Workpiece supply device and workpiece supply method

Abstract

To provide a workpiece supply device and a workpiece supply method capable of making a workpiece face in a predetermined direction without manual work.SOLUTION: A workpiece supply device includes: a support base 11 having irregularities that can fit to irregularities of a workpiece 40 and supporting the workpiece 40 from below; a pressing device 12 that contacts the workpiece 40 from above and presses the workpiece 40 toward the support base 11; a stepping motor 13 that rotates the support base 11 around a shaft 13A extending in a direction in which the workpiece 40 and the support base 11 overlap with each other; a detection device for detecting fitting of the irregularities of the workpiece 40 and the irregularities of the support base 11; and a control unit. After the workpiece 40 is arranged on the support base 11, the control unit causes the stepping motor 13 to rotate the support base 11 while causing the pressing device 12 to press the workpiece 40 toward the support base 11. After fitting of the irregularities of the workpiece 40 and the irregularities of the support base 11 is detected on the basis of a detection result of the detection device, the control unit makes the direction of the support base 11 a predetermined direction and stops rotation of the support base 11.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a workpiece supplying device and a workpiece supplying method. [Background technology]

[0002] 2. Description of the Related Art As a work supplying device, for example, one capable of supplying disk-shaped workpieces one by one is known (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-021760 Summary of the Invention [Problem to be solved by the invention]

[0004] When a workpiece is supplied, it may be necessary to orient the workpiece in a specific direction. Conventionally, this has been done manually. Therefore, it is desirable to be able to orient the workpiece in a desired direction without manual labor. [Means for solving the problem]

[0005] The work supply device supplies a work in a predetermined orientation and includes a support table having irregularities that can fit with the irregularities of the work and supporting the work from below, a pressing device that contacts the work from above and presses the work toward the support table, a rotation device that rotates the support table about an axis extending in the direction in which the work and the support table overlap, a detection device for detecting the fit between the irregularities of the work and the irregularities of the support table, and a control unit. After the workpiece is placed on the support table, the control unit presses the workpiece toward the support table using the pressing device while rotating the support table using the rotation device, and detects the fit between the unevenness of the workpiece and the unevenness of the support table based on the detection result of the detection device, and then orients the support table in a predetermined direction and stops the rotation of the support table.

[0006] The workpiece placed on the support table is pressed toward the support table by a pressing device while the support table is rotated by a rotating device. The engagement between the workpiece and the support table is detected based on the detection results from the detection device, and then the support table is rotated to a specified orientation and the rotation of the support table is stopped, allowing the workpiece to be oriented in the specified direction without manual labor.

[0007] The detection device may be capable of detecting a gap between the workpiece and the support table, and the control unit may be configured to detect the fit between the unevenness of the workpiece and the unevenness of the support table based on a detection result by the detection device that the gap has become less than a predetermined value.

[0008] The detection device can detect the gap between the workpiece and the support table, thereby reducing costs.

[0009] The work supply device may further include a robot hand, the robot hand including a hand section attached to a robot arm and configured to hold the workpiece, a first floating mechanism disposed between the robot arm and the hand section, the first floating mechanism supporting the hand section movably in a Z direction that is a direction from the robot arm toward the hand section, and a second floating mechanism disposed between the robot arm and the hand section, the second floating mechanism supporting the hand section movably in an X direction perpendicular to the Z direction, and supporting the hand section movably in a Y direction perpendicular to both the Z direction and the X direction.

[0010] By providing the robot hand with the first floating mechanism and the second floating mechanism, it is possible to absorb variations in the position of the workpiece when the workpiece is held by the hand portion.

[0011] The hand portion may have an adsorption portion that adsorbs the workpiece by magnetic force, and a concave-shaped induction portion that guides the workpiece into the adsorption portion, the induction portion becoming wider as it moves from the adsorption portion toward the tip of the hand portion.

[0012] The hand portion has an attraction portion that attracts the workpiece by magnetic force and a guide portion that guides the workpiece to the attraction portion, so that the hand portion can be pressed against the workpiece to hold it.

[0013] The first floating mechanism may have a first base portion, a first movable portion supported on the first base portion so as to be movable in the Z direction relative to the first base portion, and a spring that urges the first movable portion in a direction away from the first base portion in the Z direction.

[0014] The first floating mechanism has a spring, so that the hand unit can be elastically moved in the Z direction.

[0015] The second floating mechanism may include a second base portion, a second movable portion supported on the second base portion so as to be movable in the X direction and the Y direction relative to the second base portion, and a locking mechanism switchable between a locked state that locks movement of the second movable portion relative to the second base portion and an unlocked state that allows movement of the second movable portion relative to the second base portion.

[0016] The second floating mechanism has a locking mechanism, so that the positions of the hand unit in the X and Y directions can be fixed.

[0017] The work supply device may further include a roller conveyor that moves a storage box containing the work to a pick position where the robot hand picks up the work, the roller conveyor being inclined so as to be positioned lower as it approaches a second end opposite the first end from a first end which is the end on the side where the storage box is supplied, and an impact absorbing mechanism provided at the second end of the roller conveyor, the impact absorbing mechanism having an air cylinder that stops the storage box at the pick position.

[0018] By providing a shock absorbing mechanism having an air cylinder that stops the storage box at the pick position, shock can be absorbed well.

[0019] The roller conveyor may be rotatable between a first inclined position inclined so that the first end is positioned higher than the second end, and a second inclined position inclined so that the second end is positioned higher than the first end, and the work supply device may further include a supply conveyor connected to a first end of the roller conveyor positioned at the first inclined position, the supply conveyor supplying the storage box to the roller conveyor positioned at the first inclined position, and a discharge conveyor arranged below the supply conveyor, connected to the first end of the roller conveyor positioned at the second inclined position, the discharge conveyor discharging the storage box from the roller conveyor positioned at the second inclined position.

[0020] The inclination of the roller conveyor can be changed, and by providing a supply conveyor that supplies storage boxes to the roller conveyor located in a first inclined position, and a discharge conveyor that discharges storage boxes from the roller conveyor located in a second inclined position, the supply and discharge of storage boxes can be automated.

[0021] It is desirable that the length from the pivot axis of the roller conveyor to the first end be longer than the length from the pivot axis to the end of the storage box located at the pick position that is closest to the first end and is the farthest from the pivot axis.

