Parts supply system

Abstract

This invention provides a parts supply system that allows a robot to track a workpiece moving on a rotating disc. [Solution] The parts supply system SY comprises a rotating disc-shaped transport table 8 for transporting workpieces W, a robot 4 fixed at its base end and picking up workpieces W moving on the transport table 8 at its tip, a workpiece detection means 14 for detecting the position of workpieces W on the transport table 8, a rotation sensor 25 for detecting the phase position of the rotating disc 22, and a control device 12 for controlling the robot 4 based on the detection values ​​of the workpiece detection means 14 and the rotation sensor 25. The robot 4 has arm members 10A to 10C that rotate around a rotation axis, and is positioned so that the first rotation axis AX1 at the base end coincides with the rotation axis O of the transport table 8. The robot 4 is configured to follow the movement of the workpieces W by rotating around the first rotation axis AX1.

Description

Technical Field

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[0001] The present invention relates to a component supply system including a rotating disk-shaped transfer table, a robot for picking up a workpiece moving on the transfer table, and a control device for controlling the robot.

Background Art

[0002] As control of a robot for picking up a workpiece moving on a rotating disk, for example, an arc tracking method is used (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in a component supply system such as that of Patent Document 1, in order to make the robot follow a workpiece moving on a rotating disk, complex coordinate calculations such as arc interpolation are required.

[0005] An object of the present invention is to provide a component supply system capable of making a robot follow a workpiece moving on a rotating disk.

Means for Solving the Problems

[0006] The parts supply system of the present invention comprises a rotating disc-shaped transport table for transporting workpieces, a robot fixed at its base end and picking up the workpieces moving on the transport table at its tip end, a workpiece detection means for detecting the position of the workpieces on the transport table, a rotation sensor for detecting the phase position of the rotating disc, and a control device for controlling the robot based on the detection values ​​of the workpiece detection means and the rotation sensor. The robot has an arm member that rotates around a rotation axis, and is positioned such that the rotation axis closest to the base end is located in the center of the transport table. The robot is configured to follow the movement of the workpieces by rotating around the rotation axis closest to the base end.

[0007] For example, the robot may be positioned such that the rotation axis at its most proximal end coincides with the rotation axis of the transport table. In this case, multiple arm members may be provided.

[0008] In this configuration, the robot's base axis of rotation is positioned at the center of the rotating disc-shaped transport platform. In a more preferred configuration, the robot's base axis of rotation coincides with the axis of rotation of the rotating disc-shaped transport platform. This allows both to rotate synchronously without the need for complex coordinate calculations such as arc interpolation. This enables the robot's front-end portion to follow a workpiece moving on the rotating disc. As a result, complex coordinate calculations are unnecessary, simplifying the control system programming and shortening the control cycle (takt time). Furthermore, since tracking is achieved solely by rotation around the first axis of rotation, there is no interference between the arms during movement, improving positioning accuracy.

[0009] In the present invention, the control device is An estimation processing unit calculates the timing at which the workpiece reaches the picking start point from the detected values ​​of the workpiece detection means and the rotation sensor, A movement processing unit moves the workpiece gripping portion of the robot's tip arm directly above the picking start point before or at the same time as the workpiece calculated by the estimation processing unit reaches the picking start point, A tracking processing unit that, at the timing when the workpiece reaches the picking start point, rotates the robot around the first rotation axis to cause the workpiece gripping unit to follow the movement of the workpiece and pick up the workpiece, It may have.

[0010] Instead, the control device shall An estimation processing unit calculates the timing at which the workpiece reaches the picking start point and a waiting position on the workpiece trajectory upstream of the picking start point, based on the detection values ​​of the workpiece detection means and the rotation sensor. A movement processing unit moves the workpiece gripping portion of the robot's tip arm to the standby position before or at the same time as the timing calculated by the estimation processing unit that the workpiece reaches the standby position, A tracking processing unit that, at the timing when the workpiece reaches directly below the workpiece gripping unit, rotates the robot around the first rotation axis to cause the workpiece gripping unit to follow the movement of the workpiece, thereby picking up the workpiece downstream of the picking process start point, It may have.

[0011] In either control system, the robot can track a workpiece moving on a rotating disk without using complex coordinate calculations such as arc interpolation.

