Parts disassembly device and control method for the parts disassembly device

Abstract

To provide a component loosening device which moves a component in a plurality of directions, and can invert the component.SOLUTION: A component loosening device 6 includes: a mounting base 21 having a mounting surface 22 on which a component 23 is mounted; a first motor 17, a second motor 18 and a third motor 19 for rotating and vibrating rotary shafts; and a support part 12 for supporting the mounting base 21, the first motor 17, the second motor 18 and the third motor 19, and transmitting vibration of each of the motors to the mounting base 21, wherein an axial direction of a third rotary shaft 19a of the third motor 19 is parallel to the mounting surface 22, and axial directions of the rotary shafts of the first motor 17 and the second motor 18 are vertical to the mounting surface 22.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a parts disassembly device and a control method for the parts disassembly device. [Background technology]

[0002] When an industrial robot picks and places a part, a linear feeder moves the part within the operating range of the robot hand. This linear feeder is disclosed in Patent Document 1. According to this, in the linear feeder, one motor and a part transport trough are connected by a link mechanism. When the motor is rotated, a reciprocating vibration in one direction is excited in the part transport trough, and the part is transported in one direction.

[0003] A part disassembly device may be placed within the operating range of a robot hand. The part disassembly device is a device that reduces the overlapping of parts when multiple parts are overlapped on a mounting surface.

[0004] There are places where it is easy for a robot hand to pick up parts and places where it is difficult. Therefore, if there is a device that moves parts to places where the robot can pick up parts easily, the robot can operate stably. Also, if the robot is made to turn over parts, the work takes time, which reduces productivity. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2019-64825 A Summary of the Invention [Problem to be solved by the invention]

[0006] The linear feeder in Patent Document 1 can only move parts in one direction. It also has the problem that it cannot reverse parts. [Means for solving the problem]

[0007] The part disassembly device comprises a mounting table having a mounting surface on which parts are placed, three motors that vibrate by rotating their rotation shafts, and a support section that supports the mounting table and the three motors and transmits the vibrations of the motors to the mounting table, wherein the axial direction of the rotation shaft of one of the motors is parallel to the mounting surface, and the axial directions of the rotation shafts of two of the motors are perpendicular to the mounting surface.

[0008] A control method for a part disassembly device comprising a mounting table having a mounting surface on which parts are placed, three motors that vibrate by rotating their rotation shafts, a support section that supports the mounting table and the three motors and transmits the vibration of the motors to the mounting table, and a control section that controls the rotation of the motors, wherein the axial direction of the rotation shaft of one of the motors is parallel to the mounting surface and the axial directions of the rotation shafts of two of the motors are perpendicular to the mounting surface, and the control section independently controls at least one of the rotation speed, rotation direction and initial phase of the three motors. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a robot assembly system according to a first embodiment. [Diagram 2] FIG. 2 is a schematic perspective view showing the configuration of a part disassembly device. [Diagram 3] FIG. 2 is a schematic plan view showing the configuration of the part disassembly device. [Figure 4] FIG. 2 is a schematic side view showing the configuration of the part disassembly device. [Diagram 5] FIG. 2 is a schematic side view showing the configuration of the part disassembly device. [Figure 6] FIG. 4 is a schematic perspective view of a main portion for explaining the arrangement of a motor. [Figure 7] FIG. 4 is a schematic plan view illustrating the arrangement of rubber legs. [Figure 8] Block diagram of an electrical circuit. [Figure 9] Schematic diagram for explaining the movement of a motor. [Figure 10] FIG. 4 is a schematic side view for explaining the movement of the part disassembly device. [Figure 11] FIG. 4 is a schematic side view for explaining the movement of the part disassembly device. [Figure 12] FIG. 4 is a schematic plan view for explaining the movement of a component on a placement surface. [Figure 13] FIG. 4 is a schematic plan view for explaining the movement of a component on a placement surface. [Figure 14] Schematic diagram for explaining the movement of a motor. [Figure 15] FIG. 4 is a schematic plan view for explaining the movement of a component on a placement surface. [Figure 16] FIG. 4 is a schematic plan view for explaining the movement of a component on a placement surface. [Figure 17] FIG. 4 is a schematic diagram for explaining the movement of the mounting table. [Figure 18] FIG. 4 is a schematic plan view for explaining the movement of a component on a placement surface. [Figure 19] FIG. 4 is a schematic diagram for explaining the movement of the mounting table. [Figure 20] FIG. 4 is a schematic plan view for explaining the movement of a component on a placement surface. [Figure 21] FIG. 4 is a schematic diagram for explaining the movement of the mounting table. [Figure 22] FIG. 4 is a schematic plan view for explaining the movement of a component on a placement surface. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] First embodiment In this embodiment, a characteristic example of a part disassembly device and a control method for the part disassembly device will be described. As shown in Fig. 1, a robot assembly system 1 is a system in which a robot 2 assembles a plurality of parts. A scalar robot, a vertical articulated robot, an orthogonal robot, or the like is used as the robot 2. The robot 2 is equipped with a robot controller 3. The robot controller 3 controls the posture of the robot 2.

