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 18 having a mounting surface 19 on which a component 21 is mounted; a first motor 16 and a second motor 17 for rotating and vibrating rotary shafts; and a support part 12 for supporting the mounting base 18, the first motor 16 and the second motor 17, and transmitting vibration of the first motor 16 and the second motor 17 to the mounting base 18, wherein axial directions of the rotary shafts of the first motor 16 and the second motor 17 are parallel to the mounting surface 19, and cross each other in plan view when viewed from a direction vertical to the mounting surface 19, and resonance frequency of the support part 12 in the direction vertical to the mounting surface 19 is higher than that in the direction parallel thereto.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 up a part, a linear feeder moves the part within the operating range of the robot's hand. Such a linear feeder is disclosed, for example, in Patent Document 1. According to this document, the linear feeder has a single motor and a part-transport trough connected by a link mechanism. When the motor rotates, a reciprocating vibration in one direction is excited in the part-transport trough, transporting the part in one direction.

[0003] Furthermore, when an industrial robot picks up a part, a part disassembly device may be placed within the range of the robot's hand. The part disassembly device is a device that reduces the overlap of parts when multiple parts are stacked on a mounting surface.

[0004] With this type of parts disassembly device, overlapping parts can be scattered on the same plane, creating a posture that makes it easier for the robot hand to pick up the parts, allowing the robot to operate stably. Also, if it is necessary to flip the parts over to pick them up, having the robot flip the parts over takes time, which reduces productivity. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2019-064825 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 of not being able to reverse parts. [Means for solving the problem]

[0007] The component separation device comprises a mounting table having a mounting surface on which components are placed, two motors that vibrate by rotating their rotation axes, and a support section that supports the mounting table and the two motors and transmits the vibrations of the motors to the mounting table, wherein the axial directions of the rotation axes of the two motors are parallel to the mounting surface and intersect with each other in a planar view seen from a direction perpendicular to the mounting surface, and the resonant frequency of the support section is higher in a direction perpendicular to the mounting surface than in a direction parallel to the surface.

[0008] A control method for a component separation device includes a mounting table having a mounting surface on which components are placed, two motors that vibrate by rotating their rotation axes, a support unit that supports the mounting table and the two motors and transmits the vibration of the motors to the mounting table, and a control unit that controls the rotation of the motors, wherein the axial directions of the rotation axes of the two motors are parallel to the mounting surface and intersect with each other in a planar view seen from a direction perpendicular to the mounting surface, and the resonant frequency of the support unit is higher in a direction perpendicular to the mounting surface than in a direction parallel to the surface, and the control unit independently controls the rotation speed, rotation direction, or rotation phase of the two motors. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram showing the configuration of a component supply system according to a first embodiment. [Figure 2] FIG. 2 is a schematic perspective view showing the configuration of a component disassembly device. [Figure 3] FIG. 2 is a schematic plan view showing the configuration of the component disassembly device. [Figure 4] FIG. 2 is a schematic side view showing the configuration of the component disassembly device. [Figure 5] FIG. 2 is a schematic side view showing the configuration of the component disassembly device. [Figure 6] FIG. 2 is a schematic diagram showing the configuration of a main part of a motor. [Figure 7] FIG. 4 is a schematic plan view illustrating the arrangement of rubber legs. [Figure 8] FIG. 2 is a schematic diagram for explaining the position of the center of gravity of a component; [Figure 9] FIG. 10 is a diagram illustrating the movement of the mounting table. [Figure 10] FIG. 10 is a diagram illustrating the movement of the mounting table. [Figure 11] FIG. 10 is a diagram illustrating the movement of the mounting table. [Figure 12] FIG. 10 is a diagram illustrating the movement of the mounting table. [Figure 13] FIG. 10 is a diagram illustrating the movement of the mounting table. [Figure 14] FIG. 10 is a diagram illustrating the movement of the mounting table. [Figure 15] Block diagram of an electrical circuit. [Figure 16] 5A and 5B are schematic diagrams for explaining the movement of a component on a placement surface. [Figure 17] 5A and 5B are schematic diagrams for explaining the movement of a component on a placement surface. [Figure 18] 5A and 5B are schematic diagrams for explaining the movement of a component on a placement surface. [Figure 19] 5A and 5B are schematic diagrams for explaining the movement of a component on a placement surface. [Figure 20] 5A and 5B are schematic diagrams for explaining the movement of a component on a placement surface. [Figure 21] FIG. 10 is a schematic diagram for explaining the position of the center of gravity of components according to the second embodiment. [Figure 22] FIG. 10 is a schematic view showing the configuration of a main part of a motor according to a third embodiment. [Figure 23] FIG. 13 is a schematic diagram for explaining the position of a motor according to the fifth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] First embodiment In this embodiment, a characteristic example of a parts sorting device and a control method for this parts sorting device will be described. As shown in Fig. 1, a parts supply system 1 is a system in which a robot 2 picks up multiple parts. The robot 2 may be a scalar robot, a vertical articulated robot, a Cartesian robot, or the like. 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 a pickup mechanism 4 and a camera 5. The robot controller 3 controls the operation of the pickup mechanism 4 to grasp 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 mounted on the robot 2, or may be fixed to the top of a part disassembly device other than the robot 2.

