Work group arrangement control device and work supply system equipped with the same

Abstract

To provide a compact and low-cost work group arrangement control device and a work supply system equipped with the same.SOLUTION: A work group arrangement control device 10 includes a support table 2 capable of supporting a plurality of workpieces W, and controls an arrangement of each workpiece W. A first rotary mechanism 10A performs a rotational operation of the support table 2 about a first axis C1 extending parallel to a support surface 2d on a virtual plane extending in a direction perpendicular to the support surface 2d of the support table 2. A unit control part controls a rotational operation of the first rotary mechanism 10A so that the support table 2 performs one or more tilting reciprocating operations to tilt the support surface 2d from a horizontal state to one side or the other side by a predetermined angle and then return to the horizontal state.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a workpiece group arrangement control device capable of eliminating a state where a workpiece group composed of a plurality of workpieces is dense, biased, or overlapping in a workpiece transfer area where a robot performs picking, and a workpiece supply system including the same.

Background Art

[0002] Conventionally, for example, in a semiconductor chip production line in the electronics field, an industrial robot picks each workpiece (part) sequentially supplied from the upstream side of the line to a predetermined workpiece transfer area by a workpiece supply system or a parts feeder and sequentially delivers it to equipment on the downstream side of the line. By the way, if a workpiece group composed of a plurality of workpieces is in a dense state, a biased state, or an overlapping state in the workpiece transfer area, the industrial robot cannot efficiently pick each workpiece accurately in a short time.

[0003] To avoid this, a workpiece group arrangement control device that controls the arrangement of a workpiece group in the workpiece transfer area is known. For example, the workpiece group arrangement control device disclosed in Patent Document 1 includes a support plate having a rectangular shape in plan view that can support the workpiece group, four telescopic units respectively arranged at the lower surface corners of this support plate, and a control device that controls each telescopic unit. Each telescopic unit includes a support leg having a thin rod shape with its upper end fixed to the lower surface of the support plate, a floating joint connected to the lower end of this support leg, and an actuator having a drive shaft that slides up and down to perform a telescopic operation, and the upper end of the drive shaft is connected to the floating joint. And the control device stops the drive shaft of at least one of the four actuators, while vertically vibrating the drive shaft of at least one of the remaining actuators, and tilts the support plate so that the tilting center of the plate accompanying the vertical vibration exists at the joint portion of the floating joint connected to the drive shaft in the slide stop state. Thereby, when the control device is operated in a state where the workpiece group is arranged on the upper surface of the support plate, a horizontal component force, or an apparent horizontal component force, acts continuously on the upper surface of the plate from the actuator side of the drive shaft in the driving state to the actuator side of the drive shaft in the stopped state, and thereby the workpiece group on the upper surface of the support plate continuously moves to the actuator side in the stopped state.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, in the case of Patent Document 1, since four expansion and contraction units are arranged at the lower surface corners of the support plate, there is a problem that the equipment becomes larger in the outer side direction. In particular, when trying to widen the area of the support plate that supports each workpiece, each drive source that lifts the support plate arranged to correspond to the four corners of the support plate must have a large capacity. For this reason, the outer shape of each drive source also becomes large, and the problem of the enlargement of the equipment becomes prominent. The present invention has been made in view of such a point, and an object thereof is to provide a compact and low-cost workpiece group arrangement control device and a workpiece supply system including the same.

Means for Solving the Problems

[0006] In order to achieve the above object, in the present invention, a support table that supports a workpiece group is rotated about an axis extending parallel to the workpiece support surface in the support table, so that the workpiece support surface is inclined. Specifically, a workpiece group arrangement control device including a support table capable of supporting a plurality of workpieces and controlling the arrangement of each of the workpieces supported by the support table is targeted, and the following measures are taken.

[0007] That is, the workpiece group arrangement control device according to the first invention includes a first rotation mechanism capable of performing a rotation operation of the support table about a first axis extending parallel to the support surface on a virtual plane extending in a direction perpendicular to the support surface of the support table, and a control device that controls the rotation operation of the support table by the first rotation mechanism. The control device controls the rotation operation of the first rotation mechanism so that the support table performs one or more tilting reciprocating operations of tilting a predetermined angle from the horizontal state to one side or the other side and then returning to the horizontal state. In the workpiece group arrangement control device configured as described above, when the support table tilts to one side or tilts to the other side, each workpiece acts so as to move on the support surface. Further, it acts so that it is not necessary to correspond the drive source for tilting the support table to the outer peripheral portion of the support table.

[0008] The workpiece group arrangement control device according to the second invention is characterized in that, in the first invention, the first axis is located on the virtual plane passing through the center of the support surface. In the workpiece group arrangement control device configured as described above, when the support surface of the support table is reciprocally tilted to one side and the other side, each workpiece arranged on the support surface acts so as to move on the support surface in a well-balanced manner.

[0009] The workpiece group arrangement control device according to the third invention is characterized in that, in the first or second invention, a second rotation mechanism capable of performing a rotation operation of the support table around a second axis extending in a horizontal direction perpendicular to the first axis is provided, and the control device controls the rotation operation of the second rotation mechanism so that the support table performs one or more reciprocating tilting operations of tilting from the horizontal state to one side or the other side by a predetermined angle and then returning to the horizontal state. In the workpiece group arrangement control device configured as described above, it acts so that it is possible to reciprocally tilt the support surface of the support table in two orthogonal horizontal directions.

[0010] The workpiece group arrangement control device according to the fourth invention is characterized in that, in the third invention, at least one of the first and second rotation mechanisms includes a crank mechanism having a crank disk and a connecting rod, and an electric motor with rotational position control connected to the support table via the crank mechanism, and the support surface is configured to perform a reciprocating tilting operation in conjunction with the reciprocating operation of the connecting rod accompanying the forward and reverse rotation operations of the crank disk by the electric motor. In the workpiece group arrangement control device configured as described above, it functions so that the support surface of the support table can be tilted with a smaller movement amount of the driving part of the drive source compared to the structure such as that of Patent Document 1. Further, it functions so that only one drive source is required when tilting the support surface of the support table to both sides in a predetermined horizontal direction.

[0011] The workpiece group arrangement control device according to the fifth invention is, in the third invention, at least one of the first rotation mechanism and the second rotation mechanism includes a rotation support frame that rotatably supports the support table, and a pair of actuators that are integrally fixed to each other and whose respective slide parts expand and contract in opposite directions to each other. One of the slide parts is connected to the support table, and the other slide part is connected to the rotation support frame. The support surface is set to a horizontal state when one of the slide parts extends and the other contracts, and is configured to perform a tilting reciprocating operation in conjunction with the expansion and contraction operations of both slide parts. In the workpiece group arrangement control device configured as described above, it functions so that a structure capable of performing a tilting reciprocating operation to one side and the other side of the support surface in the support table can be configured only by two actuators having slide parts.

[0012] The workpiece group arrangement control device according to the sixth invention is, in the third invention, at least one of the first rotation mechanism and the second rotation mechanism includes one actuator whose slide part is slidable to one side and the other side around a reference position. The slide part is connected to the support table. The support surface is set to a horizontal state when the slide part is in the reference position, and is configured to perform a tilting reciprocating operation in conjunction with the slide reciprocating operation of the slide part to one side or the other side. In the workpiece group arrangement control device configured as described above, it functions so that a structure capable of performing a tilting reciprocating operation to one side and the other side of the support surface in the support table can be configured only by one actuator whose slide part is slidable to three positions.