[0011] The robot 2 is equipped with an actuator 4 and a camera 5. The robot controller 3 controls the operation of the actuator 4 to grip the part. The robot controller 3 causes the camera 5 to capture an image of the part and recognize the position of the part. The camera 5 may be installed on a part disassembly device 6.

[0012] The robot assembly system 1 includes a plurality of part disassembly devices 6 and a workbench 7. Parts are placed on each part disassembly device 6. The robot 2 grasps a part from each part disassembly device 6 and moves it to the workbench 7. The robot 2 performs the task of assembling the parts on the workbench 7.

[0013] Each part disassembly device 6 is provided with a control unit 8. Each control unit 8 is electrically connected to the part disassembly device 6 and the robot controller 3. The control unit 8 inputs an instruction signal from the robot controller 3 to operate the part disassembly device 6.

[0014] The camera 5 captures an image of a part placed on the part disassembly device 6. The robot controller 3 analyzes the captured image and determines whether or not the actuator 4 is in a state where it is easy to grip the part. The orientation of the part when gripped by the actuator 4 is also set. For example, in this embodiment, the part is disk-shaped and has a front and back. In this embodiment, the actuator 4 grips the part with the front side facing the actuator 4.

[0015] If the robot controller 3 analyzes the image and finds that the posture of the part is not appropriate, the robot controller 3 transmits an instruction signal to the control unit 8 to change the posture of the part. The control unit 8 receives the instruction signal and drives the part disassembly device 6.

[0016] The cover of the part disassembly device 6 shown in Figure 2 has been removed so that the inside can be seen. The part disassembly device 6 is equipped with a base 9. The base 9 is a rectangular metal plate. In a plan view of the base 9, the longitudinal direction is defined as the X direction, and the direction perpendicular to the longitudinal direction is defined as the Y direction. The thickness direction of the base 9 is defined as the Z direction.

[0017] Four rubber feet 11 are arranged on base 9. Support portion 12 is placed on rubber feet 11. Rubber feet 11 support support portion 12 so that it can vibrate. With this configuration, since rubber feet 11 support support portion 12 so that it can vibrate, support portion 12 can vibrate in all directions: up and down, front and back, left and right. Furthermore, since rubber feet 11 attenuate vibrations, rubber feet 11 can function as dampers.

[0018] The support part 12 is composed of a lower structure 13, a first intermediate structure 14, a second intermediate structure 15, and an upper structure 16. The lower structure 13 is located on the negative Z direction side and is connected to the rubber feet 11. The upper structure 16 is located on the positive Z direction side. The first intermediate structure 14 and the second intermediate structure 15 are plate-shaped and stand between the lower structure 13 and the upper structure 16. The first intermediate structure 14 and the second intermediate structure 15 fix the lower structure 13 and the upper structure 16. The support part 12 is made of metal and has high rigidity.

[0019] A first motor 17 as a motor, a second motor 18 as a motor, and a third motor 19 as a motor are arranged between the lower structure 13 and the upper structure 16. The control unit 8 controls the rotation of the first motor 17, the second motor 18, and the third motor 19. The first motor 17 is fixed to a surface on the X positive direction side of the first intermediate structure 14. The second motor 18 is fixed to a surface on the X negative direction side of the second intermediate structure 15. The third motor 19 is fixed to a surface on the Z positive direction side of the lower structure 13.