[0012] The part supply system 1 comprises one or more part disassembly devices 6 and a workbench 7. Parts are placed on each part disassembly device 6. Multiple types of parts may be placed on one part disassembly device. The robot 2 grasps a part from each part disassembly device 6 and moves it to the workbench 7. The robot 2 supplies the part to the workbench 7. The robot 2 may perform work to assemble 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 receives an instruction signal from the robot controller 3 and operates the part disassembly device 6.

[0014] A 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 the pickup mechanism 4 is ready to grasp the part. The orientation of the part when the pickup mechanism 4 grasps it is also set. For example, in this embodiment, the part is disk-shaped and has a front and back. The pickup mechanism 4 grasps the part with the front side facing the pickup mechanism 4.

[0015] If the robot controller 3 analyzes the image and finds that no part is in the correct position, the robot controller 3 sends an instruction signal to the control unit 8 to change the position of the part. The control unit 8 receives the instruction signal and drives the part separation device 6.

[0016] The cover of the component disassembly device 6 shown in Figure 2 has been removed, allowing the interior to be seen. The component disassembly device 6 is equipped with a base 9. The base 9 is a rectangular metal plate. When viewed from above, the longitudinal direction of the base 9 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 serving as elastic bodies are arranged on the base 9. Support parts 12 are placed on the rubber feet 11. The rubber feet 11 support the support parts 12 so that they can vibrate. With this configuration, the rubber feet 11 support the support parts 12 so that they can vibrate, allowing the support parts 12 to vibrate in all directions: up and down, front and back, left and right. Furthermore, the rubber feet 11 attenuate vibrations, so the rubber feet 11 can function as dampers.

[0018] The support part 12 is composed of a lower structure 13, an intermediate structure 14, and an upper structure 15. The lower structure 13 is located on the negative Z side and is connected to the rubber legs 11. The upper structure 15 is located on the positive Z side. The intermediate structures 14 are columnar, and four intermediate structures 14 stand between the lower structure 13 and the upper structure 15. The support part 12 is made of metal and has high rigidity.

[0019] A first motor 16 as a vibrating motor and a second motor 17 as a vibrating motor are arranged between the lower structure 13 and the upper structure 15. A control unit 8 controls the rotation of the first motor 16 and the second motor 17. The first motor 16 is fixed to a surface on the Z positive side of the lower structure 13. The second motor 17 is fixed to a surface on the Z negative side of the upper structure 15. A mounting table 18 is arranged on the Z positive side of the upper structure 15. The mounting table 18 is fixed to the upper structure 15. The mounting table 18 is made of a resin or metal, and has high rigidity. A recess 18a is formed on the Z positive side of the mounting table 18. The bottom surface of the recess 18a is the mounting surface 19.

[0020] As shown in Fig. 3, components 21 are placed on the placement surface 19. Some of the components 21 have their front sides 21a facing the positive Z direction. Some of the components 21 have their back sides 21b facing the positive Z direction. In the drawing, components 21 whose back sides 21b face the positive Z direction are hatched. The components 21 are placed in recesses 18a, which are deep enough to prevent the components 21 from jumping out.

[0021] 4, the first motor 16 is provided with a first eccentric weight 22 on the first rotation shaft 16a, which serves as an eccentric weight eccentric to the first rotation shaft 16a. With this configuration, the first eccentric weight 22 can vibrate the first motor 16 with a simple structure. The vibration of the first motor 16 is transmitted to the mounting table 18 via the support 12.

[0022] The first motor 16 is provided with first eccentric weights 22 on both sides of the first rotating shaft 16a. With this configuration, the rotation of the first eccentric weights 22 causes the same centrifugal force to act on the first motor 16 on both sides of the first rotating shaft 16a. Therefore, the same vibration energy can be supplied to the support part 12 on both sides of the first rotating shaft 16a. As a result, it is possible to suppress the first motor 16 from generating vibrations that cause the support part 12 to swing around the X direction as an axis. A first sensor 23 is disposed on the lower structure 13 on the Y positive side of the first eccentric weight 22 on the Y positive side. The first sensor 23 may also be disposed on the Y negative side.