[0012] In the present invention, the system further comprises a parts supply device for supplying the workpieces to the transport table, the parts supply device comprising a vibrating bowl feeder having a bowl that transports and supplies the contained workpieces along a transport path while aligning them by vibration, and a transport table for transporting the workpieces supplied in an aligned state from the vibrating bowl feeder, the transport table may have a rotating disc arranged in an annular shape along the outer circumference of the vibrating bowl feeder and having a workpiece transport surface formed on its upper surface. With this configuration, the parts supply device has a disc-shaped transport table, a robot is placed inside it, and workpieces are supplied from inside it, thus enabling space saving for the entire system. [Effects of the Invention]

[0013] According to the parts supply system of the present invention, a robot can be made to follow a workpiece moving on a rotating disk without performing complex calculations. [Brief explanation of the drawing]

[0014] [Figure 1] This is a plan view showing a parts supply system according to the first embodiment of the present invention. [Figure 2] This is a side view showing the parts supply system. [Figure 3] This is a perspective view showing the main parts of the parts supply device of the parts supply system. [Figure 4A] This is a plan view illustrating the operation of the parts supply system. [Figure 4B] This is a plan view illustrating the operation of the parts supply system. [Figure 4C] This is a plan view illustrating the operation of the parts supply system. [Figure 4D] This is a plan view illustrating the operation of the parts supply system. [Modes for carrying out the invention]

[0015] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a plan view showing a component supply system SY according to the first embodiment of the present invention, and FIG. 2 is a side view thereof. In the following description, "upstream" and "downstream" refer to "upstream" and "downstream" in the flow direction of the workpiece.

[0016] [System as a whole] As shown in FIG. 1, the component supply system SY automatically aligns the workpieces W by the component supply device 2, picks up the workpieces W by the robot 4 and the hand 6 (FIG. 2), and supplies them to an automatic machine or the like in the next process. Specifically, the component supply system SY includes a component supply device 2 that supplies the workpieces W to the transfer table 8, a robot 4 that transfers the workpieces W on the transfer table 8, and a hand 6 (FIG. 2) attached to the tip of the arm mechanism 10 of the robot 4. The workpieces W are, for example, mechanical parts, electronic parts, plastic parts, chemicals, medical products, food products, miscellaneous goods, etc.

[0017] The component supply device 2, the robot 4, and the hand 6 are synchronously controlled by the control device 12. Specifically, the position and orientation of the workpiece W on the transfer table 8 are detected by the workpiece detection means 14, the arm mechanism 10 of the robot 4 moves to the position detected by the workpiece detection means 14, and the hand 6 in FIG. 2 grips the workpiece W at an angle corresponding to the orientation detected by the workpiece detection means 14. Then, the arm mechanism 10 of the robot 4 moves to the position where the workpiece is placed (hereinafter referred to as the "place position"), and the hand 6 releases the workpiece W. After that, this operation is repeated.

[0018] In this embodiment, the workpiece detection means 14 is imaging means such as a camera. However, the workpiece detection means 14 is not limited to a camera, and may be, for example, a distance sensor or contact-type workpiece detection means. The camera may be provided exclusively for detecting the position and orientation of the workpiece W, or may be used for another purpose. Also, the camera may be fixed, or may be attached to the arm 4 of the robot 4. The detection value of the workpiece detection means 14 is sent to the control device 12.

[0019] [Component supply device] The parts supply device 2 in Figure 1 includes a vibrating bowl feeder 16 that aligns the contained workpieces W by vibration, and a transport table 8 that transports the workpieces W supplied in an aligned state from the vibrating bowl feeder 16. In this embodiment, the transport table 8 is arranged along the outer circumference of the vibrating bowl feeder 16 so as to surround the outer circumference of the vibrating bowl feeder 16.

[0020] The vibrating bowl feeder 16 comprises a bowl-shaped bowl 18 having a transport path 18a on its inner circumference, and a vibrator (not shown) that vibrates the bowl 18. As shown in Figure 3, the workpieces W contained in the bowl 18 are aligned by the vibration of the vibrator and sequentially transported along the transport path 18a to the workpiece discharge section 18b located at the top of the transport path 18a.

[0021] The bowl-shaped container 18 has a bottom portion 18c for accommodating the workpiece W, and a transport path 18a that spirals upward from the outer diameter side of the bottom portion 18c. The workpiece discharge section 18b is formed at the uppermost part of the transport path 18a.

[0022] The workpiece W placed in the bottom 18a of the bowl 18 is sequentially fed out along the conveying path 18a on the inner circumferential surface, aligned from bottom to top by the vibration of the bowl 18, and discharged from the uppermost workpiece discharge section 18b.