[0020] A mounting table 21 is disposed on the Z positive side of the upper structure 16. The mounting table 21 is fixed to the upper structure 16. The mounting table 21 is made of a metal material, and has high rigidity. A recess 21a is formed on the Z positive side of the mounting table 21. The bottom surface of the recess 21a is the mounting surface 22. The material of the mounting table 21 may be resin.

[0021] As shown in Fig. 3, components 23 are placed on the placement surface 22. The placement table 21 has the placement surface 22 on which the components 23 are placed. The front sides 23a of some of the components 23 face in the Z positive direction. The back sides 23b of some of the components 23 face in the Z positive direction. In the figure, the components 23 whose back sides 23b face in the Z positive direction are hatched. The components 23 are placed in the recesses 21a, and it is difficult for the components 23 to come out of the recesses 21a.

[0022] 4 and 5, the third motor 19 includes a third eccentric weight 24 on the third rotating shaft 19a as an eccentric weight that is eccentric with respect to the third rotating shaft 19a as a rotating shaft. With this configuration, the third eccentric weight 24 can vibrate the third motor 19 with a simple structure. The vibration of the third motor 19 is transmitted to the mounting table 21 via the support portion 12.

[0023] The third motor 19 is provided with third eccentric weights 24 on both sides of the third rotating shaft 19a. With this configuration, the rotation of the third eccentric weights 24 causes the same centrifugal force to act on the third motor 19 on both sides of the third rotating shaft 19a. Therefore, both sides of the third rotating shaft 19a can supply the same vibration energy to the support part 12. As a result, it is possible to suppress the third motor 19 from generating vibration that causes the support part 12 to swing around the X direction as an axis. A third sensor 25 is disposed on the lower structure 13 on the Y negative direction side of the third eccentric weight 24 on the Y negative direction side.

[0024] When viewed from a direction perpendicular to the support surface 22, the center of the support surface 22 overlaps with the center of gravity of the two third eccentric weights 24. Therefore, the third motor 19 can vibrate the support surface 22 uniformly.

[0025] The third eccentric weight 24 on the Y negative direction side connected to the third motor 19 has a third convex portion 26 protruding toward the Y negative direction side. The third sensor 25 has a third slit 25a. An LED (Light Emitting Diode) and a phototransistor are arranged on either side of the third slit 25a in the third sensor 25. When the third convex portion 26 passes through the third slit 25a, the third convex portion 26 blocks the light emitted by the LED. The third sensor 25 detects the timing when the third convex portion 26 passes through the third slit 25a.

[0026] FIG. 6 shows the relative positions of the first motor 17, the second motor 18, and the third motor 19. As shown in FIGS. 4 and 6, the first motor 17 is provided with a first eccentric weight 27 on the first rotating shaft 17a as an eccentric weight eccentric to the first rotating shaft 17a as a rotating shaft. The second motor 18 is provided with a second eccentric weight 28 on the second rotating shaft 18a as an eccentric weight eccentric to the second rotating shaft 18a as a rotating shaft. With this configuration, the first eccentric weight 27 can vibrate the first motor 17 with a simple structure. The second eccentric weight 28 can vibrate the second motor 18 with a simple structure. The vibrations of the first motor 17 and the second motor 18 are transmitted to the mounting table 21 via the support 12.

[0027] The component disassembly device 6 includes a first motor 17 that vibrates by rotating a first rotating shaft 17a, a second motor 18 that vibrates by rotating a second rotating shaft 18a, and a third motor 19 that vibrates by rotating a third rotating shaft 19a. The support unit 12 supports a mounting table 21, the first motor 17, the second motor 18, and the third motor 19, and transmits the vibrations of the first motor 17, the second motor 18, and the third motor 19 to the mounting table 21. The resonance frequency of the support unit 12 is higher in a direction perpendicular to the mounting surface 22 than in a direction parallel to the mounting surface 22.