[0023] 5, second motor 17 includes second eccentric weight 24 on second rotation shaft 17a, which is an eccentric weight eccentric to second rotation shaft 17a. With this configuration, second eccentric weight 24 can vibrate second motor 17 with a simple structure. The vibration of second motor 17 is transmitted to mounting table 18 via support 12.

[0024] The second motor 17 is provided with second eccentric weights 24 on both sides of the second rotating shaft 17a. With this configuration, the rotation of the second eccentric weights 24 causes the same centrifugal force to act on the second motor 17 on both sides of the second rotating shaft 17a. Therefore, the second motor 17 can supply the same vibration energy to the support part 12 on both sides of the second rotating shaft 17a. As a result, it is possible to suppress the second motor 17 from generating vibrations that cause the support part 12 to swing about the Y direction as an axis. A second sensor 25 is disposed on the upper structure 15 on the X-negative side of the second eccentric weight 24 on the X-negative side. The second sensor 25 may also be disposed on the X-positive side.

[0025] The component separation device 6 includes a first motor 16 that vibrates by rotating a first rotating shaft 16a, and a second motor 17 that vibrates by rotating a second rotating shaft 17a. The support unit 12 supports a mounting table 18, the first motor 16, and the second motor 17, and transmits the vibrations of the first motor 16 and the second motor 17 to the mounting table 18. The resonance frequency of the support unit 12 is higher in a direction perpendicular to the mounting surface 19 than in a direction parallel to the mounting surface 19.

[0026] FIG. 6 shows the relative positions of the first motor 16 and the second motor 17. As shown in FIG. 6, the axial direction of the first rotation shaft 16a is the Y direction, and the axial direction of the second rotation shaft 17a is the X direction. The mounting surface 19 is a plane including the X direction and the Y direction. Therefore, the axial direction of the first rotation shaft 16a of the first motor 16 and the axial direction of the second rotation shaft 17a of the second motor 17 are parallel to the mounting surface 19 and intersect with each other in a plan view seen from a direction perpendicular to the mounting surface 19. More specifically, the axial direction of the first rotation shaft 16a of the first motor 16 and the axial direction of the second rotation shaft 17a of the second motor 17 are orthogonal to each other in a plan view seen from a direction perpendicular to the mounting surface 19.

[0027] The first eccentric weight 22 on the Y positive side connected to the first motor 16 has a first protrusion 26 that protrudes in the Y positive direction. The first sensor 23 has a first slit 23a. An LED (Light Emitting Diode) and a phototransistor are arranged in the first sensor 23 with the first slit 23a sandwiched between them. When the first protrusion 26 passes through the first slit 23a, the first protrusion 26 blocks the light emitted by the LED. The first sensor 23 detects the timing when the first protrusion 26 passes through the first slit 23a.

[0028] The second eccentric weight 24 on the negative X direction side connected to the second motor 17 has a second protrusion 27 that protrudes in the negative X direction. The second sensor 25 has a second slit 25a. An LED and a phototransistor are arranged in the second sensor 25 with the second slit 25a sandwiched between them. When the second protrusion 27 passes through the second slit 25a, the second protrusion 27 blocks the light emitted by the LED. The second sensor 25 detects the timing when the second protrusion 27 passes through the second slit 25a.

[0029] Figure 7 shows the arrangement of rubber feet 11. As shown in Figure 7, four rubber feet 11 are arranged on base 9. Rubber feet 11 are arranged symmetrically with respect to first rotation axis 16a. Furthermore, rubber feet 11 are arranged symmetrically with respect to second rotation axis 17a. With this arrangement, the amplitude of vibration in the X direction of support part 12 becomes equal on both sides, and the amplitude of vibration in the Y direction also becomes equal on both sides, making it easier to control the direction in which the part is transported.

[0030] Figure 8 shows the arrangement of the centers of gravity of the components that make up the part disassembly device 6. In Figure 8, the first weight center of gravity 22a is the center of gravity of the two first eccentric weights 22. The second weight center of gravity 24a is the center of gravity of the two second eccentric weights 24. The support part center of gravity 12a, which is the center of gravity of the support part, is the center of gravity of the support part 12. The placement table center of gravity 18b, which is the center of gravity of the placement table, is the center of gravity of the placement table 18. The first weight center of gravity 22a, the second weight center of gravity 24a, the placement table center of gravity 18b, and the support part center of gravity 12a are arranged on a first imaginary line 28 that extends in the Z direction. The first imaginary line 28 is a line that extends in a direction perpendicular to the placement surface 19. Therefore, the first weight center of gravity 22a, the second weight center of gravity 24a, the mounting base center of gravity 18b, and the support portion center of gravity 12a are all aligned in a plan view seen from a direction perpendicular to the mounting surface 19.

