height position of the component [Wo] within the storage container 11-5 to be variable. This bottom surface 11d-5 can move between a height from the lower end of the wall of the storage container 11-5 to, for example, near the lower end of the slit opening 11b-5. Furthermore, the accompanying drawings show the bottom surface 11d-5 in its uppermost position.
[0098] [Component Loading Section 13]
[0099] The component loading section 13 is used to load components [Wo] into the storage container 11-5 via the loading opening 11c, and has the same structure as described in the first embodiment.
[0100] [Component Supply Department 14]
[0101] The component supply unit 14 is used to supply the components [Wo] moved into the storage container 11-5 to a predetermined height inside the storage container 11-5, and has the same structure as described in the first embodiment. Furthermore, the accompanying drawings show the state in which the bottom surface 11d-5 of the storage container 11-5 is moved to the uppermost position by driving the component supply unit 14.
[0102] <Component Removal Device 100-5>
[0103] The component retrieval device 100-5 is used to retrieve one or more components [Wo] from a large number of components [Wo] stored in the storage container 11-5 of the component storage section 10-5 and supply them to a designated location. This component retrieval device 100-5 includes a robotic arm (not shown) and a hand 102-5. These structures will be described below.
[0104] [Robot arm]
[0105] The robotic arm shown in the illustration holds the hand 102-5 at its front end. The robotic arm allows the held hand 102-5 to move freely in the x, y, and z directions. Alternatively, the robotic arm may also have a mechanism to rotate the held hand 102-5, thereby controlling the direction of the hand 102-5.
[0106] [Hands 102-5]
[0107] Hand 102-5 is held at the front end of the robot arm, protruding from the front end, and performs actions to scoop up parts [Wo] and supply the scooped parts [Wo] to a designated position. Such hand 102-5 is, for example, a forked hand whose front end is divided into multiple (three in this example) claws 102aa corresponding to the slit 11bb of the storage container 11-5. Each claw 102aa is configured with a width and spacing sufficient to insert into each slit 11bb.
[0108] Furthermore, the hand 102-5 has a shape in which, when each claw 102aa is matched with each slit 11bb, and when the claw 102aa is inserted into the storage container 11-5, the claw 102aa bends along the bottom surface 11d-5 and the inclined wall portion 11ee of the storage container 11-5. In this state, the length of the claw 102aa extends across the bottom surface 11d-5 of the storage container 11-5.
[0109] <Component Supply Method>
[0110] The component supply method based on such a component supply device 5 is implemented as follows. First, the component supply section 14 in the component storage section 10-5 pushes up the bottom surface 11d-5 of the storage container 11-5, supplying the component [Wo] in the storage container 11-5 to the height position of the slit 11bb. Next, the robotic arm inserts the claws 102aa of the hand 102-5 into the storage container 11-5 along the bottom surface 11d-5 of the storage container 11-5 through the slits 11bb. Thus, the component [Wo] is scooped up using the claws 102aa of the hand 102-5.
[0111] Then, the robotic arm raises the hand 102-5, scoops up one or more parts [Wo] held by the hand 102-5 from the storage container 11-5, and removes them. Furthermore, the robotic arm moves the hand 102-5 to a predetermined position and tilts the front end of the hand 102-5, thereby supplying one or more parts [Wo] held on the hand 102-5 to the predetermined position.
[0112] <Effects of the Fifth Implementation>
[0113] Even with this fifth embodiment of the component supply device 5, the same effect as the fourth embodiment of the component supply device 4 can be achieved. That is, a slit 11bb is provided on the side of the storage container 11-5 for inserting the claw 102aa at the front end of the hand 102-5 of the component removal device 100-5. Therefore, the claw 102aa at the front end of the fork-shaped hand 102-5 can be inserted into the storage container 11-5 along the bottom surface 11d-5 of the storage container 11-5 and the component [Wo] can be scooped up. Therefore, the component [Wo] can be scooped up and removed from the storage container 11-5 without applying pressure to the component [Wo], the component [Wo] will not be damaged, and the quality of the component [Wo] can be ensured.
[0114] Furthermore, the bottom surface 11d-5 of the storage container 11-5 is inclined towards the inclined wall portion 11ee of the storage container 11-5 with the slit 11bb. Therefore, relative to the hand 102-5 that inserts the claw 102aa from the slit 11bb, the component [Wo] inside the storage container 11-5 is supplied by natural falling. Thus, the component [Wo] can be scooped up and removed from the storage container 11-5 without applying pressure to it, and the component [Wo] will not be damaged, thus ensuring the quality of the component [Wo].