[0028] 6, the axial direction of the first rotating shaft 17a and the second rotating shaft 18a is the Z direction, and the axial direction of the third rotating shaft 19a is the Y direction. The mounting surface 22 is a plane including the X direction and the Y direction. The Z direction is a direction perpendicular to the mounting surface 22. The axial direction of the third rotating shaft 19a of the third motor 19 is parallel to the mounting surface 22, and the axial direction of the first rotating shaft 17a of the first motor 17 and the axial direction of the second rotating shaft 18a of the second motor 18 are perpendicular to the mounting surface 22. Therefore, in the part disassembly device 6, the axial direction of the rotation shaft of one motor is parallel to the mounting surface 22, and the axial directions of the rotation shafts of the two motors are perpendicular to the mounting surface 22.

[0029] When viewed from a direction perpendicular to the mounting surface 22, the third motor 19, whose axial direction of the third rotation shaft 19a is parallel to the mounting surface 22, is disposed between the first motor 17 and the second motor 18, whose rotation shaft axial directions are perpendicular to the mounting surface 22.

[0030] According to this configuration, three motors are arranged side by side. The third motor 19 in the center vibrates the mounting table 21 in a direction perpendicular to the mounting surface 22. The first motor 17 and the second motor 18 arranged outside the third motor 19 vibrate the mounting table 21 in a direction parallel to the mounting surface 22. The centers of gravity of the first motor 17 and the second motor 18 are arranged symmetrically with respect to the third rotation shaft 19a of the third motor 19 in the center. Therefore, when the two motors on both sides rotate their rotation shafts, the vibration of the motors can uniformly vibrate the mounting table 21.

[0031] A first rotating plate 29 is attached to the first rotating shaft 17a on the Z negative side of the first motor 17. A first disk slit 29a, which is a long slit in the radial direction, is provided on the first rotating plate 29. A first sensor 31 is provided on the Z negative side of the first motor 17. The first sensor 31 is fixed to the lower structure 13. The first sensor 31 has a first sensor slit 31a. An LED and a phototransistor are arranged on either side of the first sensor slit 31a in the first sensor 31. When the first disk slit 29a passes through the first sensor slit 31a, light emitted by the LED passes through the first disk slit 29a. The first sensor 31 detects the timing at which the first disk slit 29a passes through the first sensor slit 31a.

[0032] A second rotating plate 32 is attached to the second rotating shaft 18a on the Z negative side of the second motor 18. A second disk slit 32a, which is a long slit in the radial direction, is provided on the second rotating plate 32. A second sensor 33 is provided on the Z negative side of the second motor 18. The second sensor 33 is fixed to the lower structure 13. The second sensor 33 has a second sensor slit 33a. An LED and a phototransistor are arranged on either side of the second sensor slit 33a in the second sensor 33. When the second disk slit 32a passes through the second sensor slit 33a, light emitted by the LED passes through the second disk slit 32a. The second sensor 33 detects the timing at which the second disk slit 32a passes through the second sensor slit 33a.

[0033] Fig. 7 shows the arrangement of rubber feet 11. As shown in Fig. 7, four rubber feet 11 are arranged on base 9. Rubber feet 11 are arranged symmetrically with respect to third rotation shaft 19a. Rubber feet 11 are arranged symmetrically with respect to imaginary line 34 that passes through the Z positive end of first rotation shaft 17a and the Z positive end of second rotation shaft 18a. This arrangement makes it easier to design the X-direction resonance frequency and Y-direction resonance frequency of support part 12.

[0034] As shown in Fig. 8, the control unit 8 includes a central processing unit 35, a first motor driving unit 36, a second motor driving unit 37, and a third motor driving unit 38. The central processing unit 35 is electrically connected to the robot controller 3, the first motor driving unit 36, the second motor driving unit 37, and the third motor driving unit 38. The central processing unit 35 transmits instruction signals for starting and ending rotation to the first motor driving unit 36, the second motor driving unit 37, and the third motor driving unit 38. In addition, the central processing unit 35 transmits instruction signals for the number of rotations, the direction of rotation, and the phase to the first motor driving unit 36, the second motor driving unit 37, and the third motor driving unit 38.

[0035] The first motor driving unit 36 ​​is electrically connected to the first motor 17 and the first sensor 31. When driving the first motor 17, the first motor driving unit 36 ​​drives the first motor 17 according to the rotation speed and rotation direction indicated by the command signal. The first motor driving unit 36 ​​receives a signal indicating the position of the first rotating shaft 17a detected by the first sensor 31. The first motor driving unit 36 ​​receives the signal output by the first sensor 31 and controls the rotation speed of the first rotating shaft 17a to be the rotation speed of the command signal.