[0023] In this embodiment, the conveyor table 8 is arranged in an annular shape along the outer circumference of the vibrating bowl feeder 16. The conveyor table 8 has a rotating disc 22 on which an annular conveying surface 22a for the workpiece W is formed on its upper surface. The conveying surface 22a and the workpiece discharge section 18b are adjusted to be at approximately the same height. This rotating disc 22 is driven to rotate by a rotational drive device (not shown) and rotates around the rotation center O shown in Figure 1 at a specified rotational speed. The rotational drive device is, for example, an electric motor, but is not limited thereto.

[0024] The parts supply system SY further includes a rotation sensor 25 that detects the phase position of the rotating disk 22. The rotation sensor 25 detects, for example, the rotation angle of the rotating disk 22. In this embodiment, the rotation sensor 25 is an encoder connected to the drive shaft of an electric motor. However, the rotation sensor 25 is not limited to this. The value detected by the rotation sensor 25 is sent to the control device 12.

[0025] On the upper conveying surface 22a of the rotating disk 22, a work supply area 24, a sensing area 26, a pickup area 28, and a work recovery area 30 are provided, arranged in the circumferential direction. The work supply area 24 is the region to which the workpiece W is supplied from the workpiece discharge section 18b.

[0026] The sensing area 26 is located downstream of the work supply area 24 in the work flow direction. In the sensing area 26, the work position and orientation of the workpiece W are detected by the work detection means 14 described above.

[0027] The pickup area 28 is located downstream of the sensing area 26 in the direction of workpiece flow. In the pickup area 28, the workpiece W is picked up by the robot 4 and the hand 6.

[0028] The workpiece retrieval area 30 is located downstream of the pickup area 28 in the direction of workpiece flow. In the workpiece retrieval area 30, workpieces W that were not picked up in the pickup area 28 are returned to the bowl 18. Specifically, the workpieces W are returned to the bowl 18 from the transport path 8 via a workpiece retrieval unit 32 located in the workpiece retrieval area 30.

[0029] [robot] Robot 4 is a horizontal articulated robot, also known as a SCARA robot, having multiple arm members 10A, 10B, and 10C, each of which moves horizontally. In this embodiment, the aforementioned arm mechanism 10 is composed of these arm members 10A, 10B, and 10C. However, robot 4 is not limited to a horizontal articulated robot; for example, it may be a vertical articulated robot or a Cartesian robot (gantry robot). Robot 4 rotates between the transport table 8 and the place position for the next process.

[0030] As shown in Figure 2, the robot 4 of this embodiment has a base 36 fixed to the floor and three first to third arm members 10A, 10B, and 10C. However, the number of arm members is not limited to three. In the following description, the side of the robot 4 that is fixed will be referred to as the "base end side," and the side that picks up the workpiece W will be referred to as the "tip end side." In other words, the robot 4 is fixed at the base end and picks up the workpiece W on the transport table 8 at the tip end.

[0031] The first arm member 10A is a rectangular bar-shaped or flat plate-shaped member extending horizontally, with its base end 10Aa connected to the upper surface of the base portion 36 so as to be rotatable around a first vertical rotation axis AX1. The second arm member 10B is a rectangular bar-shaped or flat plate-shaped member extending horizontally, with its base end 10Ba connected to the tip portion 10Ab of the first arm member 10A so as to be rotatable around a second vertical rotation axis AX2.

[0032] The third arm member 10C is a cylindrical shaft member extending vertically, inserted through the tip portion 10Bb of the second arm member 10B. The third arm member 10C is movable vertically relative to the tip portion 10Bb of the second arm member 10B, and is rotatable about a third vertical rotation axis AX3. The hand 6 is attached to the lower end 10Ca of the third arm member 10C.

[0033] The hand 6 picks up the workpiece W on the transport table 8 and places the workpiece W at the position for the next process. In other words, the hand 6 constitutes a workpiece gripping part that grips the workpiece W. In this embodiment, the hand 6 is attached to the lower end 10Ca of the third arm member 10C so as to be rotatable around the third rotation axis AX3. However, the mounting structure of the hand 6 is not limited to this. The hand 6 in this embodiment is a chuck device having a plurality of openable and closable claws. However, the hand 6 is not limited to a chuck device and may be, for example, a suction pad.

[0034] Thus, the robot 4 of this embodiment has a first arm member 10A that rotates around a first rotation axis AX1, a second arm member 10B that rotates around a second rotation axis AX2, and a third arm member 10C that rotates around a third rotation axis AX3, with the first rotation axis AX1 constituting the rotation axis closest to the base end.