[0031] The first weight center of gravity 22a is the center of vibration of the first motor 16. The second weight center of gravity 24a is the center of vibration of the second motor 17. With this configuration, the center of vibration caused by the first motor 16, the center of vibration caused by the second motor 17, the center of gravity of the mounting table 18, and the center of gravity of the support part 12 all overlap in a plan view seen from a direction perpendicular to the mounting surface 19. Therefore, the first motor 16 and the second motor 17 can vibrate the mounting surface 19 uniformly.

[0032] Next, a control method for the component disassembly device 6 will be described. Figures 9 to 14 show the relationship between the rotation of the first eccentric weight 22 in the first motor 16 and the vibration of the mounting surface 19. The number of rotations per second of the first motor 16 is N. The resonance frequency of the support part 12 in a direction perpendicular to the mounting surface 19 is Rv. The resonance frequency of the support part 12 in a direction parallel to the mounting surface 19 is Rh.

[0033] When viewed from the Y negative side, the first motor 16 rotates the first rotary shaft 16a clockwise. When N=Rh, as shown in FIG. 9, the mounting surface 19 vibrates back and forth between the X positive direction and the X negative direction. Because the component 21 remains in contact with the mounting surface 19, the component 21 is unlikely to move. Even if the component 21 moves, the distance it moves is short.

[0034] When Rh < N < Rv, as shown in FIG. 10, the placement surface 19 vibrates reciprocally in the +X and +Z directions and the -X and -Z directions. Since the component 21 moves away from the placement surface 19 while moving in the +X direction, the component 21 moves in the +X direction. When the control method of the component separating device 6 moves the component 21 in the +X direction along the placement surface 19, the control unit 8 rotates the first motor 16 within the range of Rh < N < Rv.

[0035] The values of Rh and Rv are not particularly limited. In this embodiment, for example, Rv = 40 Hz and Rh = 10 Hz. When moving the component 21 along the placement surface 19, it is preferable to set N = 25 - 30 Hz. The component 21 can be reliably moved.

[0036] When N = Rv, as shown in FIG. 11, the placement surface 19 vibrates reciprocally in the +Z and -Z directions. On the placement surface 19, the component 21 jumps. Some of the components 21 are reversed. For example, when all the components 21 are showing the back side 21b, some of the components 21 are reversed to show the front side 21a.

[0037] Next, as viewed from the -Y direction side, the first motor 16 rotates the first rotation shaft 16a counterclockwise. When N = Rh, as shown in FIG. 12, the placement surface 19 vibrates reciprocally in the +X and -X directions. Since the component 21 maintains the state of being in contact with the placement surface 19, the component 21 is difficult to move. Even if the component 21 moves, the moving distance is short.

[0038] When Rh < N < Rv, as shown in FIG. 13, the placement surface 19 vibrates reciprocally in the -X and +Z directions and the +X and -Z directions. Since the component 21 moves away from the placement surface 19 while moving in the -X direction, the component 21 moves in the -X direction. When the control method of the component separating device 6 moves the component 21 in the -X direction along the placement surface 19, the control unit 8 rotates the first motor 16 within the range of Rh < N < Rv.

[0039] When N = Rv, as shown in FIG. 14, the mounting surface 19 vibrates so as to reciprocate in the +Z direction and the -Z direction. On the mounting surface 19, the components 21 jump. Some of the components 21 are reversed in front and back.

[0040] When the second motor 17 rotates the second rotating shaft 17a, the mounting surface 19 moves in the same manner as when the first motor 16 rotates the first rotating shaft 16a. Let N be the number of rotations per second of the second motor 17.

[0041] When viewed from the +X direction side, the second motor 17 rotates the second rotating shaft 17a clockwise. When N = Rh, the mounting surface 19 vibrates so as to reciprocate in the +Y direction and the -Y direction. Since the components 21 remain in contact with the mounting surface 19, it is difficult for the components 21 to move. Even if the components 21 move, the moving distance is short.

[0042] When Rh < N < Rv, the mounting surface 19 vibrates so as to reciprocate in the +Y and +Z directions and the -Y and -Z directions. Since the components 21 move away from the mounting surface 19 while moving in the +Y direction, the components 21 move in the +Y direction. When the control method of the component separating device 6 moves the components 21 in the +Y direction along the mounting surface 19, the control unit 8 rotates the second motor 17 within the range of Rh < N < Rv.

[0043] When N = Rv, as shown in FIG. 14, the mounting surface 19 vibrates so as to reciprocate in the +Z direction and the -Z direction. On the mounting surface 19, the components 21 jump. Some of the components 21 are reversed in front and back.