[0013] In the workpiece group arrangement control device according to the seventh invention, in the third invention, the first axis is set above the second axis. In the workpiece group arrangement control device configured as described above, the portion where the first-axis support frame supports rotation and the portion where the second-axis support frame supports rotation act so as to be vertically displaced.

[0014] In the workpiece group arrangement control device according to the eighth invention, in the first or second invention, the support table includes a placement plate having the support surface and a main body frame having an internal space and supporting the placement plate from below, and a striking mechanism capable of applying a strike to the placement plate from below is disposed in the internal space. In the workpiece group arrangement control device configured as described above, it acts so as to be able to apply a strike to the support surface from below the support surface of the support table.

[0015] Further, the present invention also targets a workpiece supply system provided with the workpiece group arrangement control device as described above, and takes the following measures. That is, the workpiece supply system according to the ninth invention includes the first or second workpiece group arrangement control device, workpiece transfer means disposed upstream of the workpiece group arrangement control device and transferring each workpiece to the support surface, an industrial robot disposed on the side of the workpiece group arrangement control device and picking up each workpiece supported by the support surface, and workpiece receiving means disposed downstream of the workpiece group arrangement control device and capable of receiving each workpiece picked up by the industrial robot. In the workpiece supply system configured as described above, it acts so as to be able to control the arrangement of the workpiece group supplied to the support surface of the support table.

Advantages of the Invention

[0016] The workpiece group arrangement control device according to the first invention is such that, when the support surface tilts to one side, the workpieces located in the other region on the support surface with respect to the virtual plane on the support surface are pushed up by the support surface and then move greatly toward the virtual plane side due to inertia force. After that, when the support surface tilts to the other side, they cannot follow the lowering of the support surface and move in a free-falling manner to approach the virtual plane. As a result, they move to one side region of the support surface from the original position. Similarly, when the support surface of the support table performs a tilting reciprocating motion to the other side, the workpieces located in the one side region on the support surface with respect to the virtual plane move to the other side region of the support surface from the original position. In this way, each workpiece can be efficiently moved on the support surface, and the arrangement of the workpiece group can be efficiently controlled. Also, since it is not necessary to arrange a drive source for tilting the support table, such as in Patent Document 1, corresponding to the outer peripheral portion of the support table, it is difficult for the equipment to become large-sized outward. Therefore, the equipment can have a compact structure in the horizontal direction.

[0017] The workpiece group arrangement control device according to the second invention is such that when the support surface of the support table is tilted reciprocally to one side and the other side respectively, each workpiece arranged on the support surface moves on the support surface in a well-balanced manner. Therefore, it is possible to facilitate the control of the arrangement of each workpiece on the support surface.

[0018] The workpiece group arrangement control device according to the third invention can tilt the support surface of the support table reciprocally in two orthogonal horizontal directions. Therefore, it is possible to move each workpiece located in the region near the outer peripheral edge of the support surface evenly on the support surface, and the arrangement of each workpiece on the support surface can be effectively controlled.

[0019] The workpiece group arrangement control device according to the fourth invention can tilt the support surface of the support table with a smaller movement amount of the drive part of the drive source compared to the structure such as in Patent Document 1. Therefore, the speed of the tilting operation on the support surface of the support table increases, and the tact time of the production line can be shortened. In addition, since only one drive source is required when tilting the support surface of the support table to both sides in a predetermined horizontal direction, a simple structure and low-cost equipment can be achieved.

[0020] In the workpiece group arrangement control device according to the fifth invention, when one of the two slide parts in the extended state performs an expansion and contraction operation, the support table performs a tilting reciprocating operation to one side. On the other hand, when the other of the two slide parts in the contracted state performs an expansion and contraction operation, the support table performs a tilting reciprocating operation to the other side. In this way, since the structure capable of performing the tilting reciprocating operation of the support table to one side and the other side can be composed of only two general-purpose actuators having slide parts, a low-cost device can be achieved.

[0021] In the workpiece group arrangement control device according to the sixth invention, when the slide part performs a slide reciprocating operation from the reference position to one side, the support table performs a tilting reciprocating operation to one side. On the other hand, when the slide part performs a slide reciprocating operation from the reference position to the other side, the support table performs a tilting reciprocating operation to the other side. In this way, since the structure capable of performing the tilting reciprocating operation of the support table to one side and the other side can be composed of one actuator, a simpler structure than the fifth invention can be achieved.

[0022] In the workpiece group arrangement control device according to the seventh invention, since the two shafts for rotating the support table are in positions shifted vertically, it is possible to arrange the portion where the first shaft support frame supports rotation and the portion where the second shaft support frame supports rotation in a vertically shifted arrangement. Therefore, the portion for rotating the support table has a relatively simple structure, and a low-cost device can be achieved.

[0023] In the workpiece group arrangement control device according to the eighth invention, it is possible to apply an impact to the support surface of the support table from below the support surface. Therefore, each workpiece located on the support surface can be efficiently separated into scattered positions.

[0024] The ninth invention, the work supply system, can control the arrangement of each work in the group of works supplied to the support surface of the support table. Therefore, each work can be picked up by the industrial robot without mistakes and without taking time, and each picked-up work can be sequentially and efficiently sent to the downstream side of the line.

Brief Description of the Drawings

[0025]

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Embodiments for Carrying Out the Invention

[0026] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. It should be noted that the following description of the preferred embodiments is merely illustrative in nature. In the embodiments of the present invention, components including the term "unit", such as an image analysis unit, a unit control unit, or a picking control unit, are adopted. This "unit" means a means or a function, and as specific components, they are "elements", "electronic circuits" for executing specific operations, or "units of components" or "devices formed by aggregating them", and these are conceptualized and shown as "units".

Embodiment

[0027] FIGS. 1 and 2 show a work supply system 1 according to Embodiment 1 of the present invention. This work supply system 1 has a placement plate 2b capable of supporting a plurality of works W, a work group arrangement control device 10 capable of controlling the arrangement of each work W located on the upper surface of the placement plate 2b, a picking system 11 disposed on the side of the work group arrangement control device 10 and capable of picking each work W located on the upper surface of the placement plate 2b, a work transfer device 12 disposed upstream of the work group arrangement control device 10 in the line and sequentially supplying each work W to the work group arrangement control device 10, and a work receiving device 13 disposed downstream of the work group arrangement control device 10 in the line and receiving each work W picked by the picking system 11.

[0028] The picking system 11 includes a scalar robot 11a having a hand 11b with an end effector 11c attached to its tip, a camera 11d capable of photographing each work W located on the upper surface of the placement plate 2b from above, an image analysis unit 11e for analyzing the photographed image by the camera 11d, and a picking control unit 11f connected to the robot 11a and the image analysis unit 11e. The image analysis unit 11e analyzes the image photographed by the camera 11d and transmits work state information such as the position, orientation, or front / back information of each work W obtained thereby to the picking control unit 11f.

[0029] When the picking control unit 11f receives the workpiece state information from the image analysis unit 11e, it issues a picking command to the robot 11a based on the workpiece state information. Note that the picking control unit 11f not only issues a picking command to pick only the workpieces W with their surfaces facing upward based on the workpiece state information, but can also issue a picking command to pick each workpiece W regardless of its front or back side including the side surface. When the robot 11a receives the picking command from the picking control unit 11f, the end effector 11c picks up each workpiece W located on the upper surface of the placement plate 2b and delivers it to the workpiece receiving device 13.

