Parts supply system

Abstract

We provide a parts supply system that enables space savings for the entire system. [Solution] The parts supply system SY comprises a transport table 8 having an arc shape including a circle or an elliptical arc shape including an ellipse on which the workpiece W is transported, a parts supply device 2 that supplies the workpiece W to the transport table 8, and a robot 4 that is fixed at its base end and picks up the workpiece W on the transport table 8 at its tip. The robot 4 has a plurality of arm members 10A to 10C that rotate around rotation axes AX1 to AX3, and the first rotation axis AX1 at the base end is located inside a virtual circle VC or virtual ellipse VC of the transport table 8.

Description

Technical Field

[0005]

[0001] The present invention relates to a component supply system including a component supply device that supplies workpieces such as mechanical components and electronic components to a transfer table, and a robot that picks up the workpieces on the transfer table and supplies them to the next process.

Background Art

[0002] As a component supply system for workpieces such as mechanical components and electronic components, there is a system that automatically aligns the workpieces and supplies them to a transfer table, and picks up the workpieces on the transfer table by a robot and supplies them to the next process (for example, Patent Documents 1 to 3). In the component supply systems of Patent Documents 1 to 3, since the component supply device has a disk-shaped transfer table, space can be saved compared to a system with a linear transfer table.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the component supply systems of Patent Documents 1 to 3, since the robot is installed outside the disk-shaped transfer table, the system as a whole takes up a lot of space.

[0005] An object of the present invention is to provide a component supply system that can achieve space saving as a whole system.

Means for Solving the Problems

[0006] The parts supply system of the present invention comprises a transport table having an arc shape including a circle or an elliptical arc shape including an ellipse on which workpieces are transported, a parts supply device that supplies the workpieces to the transport table, and a robot that is fixed at its base end and picks up the workpieces on the transport table at its tip end. The robot has an arm member that rotates around a rotation axis, and the rotation axis at the base end is located inside a virtual circle or virtual ellipse of the transport table. In other words, the transport table is circular, arc-shaped, elliptical, or elliptical arc-shaped.

[0007] With this configuration, the robot is positioned on the inner side of the transport platform, which has an arc shape including a circle or an elliptical arc shape including an ellipse, thus reducing the footprint of the parts supply system. As a result, overall system space savings can be achieved.

[0008] In the present invention, the robot may be positioned such that the rotation axis at its most proximal end is located in the center of the transport platform. In this case, the robot may be positioned such that the rotation axis of the arm mechanism coincides with the center of a virtual circle or virtual ellipse of the transport platform.

[0009] In the present invention, multiple arm members may be provided. When there is only one arm member, the rotation axis closest to the base end refers to the rotation axis of that single arm member.

[0010] In the present invention, the parts supply device comprises 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 that transports the workpieces supplied in an aligned state from the vibrating bowl feeder. The transport table may have a rotating disc arranged in a ring shape along the outer circumference of the vibrating bowl feeder, with the upper surface having a transport surface for the workpieces. With this configuration, the parts supply device has a disc-shaped transport table, and the workpieces are supplied from inside it, thus achieving further space savings. [Effects of the Invention]

[0011] The component supply system of the present invention makes it possible to achieve space savings for the entire system. [Brief explanation of the drawing]

[0012] [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 4] This is a plan view showing a modified example of the same parts supply system. [Figure 5] This is a plan view showing a parts supply system according to a second embodiment of the present invention. [Figure 6] This is a side view showing the parts supply system. [Figure 7] This is a plan view showing a modified example of the same parts supply system. [Modes for carrying out the invention]

[0013] Preferred embodiments of the present invention will be described below with reference to the drawings. Figure 1 is a plan view showing a parts supply system SY according to a first embodiment of the present invention, and Figure 2 is a side view thereof. In the following description, "upstream" and "downstream" refer to the "upstream" and "downstream" in the direction of workpiece flow.

[0014] [Entire system] As shown in Figure 1, the parts supply system SY automatically aligns the workpieces W by the parts supply device 2, and the robot 4 and hand 6 (Figure 2) pick them up and supply them to the next automated machine or other device. In detail, the parts supply system SY comprises a parts supply device 2 that supplies the workpieces W to a transport table 8, a robot 4 that transports the workpieces W on the transport table 8, and a hand 6 (Figure 2) attached to the tip of the arm mechanism 10 of the robot 4. The workpieces W are, for example, machine parts, electronic parts, plastic parts, pharmaceuticals, medical supplies, food products, general merchandise, etc.