[0035] The arm members 10A, 10B, and 10C of the arm mechanism 10 are driven by actuators (not shown). The actuators are, for example, electric motors, but are not limited thereto. The actuators are controlled by signals from the control device 12. In this embodiment, the rotating shaft 20 shown in Figure 2 rotates around the first rotation axis AX1.

[0036] As shown in Figure 1, the robot 4 is positioned such that the first rotation axis AX1 at the most proximal end of the robot 4 coincides with the center O of the virtual circle VC of the transport platform 8. Here, "virtual circle VC" refers to the inner diameter circle of the transport platform 8, that is, the circle formed by the inner edge of the transport platform 8. In this embodiment, the center O of the virtual circle VC coincides with the rotation center O of the rotating disk 22 of the transport platform 8. In other words, the first rotation axis AX1 at the most proximal end of the robot 4 and the rotation center O of the rotating disk 22 of the transport platform 8 coincide, and the first arm 10A of the robot 4 and the rotating disk 22 (transport platform 8) rotate coaxially.

[0037] However, the first rotation axis AX1 at the most proximal end may be slightly offset from the center O of the virtual circle VC of the transport table 8. Here, "slightly offset" means that the robot 4 is offset to the extent that it can follow the movement of the workpiece W by rotating around the rotation axis AX1, as will be described later. Thus, "the first rotation axis AX1 at the most proximal end is positioned slightly offset from the center O of the virtual circle VC of the transport table 8" is defined in this specification as "the rotation axis AX1 at the most proximal end is located in the center of the transport table 8".

[0038] In this embodiment, the robot 4 is fixed to the floor surface, but the robot 4 does not need to be fixed to the floor surface as long as the first rotation axis AX1 is located inside the virtual circle VC. For example, a gantry-type frame may be provided, and the robot 4 may be installed suspended from the frame.

[0039] [Control device] The control device 12 controls the robot 4 based on the detection values ​​of the workpiece detection means 14 and the rotation sensor 25. In this embodiment, the control device 12 performs both image processing of the camera (workpiece detection means) 14 and control of the actuators (not shown) of the robot 4. In other words, in this embodiment, robot control and image processing are integrated and controlled by a single control device 12.

[0040] In this embodiment, the control device 12 is a central processing unit (CPU) that executes a program implemented internally to perform image processing of the camera (work detection means) 14, control of the actuators (not shown) of the robot 4, and so on. However, the control device 12 is not limited to this.

[0041] The control device 12 includes an estimation processing unit 34, a movement processing unit 35, and a tracking processing unit 38. The estimation processing unit 34 calculates the timing at which the workpiece W reaches the picking process start point P1 and the waiting position P2 upstream of the picking process start point P1, based on the detection values ​​of the workpiece detection means 14 and the rotation sensor 25.

[0042] Here, "picking start point P1" refers to the upstreammost point of the pickup area 28. Specifically, it refers to the position on the workpiece trajectory WT at the upstreammost point of the pickup area 28. Here, "workpiece trajectory WT" refers to the trajectory traced by the workpiece W as it moves on the transport surface 22a of the transport table 8.

[0043] "Standby position P2" refers to the position where the arm mechanism 10 of the robot 4, specifically the workpiece gripping part (hand) 6 of the arm mechanism 10, is waiting before pickup. In this embodiment, the workpiece gripping part 6 of the arm mechanism 10 is moved to standby position P2 when the workpiece detection means 14 confirms the workpiece W, but it may be moved before the detection means 14 confirms the workpiece W. Also, in this embodiment, standby position P2 is set on the workpiece trajectory WT, but it does not have to be on the workpiece trajectory WT. Furthermore, standby position P2 may be set within the pickup area 28.

[0044] The movement processing unit 35 moves the workpiece gripping part 6 of the robot arm mechanism 10 to the standby position P2 calculated by the estimation processing unit 34, either before or at the same time as the workpiece W reaches the standby position P2.

[0045] The tracking unit 38 rotates the robot 4 around the first rotation axis AX1 when the workpiece W reaches directly below the workpiece gripping unit 6 at the standby position P2, causing the workpiece gripping unit 6 to follow the movement of the workpiece W, and picks up the workpiece W downstream of the picking start point P1.

[0046] [Operation] Next, the operation of the parts supply system SY, including the parts supply device 2, will be explained. The workpieces W placed in the bowl 18 shown in Figure 1 are transported in an aligned state along a spirally arranged transport path 18a by vibration to the workpiece discharge section 18b at the top of the bowl 18. The aligned workpieces W are then supplied from the workpiece discharge section 18b to the workpiece supply area 24.