[0036] The first motor driving unit 36 ​​calculates the phase of the first rotating shaft 17a from the position and rotation speed of the first rotating shaft 17a. The first motor driving unit 36 ​​transmits a signal of the phase of the first rotating shaft 17a to the central processing unit 35. The central processing unit 35 transmits the signal of the phase of the first rotating shaft 17a to the second motor driving unit 37.

[0037] The second motor driving unit 37 is electrically connected to the second motor 18 and the second sensor 33. When driving the second motor 18, the second motor driving unit 37 drives the second motor 18 according to the rotation speed and rotation direction indicated by the instruction signal. The second motor driving unit 37 receives an input of a signal indicating the position of the second rotating shaft 18a outputted by the second sensor 33.

[0038] The second motor driving unit 37 receives a signal output by the second sensor 33 and controls the rotation speed of the second rotating shaft 18a to be equal to the rotation speed of the command signal. When the third motor 19 is not driven and the first motor 17 and the second motor 18 are driven, the second motor driving unit 37 receives a signal of the phase of the first rotating shaft 17a from the central processing unit 35 and controls the phase of the second rotating shaft 18a.

[0039] The third motor driving unit 38 is electrically connected to the third motor 19 and the third sensor 25. When driving the third motor 19, the third motor driving unit 38 drives the third motor 19 according to the rotation speed and rotation direction indicated by the command signal. The third motor driving unit 38 receives a signal indicating the position of the third rotating shaft 19a outputted from the third sensor 25. The third motor driving unit 38 receives the signal outputted from the third sensor 25 and controls the rotation speed of the third rotating shaft 19a to be the rotation speed of the command signal.

[0040] When at least one of the first motor 17 and the second motor 18 is driven in addition to the third motor 19, the third motor drive unit 38 calculates the phase of the third rotating shaft 19a from the position and rotation speed of the third rotating shaft 19a. The third motor drive unit 38 transmits a signal of the phase of the third rotating shaft 19a to the central processing unit 35. The central processing unit 35 transmits a signal of the phase of the third rotating shaft 19a to the first motor drive unit 36 ​​and the second motor drive unit 37.

[0041] When the first motor 17 is driven in addition to the third motor 19, the first motor drive unit 36 ​​receives a signal of the phase of the third rotating shaft 19a from the central processing unit 35 and controls the phase of the first rotating shaft 17a. When the second motor 18 is driven in addition to the third motor 19, the second motor drive unit 37 receives a signal of the phase of the third rotating shaft 19a from the central processing unit 35 and controls the phase of the second rotating shaft 18a.

[0042] As described above, the control unit 8 independently controls at least one of the rotation speed, rotation direction, and initial phase of the three motors.

[0043] Next, a method of controlling the part disassembly device 6 will be described through the operation of the motor and the operation of the part 23. 9, the first motor 17 rotates the first eccentric weight 27 counterclockwise as viewed from the Z positive direction. The second motor 18 rotates the second eccentric weight 28 clockwise as viewed from the Z positive direction. For this operation, the phases must be matched and then the motors must rotate in opposite directions.

[0044] As shown in Fig. 10, when the first eccentric weight 27 and the second eccentric weight 28 move in the Y positive direction, the centrifugal force of the first eccentric weight 27 and the second eccentric weight 28 acts on the support part 12. The centrifugal force causes a torque about an axis in the X direction to act on the support part 12. The rubber feet 11 on the Y positive direction side contract, and the rubber feet 11 on the Y negative direction side expand. As a result, the mounting table 21 tilts. The Y negative direction side of the mounting table 21 moves in the Z positive direction, and the Y positive direction side moves in the Z negative direction.

[0045] As shown in FIG. 11, when the first eccentric weight 27 and the second eccentric weight 28 move in the negative Y direction, the centrifugal force of the first eccentric weight 27 and the second eccentric weight 28 acts on the support portion 12. The centrifugal force causes a torque with the X direction as its axis to act on the support portion 12. The rubber legs 11 on the negative Y direction side contract, and the rubber legs 11 on the positive Y direction side expand. As a result, the mounting table 21 tilts. The positive Y direction side of the mounting table 21 moves in the positive Z direction, and the negative Y direction side moves in the negative Z direction. Therefore, the mounting table 21 swings around the X direction as the rotation axis. This swinging around an axis parallel to the mounting surface 22 is called pitching.