[0015] 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. Thereafter, the arm mechanism 10 of the robot 4 moves to the position where the workpiece is to be placed (hereinafter referred to as the "place position"), and the hand 6 releases the workpiece W. Thereafter, this operation is repeated.

[0016] In the present 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 dedicatedly for detecting the position and orientation of the workpiece W, or may be used for another purpose. Further, the camera may be fixed, or may be attached to the arm 4 of the robot 4.

[0017] [Component supply device] The component supply device 2 in FIG. 1 includes a vibration bowl feeder 16 that aligns the accommodated workpiece W by vibration, and a transfer table 8 that transfers the workpiece W supplied in an aligned state from the vibration bowl feeder 16. The transfer table 8 of the present embodiment is arranged so as to surround the outer periphery of the vibration bowl feeder 16 along the outer periphery of the vibration bowl feeder 16.

[0018] The vibration bowl feeder 16 has a bowl-shaped bowl 18 having a transfer path 18a on its inner peripheral surface, and a vibrator (not shown) that vibrates the bowl 18. As shown in FIG. 3, the workpiece W accommodated in the bowl 18 is sequentially conveyed along the transfer path 18a to the workpiece discharge portion 18b located at the uppermost part of the transfer path 18a while being aligned by the vibration of the vibrator.

[0019] 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.

[0020] 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.

[0021] In this embodiment, the transport table 8 is arranged in an annular shape along the outer circumference of the vibrating bowl feeder 16. The transport table 8 has a rotating disc 22 on its upper surface, which has an annular transport surface 22a for the workpiece W. The transport 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 rotary drive device (not shown) and rotates around the rotation center O shown in Figure 1. The rotary drive device is, for example, an electric motor, but is not limited to this. In addition, an encoder (not shown) is connected to the drive shaft of the drive motor, making it possible to detect the phase position of the rotating disc 22.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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 from the conveyor table 8 to the bowl 18 via a workpiece retrieval unit 32 located in the workpiece retrieval area 30.

[0026] [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 operates horizontally. In this embodiment, the aforementioned arm mechanism 10 is formed by 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] The hand 6 picks up the workpiece W on the conveyor table 8 and places the workpiece W at the position for the next process. 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.

[0031] 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.

[0032] 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 to these.

[0033] As shown in Figure 1, the first rotation axis AX1 at the most proximal end of the robot 4 is located inside the virtual circle VC of the transport table 8. Here, "virtual circle VC" refers to the inner diameter circle of the transport table 8, that is, the circle formed by the inner edge of the transport table 8. In this embodiment, the rotation shaft 20 shown in Figure 2 rotates around the first rotation axis AX1.

[0034] In this embodiment, as shown in Figure 1, the transport platform 8 is formed in a circular shape, but it may also be elliptical. In that case, the first rotation axis AX1 at the most proximal end of the robot 4 is positioned inside the virtual ellipse VC of the transport platform 8. Here, "virtual ellipse VC" refers to the inner diameter ellipse of the transport platform 8, that is, the ellipse formed by the inner edge of the transport platform 8.

[0035] Furthermore, although the transport platform 8 is formed in a circular shape in this embodiment, the transport platform 8 may also be in an arc shape, as shown in the modified example in Figure 4. In the example in Figure 4, the transport platform 8 is semicircular, that is, an arc shape with a central angle of 180°. However, the central angle is not limited to 180°, and any angle can be set depending on the installation situation, etc.

[0036] In the example in Figure 4, the first rotation axis AX1 at the most proximal end of the robot 4 is located inside the virtual circle VC of the transport platform 8. In this case, the "virtual circle VC" refers to the circle formed by extending the inner edge of the arc-shaped transport platform 8. In other words, the "virtual circle VC" is the inner diameter circle obtained when the central angle of the arc of the transport platform 8 is 360°.

