Parts supply device

Abstract

The present invention provides a parts supply device that can improve work efficiency by stabilizing the position and orientation of the transported workpieces. [Solution] The parts supply device 2 includes a vibrating bowl feeder 16 having a bowl 18 that transports and supplies the contained workpieces W along a transport path 18a while aligning them by vibration, and a transport table 8 that transports the workpieces W supplied in an aligned state from the vibrating bowl feeder 16. The transport table 8 has a rotating disc 22 that is arranged in a ring shape along the outer circumference of the vibrating bowl feeder 16 and has a workpiece transport surface 22a on its upper surface. The transport surface 22a is provided with a posture stabilization means 34 that suppresses changes in the position and posture of the workpieces W while they are being transported on the transport table 8.

Description

Technical Field

[0001] The present invention relates to a component supply device that supplies workpieces such as mechanical parts and electronic parts to a carrier.

Background Art

[0002] As a component supply device for workpieces such as mechanical parts and electronic parts, there is one that automatically aligns the workpieces and supplies them to a carrier, and picks up the workpieces on the carrier by a robot and supplies them to the next process (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] In such a component supply device, if the position and orientation of the workpiece to be picked up are unstable, the number of workpieces that are not picked up increases, and the work efficiency deteriorates.

[0005] An object of the present invention is to provide a component supply device capable of improving work efficiency by stabilizing the position and orientation of the workpiece to be conveyed.

Means for Solving the Problems

[0006] The parts supply device of the present invention comprises a vibrating bowl feeder having a bowl that transports and supplies 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 has 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. The transport surface is provided with posture stabilization means to suppress changes in the position and orientation of the workpieces while they are being transported on the transport table.

[0007] With this configuration, the posture stabilization means suppresses changes in the position and posture of the workpiece while it is being transported on the transport platform. This stabilizes, for example, the workpiece pickup operation by the robot. As a result, work efficiency is improved.

[0008] In the present invention, the rotating disk may be provided with a work supply area for supplying the workpiece, a sensing area downstream of the work supply area in the workpiece flow direction for detecting the position and orientation of the workpiece, a pickup area downstream of the sensing area in the workpiece flow direction for picking up the workpiece, and a workpiece recovery area downstream of the pickup area in the workpiece flow direction for returning workpieces not picked up in the pickup area to the bowl.

[0009] In this configuration, the position and orientation of a workpiece are detected in the sensing area, and the workpiece with the detected position and orientation is picked up in the pickup area. However, if the position and orientation of the workpiece in the pickup area differ from those detected in the sensing area, the workpiece will not be picked up, resulting in reduced work efficiency. With the above configuration, the orientation stabilization means suppresses changes in the position and orientation of the workpiece, so the position and orientation of the workpiece do not change between the sensing area and the pickup area. Therefore, the workpiece is picked up stably, and work efficiency is improved.

[0010] In the present invention, the attitude stabilization means is, for example, a groove extending in the circumferential direction of the conveying table formed on the conveying surface. With this configuration, the attitude stabilization means is simple to construct and easy to implement.

[0011] In this case, the radially inner wall surface of the groove may be inclined upward toward the radially inward direction. With this configuration, since the radially inner wall surface of the groove is inclined, it becomes easier to return workpieces that were not picked up from the workpiece retrieval area to the bowl. [Effects of the Invention]

[0012] According to the parts supply device of the present invention, the posture stabilization means suppresses changes in the position and posture of the workpiece while it is being transported on the transport table. As a result, for example, the workpiece pick-up operation by a robot becomes more stable, and the work efficiency is improved. [Brief explanation of the drawing]