[0115] Furthermore, by setting the front end of the hand 102-5 to a fork shape, the slit opening 11b-5 of the corresponding storage container 11-5 can be divided into multiple slits 11bb. As a result, the slit opening 11b-5 does not need to be equipped with a gate to prevent the component [Wo] from falling off, which has the effect of simplifying the device structure.
[0116] The Sixth Implementation Method
[0117] Figure 9 This is a perspective view of the component supply device 6 according to the sixth embodiment. Figure 9 The component supply device 6 of the sixth embodiment shown is used to remove one or more components from a component group containing a large number of components (not shown) and supply them to a predetermined position. This component supply device 6 includes a component storage section 10-6, a component removal device 100-6, a control section 200, and a sensor 300. The structures of the control section 200 and the sensor 300 are the same as in the first embodiment, and therefore descriptions are omitted. Hereinafter, the structures of the component storage section 10-6 and the component removal device 100-6 will be described.
[0118] <Component Storage Section 10-6>
[0119] The component storage section 10-6 is used to pre-store a large number of components and includes a storage container 11-6, a gate 12-6, a component loading section 13, and a component supply section 14.
[0120] [Storage Container 11-6]
[0121] The storage container 11-6 is a box-shaped container for accommodating a large number of components, and the top surface of the box-shaped container serves as the opening 11a for taking out the component [Wo] (not shown). In addition, the upper part of one of the four side walls 11e of the storage container 11-6 is configured as an inclined wall portion 11ee, which is inclined in a way that expands the opening 11a toward the upper edge.
[0122] The storage container 11-6 has a slit opening 11b-6 that runs continuously from the take-out opening 11a in the inclined wall portion 11ee. Additionally, the storage container 11-6 has a loading opening 11c for inserting a component [Wo] into the storage container 11-6 in a position independent of the slit opening 11b-6 on its side. Furthermore, the bottom surface 11d of the storage container 11-6 is movable along the direction of the sidewall, allowing the capacity of the storage container 11-6 and the height position of the component [Wo] within the storage container 11-6 to be variable. This bottom surface 11d can move between a height from the lower end of the wall of the storage container 11-6 to, for example, near the lower end of the slit opening 11b-6. Moreover, the attached figures show the bottom surface 11d in its uppermost position.
[0123] [Gate 12-6]
[0124] The gate 12-6 opens and closes the slit opening 11b-6 of the storage container 11-6. Such a gate 12-6 is configured to cover the slit opening 11b-6 from the outside of the storage container 11-6 and moves vertically along the side of the storage container 11-6, thereby opening and closing the slit opening 11b-6.
[0125] Such a gate 12-6 has a flange 12a that protrudes outward from its upper edge. By pressing the flange 12a, the gate 12-6 moves downward and opens the slit opening 11b-6. Conversely, by releasing the pressing pressure on the flange 12a, the gate 12-6 moves upward and closes the slit opening 11b-6.
[0126] [Component Loading Section 13]
[0127] The component loading section 13 is used to load components [Wo] into the storage container 11-6 via the loading opening 11c, and has the same structure as described in the first embodiment.
[0128] [Component Supply Department 14]
[0129] The component supply unit 14 is used to supply the components [Wo] moved into the storage container 11-6 to a predetermined height inside the storage container 11-6, and has the same structure as described in the first embodiment. Furthermore, the accompanying drawings show the state in which the bottom surface 11d of the storage container 11-6 is moved to the uppermost position by driving the component supply unit 14.
[0130] <Component Removal Device 100-6>
[0131] The component retrieval device 100-6 is used to retrieve one or more components [Wo] from a large number of components [Wo] stored in the storage container 11-6 of the component storage section 10-6 and supply them to a designated location. This component retrieval device 100-6 includes a robotic arm (not shown) and a hand 102-6. These structures will be described below.
[0132] [Robot arm]
[0133] The robotic arm shown in the illustration holds the hand 102-6 at its front end. The robotic arm allows the held hand 102-6 to move freely in the x, y, and z directions. Alternatively, the robotic arm may also have a mechanism to rotate the held hand 102-6, thereby controlling the direction of the hand 102-6.