[0030] The workpiece transfer device 12 includes a conveyor 12a having an endless belt. By rotating the endless belt, the conveyor 12a sequentially drops each workpiece W from the downstream end of the conveyor 12a and supplies it to the workpiece group arrangement control device 10. In addition, containers 14 such as pallets or cardboard boxes partitioned into a plurality of storage compartments 14a are arranged in the workpiece receiving device 13. The robot 11a sequentially places each workpiece W picked by the workpiece group arrangement control device 10 into each storage compartment 14a of the container 14.

[0031] The workpiece group arrangement control device 10 includes a first rotation mechanism 10A having a support table 2 capable of supporting a plurality of workpieces W and a main body frame 3 that supports the support table 2 from below, a second rotation mechanism 10B having a base frame 4 that rotatably supports the first rotation mechanism 10A, a striking mechanism 10C disposed in the internal space S of the main body frame 3, and a unit control unit 10D (control device) that controls the rotation operations of the first rotation mechanism 10A and the second rotation mechanism 10B and the striking operation of the striking mechanism 10C. In addition, in FIG. 1, for the sake of convenience, the description of the striking mechanism 10C is omitted. Also, as shown in FIG. 1, the longitudinal direction of the workpiece group arrangement control device 10 is defined as the X direction, the width direction of the workpiece group arrangement control device 10 is defined as the Y direction, and the vertical direction of the workpiece group arrangement control device 10 is defined as the Z direction, and the following description will be given accordingly.

[0032] As shown in FIGS. 3 and 4, the support table 2 includes a base member 2a having a rectangular plate shape, and a mounting plate 2b having a rectangular basin shape provided on the upper surface of the base member 2a and having a shallow bottom and an open accommodation recess 2c formed therein that is rectangular in plan view. The bottom surface of the accommodation recess 2c serves as a support surface 2d for supporting each workpiece W.

[0033] The main body frame 3 includes four leg frames 3a that support the mounting plate 2b from below, and an upper rotation plate 3b that is disposed opposite to the mounting plate 2b below the mounting plate 2b.

[0034] The four leg frames 3a are formed by bending a strip-shaped steel plate into a substantially U shape, and a pair thereof that are opposed to each other with the open side of the U shape facing each other at each end of the mounting plate 2b in the X direction are arranged in two sets at a predetermined interval in the Y direction of the mounting plate 2b. While the upper ends of each are fixed to the lower surface of the mounting plate 2b, the lower ends of each are fixed to the upper surface of the upper rotation plate 3b. An internal space S is formed in the portion surrounded by the mounting plate 2b, each leg frame 3a, and the upper rotation plate 3b.

[0035] At positions corresponding to the middle portion of the upper rotation plate 3b in the X direction in the base frame 4, a pair of first shaft support frames 3c are attached at a predetermined interval in the Y direction. Both first shaft support frames 3c pivotally support the substantially middle portion of the upper rotation plate 3b in the X direction so as to be rotatable around a first shaft C1 extending in the Y direction. Note that the base frame 4 and the pair of first shaft support frames 3c constitute the rotation support frame of the present invention. That is, the base frame 4 and the pair of first shaft support frames 3c rotatably support the support table 2. This first axis C1 is set in a position that extends along the Y direction at a right angle to the support surface 2d of the support table 2, and extends parallel to the support surface 2d with a predetermined interval on a virtual plane P1 that passes through the center of the support surface 2d.

[0036] Further, at one end of the upper rotating plate 3b in the X direction, a first tilting operation arm 3d having a substantially L-shaped cross section that protrudes upward and whose protruding end side protrudes outward is provided. At the upper part of the first tilting operation arm 3d, the upper end of the first connecting rod R1 is pivotally supported so as to be rotatable in the X direction.

[0037] At a position corresponding to the first tilting operation arm 3d of the base frame 4, a first actuator 3e whose rotation axis extends in the same direction as the first axis C1 is arranged. The first actuator 3e includes a first crank disk 3f having the lower end of the first connecting rod R1 pivotally supported at a position near the outer peripheral edge so as to be rotatable, and a first electric motor 3g with a rotation position control function for rotationally driving the first crank disk 3f. The first crank disk 3f and the first connecting rod R1 constitute a crank mechanism. When the first electric motor 3g rotates the first crank disk 3f forward and backward, the first connecting rod R1 repeatedly performs a reciprocating motion, that is, a pressing motion and a pulling motion, with respect to the first tilting operation arm 3d.

[0038] When the first crank disk 3f rotates forward from the reference position and the first connecting rod R1 performs a pulling motion with respect to the first tilting operation arm 3d, as shown in FIG. 5, the upper rotating plate 3b tilts to one side in the X direction, and accordingly, the support surface 2d of the mounting plate 2b tilts by a predetermined angle to one side in the X direction via each leg frame 3a. Also, when the first crank disk 3f rotates reversely while the support surface 2d is tilted by a predetermined angle to one side in the X direction and the first connecting rod R1 performs a pressing motion with respect to the first tilting operation arm 3d, as shown in FIG. 6, the upper rotating plate 3b returns to a posture extending in the horizontal direction, and accordingly, the support surface 2d of the mounting plate 2b also returns to a posture extending in the horizontal direction via each leg frame 3a.

[0039] On the one hand, when the first crank disk 3f rotates reversely from the reference position and the first connecting rod R1 performs a pressing operation on the first tilting operation arm 3d, as shown in FIG. 7, the upper rotating plate 3b tilts to the other side in the X direction, and accordingly, the support surface 2d of the mounting plate 2b tilts by a predetermined angle to the other side in the X direction through each leg frame 3a. Also, when the first crank disk 3f rotates forward in a state where the support surface 2d is tilted by a predetermined angle to the other side in the X direction and the first connecting rod R1 performs a pulling operation on the first tilting operation arm 3d, the upper rotating plate 3b returns to the posture extending in the horizontal direction, and accordingly, the support surface 2d of the mounting plate 2b also returns to the posture extending in the horizontal direction through each leg frame 3a.

[0040] That is, the support table 2 is configured to perform a tilting reciprocating operation of the support surface 2d from the horizontal state to one side or the other side in the X direction by the forward and reverse rotation operations of the first electric motor 3g. In other words, the first rotation mechanism 10A enables the rotation operation of the support table 2 around the first axis C1, and after tilting the support table 2 to either one side in the X direction by the first actuator 3e, it can return to the horizontal state.

[0041] Here, the behavior of the workpiece W supported by the support table 2 during tilting will be described in detail. When the first rotation mechanism 10A performs a tilting reciprocating operation of the support table 2 to one side in the X direction once, first, when the support surface 2d tilts to one side in the X direction, as shown in FIG. 5, the workpiece W located in the region on the other side in the X direction than the virtual plane P1 on the support surface 2d is pushed up by the support surface 2d and moves in a flying manner toward one side in the X direction by the inertial force F, and moves a distance X1 to one side in the X direction on the support surface 2d. Next, when the support surface 2d returns to the state of extending horizontally, as shown in FIG. 6, the workpiece W located in the region on the other side in the X direction than the virtual plane P1 on the support surface 2d cannot follow the descent of the support surface 2d and freely falls, so it moves a further distance X2 to one side in the X direction on the support surface 2d. When the tilting reciprocating motion of the support table 2 to one side in the X direction is repeatedly performed, the workpiece W located in the region on the other side in the X direction than the virtual plane P1 on the support surface 2d gradually reaches the central region of the support surface 2d. Similarly, when the support table 2 repeatedly performs the tilting reciprocating motion to the other side in the X direction by the first rotation mechanism 10A, the workpiece W located in the region on one side in the X direction than the virtual plane P1 on the support surface 2d gradually reaches the central region of the support surface 2d. Therefore, by tilting and reciprocating the support table 2 to one side or the other side in the X direction, each workpiece W scattered on the support surface 2d can be collected in the central region in the X direction.