[0013] [Figure 1] This is a plan view showing a parts supply system including a parts supply device 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 parts supply system. [Figure 4] This is a cross-sectional view showing a groove, which is a type of attitude stabilization means for the component supply device. [Figure 5A] This is a front view showing a close-up of the handle of the parts supply system. [Figure 5B] Figure 5A is a side view of the hand as seen from the direction of arrow VB. [Figure 6A] This is a front view showing a hand in a different position than Figure 5A. [Figure 6B] Figure 6A is a side view of the hand as seen from the direction of arrow VIB. [Figure 7A] This is an enlarged front view showing the handle of a parts supply system including a parts supply device according to a second embodiment of the present invention. [Figure 7B]It is a side view of the hand in FIG. 7A as seen from the direction of arrow VIIB. [Figure 8A] It is a front view showing an enlarged hand of a component supply system including a component supply device according to the third embodiment of the present invention. [Figure 8B] It is a side view of the hand in FIG. 8A as seen from the direction of arrow VIIIB. [Figure 9] It is a side view showing a modified example of the hand. [Mode for Carrying out the Invention]

[0014] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIGS. 1 to 3 are a cross-sectional view, a side view, and a perspective view showing a component supply system SY according to the first embodiment of the present invention. In the following description, "upstream" and "downstream" refer to "upstream" and "downstream" in the flow direction of the workpiece.

[0015] [Entire System] As shown in FIG. 1, the component supply system SY automatically aligns the workpieces W by the component supply device 2, picks them up by the robot 4 and the hand 6 (FIG. 2), and supplies them to an automatic machine in the next process or the like. Specifically, the component supply system SY includes a component supply device 2 that supplies the workpieces W to the carrier 8, a robot 4 that transports the workpieces W from the first area A1 where the carrier 8 is arranged to a second area A2 different from the first area A1, and a hand 6 (FIG. 2) attached to the tip of the arm 10 of the robot 4.

[0016] In the present embodiment, the workpiece W is a cylindrical member such as a bolt. However, the workpiece W is not limited thereto, and may be, for example, a mechanical part, an electronic part, a plastic part, a chemical, a medical product, a food product, a miscellaneous item, or the like.

[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 transport table 8 are detected by the workpiece detection means 14. The arm 10 of the robot 4 moves to the position detected by the workpiece detection means 14, and the hand 6 grasps the workpiece W at an angle corresponding to the orientation detected by the workpiece detection means 14. Subsequently, the arm 10 of the robot 4 moves to the second area A2, and the hand 6 releases the workpiece W. This operation is then repeated.

[0018] In this embodiment, the workpiece detection means 14 is a photographic 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 a contact-type workpiece detection means. The camera may be provided exclusively for detecting the position and orientation of the workpiece W, or it may be used for other purposes as well. The camera may also be fixed, or it may be attached to the arm 4 of the robot 4.

[0019] [Parts supply device] The parts supply device 2 includes a vibrating bowl feeder 16 that aligns the received 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. 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. Workpieces W contained in the bowl 18 are sequentially transported along the transport path 18a to the workpiece discharge section 18b located at the top of the transport path 18a, while being aligned by the vibration of the vibrator.

[0021] The parts supply device 2 of this embodiment has vertical walls 20 that protrude above the upper surface of the conveying table 8 around the entire circumference between the vibrating bowl feeder 16 and the conveying table 8. In other words, the vertical walls 20 are located radially outward of the vibrating bowl feeder 16 and radially inward of the conveying table 8.

[0022] The workpiece discharge section 18b and the workpiece recovery section 32 (described later) are openings that penetrate the vertical wall 20. However, the configuration of the parts supply device 2 is not limited to this, and a portion or all of the circumferential area between the vibrating bowl feeder 16 and the conveying table 8 may be formed without the vertical wall 20. In that case, the workpiece discharge section 18b and the workpiece recovery section 32 (described later) may be formed in the area of ​​the conveying table 8 that is free of the vertical wall 20 in the circumferential direction.

[0023] 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. At the top of the transport path 18a, a workpiece discharge section 18b is formed that penetrates the vertical wall 20.

[0024] 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.

[0025] 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 its upper surface, which has an annular conveying surface 22a for the workpiece W. 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 rotary drive device (not shown). The rotary drive device is, for example, an electric motor, but is not limited to this. 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.

[0026] On the upper transport surface 22a of the rotating disk 22, a workpiece supply area 24, a sensing area 26, a pickup area 28, and a workpiece retrieval area 30 are provided, arranged in the circumferential direction. The work supply area 24 is the region where the workpiece W is supplied from the workpiece discharge section 18b.

[0027] 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.