[0044] Next, when viewed from the +X direction side, the second motor 17 rotates the second rotating shaft 17a counterclockwise. As shown when N = Rh, the mounting surface 19 vibrates so as to reciprocate in the +Y direction and the -Y direction. Since the components 21 remain in contact with the mounting surface 19, it is difficult for the components 21 to move. Even if the components 21 move, the moving distance is short.

[0045] When Rh < N < Rv, the placement surface 19 vibrates so as to reciprocate between the Y negative direction and the Z positive direction and the Y positive direction and the Z negative direction. Since the component 21 moves away from the placement surface 19 while moving in the Y negative direction, the component 21 moves in the Y negative direction. When the control method of the component separating device 6 moves the component 21 in the Y negative direction along the placement surface 19, the control unit 8 rotates the second motor 17 within the range of Rh < N < Rv.

[0046] When N = Rv, the placement surface 19 vibrates so as to reciprocate between the Z positive direction and the Z negative direction. On the placement surface 19, the component 21 jumps. Some of the components 21 are turned inside out.

[0047] When the control unit 8 drives the first motor 16 and the second motor 17 simultaneously, the height at which the component 21 jumps on the placement surface 19 can be adjusted higher compared to when only one of the first motor 16 and the second motor 17 is driven. When the component 21 is heavy and difficult to invert, the control unit 8 drives the first motor 16 and the second motor 17 simultaneously at the same rotation speed. The component separating device 6 can invert the component 21 even if it is heavy.

[0048] Specifically, by shifting the rotational phase difference between the first eccentric weight 22 and the second eccentric weight 24 between 0 degrees and 180 degrees, the amplitude in the vertical direction can be amplified or canceled to adjust the inversion strength of the component 21. If the phase difference between them is 0 degrees, the inversion strength doubles, and if it is 180 degrees, the inversion strength becomes almost zero. The rotational phase of the first eccentric weight 22 is determined by the angle from the position where the first convex portion 26 passes through the first slit 23a of the first sensor 23 as a reference. The rotational phase of the second eccentric weight 24 is determined by the angle from the position where the second convex portion 27 passes through the second slit 25a of the second sensor 25 as a reference. It is preferable to adjust the rotational phase difference between the first eccentric weight 22 and the second eccentric weight 24 according to the weight of the component​​​According to the configuration of the component separation device 6, two motors vibrate. The vibration of the motors is transmitted to the mounting table 18 via the support 12. The support 12 vibrates in directions parallel to and perpendicular to the mounting surface 19. When the motor rotates its rotation shaft at a rotation speed close to the resonance frequency in the direction perpendicular to the mounting surface 19, the support 12 and the mounting table 18 vibrate in the direction perpendicular to the mounting surface 19. At this time, the component 21 jumps on the mounting surface 19. Therefore, the component 21 can be flipped over.

[0050] When the motor rotates its rotation shaft at a rotation speed intermediate between the resonance frequency in the direction parallel to the mounting surface 19 and the resonance frequency in the direction perpendicular to the mounting surface 19, the support 12 and mounting table 18 vibrate in a direction parallel to the mounting surface 19 and perpendicular to the rotation shaft of the motor. At this time, the component 21 moves along the mounting surface 19. By controlling the rotation speed and direction of the two motors, the component disassembly device 6 can change the movement direction of the component 21. As a result, the component disassembly device 6 can reverse the component 21 and control the movement direction of the component 21.

[0051] When the components 21 are in a mass on the placement surface 19, the component disassembly device 6 can break up and disperse the mass of the components 21 by repeatedly moving and inverting the components 21.

[0052] 15, the control unit 8 includes a central processing unit 29, a first motor driving unit 30, and a second motor driving unit 31. The central processing unit 29 is electrically connected to the first motor driving unit 30 and the second motor driving unit 31. The central processing unit 29 transmits rotation start and rotation end instruction signals to the first motor driving unit 30 and the second motor driving unit 31. In addition, the central processing unit 29 transmits rotation speed and rotation direction instruction signals to the first motor driving unit 30 and the second motor driving unit 31. In addition, the central processing unit 29 transmits rotation phase angle instruction signals from a reference position to the first motor driving unit 30 and the second motor driving unit 31.

[0053] The first motor driving unit 30 is electrically connected to the first motor 16 and the first sensor 23. When driving the first motor 16, the first motor driving unit 30 drives the first motor 16 according to the rotation speed, rotation direction, and rotation phase indicated in the command signal. The first motor driving unit 30 rotates the first rotating shaft 16a and receives a signal indicating the reference position of the first rotating shaft 16a detected by the first sensor 23. Then, the first motor driving unit 30 rotates the first rotating shaft 16a by the commanded rotation phase from the reference position for which the signal was received. From there, the first rotating shaft 16a is rotated at the commanded rotation speed and in the commanded rotation direction.