[0042] The base frame 4 includes a lower rotation plate 4b located between the floor plate 15 and the upper rotation plate 3b of the first rotation mechanism 10A, and the first actuator 3e is fixed to one end portion in the X direction of the lower rotation plate 4b. At a position corresponding to the middle portion in the Y direction of the lower rotation plate 4b on the floor plate 15, a pair of second shaft support frames 4c are attached at a predetermined interval in the X direction, and both second shaft support frames 4c support the substantially middle portion in the Y direction of the lower rotation plate 4b so as to be rotatable around the second shaft C2 extending in the X direction. This second shaft C2 is set in a direction perpendicular to the support surface 2d of the support table 2, extends along the X direction, and extends in parallel with a predetermined interval from the support surface 2d on the virtual plane P2 passing through the center of the support surface 2d. That is, the second shaft C2 extends in a horizontal direction perpendicular to the first shaft C1 and is set below the first shaft C1.

[0043] In addition, at one end portion in the Y direction of the lower rotation plate 4b, a second tilting operation arm 4d having a substantially L-shaped cross section that protrudes upward and the protruding end side protrudes outward is provided, and the upper end of the second connecting rod R2 is pivotally supported on the upper portion of the second tilting operation arm 4d so as to be rotatable in the Y direction.

[0044] At a position corresponding to the second tilting operation arm 4d of the floor plate 15, a second actuator 4e whose rotation axis extends in the same direction as the second axis C2 is arranged. The second actuator 4e includes a second crank disk 4f having a lower end of a second connecting rod R2 pivotally supported rotatably at a position near the outer peripheral edge, and a second electric motor 4g with a rotation position control function for rotationally driving the second crank disk 4f. The second crank disk 4f and the second connecting rod R2 constitute a crank mechanism. When the second electric motor 4g rotates the second crank disk 4f forward and backward, the second connecting rod R2 reciprocates with respect to the second tilting operation arm 4d, that is, repeatedly performs a pressing operation and a pulling operation.

[0045] When the second crank disk 4f rotates forward from the reference position and the second connecting rod R2 performs a pulling operation with respect to the second tilting operation arm 4d, as shown in FIG. 8, the lower rotating plate 4b tilts to one side in the Y direction, and accordingly, the support surface 2d of the mounting plate 2b tilts by a predetermined angle to one side in the Y direction through each first pivot frame 3c, the upper rotating plate 3b, and each leg frame 3a. Also, when the second crank disk 4f rotates reversely in a state where the support surface 2d is tilted by a predetermined angle to one side in the Y direction and the second connecting rod R2 performs a pressing operation with respect to the second tilting operation arm 4d, as shown in FIG. 9, the lower rotating plate 4b returns to a posture extending in the horizontal direction, and accordingly, the support surface 2d of the mounting plate 2b also returns to a posture extending in the horizontal direction through each first pivot frame 3c, the upper rotating plate 3b, and each leg frame 3a.

[0046] On the other hand, when the second crank disk 4f rotates reversely from the reference position and the second connecting rod R2 performs a pressing operation with respect to the second tilting operation arm 4d, as shown in FIG. 10, the lower rotating plate 4b tilts to the other side in the Y direction, and accordingly, the support surface 2d of the mounting plate 2b tilts by a predetermined angle to the other side in the Y direction through each first pivot frame 3c, the upper rotating plate 3b, and each leg frame 3a. Further, when the second crank disc 4f rotates forward with the support surface 2d inclined by a predetermined angle to the other side in the Y direction and the second connecting rod R2 performs a pulling operation with respect to the second tilting operation arm 4d, the lower rotating plate 4b returns to a posture extending in the horizontal direction, and accordingly, the support surface 2d of the mounting plate 2b also returns to a posture extending in the horizontal direction via each first pivot frame 3c, the upper rotating plate 3b, and each leg frame 3a.

[0047] That is, the support table 2 is configured to perform a tilting reciprocating operation of the support surface 2d from a horizontal state to one side or the other side in the Y direction by the forward and reverse rotation operations of the second electric motor 4g. In other words, the second rotation mechanism 10B enables the rotation operation of the support table 2 centered on the second axis C2, and the support table 2 can be tilted to either one side in the Y direction by the second actuator 4e. Note that the floor plate 15 and the pair of second pivot frames 4c constitute the rotation support frame of the present invention. That is, the floor plate 15 and the pair of second pivot frames 4c support the support table 2 rotatably.

[0048] Note that the behavior of the workpiece W supported by the support table 2 due to the tilting operation of the support table 2 accompanying the forward and reverse rotation operations of the second actuator 4e in the second rotation mechanism 10B is the same as the behavior of the workpiece W supported by the support table 2 due to the tilting operation of the support table 2 accompanying the forward and reverse rotation operations of the first actuator 3e in the first rotation mechanism 10A except that the workpiece W moves toward the central region of the support surface 2d in the Y direction. Therefore, the description thereof is omitted here.

[0049] The striking mechanism 10C is placed on a gantry 5 fixed to the floor plate 15 so as to straddle the upper rotating plate 3b. As shown in FIGS. 3 and 4, the striking mechanism 10C includes a striking actuator 6a capable of applying a downward strike to the mounting plate 2b, a Z-axis linear actuator 6b capable of sliding the striking actuator 6a in the Z direction, a Y-axis linear actuator 6c capable of sliding the Z-axis linear actuator 6b in the Y direction, and an X-axis linear actuator 6d capable of sliding the Y-axis linear actuator 6c in the X direction. By operating the X-axis linear actuator 6d, the Y-axis linear actuator 6c, and the Z-axis linear actuator 6b, the striking actuator 6a can be moved to a desired position of the mounting plate 2b to apply a downward strike.

[0050] The unit control unit 10D controls the rotation operation of the first rotation mechanism 10A so that the support table 2 performs one or more tilting reciprocating operations in which the support surface 2d tilts by a predetermined angle to one side or the other side in the X direction from the horizontal state and then returns to the horizontal state. For example, when each workpiece W is biased and located in a region on the other side in the X direction on the support surface 2d, the unit control unit 10D controls the first rotation mechanism 10A to perform a plurality of tilting reciprocating operations of the support surface 2d from the horizontal state to one side in the X direction. Also, when each workpiece W is biased and located in a region on one side in the X direction on the support surface 2d, the unit control unit 10D controls the first rotation mechanism 10A to perform a plurality of tilting reciprocating operations of the support surface 2d from the horizontal state to the other side in the X direction.

[0051] In addition, the unit control unit 10D controls the rotation operation of the second rotation mechanism 10B so that the support table 2 performs one or more tilting reciprocating operations in which the support surface 2d tilts by a predetermined angle to one side or the other side in the Y direction from the horizontal state and then returns to the horizontal state. For example, when each workpiece W is biased and located in the region on the other side in the Y direction on the support surface 2d, the unit control unit 10D controls the second tilting mechanism 10B to perform a plurality of reciprocating tilting operations of the support surface 2d from the horizontal state to one side in the Y direction. Also, when each workpiece W is biased and located in the region on one side in the Y direction on the support surface 2d, the unit control unit 10D controls the second tilting mechanism 10B to perform a plurality of reciprocating tilting operations of the support surface 2d from the horizontal state to the other side in the Y direction.