[0022] The length from the rotation axis of the roller conveyor to the first end is longer than the length from the rotation axis to the end closest to the first end of the storage box located at the pick position and farthest from the rotation axis, so that the storage box does not get caught when the roller conveyor rotates from the first inclined position to the second inclined position.

[0023] The work supply method uses a work supply device that supplies a work in a predetermined orientation, the work supply device including a support table having irregularities that can fit with the irregularities of the work and supporting the work from below, a pressing device that contacts the work from above and presses the work towards the support table, a rotation device that rotates the support table about an axis extending in the direction in which the work and the support table overlap, and a detection device for detecting the fit-up of the irregularities of the work with the irregularities of the support table. The work supply method involves, after the work is placed on the support table, pressing the work toward the support table with the pressing device while rotating the support table with the rotating device, detecting the fit between the unevenness of the work and the unevenness of the support table based on the detection result of the detection device, and then orienting the support table in a predetermined direction and stopping the rotation of the support table.

[0024] The workpiece placed on the support table is pressed toward the support table by a pressing device while the support table is rotated by a rotating device. The engagement between the workpiece and the support table is detected based on the detection results from the detection device, and then the support table is rotated to a specified orientation and the rotation of the support table is stopped, allowing the workpiece to be oriented in the specified direction without manual labor. Effect of the Invention

[0025] The workpiece can be oriented in the specified direction without manual labor.

[0026] The detection device can detect the gap between the workpiece and the support table, thereby reducing costs.

[0027] By providing the robot hand with the first floating mechanism and the second floating mechanism, it is possible to absorb variations in the position of the workpiece when the workpiece is held by the hand portion.

[0028] The hand portion has an attraction portion that attracts the workpiece by magnetic force and a guide portion that guides the workpiece to the attraction portion, so that the hand portion can be pressed against the workpiece to hold it.

[0029] The first floating mechanism has a spring, so that the hand unit can be elastically moved in the Z direction.

[0030] The second floating mechanism has a locking mechanism, so that the positions of the hand unit in the X and Y directions can be fixed.

[0031] By providing a shock absorbing mechanism having an air cylinder that stops the storage box at the pick position, shock can be absorbed well.

[0032] The inclination of the roller conveyor can be changed, and by providing a supply conveyor that supplies storage boxes to the roller conveyor located in a first inclined position, and a discharge conveyor that discharges storage boxes from the roller conveyor located in a second inclined position, the supply and discharge of storage boxes can be automated.

[0033] The length from the rotation axis of the roller conveyor to the first end is longer than the length from the rotation axis to the end closest to the first end of the storage box located at the pick position and farthest from the rotation axis, so that the storage box does not get caught when the roller conveyor rotates from the first inclined position to the second inclined position. [Brief description of the drawings]

[0034] [Figure 1] FIG. 2 is a plan view showing the work supply device according to the embodiment. [Diagram 2] 1A and 1B are perspective views showing a workpiece according to an embodiment. [Diagram 3]1 is a perspective view showing a support base for the orientation adjustment device, a pressing device, and a stepping motor serving as a rotating device. FIG. [Figure 4] FIG. 2 is a perspective view showing a rail and a detection device of the orientation adjustment device. [Diagram 5] 1A is a diagram for explaining the detection device, in which FIG. 1A shows a case where the gap between the workpiece and the support table is larger than a predetermined value, and FIG. 1B shows a case where the gap is equal to or smaller than a predetermined value. [Figure 6] FIG. 2 is a perspective view showing a robot hand. [Figure 7] FIG. 4 is a cross-sectional view showing a second floating mechanism. [Figure 8] 1A and 1B are diagrams showing a first floating mechanism. [Figure 9] 1A and 1B are diagrams showing the hand unit. [Figure 10] FIG. [Figure 11] FIG. 2 is a diagram showing a roller conveyor and a storage box. [Figure 12] FIG. 2 is a diagram showing a state in which a workpiece is placed on a support table. [Figure 13] 13A and 13B are diagrams showing the operation of the pressing device after the workpiece is placed on the support table. [Figure 14] 13A and 13B are diagrams showing a state in which the support base is moved to a support position and rotated. [Figure 15] 13 is a diagram showing a state in which the unevenness of the workpiece and the unevenness of the support base are fitted together. FIG. [Figure 16] 13A to 13C are diagrams illustrating the operation of the pressing device after the rotation of the stepping motor is stopped. [Figure 17] FIG. 13 is a diagram showing a state in which the support table has been moved to a supply position. [Figure 18] 13 is a diagram showing a state in which the storage box is emptied and the roller conveyor has rotated from the first inclination position to the second inclination position. FIG. [Figure 19] 13 is a diagram showing a state in which a new storage box is supplied from the supply conveyor to the roller conveyor. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0035] Next, an embodiment will be described. 1, the work supplying device 1 according to the embodiment is a device that supplies a work 40 to the next process in a predetermined orientation. The work supplying device 1 includes an orientation adjustment device 10, a robot 20, a work setting device 30, and a control unit 100 (see FIG. 4).

[0036] A storage box 50 containing workpieces 40 is set in the work setting device 30. The robot 20 takes out the workpieces 40 one by one from the storage box 50 set in the work setting device 30 and supplies them to the orientation adjustment device 10. The orientation adjustment device 10 adjusts the orientation of the supplied workpieces 40 to a predetermined orientation.

[0037] As shown in Fig. 2(a), in this embodiment, the workpiece 40 has a disk shape. Specifically, the workpiece 40 is a reclining device for an automobile seat, which is an example of a vehicle seat. The reclining device is a device for adjusting the inclination angle of a seat back relative to a seat cushion. The workpiece 40 (reclining device) has a protruding shaft 40A.

[0038] As shown in FIG. 2(b), the workpiece 40 has unevenness on the rear surface 40B. Specifically, the workpiece 40 has two first convex portions 41 and two second convex portions 42 on the rear surface 40B. The workpiece 40 also has a protrusion 43 in the center of the rear surface 40B. The first convex portion 41 is a protrusion having a substantially rectangular shape. The protrusion 43 is located between the two first convex portions 41. The two first convex portions 41 are located at equal distances from the protrusion 43. The second convex portion 42 is a protrusion having a substantially circular shape. The protrusion 43 is located between the two second convex portions 42. The two second convex portions 42 are located at equal distances from the protrusion 43. The first convex portion 41 and the second convex portion 42 are formed in the circumferential direction of the workpiece 40 with a phase shift of 90 degrees in the order of one first convex portion 41, one second convex portion 42, the other first convex portion 41, and the other second convex portion 42.