[0134] [Hands 102-6]
[0135] Hand 102-6 is held at the front end of the robot arm, protruding from the front end, and performs actions to hold the component [Wo] and release the held component [Wo]. Hand 102-6 has a shovel-shaped front end that is curved into a concave surface. The width [W102-6] of the front end of hand 102-6 is smaller than the opening width [W11b-6] of the slit opening 11b-6 of storage container 11-6. Therefore, hand 102-6 can insert the shovel-shaped front end into storage container 11-6 through the slit opening 11b-6 released by gate 12-6, with the width direction of the front end aligned with the width direction of the slit opening 11b-6. Then, hand 102-6 can hold the component [Wo] by performing actions to scoop it up from inside storage container 11-6 through the shovel-shaped front end.
[0136] <Component Supply Method>
[0137] The component supply method based on such a component supply device 6 is implemented as follows. First, the component supply section 14 in the component storage section 10-6 pushes up the bottom surface 11d of the storage container 11-6, supplying the component [Wo] in the storage container 11-6 to the height position of the slit opening 11b-6. Next, the robotic arm aligns the shovel-shaped front end of the hand 102-6 with the width direction of the opening of the storage container 11-6, and lowers the hand 102-6 from above the gate 12-6. As a result, the hand 102-6 presses down the flange 12a of the gate 12-6 to pull down the gate 12-6, opening the slit opening 11b-6 of the storage container 11-6, and positioning the hand 102-6 opposite the slit opening 11b-6.
[0138] Next, the robotic arm inserts the shovel-shaped front end of the hand 102-6 along the bottom surface 11d through the slit opening 11b-6 into the storage container 11-6, and scoops up the part [Wo] in the shovel shape and holds it.
[0139] Then, the robotic arm raises the hand 102-6, scooping up and removing one or more components [Wo] held in the hand 102-6 from the storage container 11-6. Furthermore, the robotic arm moves the hand 102-6 to a predetermined position, tilting the front end of the hand 102-6 to supply one or more components [Wo] held in the hand 102-6 to the predetermined position.
[0140] <Effects of the Sixth Implementation>
[0141] The component supply device 6 of the sixth embodiment described above has a structure in which a slit opening 11b-6 is provided on the side of the storage container 11-6 for the insertion of the hand 102-6 of the component retrieval device 100-6. Therefore, the component group inside the storage container 11-6 can be scooped up using the hand 102-6 inserted from the outside of the storage container 11-6 without affecting the arrangement of the large number of components [Wo] contained within the storage container 11-6. Thus, one or more small quantities of components [Wo] can be reliably retrieved from a large number of components [Wo].
[0142] Furthermore, the hand 102-6 will not be inserted into the component group of the storage container 11-6, so the component [Wo] will not be damaged due to the insertion of the hand 102-6 into the component group, and the quality of the component [Wo] can be ensured.
[0143] The Seventh Implementation Method
[0144] Figure 10This is a perspective view showing the component supply device 7 according to the seventh embodiment. The component supply device 7 of the seventh embodiment shown in this figure is used to remove one or more components from a component group containing a large number of components (not shown) and supply them to a predetermined position. Figure 5 A variation of the component supply device 2 according to the second embodiment will be described. This component supply device 7 includes a component storage section 10-7, a component retrieval device 100, a control unit 200, and a sensor 300. The structures of the component retrieval device 100, the control unit 200, and the sensor 300 are the same as in the first embodiment, and therefore descriptions are omitted. Hereinafter, the structure of the component storage section 10-7 will be described.
[0145] <Component Storage Section 10-7>
[0146] The component storage section 10-7 is used to pre-store a large number of components and includes a storage container 11-7 and a gate 12. The structure of the gate 12 is the same as in the first embodiment, so its description is omitted.
[0147] [Storage Container 11-7]
[0148] Storage container 11-7 is a box-shaped container used to hold a large number of parts [Wo]. As an example here, storage container 11-7 is a pentagonal prism-shaped container, with its top surface 11a' formed by two adjacent faces of the five sides of the pentagonal prism. In such a storage container 11-7, one of the two bottom faces of the pentagonal prism becomes an opening 11c for loading parts [Wo] into the storage container 11-7. The other of the two bottom faces of the pentagonal prism becomes a closed surface 11f.