[0037] In the example shown in Figure 4, the transport platform 8 is formed in an arc shape, but it may also be an elliptical arc shape. In that case, the first rotation axis AX1 at the base end of the robot 4 is positioned inside the virtual ellipse VC of the transport platform 8. Here, "virtual ellipse VC" refers to the ellipse formed by extending the inner edge of the elliptical arc-shaped transport platform 8. In other words, "virtual ellipse VC" is the inner diameter ellipse obtained when the central angle of the elliptical arc of the transport platform 8 is 360°.

[0038] Thus, in the parts supply system of this disclosure, the transport table 8 is circular, arc-shaped, elliptical, or elliptical arc-shaped, and the robot 4 has its most proximal rotational axis AX1 located inside the virtual circle VC or virtual ellipse VC of the transport table. Furthermore, in the parts supply system of this disclosure, there may be multiple arm members or only one. If there is only one arm member, the most proximal rotational axis refers to the rotational axis of that single arm member.

[0039] 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. In addition, the rotation axes other than the first rotation axis AX1, in this embodiment, the second and third rotation axes AX2 and AX3, may be located inside or outside the virtual circle VC.

[0040] [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.

[0041] The workpiece W supplied to the workpiece supply area 24 has its position and orientation detected by the workpiece detection means 14 in the sensing area 26 downstream of it. Specifically, the control device 12 determines, based on the signal from the workpiece detection means 14, whether or not the workpiece W can be picked up, and if so, what position the hand 6 should be set to.

[0042] In the pickup area 28 downstream of the sensing area 26, the position of the hand 6 is set by moving the arm mechanism 10 of the robot 4 based on the determination result of the control device 12 based on the signal from the work detection means 14, and the hand 6 picks up the workpiece W at this set position. After the workpiece W is picked up, the arm mechanism 10 of the robot 4 is rotated to the place position, and the hand 6 releases the workpiece W.

[0043] Workpieces W that could not be picked up in the pickup area 28 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.

[0044] [Effects and Effects] With the above configuration, since the robot 4 is positioned inside the circular transport platform 8, the footprint of the parts supply system SY can be reduced. As a result, overall space savings can be achieved for the system.

[0045] 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.

[0046] [Second Embodiment] The parts supply system SY according to the second embodiment of the present invention will be described with reference to Figures 5 to 7. Figure 5 is a plan view of the parts supply system SY according to the second embodiment, and Figure 6 is a side view thereof. In the following description, components that are the same as those in the first embodiment are denoted by common reference numerals, and detailed descriptions are omitted.

[0047] As shown in Figure 5, in the second embodiment, 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 on the transport platform 8. More specifically, in the second embodiment, the center O of the virtual circle VC shown in Figure 5 coincides with the rotation center O of the rotating disk 22 on 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 on the transport platform 8 coincide, and the first arm member 10A of the robot 4 and the rotating disk 22 (transport platform 8) rotate coaxially.

[0048] However, the first rotation axis AX1 at the most proximal end does not necessarily have to coincide with the center O of the virtual circle VC of the transport platform 8. Specifically, it is sufficient that the robot 4 is positioned such that the rotation axis AX1 at the most proximal end is located in the center of the transport platform 8. Here, "the rotation axis AX1 at the most proximal end is located in the center of the transport platform 8" means that the rotation axis AX1 is positioned so that the robot 4 can follow the rotation of the transport platform 8, as will be described later.

[0049] In the example shown in Figure 5, the transport platform 8 is formed in a circular shape, but it may also be elliptical. In that case, 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 ellipse VC of the transport platform 8. Here, "virtual ellipse VC" refers to the inner diameter ellipse of the transport platform 8, that is, the ellipse formed by the inner edge of the transport platform 8. In this case as well, the first rotation axis AX1 at the most proximal end does not have to coincide with the center O of the virtual ellipse VC of the transport platform 8; for example, it may be located in the center of the transport platform 8.

[0050] Furthermore, in the example shown in Figure 5, the transport platform 8 is formed in a circular shape, but as shown in the modified example in Figure 7, the transport platform 8 may also be in an arc shape. In the example shown in Figure 7, the transport platform 8 is semicircular, that is, an arc shape with a central angle of 180°. However, the central angle is not limited to 180°, and any angle can be set depending on the installation situation, etc.

