Component supply device

Abstract

To provide a component supply device capable of surely taking out components of a small amount from among a group of components.SOLUTION: A component supply device comprises: a component storage part for accommodating a plurality of components; and a component take-out device for taking out the components from the component storage part. The component storage part includes a storage container provided with a take-out opening for the components and a slit opening continuous with the take-out opening. The component take-out device has a hand which inserts its tip from the slit opening into the storage container and holds a component inside the storage container in order to take out the held component through the take-out opening.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a component supply device.

Background Art

[0002] As a technology related to a device that takes out a small number of components from a stacked group of components and supplies them to a predetermined location, there is a technology disclosed in Patent Document 1 below. In this Patent Document 1, a technique is disclosed in which an arm and a hand of a robot freely move above a component supply location based on information from an image recognition device, and a plurality of components are picked up from a pile of components and scattered to eliminate overlapping of the components. Further, a technique is disclosed in which, by the arm and the hand, a component selected by an image recognition device among the scattered components is picked up and supplied to the component supply location.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when picking up a small number of components from a large stacked group of components by hand, inserting the hand into the group of components causes the pile of components to collapse and the arrangement state of the components to change. For this reason, it has not been easy for the arm and hand of the robot to reliably pick up a small number of components from a large stacked group of components.

[0005] Therefore, an object of the present invention is to provide a component supply device capable of reliably taking out a small number of components from a group of components.

Means for Solving the Problems

[0006] To achieve such an object, the present invention includes a component storage unit for storing a plurality of components, and a component extraction device for extracting the components from the component storage unit. The component storage unit has a storage container provided with an extraction opening for the components and a slit opening continuous from the extraction opening. The component extraction device is a component supply device having a hand that inserts a tip end portion into the storage container from the slit opening to hold the components in the storage container and takes out the held components from the extraction opening.

Effect of the Invention

[0007] According to the present invention, it is possible to provide a component supply device capable of reliably extracting a small number of components from a group of components.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Mode for Carrying Out the Invention

[0009] Hereinafter, each embodiment of the component supply device of the present invention will be described in detail with reference to the drawings. In each of the embodiments described below, the same reference numerals are assigned to the same components, and redundant descriptions are omitted.

[0010] ≪First Embodiment≫ FIG. 1 is a perspective view showing the component supply device 1 of the first embodiment. FIG. 2 is a side view showing the component supply device 1 of the first embodiment, which is a view of FIG. 1 seen from the x direction. The component supply device 1 shown in these figures is for taking out one or a plurality of components [Wo] (shown only in FIG. 2) from a group of components in which a large number of components [Wo] are stacked and supplying them to a predetermined position. Such a component supply device 1 includes a component storage unit 10, a component extraction device 100, a control unit 200, and a sensor 300. Hereinafter, each of these configurations will be described, and then the component supply method by the component supply device 1 will be described.

[0011] <Component Storage Unit 10> The component storage unit 10 stores a large number of components [Wo], and includes a storage container 11, a shutter 12, a component loading unit 13, and a component supply unit 14.

[0012] [Storage Container 11] The storage container 11 is a box-shaped container for accommodating a large number of components [Wo], and the box-shaped top surface serves as a component extraction opening 11a for the components [Wo]. This storage container 11 is provided with slit openings 11b continuous from the extraction opening 11a on two opposing side surfaces. Since each slit opening 11b is provided with the shutter 12 described below, there is no need to consider the dropout of the components [Wo] from the slit opening 11b. For this reason, the opening width [W11b] and height of each slit opening 11b with respect to the size of the components [Wo] are not limited.

[0013] In addition, on the side surface, the storage container 11 is provided with a loading opening 11c for loading parts [Wo] into the storage container 11 at a position independent of the two slit openings 11b. Further, the bottom surface 11d of the storage container 11 is configured to be movable along the side surface, and the capacity of the storage container 11 and the height position of the parts [Wo] in the storage container 11 are variable. Such a bottom surface 11d is to be movable between the lower end of the side wall surface of the storage container 11 and, for example, the height near the lower end of the slit opening 11b.