[0039] 3 and 4, the orientation adjustment device 10 includes a support base 11, a pressing device 12, a stepping motor 13 as an example of a rotation device, a rail 14, a detection device 15, and a lifting device 16 (see FIG. 12). The support base 11, the pressing device 12, the stepping motor 13, the detection device 15, and the lifting device 16 are disposed at an adjustment side end 14B of the rail 14.

[0040] The rail 14 is a device that guides the workpiece 40 supplied by the robot 20 above the support table 11. The rail 14 extends at an incline so as to be positioned lower as it approaches the adjustment side end 14B from the supply side end 14A. The supply side end 14A is the end on the side where the workpiece 40 is supplied. The adjustment side end 14B is the end opposite the supply side end 14A. The workpiece 40 supplied to the supply side end 14A moves to the adjustment side end 14B while sliding on the rail 14. The workpiece 40 is supplied onto the rail 14 with the back surface 40B facing downward.

[0041] The support table 11 is a member that supports the workpiece 40 from below. In this embodiment, the support table 11 has a disk shape with a circular through hole 11H formed in the center. The through hole 11H is a hole that can receive a protrusion 43 (see FIG. 2(b)) on the back side of the workpiece 40. The support table 11 has projections and recesses on its upper surface that can fit with the projections and recesses of the workpiece 40. Specifically, the support table 11 has two first recesses 111 and two second recesses 112 on its upper surface.

[0042] The first recess 111 is a recess that can be fitted with the first protrusion 41 of the work 40. The through hole 11H is located between the two first recesses 111. The two first recesses 111 are located at positions equidistant from the through hole 11H. The second recess 112 is a recess that can be fitted with the second protrusion 42 of the work 40. The through hole 11H is located between the two second recesses 112. The two second recesses 112 are located at positions equidistant from the through hole 11H. The first recess 111 and the second recess 112 are arranged in the circumferential direction of the support base 11 in the order of one first recess 111, one second recess 112, the other first recess 111, and the other second recess 112, with a phase shift of 90 degrees.

[0043] The pressing device 12 is a device that comes into contact with the workpiece 40 from above and presses the workpiece 40 toward the support table 11. The pressing device 12 includes an arm 121, four pressing pins 122, and four guides 123. The arm 121 has a recess 121A at the tip thereof. The recess 121A is a recess capable of receiving the shaft 40A on the front side of the workpiece 40.

[0044] The pressing pins 122 are parts that come into contact with the workpiece 40. In this embodiment, the pressing pins 122 are arranged one by one at positions corresponding to the corners of a square when viewed from the direction in which the shaft 13A extends. The pressing pins 122 are arranged inside the circular outline of the workpiece 40 when viewed from the direction in which the shaft 13A extends. The pressing pins 122 are held by a guide 123 so as to be movable up and down relative to the arm 121.

[0045] The guide 123 has a cylindrical shape with a closed top. The guide 123 is fixed to the arm 121. A spring (not shown) is disposed between the pressing pin 122 and the upper wall of the guide 123. This allows the pressing pin 122 to elastically move up and down. When the pressing pin 122 is in contact with the workpiece 40, the pressing pin 122 can move up and down following the up and down movement of the workpiece 40. The pressing pin 122 presses the workpiece 40 towards the support table 11 by the restoring force of the spring.

[0046] The pressing device 12 is configured to be movable up and down between a contact position shown in Fig. 13(b) and a separated position shown in Fig. 13(a). The contact position is a position where the pressing pin 122 can contact the workpiece 40. The separated position is a position above the contact position where the pressing pin 122 is separated from the workpiece 40. The pressing device 12 is also configured to be movable in the horizontal direction between the separated position and a retracted position shown in Fig. 12. The tip of the arm 121 is disposed on the support base 11 when the pressing device 12 is located at the separated position, and retracts from above the support base 11 when the pressing device 12 is located at the retracted position.

[0047] The recess 121A of the arm 121 penetrates vertically and has a shape recessed in a direction from the separated position shown in Fig. 13(a) toward the retracted position shown in Fig. 12. The recess 121A receives the shaft 40A of the workpiece 40 when the pressing device 12 moves from the retracted position to the separated position. With the recess 121A receiving the shaft 40A, the pressing device 12 moves vertically between the separated position and the contact position shown in Fig. 13(b).

[0048] 3, the stepping motor 13 is a device that rotates the support table 11 about an axis 13A. The axis 13A extends in a direction in which the workpiece 40 and the support table 11 overlap. Specifically, the axis 13A extends in a direction perpendicular to the direction in which the workpiece 40 moves on the rail 14. In this embodiment, the axis 13A passes through the center of the support table 11. The stepping motor 13 is configured to be rotatable about the axis 13A.

[0049] 12, the lifting device 16 is a device that moves the support base 11 together with the stepping motor 13 in a direction parallel to the axis 13A. Specifically, the lifting device 16 moves the support base 11 up and down together with the stepping motor 13. The lifting device 16 includes an actuator (not shown) that moves the support base 11 and the stepping motor 13 up and down.

[0050] The support table 11 can be moved from the standby position shown in FIG. 12 to the support position shown in FIG. 14 by the lifting device 16. The standby position is a position where the support table 11 is disposed below the workpiece 40, and is a position where the support table 11 is separated from the workpiece 40. The support position is a position above the standby position, and is a position where the support table 11 supports the workpiece 40 from below. The support table 11 can also be moved from the support position to the supply position shown in FIG. 17 by the lifting device 16. The supply position is a position even higher than the support position. The support table 11 can also be moved from the supply position to the standby position shown in FIG. 12 by the lifting device 16.

[0051] As shown in FIG. 4, the detection device 15 is a device for detecting the engagement between the unevenness of the workpiece 40 and the unevenness of the support table 11. In this embodiment, the detection device 15 is capable of detecting a gap between the workpiece 40 and the support table 11. A gap larger than a predetermined value is generated between the workpiece 40 and the support table 11 when the unevenness of the workpiece 40 and the unevenness of the support table 11 are not engaged, and the gap is a predetermined value or less when the unevenness of the workpiece 40 and the unevenness of the support table 11 are engaged. Using this, the detection device 15 detects the gap between the workpiece 40 and the support table 11.