[0051] In the example in Figure 7, 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. In this case, the "virtual circle VC" refers to the circle formed by extending the inner edge of the arc-shaped transport platform 8. In other words, the "virtual circle VC" is the inner diameter circle obtained when the central angle of the arc of the transport platform 8 is 360°. In this case as well, the first rotation axis AX1 at the most proximal end does not necessarily coincide with the center O of the virtual circle VC of the transport platform 8; for example, it may be located in the center of the transport platform 8.

[0052] In the example shown in Figure 7, the transport platform 8 is formed in an arc shape, but it may also be an elliptical arc shape. In that case, 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 ellipse VC of the transport platform 8. Here, "virtual ellipse VC" refers to the ellipse formed by extending the inner edge of the elliptical arc-shaped transport platform 8. In other words, "virtual ellipse VC" is the inner diameter ellipse obtained when the central angle of the elliptical arc of the transport platform 8 is 360°. In this case as well, the first rotation axis AX1 at the most proximal end does not have to coincide with the center O of the virtual ellipse VC of the transport platform 8; for example, it may be located in the center of the transport platform 8.

[0053] 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. In addition, the rotation axes other than the first rotation axis AX1, in this embodiment, the second and third rotation axes AX2 and AX3, may be located inside or outside the virtual circle VC.

[0054] [Operation] Next, the operation of the parts supply system SY of the second embodiment, which includes the parts supply device 2, will be described. Up to the point where the hand 6 picks up the workpiece W, it is the same as in the first embodiment.

[0055] In the second embodiment, 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 platform 8, and the first arm member 10A of the robot 4 and the rotating disk 22 (transport platform 8) rotate coaxially. This allows the robot 4 to follow the rotation of the transport platform 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 platform 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. As a result, complex coordinate calculations such as circular interpolation become unnecessary, the programming of the control device 12 can be simplified, and the control cycle can be shortened.

[0056] After the workpiece W is picked up, the robot 4's arm mechanism 10 rotates to the placement position, and the hand 6 releases the workpiece W. Any workpiece W that could not be picked up in the pickup area 28 is returned to the bowl 18 from the downstream workpiece retrieval area 30. The workpiece W returned to the bowl 18 is then transported again along the transport path 18a by vibration. The same operation is then repeated.

[0057] [Effects and Effects] According to the second embodiment, the robot 4 is positioned such that its most proximal rotation axis AX1 coincides with the center O of the virtual circle VD of the transport table 8. This reduces the area occupied by the parts supply system SY. As a result, overall space savings can be achieved for the system.

[0058] Furthermore, according to the second embodiment, the rotation center O of the rotating disk 22 coincides with the rotation axis AX1 at the most proximal end of the robot 4, so the robot 4 can follow the rotation of the transport table 8, i.e., the movement of the workpiece W. As a result, the control of the robot 4 becomes easier.

[0059] 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]

[0060] 2. Parts supply device 4 Robots 6 Hands 8. Transport platform 100A, 10B, 10C Arm Members 16. Vibrating Bowl Feeder 18 bowls 18a Conveyor path 22-rotation disc 22a Conveying surface AX1 First rotation axis (rotation axis closest to the base end) AX1~AX3 Rotation axis center SY Parts Supply System Virtual circle or virtual ellipse of the VC transport platform Double job

Claims

1. A conveying platform having a circular arc shape including a circle or an elliptical arc shape including an ellipse, on which the workpiece is transported, A parts supply device that supplies the workpiece to the transport table, A parts supply system comprising a robot fixed at its base end and picking up the workpiece on the transport table at its tip, The robot has an arm member that rotates around a rotation axis, A parts supply system in which the rotation axis at the most proximal end is located inside a virtual circle or virtual ellipse of the transport table.

2. A parts supply system according to claim 1, wherein the robot is positioned such that the rotation axis closest to the base end is located in the center of the transport table.

3. A parts supply system according to claim 2, wherein the robot is positioned such that the rotation axis at the most proximal end coincides with the center of a virtual circle or virtual ellipse of the transport table.

4. A parts supply system according to any one of claims 1 to 3, wherein a plurality of arm members are provided.

5. A parts supply system according to any one of claims 1 to 3, wherein the transport table is circular or elliptical.

6. In the component supply system according to claim 5, The aforementioned component supply device is A vibrating bowl feeder having a bowl that transports and supplies the placed 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.

Images