[0014] [Shutter 12] The shutter 12 freely opens and closes the two slit openings 11b of the storage container 11 respectively. Such a shutter 12 is arranged to cover each slit opening 11b from the outside of the storage container 11, and opens and closes the slit opening 11b by moving vertically along the side surface of the storage container 11.

[0015] The shutter 12 is provided with a flange 12a protruding outward from the upper end edge. The shutter 12 moves downward in conjunction with the downward movement of the hand 102 of the component extraction device 100 described below when the flange 12a is pushed downward by the hand 102, and opens the slit opening 11b. Also, the shutter 12 moves upward to close the slit opening 11b by releasing the pressing pressure on the flange 12a.

[0016] Note that the shutter 12 may be provided with a drive unit. In this case, it is configured to move downward in conjunction with the downward movement of the hand 102 and open the slit opening 11b according to the instruction of the control unit 200 described later. Also, as long as the shutter 12 is configured to open the slit opening 11b in conjunction with the downward movement of the hand 102, it is not limited to being movable in the vertical direction, and for example, it may be of a double - leaf type.

[0017] [Component Loading Section 13] The component loading section 13 is a part for loading components [Wo] into the storage container 11 through the loading opening 11c, and is a box-shaped container provided to protrude from the outside of the storage container 11 from the loading opening 11c. This component loading section 13 communicates with the storage container 11 at the loading opening 11c, and the box-shaped top surface serves as the input opening 13a for the components [Wo]. Further, the bottom surface of the component loading section 13 is an inclined surface 13b provided to protrude obliquely upward from the lower edge of the loading opening 11c toward the outside of the storage container 11.

[0018] With such a configuration, the components [Wo] input from the input opening 13a of the component loading section 13 slide down the inclined surface 13b of the component loading section 13 and are loaded into the storage container 11 from the loading opening 11c.

[0019] [Component supply section 14] The component supply section 14 is a part for supplying the components [Wo] loaded into the storage container 11 to a predetermined height within the storage container 11. Such a component supply section 14 is a driving part that moves the bottom surface 11d of the storage container 11 up and down along the wall surface of the storage container 11.

[0020] [Component extraction device 100] The component extraction device 100 is for extracting one or more components [Wo] from a large number of components [Wo] stored in the storage container 11 of the component storage section 10 and supplying them to a predetermined position. Such a component extraction device 100 includes a robot arm 101 and a hand 102. Each of these configurations will be described below.

[0021] [Robot arm 101] The robot arm 101 holds the hand 102 at its tip. Only the tip of the robot arm 101 is shown in the drawing, but this robot arm 101 can freely move the held hand 102 in the x direction, y direction, and z direction. Further, the robot arm 101 may have a mechanism for rotating the held hand 102 and further controlling the orientation of the hand 102.

[0022] [Hand 102] The hand 102 is held at the tip of the robot arm 101 in a state of protruding from the tip of the robot arm 101, holds the part [Wo], and operates to release the held part [Wo]. Such a hand 102 is, for example, a pair arranged to face each other as shown in the figure.

[0023] The pair of hands 102 are arranged with their wide surfaces facing each other in a substantially flat plate shape, are close to or separated from each other on the tip side protruding from the robot arm 101, and the tip portions can be opened and closed by the operation. The distance between the tips of the pair of hands 102 in the opened state is slightly wider than the interval between the two slit openings 11b in the storage container 11. Thereby, when the robot arm 101 lowers the hand 102 from above the storage container 11, the tip of the hand 102 can press the flange 12a of the shutter 12, and the shutter 12 can be moved downward to release each slit opening 11b of the storage container 11. Also in this state, each hand 102 is arranged to face each slit opening 11b of the storage container 11, and the hand 102 is in a state of closing the slit opening 11b. Note that the pair of hands 102 are configured to operate so that the tip sides contact each other when the tip sides are closed.