[0052] Specifically, the detection device 15 has a light emitting unit 151 and a light receiving unit 152. The light emitting unit 151 has an element that emits a laser beam LB toward the light receiving unit 152. The light receiving unit 152 has an element that can receive the laser beam LB emitted from the light emitting unit 151. As shown in FIG. 5(a), when the gap between the workpiece 40 and the support base 11 is larger than a predetermined value, the light receiving unit 152 receives the laser beam LB emitted from the light emitting unit 151. As shown in FIG. 5(b), when the gap between the workpiece 40 and the support base 11 is equal to or smaller than a predetermined value, the laser beam LB emitted from the light emitting unit 151 is blocked by the workpiece 40, and the light receiving unit 152 does not receive the laser beam LB.

[0053] The control unit 100 is a device that controls the orientation adjustment device 10, the robot 20, and the work set device 30. The control unit 100 has a CPU, a ROM, a RAM, a rewritable non-volatile memory, etc., and controls each device by executing a program stored in advance.

[0054] Although details will be described later, after the workpiece 40 is placed on the support table 11, the control unit 100 rotates the support table 11 with the stepping motor 13 while pressing the workpiece 40 toward the support table 11 with the pressing device 12. Then, the control unit 100 detects engagement between the concaves and convexes of the workpiece 40 and the convexes of the support table 11 based on the detection result of the detection device 15, and then orients the support table 11 in a predetermined direction and stops the rotation of the support table 11.

[0055] The control unit 100 detects the engagement between the unevenness of the workpiece 40 and the unevenness of the support base 11 based on the detection result of the detection device 15 that the gap has become equal to or smaller than a predetermined value. In this embodiment, when the light receiving unit 152 of the detection device 15 stops receiving the laser light LB emitted from the light emitting unit 151, the control unit 100 causes the orientation of the support base 11 to be in a predetermined orientation and stops the rotation of the support base 11.

[0056] Stepping motor 13 is rotatable in both clockwise and counterclockwise directions when viewed from the direction in which shaft 13A extends. The rotation direction and rotation operation (start and stop of rotation) of stepping motor 13 are controlled by control unit 100.

[0057] The control unit 100 rotates the stepping motor 13 alternately in both clockwise and counterclockwise directions by a predetermined angle while pressing the workpiece 40 toward the support table 11 with the pressing device 12. The control unit 100 rotates the stepping motor 13 until it detects engagement between the unevenness of the workpiece 40 and the unevenness of the support table 11. When the control unit 100 detects engagement between the unevenness of the workpiece 40 and the unevenness of the support table 11, it rotates the stepping motor 13 to a phase where the orientation of the support table 11 is in a predetermined orientation. Then, when the control unit 100 has rotated the stepping motor 13 to a phase where the orientation of the support table 11 is in a predetermined orientation, it stops the rotation of the stepping motor 13.

[0058] As shown in Fig. 6, the robot 20 is a device that holds and transports a workpiece 40. The robot 20 is controlled by a control unit 100. The robot 20 includes a robot hand 20H that holds the workpiece 40, and a robot arm 20A (see also Fig. 1) that moves the robot hand 20H. The robot hand 20H is attached to the robot arm 20A.

[0059] The robot hand 20H includes a hand portion 21, a first floating mechanism 22, and a second floating mechanism . The hand unit 21 is a device that holds the workpiece 40. The hand unit 21 is attached to the robot arm 20A. In this embodiment, the hand unit 21 is attached to the robot arm 20A via a first floating mechanism 22 and a second floating mechanism 23.

[0060] The first floating mechanism 22 is a mechanism that supports the hand unit 21 so as to be movable in the Z direction. The Z direction is the direction from the robot arm 20A toward the hand unit 21. The first floating mechanism 22 is disposed between the robot arm 20A and the hand unit 21. In this embodiment, the first floating mechanism 22 is disposed between the second floating mechanism 23 and the hand unit 21.

[0061] The second floating mechanism 23 is a mechanism that supports the hand unit 21 movably in the X direction and also supports the hand unit 21 movably in the Y direction. The X direction is a direction perpendicular to the Z direction. The Y direction is a direction perpendicular to both the Z direction and the X direction. The second floating mechanism 23 is disposed between the robot arm 20A and the hand unit 21. In this embodiment, the first floating mechanism 22 is disposed between the robot arm 20A and the first floating mechanism 22.

[0062] As shown in FIG. 7, the second floating mechanism 23 has a second base portion 231, a second movable portion 232, and a lock mechanism 233. The second base portion 231 has a cylindrical shape with a bottom. Specifically, the second base portion 231 has a circular base wall 231A, a side wall 231B extending in the Z direction from the peripheral edge portion of the base wall 231A, and an annular wall 231C extending radially inward from an end portion of the side wall 231B of the second base portion 231.

[0063] The second movable part 232 is supported by the second base part 231 so as to be movable in the X direction and the Y direction relative to the second base part 231. Specifically, the second movable part 232 has a disk part 232A and a columnar part 232B protruding from the center of the disk part 232A. The columnar part 232B of the second movable part 232 is disposed inside the second base part 231 and is held so as to be movable in the X direction and the Y direction. The second movable part 232 is held by the second base part 231 so as to be rotatable about the center line of the second movable part 232, which is parallel to the center line 23C of the second floating mechanism 23 (the center line of the second base part 231). The columnar part 232B has a plurality of convex parts 232C on an end face close to the base wall 231A of the second base part 231. The convex parts 232C protrude toward the base wall 231A.

[0064] The locking mechanism 233 is a mechanism that can switch the second floating mechanism 23 between a locked state and an unlocked state. The locked state is a state in which movement of the second movable part 232 relative to the second base part 231 is locked. The unlocked state is a state in which movement of the second movable part 232 relative to the second base part 231 is permitted. The locking mechanism 233 has a piston 234 and a spring 235.

[0065] The piston 234 is disposed inside the second base portion 231, between the base wall 231A and the second movable portion 232. The piston 234 has a plurality of recesses 234C on an end surface close to the columnar portion 232B of the second movable portion 232. The recesses 234C are engageable with the protrusions 232C of the second movable portion 232.

[0066] When air is supplied from an air port 231D provided in the second base part 231 between the piston 234 and the base wall 231A in the second base part 231, the piston 234 moves downward, and the recessed part 234C engages with the protruding part 232C of the second movable part 232. This locks the movement of the second movable part 232 relative to the second base part 231 in the X direction and Y direction, and the rotation.

[0067] When air is no longer supplied into the second base part 231, the piston 234 moves upward due to the biasing force of the spring 235. This disengages the recessed part 234C from the protruding part 232C, and allows the second movable part 232 to move in the X direction and Y direction and rotate relative to the second base part 231.