[0046] As shown in Fig. 12, the components 23 are separated into those in the Y positive direction and those in the Y negative direction on the mounting surface 22. The control unit 8 drives the first motor driving unit 36 ​​and the second motor driving unit 37 to oscillate the mounting table 21 around the X direction as an axis. The components 23 on the Y positive direction side move in the Y negative direction. The components 23 on the Y negative direction side move in the Y positive direction. The movement amount of each component 23 is different. As a result, the components 23 are arranged in a dispersed manner on the mounting surface 22, as shown in Fig. 13.

[0047] 14, the first motor 17 rotates the first eccentric weight 27 counterclockwise as viewed from the Z positive direction. The second motor 18 rotates the second eccentric weight 28 counterclockwise as viewed from the Z positive direction. This operation requires that the phases are aligned before the rotation.

[0048] The centers of gravity of the first eccentric weight 27 and the second eccentric weight 28 move in the Y positive direction, the X negative direction, the Y negative direction, and the X positive direction in this order. The centrifugal force of the first eccentric weight 27 and the second eccentric weight 28 acts on the support portion 12. The rubber foot 11 on the side where the centers of gravity of the first eccentric weight 27 and the second eccentric weight 28 face contracts. The rubber foot 11 on the opposite side to the side where the centers of gravity of the first eccentric weight 27 and the second eccentric weight 28 face expands. As a result, the mounting base 21 tilts. The mounting base 21 on the side where the centers of gravity of the first eccentric weight 27 and the second eccentric weight 28 face moves in the Z negative direction. The mounting base 21 on the opposite side to the side where the centers of gravity of the first eccentric weight 27 and the second eccentric weight 28 face moves in the Z positive direction.

[0049] As shown in FIG. 15, when viewed from the Z positive direction side, component 23 moves toward the center of mounting surface 22 while moving counterclockwise.

[0050] As shown in Fig. 16, components 23 are positioned on the outer periphery of mounting surface 22. Control unit 8 drives first motor driving unit 36 ​​and second motor driving unit 37 to rock mounting table 21 around the Z direction as an axis. Due to the rocking, each component 23 moves toward the center. The movement amount of each component 23 is different. As a result, as shown in Fig. 13, components 23 are arranged in a dispersed manner on mounting surface 22.

[0051] Figures 17, 19, and 21 show the relationship between the rotation of the first eccentric weight 27 of the first motor 17 and the third eccentric weight 24 of the third motor 19 and the vibration of the mounting surface 22. The second motor 18 is not driven. Let the rotation speed of the first motor 17 and the third motor 19 be N. Let the resonance frequency of the support portion 12 in the direction perpendicular to the mounting surface 22 be Rv. Let the resonance frequency of the support portion 12 in the direction parallel to the mounting surface 22 be Rh. The values of Rh and Rv are not particularly limited, but in this embodiment, for example, Rv = 2200 rpm (36.6 Hz) and Rh = 500 rpm (8.3 Hz). Note that the first motor 17 and the second motor 18 may be driven in phase.

[0052] In the following example, the first motor 17 is not driven and the third motor 19 is driven. When N = Rv, as shown in Figure 17, the mounting surface 22 vibrates so as to reciprocate in the +Z direction and the -Z direction. The components 23 jump on the mounting surface 22. Some of the components 23 are reversed. As shown in Figure 18, when there are many components 23 on the back side 23b on the mounting surface 22, the control unit 8 vibrates the mounting surface 22 so as to reciprocate in the +Z direction and the -Z direction. At this time, as shown in Figure 13, the component separating device 6 can reverse some of the components 23.

[0053] In the following example, the first motor 17 and the third motor 19 are driven. The control unit 8 rotates the first motor 17 and the third motor 19 within the range of Rh < N < Rv. The central processing unit 35 controls the phases of the first rotation shaft 17a and the third rotation shaft 19a in the first motor drive unit 36 and the third motor drive unit 38.