[0047] The workpiece W supplied to the workpiece supply area 24 has its position and orientation detected by the workpiece detection means 14 in the downstream sensing area 26. Specifically, the estimation processing unit 34 of the control device 12 calculates the timing at which the workpiece W reaches the picking process start point P1 and the timing at which the workpiece W reaches the standby position P2, based on the position of the workpiece W detected by the workpiece detection means 14 and the phase position of the rotating disk 22 detected by the rotation sensor 25 at that time.

[0048] Once these timings are calculated, the movement processing unit 35 of the control device 12 moves the workpiece gripping unit 6 of the robot arm mechanism 10 to the standby position P2 before the workpiece W reaches the standby position P2, as shown in Figure 4A (standby state). Alternatively, the workpiece gripping unit 6 of the robot arm mechanism 10 may be moved to the standby position P2 at the same time as the workpiece W reaches the standby position P2.

[0049] When the workpiece W reaches directly below the workpiece gripping unit 6 at the standby position P2, the tracking processing unit 38 (Figure 1) of the control device 12 causes the robot 4 to rotate around the first rotation axis AX1, as shown in Figure 4B, and the workpiece gripping unit 6 follows the movement of the workpiece W (following state). Specifically, the robot 4 rotates around the first rotation axis AX1 at the same rotational speed as the rotating disk 22.

[0050] At this time, the first rotation axis AX1 at the most proximal end of the robot 4 coincides with the rotation center O of the rotating disk 22 of the transport table 8, and the first arm member 10A of the robot 4 and the rotating disk 22 (transport table 8) rotate coaxially. This allows the robot 4 to follow the rotation of the transport table 8, i.e., the movement of the workpiece W. In other words, by rotating the first rotation axis AX1 of the robot 4 in synchronization with the rotating disk 22 of the transport table 8, the first arm member 10A to the third arm member 10C of the robot 4 can be made to follow the movement of the workpiece W.

[0051] The workpiece gripping unit 6 of the robot 4 follows the workpiece W and picks up the workpiece W in the pickup area 28 downstream of the picking process start point P1 shown in Figure 4C (pickup state). Specifically, the third arm member 10C moves downward and the workpiece gripping unit 6 picks up (gripping) the workpiece W, and then the third arm member 10C moves upward.

[0052] After the workpiece W is picked up, the arm mechanism 10 of the robot 4 shown in Figure 4D is rotated to the place position P3, and the workpiece gripping unit 6 releases the workpiece W (placed state). Specifically, the first arm member 10A rotates around the first rotation axis AX1, the second arm member 10B rotates around the second rotation axis AX2, and the third arm member 10C moves downward, causing the workpiece gripping unit 6 to place the workpiece W.

[0053] Workpieces W that could not be picked up in the pickup area 28 shown in Figure 1 are returned to the bowl 18 from the downstream workpiece retrieval area 30. The workpieces W returned to the bowl 18 are then transported again along the transport path 18a by vibration. The same operation is repeated thereafter.

[0054] In this embodiment, the workpiece gripping unit 6 of the robot 4 was set to move to a specific standby position P2 (for example, the standby state in Figure 4A), but the arm mechanism 10 of the robot 4 does not have to move to a specific standby position P2. For example, when workpieces W are supplied continuously, the workpiece gripping unit 6 of the robot 4 may wait at the place position P3 in Figure 4D.

[0055] In this case, the estimation processing unit 34 may calculate only the timing at which the workpiece W reaches the picking start point P1 from the detection values ​​of the workpiece detection means 14 and the rotation sensor 25. Alternatively, the movement processing unit 35 may move the workpiece gripping unit 6 of the robot 4 directly above the picking start point P1 before or simultaneously with this timing. Furthermore, the tracking processing unit 38 may rotate the robot 4 around the first rotation axis AX1 at the timing when the workpiece W reaches the picking start point P1, thereby causing the workpiece gripping unit 6 to follow the movement of the workpiece W and pick up the workpiece W.

[0056] [Effects and Effects] With the above configuration, as shown in Figure 1, the first rotation axis AX1 at the most proximal end of the robot 4 coincides with the rotation axis O of the rotating disc-shaped transport table 8. Therefore, the workpiece gripping section 6 of the robot 4 and the transport table 8 can be rotated in sync without using complex coordinate calculations such as arc interpolation. This makes it possible to make the portion of the robot 4 downstream of the first rotation axis AX1 follow the workpiece W moving on the rotating disc 22.