[0054] The second motor driving unit 31 is electrically connected to the second motor 17 and the second sensor 25. When driving the second motor 17, the second motor driving unit 31 drives the second motor 17 according to the rotation speed, rotation direction, and rotation phase indicated in the command signal. The second motor driving unit 31 rotates the second rotating shaft 17a and receives a signal indicating the reference position of the second rotating shaft 17a detected by the second sensor 25. Then, the second motor driving unit 31 rotates the second rotating shaft 17a by the commanded rotation phase from the reference position for which the signal was received. From there, the second rotating shaft 17a is rotated at the commanded rotation speed and in the commanded rotation direction.

[0055] Next, we will explain the movement of the parts 21 on the placement surface 19. As shown in Fig. 16, all of the parts 21 on the placement surface 19 have their back sides 21b exposed. When the pickup mechanism 4 of the robot 2 grasps a part 21 with its front side 21a exposed, the robot controller 3 sends an instruction signal to the control unit 8 to invert the part 21.

[0056] The control unit 8 drives at least one of the first motor 16 and the second motor 17 at a rotation speed N that exceeds Rv. When flipping a component on the spot, the rotation speed N of at least one of the first motor 16 and the second motor 17 is set to N>Rv. The placement surface 19 vibrates as it moves back and forth in the positive Z direction and the negative Z direction. The components 21 jump on the placement surface 19, and some of the components 21 are flipped over. As a result, as shown in FIG. 17, some of the components 21 show their front sides 21a. The pickup mechanism 4 then grasps and moves the components 21 that show their front sides 21a.

[0057] As shown in FIG. 18, when the component 21 is offset in the negative X direction, the pickup mechanism 4 of the robot 2 has difficulty gripping the component 21. When the pickup mechanism 4 of the robot 2 grips the component 21, the robot controller 3 sends an instruction signal to the control unit 8 to move the component 21 in the positive X direction.

[0058] The control unit 8 drives the first motor 16 at a rotation speed of Rh < N < Rv. When viewed from the negative Y direction, the first motor 16 rotates the first rotation shaft 16a clockwise. The mounting surface 19 reciprocates and vibrates in the positive Z and positive X directions and the negative Z and negative X directions. On the mounting surface 19, the component 21 moves in the positive X direction while jumping. As a result, as shown in FIG. 3, the components 21 are dispersed, so the pickup mechanism 4 grips and moves the component 21.

[0059] As shown in FIG. 19, when the component 21 is offset in the positive Y direction, the pickup mechanism 4 of the robot 2 has difficulty gripping the component 21. When the pickup mechanism 4 of the robot 2 grips the component 21, the robot controller 3 sends an instruction signal to the control unit 8 to move the component 21 in the negative Y direction.

[0060] The control unit 8 drives the second motor 17 at a rotation speed of Rh < N < Rv. When viewed from the positive X direction, the second motor 17 rotates the second rotation shaft 17a counterclockwise. The mounting surface 19 reciprocates and vibrates in the positive Z and negative Y directions and the negative Z and positive Y directions. On the mounting surface 19, the component 21 moves in the negative Y direction while jumping. As a result, as shown in FIG. 3, the components 21 are dispersed, so the pickup mechanism 4 grips and moves the component 21.

[0061] As shown in FIG. 20, when the component 21 is offset in the negative X and positive Y directions, the pickup mechanism 4 of the robot 2 has difficulty gripping the component 21. When the pickup mechanism 4 of the robot 2 grips the component 21, the robot controller 3 sends an instruction signal to the control unit 8 to move the component 21 in the positive X and negative Y directions.

[0062] The control unit 8 drives the first motor 16 and the second motor 17 at a rotational speed of Rh < N < Rv. When viewed from the negative Y direction, the first motor 16 rotates the first rotating shaft 16a clockwise. When viewed from the positive X direction, the second motor 17 rotates the second rotating shaft 17a counterclockwise. The mounting surface 19 reciprocates and vibrates in the positive Z direction, positive X direction, and negative Y direction, and the negative Z direction, negative X direction, and positive Y direction. On the mounting surface 19, the component 21 moves in the positive X direction and negative Y direction while jumping. As a result, as shown in FIG. 3, the components 21 are dispersed, and the pick-up mechanism 4 grips and moves the components 21.

[0063] The control unit 8 independently controls the rotational speed, rotational direction, or rotational phase of the two motors to vibrate the two motors. The vibration of the motors is transmitted to the mounting table 18 via the support unit 12. The support unit 12 vibrates in a direction parallel and perpendicular to the mounting surface 19. When the motors rotate the rotating shafts at a rotational speed close to the resonance frequency in the direction perpendicular to the mounting surface 19, the support unit 12 and the mounting table 18 vibrate in the direction perpendicular to the mounting surface 19. At this time, since the component 21 jumps on the mounting surface 19, the component 21 can be inverted. By shifting the rotational phase difference between the two motors within the range of 0 degrees to 180 degrees, the force for making the component 21 jump can be changed. Therefore, according to the weight of the component 21, the motors can vibrate the mounting surface 19 with an appropriate amplitude.