[0054] As shown in Figure 19, when the center of gravity of the first eccentric weight 27 moves in the +X direction, the center of gravity of the third eccentric weight 24 moves in the +Z direction. When the center of gravity of the first eccentric weight 27 moves in the -X direction, the center of gravity of the third eccentric weight 24 moves in the -Z direction.

[0055] As shown in Fig. 20, when there are many components 23 in the negative X direction on the placement surface 22, the control unit 8 vibrates the placement surface 22 so as to reciprocate between the positive X direction and the positive Z direction and the negative X direction and the negative Z direction. At this time, the components 23 on the placement surface 22 move in the positive X direction. The movement amount of each component 23 is different. As shown in Fig. 13, the component disassembly device 6 can distribute the positions of the components 23.

[0056] 21, in the following example, when the center of gravity of first eccentric weight 27 moves in the negative X direction, the center of gravity of third eccentric weight 24 moves in the positive Z direction. When the center of gravity of first eccentric weight 27 moves in the positive X direction, the center of gravity of third eccentric weight 24 moves in the negative Z direction.

[0057] As shown in Fig. 22, when there are many components 23 in the X positive direction on the mounting surface 22, the control unit 8 vibrates the mounting surface 22 so as to reciprocate between the X negative direction and the Z positive direction and the X positive direction and the Z negative direction. At this time, the components 23 on the mounting surface 22 move in the X negative direction. The movement amount of each component 23 is different. As shown in Fig. 13, the component disassembly device 6 can distribute the positions of the components 23.

[0058] In addition, when there are many components 23 in the negative Y direction on the placement surface 22, the control unit 8 vibrates the placement surface 22 so as to reciprocate in the positive Y direction and the positive Z direction and the negative Y direction and the negative Z direction. At this time, the component disassembly device 6 can distribute the positions of the components 23 as shown in FIG.

[0059] In addition, when there are many components 23 in the Y positive direction on the placement surface 22, the control unit 8 vibrates the placement surface 22 so as to reciprocate in the Y negative direction and the Z positive direction and the Y positive direction and the Z negative direction. At this time, the component disassembly device 6 can distribute the positions of the components 23 as shown in FIG.

[0060] According to this configuration, the three motors vibrate. The vibrations of the motors are transmitted to the mounting table 21 via the support 12. The support 12 vibrates in directions parallel and perpendicular to the mounting surface 22. When the third motor 19, whose rotation axis direction is parallel to the mounting surface 22, rotates the third rotation shaft 19a, the support 12 and the mounting table 21 vibrate in a direction perpendicular to the mounting surface 22. At this time, the part 23 jumps on the mounting surface 22. Therefore, the part 23 can be flipped over.

[0061] When third motor 19, whose rotation shaft direction is parallel to mounting surface 22, and first motor 17, whose rotation shaft direction is perpendicular to mounting surface 22, rotate first rotating shaft 17a, support portion 12 and mounting table 21 vibrate in a direction parallel to mounting surface 22 and perpendicular to mounting surface 22. At this time, component 23 moves along mounting surface 22. By controlling the rotation and stopping of two motors whose rotation shaft directions are parallel or perpendicular to mounting surface 22, respectively, component disassembly device 6 can change the moving direction of component 23.

[0062] When the first motor 17 and the second motor 18, whose rotation shafts are axially perpendicular to the mounting surface 22, rotate their respective rotation shafts, the support portion 12 and the mounting table 21 perform a pitching or swinging motion about an axis perpendicular to the mounting surface 22. At this time, the component 23 moves along the mounting surface 22. By controlling the rotation and stopping of the two motors, whose rotation shafts are axially perpendicular to the mounting surface 22, the component disassembly device 6 can change the movement direction of the component 23. As a result, the component disassembly device 6 can reverse the component 23 and control the movement direction of the component 23.

[0063] According to this control method, the three motors vibrate. The vibrations of the motors are transmitted to the mounting table 21 via the support 12. The support 12 vibrates in directions parallel and perpendicular to the mounting surface 22. When the third motor 19, whose rotation shaft direction is parallel to the mounting surface 22, rotates the third rotation shaft 19a, the support 12 and the mounting table 21 vibrate in a direction perpendicular to the mounting surface 22. At this time, the part 23 jumps on the mounting surface 22. Therefore, the part 23 can be flipped over.