[0149] Additionally, the storage container 11-7 has a take-out opening 11a-7 for component [Wo] on its top surface 11a', located away from the loading opening 11c. The storage container 11-7 has two opposing side surfaces that extend continuously from the top surface 11a', with slit openings 11b-7 extending continuously from the take-out openings 11a-7. Furthermore, only one of the two slit openings 11b-7 is illustrated in the accompanying drawings. Here, with the surface opposite the top surface 11a' among the five sides constituting the pentagonal prism shape of the storage container 11-7 designated as the bottom surface 11d-7, the two slit openings 11b-7 extend vertically from the take-out openings 11a-7 toward the edge of the bottom surface 11d-7.
[0150] Each slit opening 11b-7 is provided with a gate 12, so it is not necessary to consider the component [Wo] falling out of the slit opening 11b-7. Therefore, the opening width [W11b-7] of each slit opening 11b-7 is not limited relative to the size of the component [Wo]. The gate 12 is the same as in the first embodiment, having a flange 12a.
[0151] Such a storage container 11-7 is configured such that the loading opening 11c faces upward and the bottom surface 11d-7 is inclined. Thus, the component [Wo] loaded from the loading opening 11c slides down the bottom surface 11d-7 and is supplied to the position where the slit opening 11b-7 is formed.
[0152] The component supply method based on such a component supply device 7 is the same as that used in the first embodiment. Figure 4 The steps described are performed in the same manner. However, the supply of component [Wo] into storage container 11-7 is performed by component [Wo] being moved into storage container 11-7 from loading opening 11c. Furthermore, the robotic arm 101 controls the drive of hand 102 in accordance with the extending direction of slit opening 11b-7. Here, the opening width [W11b-7] of slit opening 11b-7 is greater than the width [W102] of hand 102, as in the first embodiment.
[0153] <Effects of the Seventh Implementation>
[0154] The component supply device 7 of the seventh embodiment described above has a structure in which a slit opening 11b-7 for inserting the hand 102 of the component removal device 100 is provided on the side of the storage container 11-7. Therefore, a group of components within the storage container 11-7 can be gripped by a hand 102 inserted into the storage container 11-7 from the outside of the storage container 11-7 without affecting the arrangement of the large number of components [Wo] contained within the storage container 11-7. Thus, one or more small quantities of components [Wo] can be reliably removed from a large number of components [Wo].
[0155] Furthermore, the hand 102 will not be inserted into the component group of the storage container 11-7, so the component [Wo] will not be damaged due to the insertion of the hand 102 into the component group, and the quality of the component [Wo] can be ensured.
[0156] Furthermore, in order to supply the component [Wo] to the height position of the slit opening 11b-7 of the storage container 11-7, the component supply device 7 of the seventh embodiment does not need to use the component supply section 14 used in the first embodiment (see [reference]). Figure 1 , Figure 2 Such a driving force can also achieve energy saving and simplification of device structure.
[0157] Eighth Implementation Method
[0158] Figure 11This is a perspective view of the component supply device 8 according to the eighth embodiment. The component supply device 8 shown in this figure is used to remove one or more components from a component group containing a large number of components (not shown) and supply them to a predetermined position. Such a component supply device 8 includes a component storage section 10-8, a component removal device 100, a control unit 200, and a sensor 300. The structures of the component removal device 100, the control unit 200, and the sensor 300 are the same as in the first embodiment, and therefore descriptions are omitted. Hereinafter, the structure of the component storage section 10-8 will be described.
[0159] <Component Storage Section 10-8>
[0160] The component storage section 10-8 is used to pre-store a large number of components and includes a storage container 11-8, a gate 12-8, and a component supply section 14-8.
[0161] [Storage Container 11-8]
[0162] Storage container 11-8 is a box-shaped container used to hold a large number of components. As an example, storage container 11-8 is a pentagonal prism shape, with one of its five sides serving as the component [Wo] removal opening 11a-8. Additionally, two consecutive slit openings 11b-8 are provided on two consecutive sides of the removal opening 11a-8. Here, the two sides of the pentagonal prism shape that are opposite the removal opening 11a-8 form the bottom surface 11d-8 of storage container 11-8.
[0163] Furthermore, the slit opening 11b-8 extends from the take-out opening 11a-8 to the bottom surface 11d-8 of the storage container 11-8.