[0024] Also, each of the pair of hands 102 has a width [W102] smaller than the opening width [W11b] of the slit opening 11b of the storage container 11. Thereby, the hand 102 is configured such that the tip portion is inserted into the storage container 11 from the two slit openings 11b released by the shutter 12. And by bringing the tips of the pair of hands 102 close to each other and closing them inside the storage container 11, it becomes possible to hold the part [Wo] in the storage container 11 between the pair of hands 102.

[0025] FIG. 3 is a diagram showing an example of taking out the component [Wo] by the component supply device 1 of the first embodiment. As shown in this figure, a pair of hands 102 arranged opposite to each other hold the component [Wo] between the pair of hands 102 by approaching so as to close the tips.

[0026] In this case, as shown in FIG. 3(a), the hands 102 bring the tips into contact with each other and hold the component [Wo] on the inner peripheral side of the pair of hands 102. Also, as shown in FIG. 3(b), the hands 102 hold the component [Wo] by sandwiching the component [Wo] between the tips. Further, as shown in FIG. 3(c), the hands 102 hold the component [Wo] by sandwiching it between the tips and further hold the component [Wo] on the inner peripheral side.

[0027] Also, such hands 102 release the held component [Wo] by opening between the tips and place the component [Wo] at a predetermined position.

[0028] <Control unit 200> Returning to FIGS. 1 and 2, the control unit 200 controls the driving of the component supply unit 14 in the component storage unit 10, the robot arm 101 and the hands 102 in the component taking-out device 100 based on the information from the sensor 300, and takes out one or more components [Wo] from the large number of components [Wo] stored in the storage container 11 of the component storage unit 10 and supplies them to a predetermined position.

[0029] Such a control unit 200 is configured by a computer. The computer is hardware used as a so-called computer. The computer includes a non-volatile storage unit such as a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory). Based on the program stored in the storage unit, this computer controls the driving of the component supply unit 14 in the component storage unit 10, the robot arm 101 and the hand 102 in the component extraction device 100. The drive control of the component supply unit 14, the robot arm 101, and the hand 102 by such a control unit 200 will be described in detail in the following component supply method.

[0030] <Sensor 300> The sensor 300 is for detecting the position and orientation of the component storage unit 10 and the position and posture of the component extraction device 100 with respect to the position where the component [Wo] taken out by the component extraction device 100 is placed. Such a sensor 300 is, for example, an image recognition device having a camera. The sensor 300 transmits the detected information to the control unit 200.

[0031] <Component supply method> FIG. 4 is a diagram for explaining the component supply method by the component supply device 1 of the first embodiment, and corresponds to a view of FIG. 1 seen from the y direction. The component supply method described using this figure is a component supply method implemented by the component supply program of the above-described control unit 200 (see FIG. 1). Hereinafter, with reference to FIGS. 1 and 2 above, the component supply method by the component supply device 1 will be described based on FIG. 4.

[0032] First, as shown in FIG. 4(1), the robot arm 101 of the component extraction device 100 moves the hand 102 above the component storage unit 10. Also, the hand 102 is kept in a state where the tip is open. At this point, it is assumed that a large number of components [Wo] are stored in the storage container 11 of the component storage unit 10, and the slit opening 11b of the storage container 11 is closed by the shutter 12.

[0033] Also, as shown in Fig. 4(2), the component supply section 14 in the component storage section 10 pushes up the bottom surface 11d of the storage container 11 to supply the component [Wo] in the storage container 11 to the height position of the slit opening 11b.

[0034] Next, as shown in Fig. 4(3), the robot arm 101 lowers the hand 102, and each hand 102 presses the flange 12a of the shutter 12 to pull down the shutter 12. Thereby, the slit opening 11b of the storage container 11 is opened, and the hand 102 is disposed opposite to the slit opening 11b.