[0057] In this way, complex coordinate calculations become unnecessary, simplifying the programming of the control device 12 and shortening the control cycle (takt time). Furthermore, since tracking is achieved only by rotation around the first rotation axis AX1, there is no interference between the moving arms 10, improving positioning accuracy.

[0058] Furthermore, the robot 4 is positioned so that its most proximal rotation axis AX1 coincides with the center O of the virtual circle VC on the transport table 8. This reduces the footprint of the parts supply system SY. As a result, overall space savings can be achieved for the system.

[0059] Furthermore, the parts supply device 2 has a disc-shaped conveying table 8 from which the workpieces W are supplied. This reduces the installation space required for the parts supply device 2 and the conveying table 8 compared to a system with a linear conveying table. As a result, further space savings can be achieved for the entire system.

[0060] The present invention is not limited to the embodiments described above, and various additions, modifications, or deletions are possible without departing from the spirit of the invention. Therefore, such additions and deletions are also included within the scope of the present invention. [Explanation of Symbols]

[0061] 2. Parts supply device 4 Robots 6. Hand (work gripping part) 8. Transport platform 10A, 10B, 10C Arm members 12 Control device 14 Workpiece detection means 16. Vibrating Bowl Feeder 18 bowls 18a Conveyor path 22-rotation disc 22a Conveying surface 25 Rotation Sensor 34 Estimation Processing Unit 35 Movement Processing Unit 38. Follow-up Processing Unit AX1 First rotation axis (rotation axis closest to the base end) AX1~AX3 Rotation axis center O center P1 Picking process start point P2 Standby position SY Parts Supply System Virtual circle of the VC transport platform Double job WT work trajectory

Claims

1. A rotating disc-shaped transport platform for transporting workpieces, A robot that is fixed at its base end and picks up the workpiece moving on the transport platform at its tip, A workpiece detection means for detecting the position of the workpiece on the transport platform, A rotation sensor for detecting the phase position of the rotating disk, A parts supply system comprising a control device that controls the robot based on the detected values ​​of the workpiece detection means and the rotation sensor, The robot has an arm member that rotates around a rotation axis, The robot is positioned such that its most proximal axis of rotation is located in the center of the transport platform. The robot is a parts supply system that rotates around the rotation axis.

2. A parts supply system according to claim 1, wherein the robot is positioned such that the rotation axis at the most proximal end coincides with the rotation axis of the transport table.

3. A parts supply system according to claim 2, wherein a plurality of arm members are provided.

4. In the component supply system according to claim 3, the control device is An estimation processing unit calculates the timing at which the workpiece reaches the picking start point from the detected values ​​of the workpiece detection means and the rotation sensor, A movement processing unit moves the workpiece gripping portion of the robot's tip arm directly above the picking start point before or at the same time as the workpiece calculated by the estimation processing unit reaches the picking start point, A parts supply system having a tracking processing unit that, at the timing when the workpiece reaches the picking processing start point, rotates the robot around a first rotation axis to cause the workpiece gripping unit to follow the movement of the workpiece and pick up the workpiece.

5. In the component supply system according to claim 3, the control device is An estimation processing unit calculates the timing at which the workpiece reaches the picking start point and a waiting position on the workpiece trajectory upstream of the picking start point, based on the detection values ​​of the workpiece detection means and the rotation sensor. A movement processing unit moves the workpiece gripping portion of the robot's tip arm to the standby position before or at the same time as the timing calculated by the estimation processing unit that the workpiece reaches the standby position, A tracking processing unit that, at the timing when the workpiece reaches directly below the workpiece gripping unit, rotates the robot around the first rotation axis to cause the workpiece gripping unit to follow the movement of the workpiece, and picks up the workpiece downstream of the picking process start point, A parts supply system having

6. A parts supply system according to any one of claims 1 to 5, further comprising a parts supply device for supplying the workpiece to the transport table, The aforementioned component supply device is A vibrating bowl feeder having a bowl that transports and supplies the contained workpieces along a transport path while aligning them by vibration, The system comprises a conveying table for conveying the workpieces supplied in an aligned state from the vibrating bowl feeder, The transport platform is arranged in a ring shape along the outer circumference of the vibrating bowl feeder. The aforementioned transport table is a parts supply system having a rotating disc on which the workpiece transport surface is formed on its upper surface.

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