[0068] The second floating mechanism 23 further includes a plurality of first permanent magnets 236A and the same number of second permanent magnets 236B as the first permanent magnets 236A. The first permanent magnets 236A are held by an annular wall 231C of the second base portion 231. The first permanent magnets 236A are arranged at equal intervals in the circumferential direction of the annular wall 231C. The second permanent magnets 236B are held by a disk portion 232A of the second movable portion 232. The second permanent magnets 236B are arranged at equal intervals in the circumferential direction of the disk portion 232A so as to face the first permanent magnets 236A.

[0069] When the locking mechanism 233 is in an unlocked state and no load is applied to the second movable part 232, the center line of the second movable part 232 moves to a position where it overlaps with the center line 23C due to the attractive force between the first permanent magnet 236A and the second permanent magnet 236B.

[0070] As shown in FIGS. 8(a) and 8(b), the first floating mechanism 22 has a first base portion 221, a first movable portion 222, and a spring 223. The first movable part 222 is supported by the first base part 221 so as to be movable in the Z direction relative to the first base part 221. Specifically, the first base part 221 is provided with guides 221A and 221B, and the first movable part 222 is provided with shafts 222A and 222B. The guides 221A and 221B have a cylindrical shape and extend in the Z direction. The shafts 222A and 222B extend in the Z direction. The first movable part 222 is slidably held by the guide 221A and slidably held by the guide 221B so as to be movable in the Z direction relative to the first base part 221.

[0071] The spring 223 is a spring that biases the first movable part 222 in a direction away from the first base part 221 in the Z direction. As an example, the spring 223 is a compression coil spring. The first base part 221 is provided with a rod-shaped part 221C extending in the Z direction toward the first movable part 222, and the first movable part 222 is provided with a hole 222C capable of receiving the rod-shaped part 221C. The spring 223 is disposed between the first base part 221 and the first movable part 222 in a state in which the spring 223 is passed through the rod-shaped part 221C. One end of the spring 223 contacts the first base part 221, and the other end contacts the first movable part 222. The spring 223 is disposed between the guide 221A and the guide 221B. The spring 223 is disposed between the shaft 222A and the shaft 222B. The tip of the rod-shaped part 221C is inserted into the hole 222C.

[0072] As shown in FIG. 9( a ), the hand unit 21 has a suction unit 211 and a guide unit 212 . The attraction portion 211 attracts the workpiece 40 by magnetic force. An electromagnet is provided in the attraction portion 211. The attraction portion 211 has an attraction surface 211A to which the workpiece 40 is attracted.

[0073] The guiding portion 212 is a recessed portion that guides the workpiece 40 into the suction portion 211. The guiding portion 212 becomes wider from the suction portion 211 toward the tip of the hand portion 21. Specifically, the guiding portion 212 is composed of two protruding portions 213 that protrude in the Z direction from the suction portion 211. The suction surface 211A is disposed between the two protruding portions 213.

[0074] The protruding portion 213 has an inclined surface 213A on a surface facing the other protruding portion 213. The inclined surface 213A is inclined so as to move away from the other protruding portion 213 toward the tip of the hand portion 21. In other words, the inclined surface 213A is inclined so as to move away from the other protruding portion 213 as it moves away from the adsorption surface 211A.

[0075] The robot 20 presses the hand unit 21 against the outer peripheral surface of the workpiece 40, so that the workpiece 40 moves relatively along the inclined surface 213A toward the suction surface 211A, and as shown in Fig. 9(b), the suction surface 211A suctions the workpiece 40. At this time, by setting the second floating mechanism 23 to an unlocked state, the hand unit 21 can suction the workpiece 40 while moving to follow the workpiece 40 contained in the container 50 (see Fig. 1).

[0076] As shown in FIG. 10, the work set device 30 includes a roller conveyor 31, a shock absorbing mechanism 32, a supply conveyor 33, and a discharge conveyor . The roller conveyor 31 is a device that moves the storage box 50 in which the workpieces 40 are stored to a pick position. The pick position is a position where the robot hand 20H (robot 20) picks up the workpieces 40. Specifically, the pick position is the position of the storage box 50A shown in FIG.

[0077] The roller conveyor 31 has a plurality of rollers 311 and a frame 312 that rotatably supports the plurality of rollers 311. The roller conveyor 31 has a first end 31A and a second end 31B. The first end 31A is the end on the side where the storage boxes 50 are supplied. The second end 31B is the end opposite to the first end 31A. The roller conveyor 31 is inclined so as to be positioned lower as it approaches the second end 31B from the first end 31A.

[0078] 11, the roller conveyor 31 can rotate about a rotation axis 31C between a first tilt position indicated by a solid line and a second tilt position indicated by a virtual line. The first tilt position is a position where the roller conveyor 31 is tilted so that the first end 31A is positioned higher than the second end 31B. The second tilt position is a position where the roller conveyor 31 is tilted so that the second end 31B is positioned higher than the first end 31A. The roller conveyor 31 is controlled by the control unit 100 to rotate between the first and second tilt positions.

[0079] In the work setting device 30, the first length L1 is longer than the second length L2. The first length L1 is the length from the rotation axis 31C of the roller conveyor 31 to the first end 31A. The second length L2 is the length from the rotation axis 31C to the first portion 51 of the storage box 50 located at the pick position. The first portion 51 is the end of the storage box 50 located at the pick position that is closest to the first end 31A and is the portion farthest from the rotation axis 31C.

[0080] As shown in Fig. 10, the shock absorbing mechanism 32 is a mechanism for stopping the storage box 50 at the pick position. The shock absorbing mechanism 32 is provided at the second end 31B of the roller conveyor 31. The shock absorbing mechanism 32 has an air cylinder 321. The air cylinder 321 includes a cylinder 321A, a rod 321B, and a piston (not shown). When the storage box 50 abuts against the rod 321B, the shock absorbing mechanism 32 gradually releases air from within the cylinder 321A, thereby absorbing the shock generated when the storage box 50 abuts against the rod 321B.

[0081] The supply conveyor 33 is a device that supplies the storage box 50 to the roller conveyor 31 located at the first inclined position. The supply conveyor 33 has a plurality of rollers 331 and a frame 332 that rotatably supports the plurality of rollers 331. The supply conveyor 33 is arranged so as to be connected to the first end 31A of the roller conveyor 31 located at the first inclined position. The supply conveyor 33 is arranged in an inclined state so that the end 33A farther from the roller conveyor 31 is located higher than the end 33B closer to the roller conveyor 31. The inclination angle of the roller conveyor 31 located at the first inclined position is larger than the inclination angle of the supply conveyor 33.