[0035] Next, as shown in Fig. 4(4), the pair of hands 102 closes with the tips approaching each other, and inserts the tip side of the hand 102 into the storage container 11 from the slit opening 11b. Then, the hand 102 sandwiches and holds the component [Wo] between the closed tips and / or at least on the inner peripheral side of the two hands 102 with the tips closed. Also following such an operation of the hand 102, the shutter 12 rises and the slit opening 11b is closed.

[0036] Thereafter, as shown in Fig. 4(5), the robot arm 101 raises the hand 102, and takes out one or more components [Wo] gripped by sandwiching between the pair of hands 102 from the storage container 11.

[0037] After the above, although not shown here, the robot arm 101 moves the hand 102 to a predetermined position. At the movement destination, the hand 102 opens by separating the tips, and supplies one or more components [Wo] held by the pair of hands 102 to a predetermined position.

[0038] <Effects of the First Embodiment> The component supply device 1 of the first embodiment described above is configured such that a slit opening 11b into which the hand 102 of the component extraction device 100 is inserted is provided on the side surface of the storage container 11. As a result, the component group in the storage container 11 can be pinched and taken out from the outside of the storage container 11 by the pair of hands 102 without affecting the arrangement state of the large amount of components [Wo] accommodated in the storage container 11. For this reason, it is possible to reliably take out one or a plurality of small amounts of components [Wo] from the large amount of components [Wo].

[0039] Moreover, since the hand 102 is not inserted into the component group in the storage container 11, the components [Wo] are not damaged by the insertion of the hand 102 into the component group, and it is also possible to ensure the quality of the components [Wo].

[0040] ≪Second Embodiment≫ FIG. 5 is a side view showing the component supply device 2 of the second embodiment. The difference between the component supply device 2 of the second embodiment shown in this figure and the component supply device 1 of the first embodiment described with reference to FIGS. 1 to 4 is that the bottom surface 11d-2 of the storage container 11-2 in the component storage unit 10-2 is fixed. Therefore, the component storage unit 10-2 of the component supply device 2 of the second embodiment does not have the component supply unit 14 that the component supply device 1 of the first embodiment has. Other points are the same as those of the component supply device 1 of the first embodiment for the component supply device 2 of the second embodiment.

[0041] In such a component supply device 2 of the second embodiment, the component loading unit 13 functions as a component supply unit to the height position of the slit opening 11b of the storage container 11-2.

[0042] The component supply method by such a component supply device 2 is carried out in the same procedure as that described with reference to FIG. 4 in the first embodiment. However, the supply of the components [Wo] into the storage container 11-2 is carried out by dropping the components [Wo] from the component loading unit 13 into the storage container 11-2.

[0043] <Effects of the Second Embodiment> In order to supply the component [Wo] to the height position of the slit opening 11b of the storage container 11-2, the component supply device 2 of the second embodiment functions the component loading section 13 as a component supply section to the height position of the slit opening 11b of the storage container 11-2 without using the driving force such as the component supply section 14 (see FIGS. 1 and 2) used in the first embodiment. With such a configuration, in addition to the effects achieved by the component supply device 1 of the first embodiment, it is also possible to achieve energy savings and simplification of the device configuration.

[0044] ≪Third Embodiment≫ FIG. 6 is a perspective view showing a component supply device 3 of the third embodiment. The difference between the component supply device 3 of the third embodiment shown in this figure and the component supply device 1 of the first embodiment described with reference to FIGS. 1 to 4 lies in the configuration of the slit opening 11b-3 of the storage container 11-3 in the component storage section 10-3 and the configuration of the hand 102-3 in the component extraction device 100-3. Further, the component storage section 10-3 of the component supply device 3 of the third embodiment does not have the shutter 12 that the component supply device 1 of the first embodiment has. In other respects, the component supply device 3 of the third embodiment is the same as the component supply device 1 of the first embodiment. Hereinafter, the differences between the component supply device 3 of the third embodiment and the component supply device 1 of the first embodiment will be described for each component, and redundant descriptions for the same components will be omitted.