[0064] When third motor 19, whose rotation shaft direction is parallel to mounting surface 22, and first motor 17, whose rotation shaft direction is perpendicular to mounting surface 22, rotate first rotating shaft 17a, support part 12 and mounting table 21 vibrate in a direction parallel to mounting surface 22 and in a direction perpendicular to mounting surface 22. At this time, part 23 moves along mounting surface 22.

[0065] When first motor 17 and second motor 18, whose rotation shafts are axially perpendicular to mounting surface 22, rotate their rotation shafts in different directions, support portion 12 and mounting table 21 produce pitching vibration relative to mounting surface 22. At this time, component 23 moves toward the center along mounting surface 22.

[0066] When the first motor 17 and the second motor 18, whose rotation shafts are axially perpendicular to the mounting surface 22, rotate in the same direction, the support part 12 and the mounting table 21 vibrate in a swinging manner about an axis that passes through the center of the mounting surface 22 and extends in the Z direction. At this time, the component 23 moves toward the center along the mounting surface 22. By controlling the rotation directions of the first motor 17 and the second motor 18, the component disassembly device 6 can change the vibration mode of the mounting table 21, and therefore the movement direction of the component 23 can be changed.

[0067] Second embodiment In the first embodiment, the third eccentric weights 24 are provided on both sides of the third rotating shaft 19a. However, the eccentric weight may be provided on only one side of the rotating shaft. This allows the number of parts to be reduced.

[0068] Third embodiment In the first embodiment, the first motor 17, the third motor 19, and the second motor 18 are arranged in this order on a straight line. Alternatively, the first motor 17 and the second motor 18 may be arranged in the X positive direction, and the third motor 19 may be arranged in the X negative direction. The first motor 17 and the second motor 18 may be arranged in the axial direction of the third rotation shaft 19a. When viewed from the Z positive direction, the area occupied by the first motor 17, the second motor 18, and the third motor 19 can be made closer to a square. [Explanation of symbols]

[0069] 6...part disassembly device, 8...control unit, 11...rubber feet as rubber, 12...support part, 17...first motor as motor, 17a...first rotating shaft as rotating shaft, 18...second motor as motor, 18a...second rotating shaft as rotating shaft, 19...third motor as motor, 19a...third rotating shaft as rotating shaft, 21...mounting table, 22...mounting surface, 23...part, 24...third eccentric weight as eccentric weight, 27...first eccentric weight as eccentric weight, 28...second eccentric weight as eccentric weight.

Claims

1. a mounting table having a mounting surface on which a component is placed; Three motors that rotate the shaft to vibrate, a support portion that supports the mounting table and the three motors and transmits vibration of the motors to the mounting table, a rotation shaft of one of the motors having an axial direction parallel to the mounting surface, and a rotation shaft of each of the two motors having an axial direction perpendicular to the mounting surface.

2. 2. The part disassembly device according to claim 1, A parts disassembly device, wherein the motor has an eccentric weight attached to the rotation shaft, the eccentric weight being eccentric with respect to the rotation shaft.

3. 3. The part disassembly device according to claim 2, A parts disassembly device, wherein the motor is provided with the eccentric weights on both sides of the rotation shaft.

4. The part disassembly device according to any one of claims 1 to 3, A part disassembly device characterized in that, when viewed from a direction perpendicular to the mounting surface, the motor, whose axial direction of the rotation shaft is parallel to the mounting surface, is positioned between two motors, whose axial directions of the rotation shaft are perpendicular to the mounting surface.

5. The part disassembly device according to any one of claims 1 to 4, A parts disassembly device comprising: a rubber that supports the support portion so that the support portion can vibrate.

6. A control method for a component disassembly device comprising: a mounting table having a mounting surface on which components are placed; three motors that vibrate by rotating their rotation shafts; a support section that supports the mounting table and the three motors and transmits the vibrations of the motors to the mounting table; and a control section that controls the rotation of the motors, wherein an axial direction of the rotation shaft of one of the motors is parallel to the mounting surface and an axial direction of the rotation shafts of two of the motors is perpendicular to the mounting surface, The control method for a parts disassembly device, wherein the control unit independently controls at least one of the rotation speed, rotation direction, and initial phase of the three motors.

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