[0028] 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.

[0029] 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. More 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. As described above, in this embodiment, the workpiece retrieval unit 32 is an opening that penetrates the vertical wall 20.

[0030] A posture stabilization means 34 is provided on the transport surface 22a of the transport path 8. The posture stabilization means 34 suppresses changes in the position and posture of the workpiece W while it is being transported on the transport table 8. In particular, the posture stabilization means 34 suppresses changes in the posture of the workpiece W between the sensing area 26 and the pickup area 28. In this embodiment, the posture stabilization means 34 is provided around the entire circumference of the transport surface 22a.

[0031] In this embodiment, the attitude stabilization means 34 is a groove 34 formed on the conveying surface 22a that extends in the circumferential direction of the conveying table 8. However, the attitude stabilization means 34 is not limited to a groove. For example, the attitude stabilization means 34 may be configured to change the coefficient of friction with respect to the conveying surface 22a of the rotating disk 22, or it may be made of a different material than the rotating disk 22. Specifically, the attitude stabilization means 34 may be, for example, a fibrous felt attached to the conveying surface 22a of a metal rotating disk 22, or an elastic material such as rubber attached to it.

[0032] As shown in Figure 4, the presence of the groove 34 prevents the workpiece W from rolling even when the rotating disc 22 rotates, thus stabilizing the position and orientation of the workpiece W. The groove 34 can particularly restrict the orientation of unstable cylindrical workpieces W, such as bolts, to a certain position.

[0033] In this embodiment, the radially inner wall surface 34a of the groove 34 is inclined upward toward the radially inward direction. On the other hand, the radially outer wall surface 34b of the groove 34 extends almost vertically. That is, the angle θo of the radially outer wall surface 34b with respect to the bottom wall 34c of the horizontally extending groove 34 is approximately 90°, and the angle θi of the radially inner wall surface 34a with respect to the bottom wall 34c is greater than 90°. The angle θi of the radially inner wall surface 34a with respect to the bottom wall 34c is preferably 90° to 150°, and more preferably 135° to 150°. However, the angles θo and θi are not limited to these values.

[0034] Since the outer diameter wall surface 34b extends vertically, the centrifugal force generated when the rotating disk 22 rotates can suppress the workpiece from moving radially outward. Also, since the inner diameter wall surface 34a is inclined, the workpiece W that was not picked up can easily return to the radially inner bowl 18.

[0035] [robot] The robot 4 shown in Figure 1 is a horizontal articulated robot having multiple arms 10, the arms 10 moving horizontally. The robot 4 rotates between the first area A1 where the transport platform 8 is located and the second area A2 for the next process. The robot 4 of this embodiment is as shown in Figure 3, It has a base 36 fixed to the floor surface and three first to third arms 10A, 10B, and 10C.

[0036] The first arm 10A is a rectangular bar-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 10B is a rectangular bar-shaped member extending horizontally, with its base end 10Ba connected to the tip portion 10Ab of the first arm 10A so as to be rotatable around a second vertical rotation axis AX2.

[0037] The third arm 10C is a cylindrical shaft member extending vertically, inserted through the tip 10Bb of the second arm 10B. The third arm 10C is movable vertically relative to the tip 10Bb of the second arm 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 10C.

[0038] The arms 10A, 10B, and 10C of each arm are driven by actuators (not shown). The actuators are, for example, electric motors, but are not limited to these. In this embodiment, the robot 4 is fixed to the floor surface, but it does not have to be fixed. Furthermore, the robot 4 is not limited to the structure of this embodiment, and any work robot can be applied.

[0039] [hand] The hand 6 picks up the workpiece W on the transport table 8 in the first area A1 (Figure 1) and places the workpiece W in the second area A2 (Figure 1). Figure 5A is an enlarged front view of the hand 6, and Figure 5B is a side view thereof. As shown in Figure 5B, the hand 6 has a gripping part 38 for gripping or releasing the workpiece W, and an actuator 40 with one or more degrees of freedom for changing the posture of the gripping part 38.