[0045] <Component storage section 10-3> [Storage container 11-3] The storage container 11-3 is a box-shaped container for storing a large number of components [Wo] (not shown), and the box-shaped top surface serves as an extraction opening 11a for the components [Wo]. This storage container 11-3 is provided with slit openings 11b-3 that are continuous from the extraction opening 11a on two opposing wall surfaces. Each slit opening 11b-3 is divided into a plurality (here, three) of slits 11bb that are continuous from the extraction opening 11a. Note that each slit opening 11b-3 may be divided into a plurality of slits 11bb starting from a position continuous with the extraction opening 11a.

[0046] Each slit 11bb has an opening width such that the component [Wo] does not fall off from the storage container 11-3, and a plurality (three) of slits 11bb are provided in parallel on each wall surface.

[0047] <Component extraction device 100-3> [Hand 102-3] The hand 102-3 is held at the tip of the robot arm 101 in a state of protruding from the tip of the robot arm 101, holds the component [Wo], and operates to release the held component [Wo]. Such a hand 102-3 is, for example, a pair arranged opposite to each other as shown in the figure, and has a fork shape branched into a plurality (here, three as an example) of claws 102aa with the tip portions corresponding to the slits 11bb of the storage container 11-3. Each of the claws 102aa divided in each hand 102-3 is provided with a width and interval that can be inserted into each slit 11bb.

[0048] Such a hand 102-3 is openable and closable by operating so as to approach or separate from each other on the tip side of the claws 102aa protruding from the robot arm 101. The distance between the tips of the claws 102aa in the open state of the pair of hands 102-3 is slightly wider than the interval between the two slit openings 11b-3 in the storage container 11-3. Thereby, when the robot arm 101 lowers the hand 102-3 from above the storage container 11-3, the hand 102-3 is arranged outside the storage container 11-3. Note that the pair of hands 102-3 is such that the tip sides contact each other when the tip sides of the claws 102aa are in a closed state.

[0049] The method of supplying components by such a component supply device 3 is implemented in the same procedure as described with reference to FIG. 4 in the first embodiment. However, since the component storage unit 10-3 does not include a shutter, there is no opening and closing of the shutter due to the movement of the hand 102-3.

[0050] <Effects of the Third Embodiment> The component supply device 3 of the third embodiment with such a configuration is configured to have a slit 11bb on the side surface of the storage container 11-3 into which the claw 102aa on the tip side of the hand 102-3 of the component extraction device 100-3 is inserted. Thereby, it is possible to obtain the same effect as in the first embodiment. Further, in the component supply device 3 of the third embodiment, since the tip of the hand 102-3 is in a fork shape, the slit opening 11b-3 of the corresponding storage container 11-3 can be divided into a plurality of slits 11bb. As a result, it is not necessary to provide a shutter for preventing the drop of the component [Wo] in the slit opening 11b-3, and the device configuration has the effect of being simplified.

[0051] Note that in this third embodiment, it may be combined with the second embodiment, and the component supply unit 14 may not be provided, and the component loading unit 13 may be used as a component supply unit at the height position of the slit opening 11b-3 of the storage container 11-3. Thereby, the effect of the second embodiment can also be obtained.

[0052] ≪Fourth Embodiment≫ FIG. 7 is a perspective view showing a component supply device 4 of the fourth embodiment. The component supply device 4 of the fourth embodiment shown in this figure is a modification of the component supply device 3 of the third embodiment described with reference to FIG. 6, and is different from the third embodiment only in that the fork shape of the hand 102-3' in the component extraction device 100-3' is bent.

[0053] Such a hand 102-3' is openable and closable by operating so as to approach or separate from each other on the tip side of the claw 102aa protruding from the robot arm 101. The distance between the tips of the claws 102aa in the open state of the pair of hands 102-3' is slightly wider than the interval between the two slit openings 11b in the storage container 11-3. Thereby, when the robot arm 101 lowers the hand 102-3' from above the storage container 11-3, the hand 102-3' is disposed outside the storage container 11-3. Note that in the drawing, the tip side of the claw 102aa is shown in a closed state. The pair of hands 102-3' are such that the tip sides contact each other when the tip side of the claw 102aa is in a closed state.