[0064] When the motors rotate the rotating shafts at a rotational speed between the resonance frequency in the direction parallel to the mounting surface 19 and the resonance frequency in the direction perpendicular to the mounting surface 19, the support unit 12 and the mounting table 18 vibrate in a direction parallel to the mounting surface 19 and in a direction orthogonal to the rotating shafts of the motors. At this time, the component 21 moves along the mounting surface 19. By independently controlling the rotational directions of the two motors, the component dispersing device 6 can change the vibration direction of the mounting table 18, so the moving direction of the component 21 can be changed.

[0065] The axial directions of the rotation shafts of the two motors are orthogonal in a plan view seen from a direction perpendicular to the placement surface 19. With this configuration, the movement direction of the component 21 can be controlled by combining two orthogonal directions. Therefore, the component disassembly device 6 can easily control the movement direction of the component 21. Specifically, the component disassembly device 6 can move the component 21 in the X positive direction, X negative direction, Y positive direction, Y negative direction, X positive direction and Y positive direction, X positive direction and Y negative direction, X negative direction and Y positive direction, and X negative direction and Y negative direction.

[0066] It is preferable that the rotation speed of at least one of the motors can be changed across the vertical resonance frequency of the support part 12. With this configuration, the component disassembly device 6 can set the rotation speed of the motor lower than the vertical resonance frequency of the support part 12. At this time, the component disassembly device 6 can move the component 21 along the placement surface 19. The component disassembly device 6 can set the rotation speed of the motor higher than the vertical resonance frequency of the support part 12. At this time, the component disassembly device 6 can bounce and flip the component 21 on the placement surface 19.

[0067] Second embodiment In the first embodiment, the first weight center of gravity 22a, the second weight center of gravity 24a, the mounting base center of gravity 18b, and the support portion center of gravity 12a are all aligned in a plan view perpendicular to the mounting surface 19.

[0068] 21, first motor center of gravity 16b, which is the center of gravity of the motor, is the center of gravity of first motor 16. Second motor center of gravity 17b, which is the center of gravity of the motor, is the center of gravity of second motor 17. First motor center of gravity 16b, second motor center of gravity 17b, mounting base center of gravity 18b, and support unit center of gravity 12a are located on a first imaginary line 28 extending in the Z direction. First imaginary line 28 is a line extending in a direction perpendicular to mounting surface 19. Therefore, first motor center of gravity 16b, second motor center of gravity 17b, mounting base center of gravity 18b, and support unit center of gravity 12a overlap in a plan view seen from a direction perpendicular to mounting surface 19. With this configuration, the center of vibration caused by first motor 16, the center of vibration caused by second motor 17, the center of gravity of mounting base 18, and the center of gravity of support unit 12 overlap in a plan view seen from a direction perpendicular to mounting surface 19. Therefore, the first motor 16 and the second motor 17 can vibrate the placement surface 19 uniformly.

[0069] Third embodiment In the first embodiment, the first eccentric weights 22 are provided on both sides of the first rotating shaft 16a. The second eccentric weights 24 are provided on both sides of the second rotating shaft 17a. The eccentric weights may be provided on only one side of the rotating shaft.

[0070] As shown in Figure 22, the first motor 16 of the part separation device 34 has a first eccentric weight 22 mounted on only one side of the first rotating shaft 16a. A first sensor 23 detects the timing when the first eccentric weight 22 passes through a first slit 23a. The second motor 17 has a second eccentric weight 24 mounted on only one side of the second rotating shaft 17a. A second sensor 25 detects the timing when the second eccentric weight 24 passes through a second slit 25a.

[0071] In the configuration of the component disassembly device 34, similarly to the component disassembly device 6 of the first embodiment, the component disassembly device 34 can invert the component 21 and control the direction of movement of the component 21.

[0072] Fourth embodiment In the first embodiment, the axial direction of the first rotation shaft 16a of the first motor 16 and the axial direction of the second rotation shaft 17a of the second motor 17 are perpendicular to each other in a plan view seen from a direction perpendicular to the mounting surface 19. However, the axial direction of the first rotation shaft 16a and the axial direction of the second rotation shaft 17a do not necessarily have to be perpendicular to each other in a plan view seen from a direction perpendicular to the mounting surface 19. For example, the intersection angle between the first rotation shaft 16a and the second rotation shaft 17a may be 70 degrees or 80 degrees. By independently controlling the rotation of the first rotation shaft 16a and the second rotation shaft 17a, the part 21 can be moved in a predetermined direction.