[0040] The hand 6 is mounted on the lower end 10Ca of the third arm 10C so as to be rotatable around the third rotation axis AX3. The third arm 10C of the robot 4 and the hand 6 are connected by an L-shaped bracket 42. Specifically, the lower end 10Ca of the third arm 10C is connected to the upper surface of the horizontal portion 42a of the bracket 42, and the actuator 40 of the hand 6 is bolted to the vertical portion 42b of the bracket 42. In this embodiment, the hand 6 is mounted on the inner surface of the vertical portion 42b of the bracket 42, i.e., the surface on the third rotation axis AX3 side. However, the shape of the bracket 42 and the arrangement of the hand 6 are not limited to this.

[0041] The actuator 40 has a fourth rotation axis AX4 extending horizontally. The gripping portion 38 is connected to the actuator 40 via a connecting member 44. The connecting member 44 is a long, plate-shaped member, with its base end 44a rotatably connected to the actuator 40 around the fourth rotation axis AX4, and the gripping portion 38 bolted to its tip end 44b. When the actuator 40 rotates 90° in the direction of arrow AR in Figure 5B, the gripping portion 38 is in the position shown in Figure 6B. In this example, the fourth rotation axis AX4 intersects with the third rotation axis AX3, and the gripping portion 38 is positioned circumferentially around the fourth rotation axis AX4 relative to the actuator 40.

[0042] Figures 6A and 6B are front and side views, respectively, of the actuator 40 when it is rotated 90° in the direction of arrow AR (Figure 5B). Figures 5A and 5B show the hand 6 facing downwards. On the other hand, Figures 6A and 6B show the hand 6 facing sideways. In this way, the gripping portion 38 can be changed to any position by the bracket 42 rotating around the third rotation axis AX3, and the gripping portion 38 can be changed to any orientation by the connecting member 44 rotating around the fourth rotation axis AX4.

[0043] Figures 7A and 7B show the hand 6 according to the second embodiment. In the second embodiment, the fourth rotation axis AX4 does not intersect with the third rotation axis AX3, and the fourth rotation axis AX4 and the third rotation axis AX3 are in a twisted position. Specifically, as shown in Figure 7B, the fourth rotation axis AX4 is offset horizontally (to the right in Figure 7B) relative to the third rotation axis AX3.

[0044] Furthermore, the gripping portion 38 is positioned offset from the actuator 40 in the circumferential direction of the fourth rotation axis AX4. As a result, compared to the examples in Figures 5A and 5B, the distance from the tip 4a of the robot 4 to the tip 38a of the gripping portion 38 is shortened, resulting in a more compact configuration in the axial direction of the third rotation axis AX3.

[0045] Furthermore, compared to the examples in Figures 5A and 5B, the distance from the fourth rotation axis AX4 to the tip 38a of the gripping part 38 is shortened, and the inertia of the load driven by the actuator 40 is reduced. As the distance from the fourth rotation axis AX4 to the tip 38a of the gripping part 38 is shortened, the amount of movement of the tip position of the gripping part 38 when rotated around the fourth rotation axis AX4 is reduced. As a result, the vertical axis movement of the robot 4 required to align the vertical position of the tip 38a of the gripping part 38 is reduced, shortening the operating time and increasing the vertical adjustment range of the robot 4.

[0046] Figures 8A and 8B show the hand 6 according to the third embodiment. In the third embodiment, the fourth rotation axis AX4 intersects with the third rotation axis AX3 (Figure 8B). In the third embodiment, the actuator 40 is positioned with a horizontal offset so that the gripping portion 38 is positioned in the axial direction of the fourth rotation axis AX4 of the actuator 40. Specifically, as shown in Figure 8A, the actuator 40 is offset horizontally (to the right in Figure 8A) with respect to the third rotation axis AX3. As a result, compared to the examples in Figures 5A and 5B, the distance from the tip 4a of the robot 4 to the tip 38a of the gripping portion 38 is shortened, resulting in a more compact configuration in the axial direction of the third rotation axis AX3.