[0052] Furthermore, when the unit control unit 10D recognizes the region where each workpiece W is biased on the support surface 2d with the camera 11d, and controls the X-axis linear actuator 6d, the Y-axis linear actuator 6c, and the Z-axis linear actuator 6b so that the impact actuator 6a moves to that region, and then controls the impact actuator 6a to apply an impact from below to the mounting plate 2b.

[0053] As described above, according to the first embodiment of the present invention, each workpiece W located in the region on the other side of the virtual plane P1 on the support surface 2d by the tilting operation of the support surface 2d to one side in the X direction is pushed up by the support surface 2d and moves greatly toward the virtual plane P1 side by the inertial force F1. Then, during the tilting operation of the support surface 2d to the other side in the X direction, it cannot follow the descent of the support surface 2d and moves freely downward to approach the virtual plane P1. As a result, it moves to the region on one side in the X direction of the support surface 2d from the initial position. Also, when the support surface 2d of the support table 2 performs a reciprocating tilting operation to the other side in the X direction, each workpiece W located in the region on one side in the X direction of the support surface 2d with the virtual plane P1 as a boundary moves to the region on the other side in the X direction of the support surface 2d from the initial position. In this way, each workpiece W can be efficiently moved on the support surface 2d in the X direction.

[0054] Further, by the tilting operation of the support surface 2d toward one side in the Y direction, each workpiece W located in the other side region on the support surface 2d with respect to the virtual plane P2 is pushed up by the support surface 2d and moves greatly toward the virtual plane P2 side by the inertial force F1. Then, when the support surface 2d tilts toward the other side in the Y direction, it cannot follow the descent of the support surface 2d and moves freely downward to approach the virtual plane P2. As a result, it moves to the region on one side in the Y direction of the support surface 2d from the initial position. Further, when the support surface 2d of the support table 2 performs a reciprocating tilting operation toward the other side in the Y direction, each workpiece W located in the region on one side in the Y direction with respect to the virtual plane P2 on the support surface 2d is arranged in the region on the other side in the Y direction of the support surface 2d from the initial position. In this way, each workpiece W can be efficiently moved on the support surface 2d in the Y direction. Therefore, in the X direction and the Y direction, the arrangement of the workpiece W group can be efficiently controlled.

[0055] Further, since it is not necessary to arrange a drive source for tilting the support table as in Patent Document 1 so as to correspond to the outer peripheral portion of the support table, it is difficult for the equipment to increase in size outward. Therefore, the equipment can be made into a compact structure in the horizontal direction.

[0056] Further, since the first axis C1 that is the tilting center of the support table 2 is located on the virtual plane P1 passing through the center of the support surface 2d, when the support surface 2d of the support table 2 performs a reciprocating tilting operation to one side and the other side in the X direction respectively, each workpiece W arranged on the support surface 2d moves well-balanced on the support surface 2d in the X direction. Also, since the second axis C2 that is the tilting center of the support table 2 is located on the virtual plane P2 passing through the center of the support surface 2d, when the support surface 2d of the support table 2 performs a reciprocating tilting operation to one side and the other side in the Y direction respectively, each workpiece W arranged on the support surface 2d moves well-balanced on the support surface 2d in the Y direction. Therefore, it is possible to easily control the arrangement of each workpiece W on the support surface 2d.

[0057] That is, since the support surface 2d of the support table 2 can be tilted and reciprocated in two orthogonal horizontal directions (X direction and Y direction), each workpiece W located in all regions near the outer peripheral edge of the support surface 2d can be moved on the support surface 2d without bias, and the arrangement of each workpiece W on the support surface 2d can be effectively controlled.

[0058] Further, since the tilting reciprocating operation of the support table 2 is performed by the first electric motor 3g with a rotation position control function that reciprocates by a crank mechanism, the support surface 2d of the support table 2 can be tilted with a smaller movement amount of the driving part of the drive source compared to the structure such as in Patent Document 1. Therefore, the speed of the tilting operation on the support surface 2d of the support table 2 is increased, and the tact time of the production line can be shortened.

[0059] Also, since only one drive source is required when tilting the support surface 2d of the support table 2 to both sides in a predetermined horizontal direction, a simple structure and low-cost equipment can be achieved.

[0060] Further, since the tilting reciprocating operation of the support table 2 is performed by the rotational operation of one first electric motor 3g, for example, when widening the support surface 2d of the support table 2 that supports the workpiece W group, the operation of the movable part in the first actuator 3e can be made smaller compared to the structure such as in Patent Document 1. Therefore, it becomes possible to adopt a smaller and less capable first actuator 3e than the one adopted in Patent Document 1, and accordingly, the entire workpiece group arrangement control device 10 can be made into a compact structure.

[0061] Also, since the first axis C1 and the second axis C2 for rotating the support table 2 are set at positions shifted vertically, it is possible to arrange the portions where both first axis support frames 3c support the rotation of the support table 2 and the portions where both second axis support frames 4c support the rotation of the lower rotation plate 4b in a vertically shifted arrangement. Therefore, the portion for rotating the support table 2 has a relatively simple structure, and a low-cost device can be achieved.

[0062] Further, since the striking mechanism 10C is disposed in the internal space S of the first rotating mechanism 10A, it is possible to apply a downward impact to the support surface 2d of the support table 2. Therefore, each workpiece W located on the support surface 2d can be efficiently separated into scattered positions.

[0063] Furthermore, the workpiece supply system 1 in the first embodiment of the present invention can efficiently disperse a plurality of workpieces W concentrated by the workpiece group arrangement control device 10 or turn them over. Therefore, the picking by the robot 11a can be performed without errors and without taking time, and each picked workpiece W can be sequentially and efficiently sent to the workpiece receiving device 13 on the downstream side of the line.

Embodiment

[0064] FIG. 11 shows the workpiece supply system 1 according to the second embodiment of the present invention, and FIGS. 12 and 13 show the workpiece group arrangement control device 10 according to the second embodiment of the present invention. In this second embodiment, since a part of the structure of the workpiece group arrangement control device 10 is different from that of the first embodiment, the same reference numerals are given to the same parts as in the first embodiment, and only the different parts will be described.

[0065] The first rotating mechanism 10A of the second embodiment includes two first actuators 3e. One first actuator 3e is a first air cylinder 3h (fluid pressure cylinder) having a first rod portion 3i (slide portion) connected to the upper end of the first tilting operation arm 3d, and the other first actuator 3e is a second air cylinder 3j (fluid pressure cylinder) having a second rod portion 3k (slide portion) connected to one end portion of the lower rotating plate 4b in the X direction. The first air cylinder 3h is in a posture where the first rod portion 3i is located upward, while the second air cylinder 3j is in a posture where the second rod portion 3k is located downward, and the opposite end portion of the second rod portion 3k in the second air cylinder 3j is integrally fixed to the opposite end portion of the first rod portion 3i in the first air cylinder 3h. That is, while the first rod portion 3i extends upward, it contracts downward, and while the second rod portion 3k extends downward, it contracts upward. The first rod portion 3i and the second rod portion 3k have opposite extending and contracting directions.