[0164] Furthermore, one of the two bottom surfaces of the pentagonal prism shape constituting the storage container 11-8 is a closed wall, and the bottom of the other becomes a movable wall 11g that moves along the side of the pentagonal prism shape. Additionally, although not illustrated here, the component loading section 13 (see, for example, described in the first embodiment) could also be used. Figure 1 , Figure 2 It is in communication with the storage container 11-8 in a position independent of the slit opening 11b-8.
[0165] [Gate 12-8]
[0166] Gates 12-8 open and close the two slit openings 11b-8 of the storage container 11-8 respectively. Such gates 12-8 are configured to cover each slit opening 11b-8 from the outside of the storage container 11-8 and move vertically along the wall of the storage container 11-8, thereby opening and closing the slit openings 11b-8.
[0167] Such a gate 12-8 has a flange 12a that protrudes outward from its upper edge. By pressing the flange 12a, the gate 12-8 moves downward and opens the slit opening 11b-8. Conversely, by releasing the pressing pressure on the flange 12a, the gate 12-8 moves upward and closes the slit opening 11b-8.
[0168] [Component Supply Department 14-8]
[0169] The component supply unit 14-8 is a part for supplying the component [Wo] that has been moved into the storage container 11-8 to the position in the storage container 11-8 where the slit opening 11b-8 is formed. Such a component supply unit 14-8 is a drive part that moves the moving wall 11g of the storage container 11-8 along the side of the storage container 11-8.
[0170] The component supply method based on such a component supply device 8 is the same as that used in the first embodiment. Figure 4 The steps described herein are performed in the same manner. However, the supply of component [Wo] into storage container 11-8 is performed, for example, by moving component [Wo] from take-up opening 11a-8 into storage container 11-8. Additionally, although not illustrated here, the component loading section 13 described in the first embodiment (see reference 13) can also be installed relative to storage container 11-8. Figure 1 , Figure 2 ).
[0171] <Effects of the Eighth Implementation>
[0172] The component supply device 8 of the eighth embodiment described above has a structure in which a slit opening 11b-8 is provided on the side of the storage container 11-8 for the insertion of the hand 102 of the component removal device 100. Therefore, a group of components within the storage container 11-8 can be gripped by a pair of hands 102 inserted into the storage container 11-8 from the outside of the storage container 11-8 without affecting the arrangement of the large number of components [Wo] contained within the storage container 11-8. Thus, one or more small quantities of components [Wo] can be reliably removed from a large number of components [Wo].
[0173] Furthermore, the hand 102 will not be inserted into the component group of the storage container 11-8, so the component [Wo] will not be damaged due to the insertion of the hand 102 into the component group, and the quality of the component [Wo] can be ensured.
Claims
1. A component supply device, comprising: Component storage section, storing multiple components; and A component removal device is used to remove the component from the component storage section and supply it to a designated location. The component storage section has a storage container, which is provided with a component removal opening and a continuous slit opening extending from the removal opening. The component removal device has a hand that inserts its front end into the storage container through the slit opening, holds the component inside the storage container, and removes the held component from the removal opening. The component storage section is equipped with a gate that can freely open and close the slit opening of the storage container to prevent the component from falling out of the slit opening. The gate opens the slit opening in conjunction with the descent of the hand.
2. The component supply device according to claim 1, wherein, The storage container has the removal opening on its top surface and the slit opening on its side surface.
3. The component supply device according to claim 1, wherein, The storage container has a pair of slit openings on opposite sides. The component removal device has a pair of hands that insert a front end into the storage container from the outside of the storage container through a pair of slit openings, and use the pair of hands to grasp the component.
4. The component supply device according to claim 1, wherein, The hand has a shovel-shaped front end for scooping up the component contained in the storage container.
5. The component supply device according to claim 1, wherein, The gate has a flange that projects outward toward the storage container. The hand pushes the gate down to open the slit opening by pressing the flange downward with its front end.
6. The component supply device according to any one of claims 1 to 5, wherein, The component storage section has a component supply section, which supplies components housed inside the storage container to the height of the slit opening by moving the bottom surface of the storage container.
7. The component supply device according to any one of claims 1 to 5, wherein, The component storage section includes a component loading section, which communicates with the storage container through a loading opening. The loading opening is located on the side of the storage container in a state independent of the slit opening. The component loading section is box-shaped, and the bottom surface of the component loading section is configured as an inclined surface that slopes downward toward the loading opening.
8. The component supply device according to any one of claims 1 to 5, wherein, The bottom surface of the storage container is configured as an inclined surface that slopes down toward the side where the slit opening is provided.