[0047] Furthermore, compared to the examples in Figures 5A and 5B, the distance from the fourth rotation axis AX4 to the tip 38a of the gripping part 38 is shortened, and the inertia of the load driven by the actuator 40 is reduced. As the distance from the fourth rotation axis AX4 to the tip 38a of the gripping part 38 is shortened, the amount of movement of the tip position of the gripping part 38 when rotated around the fourth rotation axis AX4 is reduced. As a result, the vertical axis movement of the robot 4 required to align the vertical position of the tip 38a of the gripping part 38 is reduced, shortening the operating time and increasing the vertical adjustment range of the robot 4.

[0048] The third embodiment shown in Figures 8A and 8B has less load inertia for the actuator 40 than the second embodiment shown in Figures 7A and 7B. However, depending on the orientation of the gripping part 38 (the direction in which the claws 46 open and close), the third embodiment may be larger in size than the second embodiment. Similarly, the load inertia for the actuator 40 is greatest in the first embodiment shown in Figures 5A and 5B, and the vertical movement of the robot 4 is also greater. However, when facing downwards, the first embodiment may be the most compact. Depending on the shape of the workpiece W and the structure of the parts supply device 2, any hand structure can be selected.

[0049] The gripping portion 38 in the first embodiment shown in Figures 5A and 5B is a chuck device having a plurality of openable and closable claws 46. In this embodiment, the gripping portion 38 has two claws 46, but there may be three or more claws 46. The gripping portion 38 may also be a suction pad. In this embodiment, the third rotation axis AX3 of the third arm 10C of the robot 4 and the gripping portion 38 The fifth axis AX5 coincides with the third axis AX3. Here, the fifth axis AX5 is the gripping center of the gripping portion 38. However, the third rotation axis AX3 and the fifth axis AX5 do not necessarily coincide. In other words, the fifth axis AX5 may be offset horizontally with respect to the third rotation axis AX3.

[0050] As shown in the modified example in Figure 9, the connecting member 44 may be provided with a weak portion 48 that has lower rigidity than the rest of the member. In this embodiment, the weak portion 48 is a notch 48 formed in the connecting member 44. However, the weak portion 48 is not limited to a notch. By providing the weak portion 48, the impact when a load is applied to the gripping portion 38 can be dissipated, protecting the robot 4 and actuator 40, and weight reduction can also be achieved.

[0051] [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.

[0052] 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 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 and orientation the hand 6 should be set to.

[0053] In the pickup area 28 downstream of the sensing area 26, the position of the hand 6 is set by moving the arm 10 of the robot 4 based on the determination result of the control device 12 based on the signal from the workpiece detection means 14, and the posture of the hand 6 is set by driving the actuator 40. The hand 6 picks up the workpiece W at this set position and posture.

[0054] At this time, if the position and orientation of the workpiece W detected in the sensing area 26 differ from the actual position and orientation of the workpiece W in the pickup area 28, there is a risk that the hand 6 will not be able to pick it up. In this embodiment, since the position stabilization means 34, which consists of grooves, suppresses changes in the position and orientation of the workpiece W during transport, the hand 6 can stably pick up the workpiece W.

[0055] After the workpiece W is picked up, the robot 4 moves its arm 10 to move the hand 6 to the second area A2, drives the actuator 40 to set the posture of the hand 6, and the hand 6 releases the workpiece W.

[0056] Workpieces W that could not be picked up in the pickup area 28 are returned to the bowl 18 from the downstream workpiece recovery area 30. At this time, since the radially inner wall surface 34a of the groove 34 is inclined upward toward the radially inward direction, it is easy to return the workpieces W from the workpiece recovery area 30 to the bowl 18. 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.

[0057] [Effects and Effects] According to the above configuration, the posture stabilization means 34 suppresses changes in the position and posture of the workpiece W while it is being transported on the transport table 8. This stabilizes the workpiece W pickup operation by the robot 4. As a result, work efficiency is improved.

[0058] In particular, the position and orientation of the workpiece W are detected in the sensing area 26, and this detected The workpiece W, in terms of position and orientation, is picked up in the pickup area 28. At this time, if the position and orientation of the workpiece W in the pickup area 28 have changed from the position and orientation of the workpiece W detected in the sensing area 26, the workpiece W will not be picked up, resulting in poor work efficiency. In the above configuration, the orientation stabilization means 34 suppresses changes in the position and orientation of the workpiece W, so the position and orientation of the workpiece W do not change between the sensing area 26 and the pickup area 28. Therefore, the workpiece W is picked up stably, and work efficiency is improved.