[0066] The second rotation mechanism 10B of the second embodiment includes two second actuators 4e. One of the second actuators 4e is a third air cylinder 3m (fluid pressure cylinder) having a third rod portion 3n (slide portion) connected to the upper end of the second tilting operation arm 4d, and the other second actuator 4e is a fourth air cylinder 3p (fluid pressure cylinder) having a fourth rod portion 3q (slide portion) connected to the upper surface of one region in the Y direction of the floor plate 15. The third air cylinder 3m is in a posture where the third rod portion 3n is positioned upward, while the fourth air cylinder 3p is in a posture where the fourth rod portion 3q is positioned downward. The opposite end of the fourth rod portion 3q in the fourth air cylinder 3p is integrally fixed to the opposite end of the third rod portion 3n in the third air cylinder 3m.

[0067] That is, while the third rod portion 3n extends upward, it contracts downward, and while the fourth rod portion 3q extends downward, it contracts upward. The third rod portion 3n and the fourth rod portion 3q have opposite extending and contracting directions. The support surface 2d of the support table 2 in the second embodiment is set to be in a horizontal state when the first rod portion 3i is in an extended state, the second rod portion 3k is in a contracted state, the third rod portion 3n is in an extended state, and the fourth rod portion 3q is in a contracted state.

[0068] The tilting reciprocating motion of the support table 2 in the second embodiment will be described during the rotation motion of the second rotation mechanism 10B. When the third air cylinder 3m is actuated to contract the third rod portion 3n with the support surface 2d in the horizontal state, as shown in FIG. 14, the third rod portion 3n pulls the second tilting operation arm 4d to one side in the Y direction, causing the lower rotating plate 4b to tilt to one side in the Y direction. Accordingly, the support surface 2d of the mounting plate 2b tilts by a predetermined angle to one side in the Y direction via each first pivot frame 3c, the upper rotating plate 3b, and each leg frame 3a. Also, when the third air cylinder 3m is actuated to extend the third rod portion 3n with the support surface 2d tilted by a predetermined angle to one side in the Y direction, the third rod portion 3n presses the second tilting operation arm 4d to the other side in the Y direction, causing the lower rotating plate 4b to return to the posture of extending in the horizontal direction. Accordingly, the support surface 2d of the mounting plate 2b also returns to the posture of extending in the horizontal direction via each first pivot frame 3c, the upper rotating plate 3b, and each leg frame 3a.

[0069] On the other hand, when the fourth air cylinder 3p is actuated to extend the fourth rod portion 3q with the support surface 2d in the horizontal state, as shown in FIG. 15, the fourth rod portion 3q presses the second tilting operation arm 4d to the other side in the Y direction, causing the lower rotating plate 4b to tilt to the other side in the Y direction. Accordingly, the support surface 2d of the mounting plate 2b tilts by a predetermined angle to the other side in the Y direction via each first pivot frame 3c, the upper rotating plate 3b, and each leg frame 3a. Also, when the fourth air cylinder 3p is actuated to contract the fourth rod portion 3q with the support surface 2d tilted by a predetermined angle to the other side in the Y direction, the fourth rod portion 3q pulls the second tilting operation arm 4d to one side in the Y direction, causing the lower rotating plate 4b to return to the posture of extending in the horizontal direction. Accordingly, the support surface 2d of the mounting plate 2b also returns to the posture of extending in the horizontal direction via each first pivot frame 3c, the upper rotating plate 3b, and each leg frame 3a.

[0070] In the first driving mechanism 10A of the second embodiment, the tilting operation of the support table 2 accompanying the telescopic operation of the first rod portion 3i of the first air cylinder 3h and the second rod portion 3k of the second air cylinder 3j is such that the first rod portion 3i and the second rod portion 3k are caused to perform the same telescopic operation as the third rod portion 3n and the fourth rod portion 3q of the second driving mechanism 10B, thereby tilting the upper rotating plate 3b to one side in the X direction or the other side in the X direction, and accordingly tilting the support surface 2d of the mounting plate 2b to one side in the X direction or the other side in the X direction via each leg frame 3a.

[0071] That is, the support table 2 of the second embodiment is configured such that the support surface 2d performs a reciprocating tilting operation from the horizontal state to one side in the X direction or the other side in the X direction by the telescopic operation of the first rod portion 3i of the first air cylinder 3h and the second rod portion 3k of the second air cylinder 3j. Further, the support surface 2d is configured to perform a reciprocating tilting operation from the horizontal state to one side in the Y direction or the other side in the Y direction by the telescopic operation of the third rod portion 3n of the third air cylinder 3m and the fourth rod portion 3q of the fourth air cylinder 3p.

[0072] As described above, according to the second embodiment of the present invention, in the first driving mechanism 10A, when the first rod portion 3i in the extended state performs a telescopic operation, the support table 2 performs a reciprocating tilting operation to one side in the X direction, while when the second rod portion 3k in the contracted state performs a telescopic operation, the support table 2 performs a reciprocating tilting operation to the other side in the X direction. In this way, the structure capable of the reciprocating tilting operation of the support table 2 to one side and the other side in the X direction can be constituted only by the general-purpose first air cylinder 3h and the second air cylinder 3j having the first rod portion 3i and the second rod portion 3k, so that a low-cost device can be achieved.

[0073] In the second drive mechanism 10B, when the third rod portion 3n in the extended state performs a telescopic operation, the support table 2 performs a tilting reciprocating operation to one side in the Y direction. On the other hand, when the fourth rod portion 3q in the contracted state performs a telescopic operation, the support table 2 performs a tilting reciprocating operation to the other side in the Y direction. In this way, a structure that enables the support table 2 to perform a tilting reciprocating operation to one side and the other side in the Y direction can be configured only by the general-purpose third air cylinder 3m and fourth air cylinder 3p having the third rod portion 3n and the fourth rod portion 3q. Therefore, a low-cost device can be achieved.

Embodiment

[0074] FIG. 16 shows the work supply system 1 of Embodiment 3 of the present invention, and FIGS. 17 and 18 show the work group arrangement control device 10 of Embodiment 3 of the present invention. In this Embodiment 3, since a partial structure of the work group arrangement control device 10 is different from that of Embodiment 2, the same reference numerals are given to the same parts as those in Embodiment 2, and only the different parts will be described below. The accommodation recess 2c in the mounting plate 2b of the first drive mechanism 10A in Embodiment 3 is open to the other side in the X direction. Further, at the other end portion in the X direction of the base member 2a, a guide slope 9 that slopes downward gradually as it moves away from the mounting plate 2b is attached. The main body frame 3 of the first drive mechanism 10A in Embodiment 3 includes a rotation support plate 7a disposed opposite to the mounting plate 2b below the mounting plate 2b, and the lower ends of the respective leg frames 3a are fixed to the rotation support plate 7a. Below the rotation support plate 7a, a tilting plate 8a having a substantially rectangular plate shape is disposed opposite to the rotation support plate 7a, and the tilting plate 8a is disposed at a position spaced a predetermined distance from the floor H. In Embodiment 3, both the first pivot support frames 3c are attached to the middle portion in the Y direction of the tilting plate 8a with a predetermined interval in the X direction, and pivotally support the substantially middle portion in the Y direction of the rotation support plate 7a so as to be rotatable around the third axis C3 extending in the X direction.

[0075] This third axis C3 is set in a position that extends along the X direction at a right angle to the support surface 2d of the support table 2 and extends parallel to the support surface 2d with a predetermined interval on a virtual plane P3 that passes through the center of the support surface 2d. The first tilting operation arm 3d of the third embodiment is provided at one end of the tilting plate 8a in the Y direction, protrudes upward, and has a substantially L-shaped cross section with the protruding end side projecting toward the inner space S. At the upper end of the first tilting operation arm 3d of the third embodiment, the first rod portion 3i of the first air cylinder 3h is connected, while the second rod portion 3k of the second air cylinder 3j is connected to one end portion of the rotation support plate 7a in the Y direction.