[0073] Fifth embodiment In the first embodiment, the first motor 16 and the second motor 17 are arranged side by side in the Z direction. However, the first motor 16 and the second motor 17 may be arranged at the same position in the Z direction. As shown in FIG. 23 , in a part disassembly device 37, a pair of first eccentric weights 22 are connected by a first connecting rod 38. A pair of second eccentric weights 24 are connected by a second connecting rod 39.

[0074] A first pulley 41 is attached to the first rotary shaft 16a of the first motor 16. The first motor 16 rotates the pair of first eccentric weights 22 via the first pulley 41 and the first connecting rod 38. A second pulley 42 is attached to the second rotary shaft 17a of the second motor 17. The second motor 17 rotates the pair of second eccentric weights 24 via the second pulley 42 and the second connecting rod 39.

[0075] By arranging the two motors at the same height, the height of the parts disassembly device 37 can be lowered even if a powerful, large motor is used. The center of gravity of the parts disassembly device 37 can also be lowered. [Explanation of symbols]

[0076] 8...control unit, 11...rubber feet as elastic body, 12...support part, 12a...support part gravity center as the center of gravity of the support part, 16...first motor as motor, 16a...first rotating shaft as the rotating shaft, 16b...first motor gravity center as the center of gravity of the motor, 17...second motor as motor, 17a...second rotating shaft as the rotating shaft, 17b...second motor gravity center as the center of gravity of the motor, 18...mounting base, 18b...mounting base gravity center as the center of gravity of the mounting base, 19...mounting surface, 21...part, 22...first eccentric weight as eccentric weight, 24...second eccentric weight as eccentric weight.

Claims

1. a mounting table having a mounting surface on which a component is placed; Two motors that rotate the shaft to vibrate, a support portion that supports the mounting table and the two motors and transmits vibration of the motors to the mounting table, Axial directions of the rotation shafts of the two motors are parallel to the placement surface and intersect with each other in a plan view seen from a direction perpendicular to the placement surface, A component disassembly device, wherein a resonance frequency of the support portion is higher in a direction perpendicular to the placement surface than in a direction parallel to the placement surface.

2. 2. The part disassembly device according to claim 1, a motor for moving the motors in a direction perpendicular to the mounting surface; a mounting surface for mounting the motors in a direction perpendicular to the mounting surface;

3. 3. The parts 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.

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

5. 5. The part disassembly device according to claim 4, A component disassembly device, characterized in that the centers of gravity of the two eccentric weights respectively possessed by the two motors, the center of gravity of the placement table, and the center of gravity of the support portion overlap when viewed in a plan view from a direction perpendicular to the placement surface.

6. The part disassembly device according to any one of claims 1 to 5, a center of gravity of each of the two motors, a center of gravity of the mounting table, and a center of gravity of the support portion overlap when viewed in a plan view from a direction perpendicular to the mounting surface.

7. The part disassembly device according to any one of claims 1 to 6, A parts disassembly device comprising: an elastic body that supports the support portion so that the support portion can vibrate.

8. The part disassembly device according to any one of claims 1 to 7, A component disassembly device, characterized in that the rotation speed of at least one of the motors is variable across a vertical resonance frequency of the support portion.

9. A control method for a component disassembly device comprising: a mounting table having a mounting surface on which components are placed; two motors that vibrate by rotating their rotation shafts; a support unit that supports the mounting table and the two motors and transmits vibrations of the motors to the mounting table; and a control unit that controls the rotation of the motors, wherein axial directions of the rotation shafts of the two motors are parallel to the mounting surface and intersect with each other in a plan view seen from a direction perpendicular to the mounting surface, and a resonance frequency of the support unit is higher in a direction perpendicular to the mounting surface than in a direction parallel to the mounting surface, The control method for a parts disassembly device, wherein the control unit independently controls the rotation speeds, directions, or phases of the two motors.

10. A control method for the part disassembly device according to claim 9, comprising: The number of rotations per second of the motor is N, the resonance frequency of the support part in a direction perpendicular to the placement surface is Rv, and the resonance frequency of the support part in a direction parallel to the placement surface is Rh, a control unit for rotating the motor within a range of Rh<N<Rv when the part is moved along the placement surface;

11. A control method for the parts disassembly device according to claim 9 or 10, comprising: A control method for a parts disassembly device, comprising the steps of: making the rotation speeds of the two motors the same; and controlling the rotation phase difference to be within the range of 0 to 180 degrees, thereby adjusting the reversal strength.

12. A control method for the parts disassembly device according to claim 10, comprising: A control method for a parts disassembly device, characterized in that N>Rv is satisfied when the parts are turned over on the spot.

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