[0059] Since the posture stabilization means 34 is a groove formed in the conveying surface 22a, the configuration of the posture stabilization means 34 is simple and easy to implement. Furthermore, since the radially inner wall surface 34a of the groove 34 is inclined upward toward the radially inward, it becomes easy to return the workpiece W that was not picked up from the workpiece retrieval area 30 to the bowl 18.

[0060] Furthermore, since the position and orientation of the gripping portion 38 of the hand 6 can be changed, contact between the hand 6 and other workpieces W or equipment can be avoided when picking up workpieces W on the transport table 8. As a result, malfunctions in the hand 6 and other equipment can be prevented, and work efficiency can be improved.

[0061] As described above, in this embodiment, the gripping portion 38 of the hand 6 can approach the workpiece W at various angles, that is, in the optimal position and orientation. For example, the workpiece W may be picked up in a downward orientation as shown in Figures 5A and 5B, and then the orientation may be changed to a sideways orientation as shown in Figures 6A and 6B before placing the workpiece W down. Alternatively, the workpiece W may be picked up in a sideways orientation as shown in Figures 6A and 6B, and then the orientation may be changed to a downward orientation as shown in Figures 5A and 5B before placing the workpiece W down. Or, the orientation for picking up and placing the workpiece may be the same, that is, both downward or both sideways. In this way, the orientation can be freely changed, so that the hand 6 does not interfere with peripheral equipment or other workpieces.

[0062] In a parts supply device 2 having a disc-shaped transport platform 8, space can be saved compared to one with a linear transport platform, but the handle is more likely to come into contact with a part of the parts supply device 2. With this configuration, the position and orientation of the gripping portion 38 of the handle 6 can be changed, so it is possible to avoid the handle 6 coming into contact with a part of the parts supply device 2.

[0063] In the above embodiment, the parts supply device 2 has a vertical wall 20 between the vibrating bowl feeder 16 and the conveyor table 8 that protrudes above the conveyor table 8, and there is a concern that the hand 6 may come into contact with this vertical wall 20. With the above configuration, since the position and orientation of the gripping portion 38 of the hand 6 can be changed, it is possible to avoid the hand 6 coming into contact with the vertical wall 20 of the parts supply device 2 when picking up a workpiece W on the conveyor table 8.

[0064] As shown in the modified example in Figure 9, a vulnerable portion 48 is provided in the connecting member 44, so that even if the hand 6 comes into contact with other equipment, the impact is absorbed by the vulnerable portion 48. As a result, the robot 4, actuator 40, etc. are protected from impact.

[0065] 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]

[0066] 2. Parts supply device 8. Transport platform 16. Vibrating Bowl Feeder 18 bowls 18a Conveyor path 22-rotation disc 22a Conveying surface 24 Work supply area 26 Sensing Area 28 Pickup Area 30 Work Collection Area 34 groove (posture stabilization means) 34a Inner wall surface of the groove in the radial direction Double job

Claims

1. 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 includes a conveying table for transporting 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 conveying table is a parts supply device having a rotating disc on which the workpiece conveying surface is formed on its upper surface, A parts supply device provided with a posture stabilization means on the transport surface that suppresses changes in the position and orientation of the workpiece while the transport table is being transported.

2. A parts supply device according to claim 1, wherein the rotating disk is provided with a work supply area for supplying the workpiece, a sensing area downstream of the work supply area in the workpiece flow direction for detecting the position and orientation of the workpiece, a pickup area downstream of the sensing area in the workpiece flow direction for picking up the workpiece, and a workpiece recovery area downstream of the pickup area in the workpiece flow direction for returning workpieces not picked up by the pickup area to the bowl.

3. A parts supply device according to claim 1 or 2, wherein the attitude stabilization means is a groove formed on the transport surface that extends in the circumferential direction of the transport table.

4. A parts supply device according to claim 3, wherein the radially inner wall surface of the groove is inclined upward toward the radially inward direction.

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