[0076] When the first air cylinder 3h is operated to extend the first rod portion 3i, as shown in FIG. 21, the first rod portion 3i presses the rotation support plate 7a downward, causing the rotation support plate 7a to tilt to one side in the Y direction. Along with this, the support surface 2d of the mounting plate 2b tilts by a predetermined angle to one side in the Y direction via each leg frame 3a. Also, when the first air cylinder 3h is operated to contract the first rod portion 3i in a state where the support surface 2d is tilted by a predetermined angle to one side in the Y direction, the first rod portion 3i pulls the rotation support plate 7a, causing the rotation support plate 7a to return to a posture extending in the horizontal direction. Along with this, the support surface 2d of the mounting plate 2b also returns to a posture extending in the horizontal direction via each leg frame 3a.

[0077] On the other hand, when the second air cylinder 3j is operated to contract the second rod portion 3k, as shown in FIG. 22, the second rod portion 3k pulls the rotation support plate 7a, causing the rotation support plate 7a to tilt to the other side in the Y direction. Along with this, the support surface 2d of the mounting plate 2b tilts by a predetermined angle to the other side in the Y direction via each leg frame 3a. Further, when the second air cylinder 3j is operated with the support surface 2d inclined by a predetermined angle to the other side in the Y direction to extend the second rod portion 3k, the second rod portion 3k presses the rotation support plate 7a, causing the rotation support plate 7a to return to a posture extending in the horizontal direction. Accordingly, the support surface 2d of the mounting plate 2b also returns to a posture extending in the horizontal direction via each leg frame 3a.

[0078] In the third embodiment, the second rotation mechanism 10B as in the second embodiment is not provided. The workpiece group arrangement control device 10 of the third embodiment includes a pair of fifth air cylinders 8b in a posture where the fifth rod portion 8c is located on the lower side, and a pair of suspension frames 8d arranged corresponding to the respective fifth air cylinders 8b. Each suspension frame 8d is formed by bending a strip-shaped steel plate into a substantially U shape, and is disposed corresponding to the middle portion in the Y direction at each end portion in the X direction of the tilting plate 8a in a posture where the open sides of the U shape face each other when viewed from the Y direction. The upper ends of the respective suspension frames 8d suspend the respective fifth air cylinders 8b so as to be rotatable in the X direction, and the lower ends of the respective suspension frames 8d are fixed to the floor H. Further, the tip of each fifth rod portion 8c is fixed to the middle portion in the Y direction at each end portion in the X direction of the tilting plate 8a so as to be rotatable in the X direction. That is, the first rotation mechanism 10A is suspended from both suspension frames 8d via the tilting plate 8a and both fifth air cylinders 8b.

[0079] Then, when the fifth rod portion 8c of one of the fifth air cylinders 8b is contracted, as shown in FIG. 19, the fifth rod portion 8c lifts the other end portion in the X direction of the tilting plate 8a upward, causing the tilting plate 8a to rotate upward with the tip of the fifth rod portion 8c of the other fifth air cylinder 8b as the rotation center and tilt to one side in the X direction. Accordingly, the support surface 2d of the mounting plate 2b tilts by a predetermined angle to one side in the X direction via each first pivot frame 3c, rotation support plate 7a, and leg frame 3a. Further, when the fifth rod portion 8c of one of the fifth air cylinders 8b is extended with the support surface 2d inclined by a predetermined angle to one side in the X direction, the fifth rod portion 8c lifts the other end portion of the tilting plate 8a in the X direction downward, and the tilting plate 8a rotates downward about the tip of the fifth rod portion 8c of the other fifth air cylinder 8b as a rotation center and returns to a posture extending in the horizontal direction. Along with this, the support surface 2d of the mounting plate 2b also returns to a posture extending in the horizontal direction through each first pivot frame 3c, the rotation support plate 7a, and each leg frame 3a.

[0080] On the other hand, when the fifth rod portion 8c of the other fifth air cylinder 8b is contracted, as shown in FIG. 20, the fifth rod portion 8c lifts the one end portion of the tilting plate 8a in the X direction upward, and the tilting plate 8a rotates upward about the tip of the fifth rod portion 8c of the one fifth air cylinder 8b as a rotation center and tilts to the other side in the X direction. Along with this, the support surface 2d of the mounting plate 2b tilts by a predetermined angle to the other side in the X direction through each first pivot frame 3c, the rotation support plate 7a, and each leg frame 3a. Further, when the fifth rod portion 8c of the other fifth air cylinder 8b is extended with the support surface 2d inclined by a predetermined angle to the other side in the X direction, the fifth rod portion 8c lifts the one end portion of the tilting plate 8a in the X direction downward, and the tilting plate 8a rotates downward about the tip of the fifth rod portion 8c of the one fifth air cylinder 8b as a rotation center and returns to a posture extending in the horizontal direction. Along with this, the support surface 2d of the mounting plate 2b also returns to a posture extending in the horizontal direction through each first pivot frame 3c, the rotation support plate 7a, and each leg frame 3a.

[0081] Note that the principle by which the workpiece W on the support surface 2d moves in the X direction by vertically expanding and contracting either one of the fifth rod portions 8c of each fifth air cylinder 8b is described in detail in, for example, Japanese Patent Application Laid-Open No. 2002-160802, etc., and thus the description is omitted here.

[0082] When picking up the plurality of workpieces W located on the support surface 2d after the picking operation by the robot 11a is completed, as shown in FIG. 20, when the fifth rod portion 8c of the other fifth air cylinder 8b is continuously extended and retracted, each workpiece W located on the support surface 2d gradually moves to the other side in the X direction, and as each workpiece W pops out from the open area on the other side in the X direction of the accommodation recess 2c and is guided by the guide slope 9, they are respectively collected in a workpiece recovery area (not shown).

[0083] As described above, according to the third embodiment of the present invention, when controlling the arrangement of each workpiece W, it becomes easier to move each workpiece on the support surface 2d to the end in the X direction. Therefore, for example, after the picking operation by the robot 11a is completed, it is possible to easily collect each workpiece W remaining on the support surface 2d from the end in the X direction.

[0084] In addition, in the second and third embodiments of the present invention, the first air cylinder 3h, the second air cylinder 3j, the third air cylinder 3m, and the fourth air cylinder 3p are used as the actuators for tilting and reciprocating the support table 2. However, the present invention is not limited to this, and a hydraulic cylinder or a solenoid may be used respectively, or a pair of linear actuators in which the slider is linearly guided may be used.

[0085] Also, in the second and third embodiments of the present invention, the opposite end of the second rod portion 3k in the second air cylinder 3j is integrally fixed to the opposite end of the first rod portion 3i in the first air cylinder 3h, and the opposite end of the fourth rod portion 3q in the fourth air cylinder 3p is integrally fixed to the opposite end of the third rod portion 3n in the third air cylinder 3m. However, it is not essential to arrange the air cylinders vertically side by side at one place like this. For example, the first air cylinder 3h and the second air cylinder 3j may be arranged adjacent to each other or separated from each other in the horizontal direction instead of being arranged vertically side by side. Also, for example, the third air cylinder 3m and the fourth air cylinder 3p may be arranged adjacent to each other or separated from each other in the horizontal direction instead of being arranged vertically side by side.