[0082] In this embodiment, two storage boxes 50 can be placed on the supply conveyor 33. The work set device 30 further includes a first locking device 35 and a second locking device 36. The first locking device 35 is a device for stopping the storage box 50B next to the storage box 50A located on the roller conveyor 31 at a first standby position shown by a solid line. The first locking device 35 is released when the storage box 50B is supplied to the roller conveyor 31. The second locking device 36 is a device for stopping the storage box 50C next to the storage box 50B at a second standby position shown by a virtual line. The second locking device 36 is released when the storage box 50C is moved to the first standby position. The first locking device 35 and the second locking device 36 are controlled by the control unit 100.

[0083] The discharge conveyor 34 is a device that discharges the storage box 50 from the roller conveyor 31 located at the second inclined position. The discharge conveyor 34 has a plurality of rollers 341 and a frame 342 that rotatably supports the plurality of rollers 341. The discharge conveyor 34 is disposed below the supply conveyor 33. The discharge conveyor 34 is disposed so as to be connected to the first end 31A of the roller conveyor 31 located at the second inclined position. The discharge conveyor 34 is disposed in an inclined state so that the end 34A close to the roller conveyor 31 is positioned higher than the end 34B farther from the roller conveyor 31. The inclination angle of the roller conveyor 31 located at the second inclined position (see FIG. 11) is larger than the inclination angle of the discharge conveyor 34.

[0084] Next, a description will be given of the operation of the work supplying device 1, i.e., a work supplying method using the work supplying device 1. In this embodiment, the work supplying method is used as part of the process of a vehicle seat manufacturing method for manufacturing an automobile seat. More specifically, the work supplying method is used as part of the process of a seat frame manufacturing method for manufacturing a seat frame that constitutes the skeleton of the automobile seat.

[0085] As shown in Fig. 4, the control unit 100 controls the robot 20 to pick up the workpiece 40 from inside the storage box 50 and supply the picked-up workpiece 40 to the supply side end 14A of the rail 14. The workpiece 40 supplied to the supply side end 14A moves to the adjustment side end 14B while sliding on the rail 14. As a result, the workpiece 40 is disposed above the support table 11 as shown in Fig. 12.

[0086] 12, when the workpiece 40 is placed above the support table 11, the laser light LB emitted from the light-emitting unit 151 of the detection device 15 is blocked by the workpiece 40 (see FIG. 5(b)), and the light-receiving unit 152 stops receiving the laser light LB. When the light-receiving unit 152 stops receiving the laser light LB, the control unit 100 determines that the workpiece 40 has been placed above the support table 11.

[0087] When it is determined that the workpiece 40 is placed above the support table 11, the control unit 100 moves the pressing device 12 from the retracted position shown in Fig. 12 to the separated position shown in Fig. 13(a), and further moves the pressing device 12 from the separated position to the contact position shown in Fig. 13(b). As a result, the pressing pin 122 comes into contact with the workpiece 40 from above.

[0088] Next, the control unit 100 moves the support table 11 from the standby position to the support position shown in Fig. 14 by the lifting device 16. As a result, the workpiece 40 is placed on the support table 11 and is supported by the support table 11 from below. At this time, the workpiece 40 is pushed upward by the support table 11. As a result, the light receiving unit 152 of the detection device 15 receives the laser light LB emitted from the light emitting unit 151 again (see Fig. 5(a)). In addition, the pressing pin 122 is pushed upward by the workpiece 40, contracting a spring (not shown), and the restoring force of the spring presses the workpiece 40 toward the support table 11.

[0089] After the workpiece 40 is placed on the support table 11, the control unit 100 rotates the support table 11 with the stepping motor 13 while pressing the workpiece 40 toward the support table 11 with the pressing device 12. Then, as shown in Fig. 15, the control unit 100 detects the engagement between the concaves and convexes of the workpiece 40 and the concaves and convexes of the support table 11 based on the detection result of the detection device 15, and then orients the support table 11 in a predetermined direction and stops the rotation of the support table 11.

[0090] 5(a), when the first convex portion 41 of the work 40 fits into the first concave portion 111 of the support base 11 and the second convex portion 42 of the work 40 fits into the second concave portion 112 of the support base 11, the work 40 moves down as shown in FIG 5(b), and the gap between the work 40 and the support base 11 becomes equal to or smaller than a predetermined value. Then, the light receiving portion 152 of the detection device 15 stops receiving the laser light LB emitted from the light emitting portion 151.

[0091] When the light receiving unit 152 stops receiving the laser light LB, the control unit 100 further rotates the stepping motor 13 until the phase where the orientation of the support base 11 is in the predetermined orientation. Then, the control unit 100 stops the rotation of the stepping motor 13 after rotating the stepping motor 13 until the phase where the orientation of the support base 11 is in the predetermined orientation.

[0092] After stopping the rotation of the stepping motor 13, the control unit 100 moves the pressing device 12 from the contact position to the separated position shown by the imaginary line in Fig. 16, and further moves it from the separated position to the retracted position shown by the solid line. After that, the control unit 100 moves the support base 11 by the lifting device 16 from the support position to the supply position shown in Fig. 17.

[0093] Thereafter, the control unit 100 causes a second robot (not shown) to stack and assemble a seat frame part (hereinafter referred to as a "first member") on the workpiece 40 whose orientation has been adjusted. Thereafter, the control unit 100 causes the second robot to hold and transport the workpiece 40 together with the first member, and supply them onto a pallet (not shown). Specifically, the control unit 100 causes the second robot to hold and transport the workpiece 40 together with the first member, and place them on the pallet. The pallet is a member on which multiple parts for forming a seat frame including the workpiece 40 are set.

[0094] After the workpiece 40 on the support table 11 has been transported, the control unit 100 moves the support table 11 from the supply position to the standby position shown in FIG. 12. Thereafter, when a new workpiece 40 is placed above the support table 11, the control unit 100 again executes the process of orienting the workpiece 40 in a predetermined direction. After all the parts have been set on the pallet, the pallet is sent to the next process. The next process is, for example, a welding process for joining the parts of the seat frame together.