[0086] In addition, in Examples 2 and 3 of the present invention, the support surface 2d of the support table 2 controls three postures: a horizontal state, a state inclined to one side, and a state inclined to the other side, using two cylinders (a combination of the first air cylinder 3h and the second air cylinder 3j, or a combination of the third air cylinder 3m and the fourth air cylinder 3p). However, the present invention is not limited to this. For example, a linear actuator capable of sliding sliders (slide portions) on both sides from a reference position may be used. That is, it may be configured as one linear actuator in which the slider can slide to one side and the other side around the reference position, and the slider is connected to the support table 2 and the support surface 2d is set to a horizontal state when the slider is in the reference position. In this way, a structure capable of reciprocating tilting movement of the support table 2 to one side and the other side can be constituted by one linear actuator. Also, a structure using a fluid pressure cylinder called a three-position cylinder instead of the above-described linear actuator may be used.

[0087] In addition, the first axis C1, the second axis C2, and the third axis C3 in Examples 1 to 3 of the present invention are located on virtual planes P1 to P3 passing through the center of the support surface 2d, but may be configured to be located on virtual planes P1 to P3 that do not pass through the center of the support surface 2d.

[0088] In addition, in Examples 1 and 2 of the present invention, the first axis C1 is set to be located above the second axis C2, but the structure may be such that the first axis C1 and the second axis C2 are at the same height, or the structure may be such that the first axis C1 is located below the second axis C2.

[0089] In addition, in Examples 1 to 3 of the present invention, each workpiece W is sequentially supplied to the workpiece group arrangement control device 10 by the circulating operation of the endless belt of the transfer conveyor 12a. However, the present invention is not limited to this. For example, a transfer robot may grip each workpiece W and transfer it to the workpiece group arrangement control device 10. Also, in Examples 1 to 3 of the present invention, the workpiece receiving device 13 is configured to receive the workpieces in a container 14 such as a tray, but the present invention is not limited thereto, and the workpieces may be received on a table or the like.

Industrial Applicability

[0090] It is suitable for a workpiece group arrangement control device that eliminates the crowded state, front-back inversion state, or overlapping state of workpieces in a workpiece transfer area where a robot performs picking, and a workpiece supply system including the same.

Explanation of Signs

[0091] 1…Work supply system 2…Support table 2a…Base member 2b…Placement plate 2c…Receiving recess 2d…Support surface 3…Main body frame 3a…Leg frame 3b…Upper rotating plate 3c…First pivot frame 3d…First tilting operation arm 3e…First actuator 3f…First crank disk 3g…First electric motor 3h…First air cylinder 3i…First rod part (slide part) 3j…Second air cylinder 3k…Second rod part (slide part) 3m…Third air cylinder 3n…Third rod part (slide part) 3p…Fourth air cylinder 3q…Fourth rod part (slide part) 4…Base frame 4b…Lower rotating plate 4c…Second pivot frame 4d…Second tilting operation arm 4e…Second actuator 4f…Second crank disk 4g…Second electric motor 5…Gantry 6a…Striking actuator 6b…Z-axis linear actuator 6c…Y-axis linear actuator 6d…X-axis linear actuator 7a…Rotating support plate 8a…Tilting plate 8b…Fifth air cylinder 8c…Fifth rod part 8d…Suspension frame 9…Guide slope 10…Work group arrangement control device 10A…First rotation mechanism 10B…Second rotation mechanism 10C…Striking mechanism 10D…Unit control unit (control device) 11…Pick-and-place system 11a…Robot 11b…Hand 11c…End effector 11d…Camera 11e…Image analysis unit 11f…Pick-and-place control unit 12…Work transfer device 12a…Transfer conveyor 13…Work receiving device 14…Container 14a…Storage compartment 15…Floor plate C1…First axis C2…Second axis C3…Third axis H…Floor P1…Virtual plane P2…Virtual plane P3…Virtual plane R1…First connecting rod R2…Second connecting rod S…Internal space W…Work

Claims

1. A workpiece group arrangement control device including a support table capable of supporting a plurality of workpieces, and capable of controlling the arrangement of each workpiece supported by the support table, a first rotation mechanism capable of performing a rotation operation of the support table about a first axis extending parallel to the support surface on a virtual plane extending in a direction perpendicular to the support surface of the support table, and a control device for controlling the rotation operation of the support table by the first rotation mechanism, wherein the control device controls the rotation operation of the first rotation mechanism so that the support table performs one or more reciprocating tilting operations of tilting from a horizontal state to one side or the other side by a predetermined angle and then returning to the horizontal state. The workpiece group arrangement control device is characterized by this.

2. In the workpiece group arrangement control device according to Claim 1, the first axis is located on the virtual plane passing through the center of the support surface. The workpiece group arrangement control device is characterized by this.

3. In the workpiece group arrangement control device according to Claim 1 or 2, it includes a second rotation mechanism capable of performing a rotation operation of the support table about a second axis extending in a horizontal direction perpendicular to the first axis, and the control device controls the rotation operation of the second rotation mechanism so that the support table performs one or more reciprocating tilting operations of tilting from a horizontal state to one side or the other side by a predetermined angle and then returning to the horizontal state. The workpiece group arrangement control device is characterized by this.

4. In the workpiece group arrangement control device according to Claim 3, at least one of the first and second rotation mechanisms includes a crank mechanism having a crank disk and a connecting rod, and an electric motor with rotational position control connected to the support table via the crank mechanism, and the support surface is configured to perform a reciprocating tilting operation in conjunction with the reciprocating operation of the connecting rod accompanying the forward and reverse rotation operations of the crank disk by the electric motor. The workpiece group arrangement control device is characterized by this.

5. In the workpiece group arrangement control device according to Claim 3, at least one of the first rotation mechanism and the second rotation mechanism includes a rotation support frame that rotatably supports the support table, and a pair of actuators that are integrally fixed to each other and whose respective slide portions expand and contract in opposite directions, wherein one of the slide portions is connected to the support table, and the other slide portion is connected to the rotation support frame. The support surface is set to a horizontal state in a state where one of the slide portions extends while the other contracts, and is configured to perform a tilting reciprocating motion in conjunction with the expansion and contraction operations of both slide portions. A workpiece group arrangement control device characterized by this.

6. In the workpiece group arrangement control device according to claim 3, At least one of the first rotating mechanism and the second rotating mechanism includes one actuator in which the slide portion is slidable on one side and the other side around a reference position, The slide portion is connected to the support table, The support surface is set to a horizontal state in a state where the slide portion is at the reference position, and is configured to perform a tilting reciprocating motion in conjunction with the sliding motion of the slide portion to one side or the other side. A workpiece group arrangement control device characterized by this.

7. In the workpiece group arrangement control device according to claim 3, The first axis is set above the second axis. A workpiece group arrangement control device characterized by this.

8. In the workpiece group arrangement control device according to claim 1 or 2, The support table includes a mounting plate having the support surface, and a main body frame having an internal space and supporting the mounting plate from below, A striking mechanism capable of striking the mounting plate from below is disposed in the internal space. A workpiece group arrangement control device characterized by this.

9. The workpiece group arrangement control device according to claim 1 or 2, A workpiece transfer device disposed upstream of the workpiece group arrangement control device and transferring each workpiece to the support surface, An industrial robot disposed beside the workpiece group arrangement control device and picking up each workpiece supported by the support surface, A workpiece receiving device disposed downstream of the workpiece group arrangement control device and capable of receiving each workpiece picked up by the industrial robot. A workpiece supply system characterized by this.

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