[0095] 18, when all the workpieces 40 in the storage box 50A are picked up and the storage box 50A is empty, the control unit 100 rotates the roller conveyor 31 from the first tilt position shown by the imaginary line to the second tilt position shown by the solid line. As a result, the empty storage box 50 is discharged from the roller conveyor 31 to the discharge conveyor 34.

[0096] After discharging the storage box 50A, the control unit 100 rotates the roller conveyor 31 from the second inclined position to the first inclined position shown in FIG. 19. Then, the control unit 100 releases the lock by the first locking device 35. As a result, a new storage box 50B containing a workpiece 40 is supplied from the supply conveyor 33 to the roller conveyor 31. The storage box 50B supplied to the roller conveyor 31 abuts against the rod 321B of the air cylinder 321. Then, as the air in the cylinder 321A is gradually released, the storage box 50B gradually moves toward the pick position, and finally moves to the pick position.

[0097] After moving the storage box 50B to the pick position, the control unit 100 causes the robot 20 to pick up the workpieces 40 in the storage box 50B one by one and supply them to the orientation adjustment device 10. After the storage box 50B is supplied to the roller conveyor 31, the control unit 100 activates the lock by the first locking device 35 and releases the lock by the second locking device 36. This causes the storage box 50C to move from the second standby position to the first standby position shown by the imaginary line. After the control unit 100 activates the lock by the second locking device 36, a new storage box 50 is placed at the second standby position. The storage box 50A discharged to the discharge conveyor 34 is collected.

[0098] According to this embodiment, the workpiece 40 placed on the support table 11 is pressed toward the support table 11 by the pressing device 12 while the support table 11 is rotated by the stepping motor 13. After detecting the engagement between the workpiece 40 and the support table 11 based on the detection result of the detection device 15, the support table 11 is rotated to a predetermined orientation and the rotation of the support table 11 is stopped, thereby allowing the workpiece 40 to be rotated to the predetermined orientation without manual labor.

[0099] The detection device 15 has a light emitting unit 151 and a light receiving unit 152, and can detect the gap between the workpiece 40 and the support table 11, so that it is possible to detect the engagement between the workpiece 40 and the support table 11 without using an expensive camera, for example. This makes it possible to reduce costs.

[0100] The robot hand 20H includes the first floating mechanism 22 that supports the hand portion 21 so as to be movable in the Z direction, and the second floating mechanism 23 that supports the hand portion 21 so as to be movable in the X and Y directions, so that the variation in the position of the workpiece 40 can be absorbed when the workpiece 40 is held by the hand portion 21. Absorption of the variation in the position of the workpiece 40 can be achieved by a mechanical structure without relying on control.

[0101] The hand unit 21 has an adsorption unit 211 that magnetically attracts the workpiece 40 and an attraction unit 212 that attracts the workpiece 40 to the adsorption unit 211, so that the hand unit 21 can press the hand unit 21 against the workpiece 40 and hold the workpiece 40. In particular, it is easy to hold a round workpiece, specifically, a workpiece 40 having a disk shape.

[0102] The first floating mechanism 22 has the spring 223 that biases the first movable part 222 in a direction away from the first base part 221 in the Z direction, thereby making it possible to make the hand part 21 elastically movable in the Z direction.

[0103] Since the second floating mechanism 23 has a locking mechanism 233 that locks the movement of the second movable part 232 relative to the second base part 231, the position of the hand part 21 in the X direction and Y direction can be fixed, for example, when supplying the held workpiece 40 to the orientation adjustment device 10.

[0104] The work setting device 30 is provided with the shock absorbing mechanism 32 having the air cylinder 321 for stopping the storage box 50 at the pick position, and thus shock can be absorbed well. This makes it possible to prevent, for example, the work 40 from jumping out of the storage box 50 due to the shock generated when the storage box 50 is stopped at the pick position.

[0105] The inclination of the roller conveyor 31 can be changed, and by providing a supply conveyor 33 that supplies the storage box 50 to the roller conveyor 31 located in a first inclined position, and a discharge conveyor 34 that discharges the storage box 50 from the roller conveyor 31 located in a second inclined position, the supply and discharge of the storage box 50 can be automated.

[0106] Since the first length L1, which is the length from the pivot axis 31C of the roller conveyor 31 to the first end 31A, is longer than the second length L2, which is the length from the pivot axis 31C to the first part 51 of the storage box 50 located at the pick position, the storage box 50 does not get caught on, for example, the supply conveyor 33 when the roller conveyor 31 rotates from the first inclined position to the second inclined position.

[0107] Although the embodiment has been described above, the work supplying device and the work supplying method can be modified as appropriate as exemplified below.

[0108] In the above embodiment, the detection device 15 having the light emitting unit 151 and the light receiving unit 152 is exemplified as the detection device, but the detection device may be, for example, a camera. As one example, the position of the workpiece is detected by a camera, and when the camera detects that the position of the workpiece has changed due to the engagement of the unevenness of the workpiece with the unevenness of the support base, the orientation of the support base may be set to a predetermined orientation and the rotation of the support base may be stopped. As another example, in a situation where the engagement portion between the unevenness of the workpiece and the unevenness of the support base is visible from the outside, when the camera directly detects the engagement of the unevenness of the workpiece with the unevenness of the support base, the orientation of the support base may be set to a predetermined orientation and the rotation of the support base may be stopped.

[0109] In the above embodiment, the stepping motor 13 (rotation device) was configured to be rotatable in both clockwise and counterclockwise directions when viewed from the direction in which the shaft 13A extends, but, for example, the rotation device may be configured to be rotatable in only one direction.

[0110] In the above embodiment, the workpiece 40 is moved on the rails 14 and placed above the support table 11, and then the support table 11 moves upward to place the workpiece 40 on the support table 11, but for example, the workpiece may be placed directly on the support table by a robot or the like. The support table may be configured not to move up and down.

[0111] In the above embodiment, the robot hand 20H is configured to include the hand portion 21 that holds the workpiece 40 by magnetic force, but for example, the robot hand may be configured to include a hand portion that grasps and holds the workpiece. Also, the robot hand may be, for example, a robot hand that holds the workpiece after its orientation has been adjusted and transports it to the next process.

[0112] In the above embodiment, the roller conveyor 31 is rotatable between the first inclined position and the second inclined position. However, for example, the roller conveyor may not rotate and the inclination may be fixed.

[0113] In the above embodiment, the control unit is exemplified as a control unit 100 that controls the orientation adjustment device 10, the robot 20, and the work set device 30. However, for example, the configuration may include a separate control unit for controlling the orientation adjustment device 10, a control unit for controlling the robot 20, and a control unit for controlling the work set device 30.

[0114] In the above embodiment, the work supplying device 1 is configured to include the orientation adjustment device 10, the robot 20, and the work setting device 30, but for example, the work supplying device may be configured to include only the orientation adjustment device 10. Also, for example, the work supplying device may be configured to include the orientation adjustment device 10 and the robot 20 without including the work setting device 30. Also, for example, the work supplying device may be configured to include the orientation adjustment device 10, the robot 20, the work setting device 30, and a second robot that holds and transports the work 40 from the orientation adjustment device 10.

[0115] In the above embodiment, the work 40 is a reclining device, but the work may be, for example, a brake device used in a height adjustment mechanism of an automobile seat. The work may be, for example, a gear, a cap, or the like. The work may be, for example, a work having a columnar or cylindrical shape. The work may be, for example, a work having a polygonal shape when viewed from the direction of the rotation axis of a rotating device.

[0116] The elements described in the above embodiment and modified examples may be implemented in any combination. [Explanation of symbols]

[0117] 1 Work supply device 11 Support stand 12 Pressing device 13 Stepping motor 13A axis 15 Detection device 20H Robot Hand 21 Hand section 22 First floating mechanism 23 Second floating mechanism 31 Roller Conveyor 31A 1st end 31B 2nd end 31C Rotating shaft 32 Shock Absorption Mechanism 33 Supply Conveyor 34 Discharge Conveyor 40 Work 41 First protrusion 42 Second protrusion 50 Storage Box 51 Part 1 100 Control section 111 First recess 112 Second recess 211 Adsorption part 212 Recruitment Department 221 First base part 222 1st moving part 223 Spring 231 Second Base 232 2nd moving part 233 Locking mechanism 321 Air Cylinder

Claims

1. A work supply device that supplies a work in a predetermined orientation, A support base having projections and recesses that can be fitted to the projections and recesses of the workpiece and supporting the workpiece from below; A pressing device that contacts the workpiece from above and presses the workpiece toward the support table; A rotation device that rotates the support table about an axis extending in a direction in which the workpiece and the support table overlap; A detection device for detecting the engagement between the unevenness of the workpiece and the unevenness of the support table; A control unit, After the workpiece is placed on the support table, the control unit The support table is rotated by the rotation device while the workpiece is pressed against the support table by the pressing device; A work supply device characterized by detecting the engagement between the unevenness of the workpiece and the unevenness of the support table based on the detection results of the detection device, and then orienting the support table in a predetermined direction and stopping the rotation of the support table.

2. The detection device is capable of detecting a gap between the workpiece and the support table, 2. The work supply device according to claim 1, wherein the control unit detects the engagement between the unevenness of the work and the unevenness of the support table based on a detection result of the detection device that the gap is equal to or smaller than a predetermined value.

3. It also has a robotic hand. The robot hand includes: A hand unit attached to a robot arm, the hand unit holding the workpiece; a first floating mechanism disposed between the robot arm and the hand unit, the first floating mechanism supporting the hand unit movably in a Z direction that is a direction from the robot arm toward the hand unit; a second floating mechanism disposed between the robot arm and the hand unit, the second floating mechanism supporting the hand unit movably in an X direction perpendicular to the Z direction, and supporting the hand unit movably in a Y direction perpendicular to both the Z direction and the X direction; The work supply device according to claim 1 , further comprising:

4. The hand unit includes: An attraction unit that attracts the workpiece by magnetic force; 4. The work supply device according to claim 3, further comprising a recessed guide portion for guiding the workpiece into the suction portion, the guide portion having a width that increases from the suction portion toward the tip of the hand portion.

5. The first floating mechanism includes: A first base portion; a first movable portion supported on the first base portion so as to be movable in the Z direction relative to the first base portion; 4. The work supply device according to claim 3, further comprising: a spring that biases the first movable portion in a direction away from the first base portion in the Z direction.

6. The second floating mechanism includes: A second base portion; a second movable portion supported on the second base portion so as to be movable in the X direction and the Y direction relative to the second base portion; The workpiece supply device according to claim 3, further comprising a locking mechanism that can be switched between a locked state that locks movement of the second movable part relative to the second base part and an unlocked state that allows movement of the second movable part relative to the second base part.

7. a roller conveyor that moves a storage box in which the workpieces are stored to a pick position where the robot hand picks up the workpieces, the roller conveyor being inclined so as to be positioned downward as it approaches a second end opposite to the first end from a first end that is an end on the side where the storage box is supplied; 4. The work supply device according to claim 3, further comprising: an impact absorbing mechanism provided at the second end of the roller conveyor, the impact absorbing mechanism having an air cylinder that stops the storage box at the pick position.

8. the roller conveyor is rotatable between a first inclined position in which the roller conveyor is inclined so that the first end is located above the second end, and a second inclined position in which the roller conveyor is inclined so that the second end is located above the first end, The work supply device is a supply conveyor connected to a first end of the roller conveyor positioned at the first inclined position, the supply conveyor supplying the container to the roller conveyor positioned at the first inclined position; 8. The work supply device according to claim 7, further comprising: a discharge conveyor arranged below the supply conveyor and connected to a first end of the roller conveyor positioned at the second inclined position, the discharge conveyor through which the storage box is discharged from the roller conveyor positioned at the second inclined position.

9. The work supply device according to claim 8, characterized in that the length from the rotation axis of the roller conveyor to the first end is longer than the length from the rotation axis to the end of the storage box located at the pick position that is closest to the first end and is the farthest from the rotation axis.

10. A work supply device that supplies a work in a predetermined orientation, A support base having projections and recesses that can be fitted to the projections and recesses of the workpiece and supporting the workpiece from below; A pressing device that contacts the workpiece from above and presses the workpiece toward the support table; A rotation device that rotates the support table about an axis extending in a direction in which the workpiece and the support table overlap; A detection device for detecting the engagement between the unevenness of the workpiece and the unevenness of the support table; A work supply method using a work supply device comprising: After the workpiece is placed on the support table, The support table is rotated by the rotation device while the workpiece is pressed against the support table by the pressing device; A work supply method characterized by detecting the engagement between the unevenness of the workpiece and the unevenness of the support table based on the detection results of the detection device, and then orienting the support table in a predetermined direction and stopping the rotation of the support table.

Images