[0054] The method of supplying components by such a component supply device 4 is implemented in the same procedure as described with reference to FIG. 4 in the first embodiment. However, since the component storage unit 10-3 does not include a shutter, there is no opening and closing of the shutter due to the movement of the hand 102-3'.

[0055] <Effects of the Fourth Embodiment> Even with the component supply device 4 of the fourth embodiment having such a configuration, the same effects as those of the component supply device 3 of the third embodiment can be obtained. Furthermore, by bending the fork shape of the hand 102-3', the claw 102aa at the tip of the hand 102-3' having a fork shape can be inserted into the storage container 11-3 along the bottom surface 11d of the storage container 11-3 to scoop up the component [Wo]. Therefore, the component [Wo] can be scooped up and taken out from the storage container 11-3 without applying pressure to the component [Wo], and the quality of the component [Wo] can be ensured without the component [Wo] being damaged.

[0056] ≪Fifth Embodiment≫ FIG. 8 is a perspective view showing a component supply device 5 according to the fifth embodiment. The component supply device 5 shown in FIG. 8 is for taking out one or a plurality of components from a group of components in which a large number of components [Wo] (not shown) are stacked and supplying them to a predetermined position. Such a component supply device 5 includes a component storage unit 10-5, a component extraction device 100-5, a control unit 200, and a sensor 300. Since the configurations of the control unit 200 and the sensor 300 are the same as those in the first embodiment, the description thereof is omitted. Hereinafter, each configuration of the component storage unit 10-5 and the component extraction device 100-5 will be described.

[0057] <Component Storage Unit 10-5> The component storage unit 10-5 is for storing a large number of components, and includes a storage container 11-5, a component loading unit 13, and a component supply unit 14.

[0058] [Storage Container 11-5] The storage container 11-5 is a box-shaped container for accommodating a large number of parts [Wo]. The box-shaped top surface serves as the extraction opening 11a for the parts [Wo]. Further, in the storage container 11-5, above one of the four side surfaces, specifically side surface 11e, it is configured as an inclined wall portion 11ee that is inclined upward toward the upper edge so as to widen the extraction opening 11a.

[0059] The storage container 11-5 is provided with a slit opening 11b-5 that is continuous from the extraction opening 11a in the inclined wall portion 11ee. This slit opening 11b-5 is divided into a plurality (here, three) of slits 11bb that are continuous from the extraction opening 11a. Each slit 11bb has an opening width such that the parts [Wo] do not fall out of the storage container 11-5, and it is assumed that a plurality (three) of slits 11bb are provided in parallel in the inclined wall portion 11ee.

[0060] Also, the storage container 11-5 is provided with a loading opening 11c for the parts [Wo] into the storage container 11-5 at a position independent of the slit opening 11b-5 on the side surface. Further, the bottom surface 11d-5 of the storage container 11-5 is arranged so as to be inclined toward the side surface 11e having the inclined wall portion 11ee. Such a bottom surface 11d-5 of the storage container 11-5 is configured to be movable along the side surface of the storage container 11-5, and the capacity of the storage container 11-5 and the height position of the parts [Wo] in the storage container 11-5 are variable. Such a bottom surface 11d-5 is assumed to be movable between the lower end of the wall surface of the storage container 11-5 and, for example, the height near the lower end of the slit opening 11b-5. In the drawing, the bottom surface 11d-5 is shown in the uppermost position.

[0061] [Component Loading Section 13] The component loading section 13 is a part for loading the parts [Wo] into the storage container 11-5 through the loading opening 11c, and has the same configuration as that described in the first embodiment.

[0062] [Component Supply Section 14] The component supply unit 14 is a part for supplying the components [Wo] carried into the storage container 11-5 to a predetermined height within the storage container 11-5, and is the same as the one having the configuration described in the first embodiment. In the drawings, the state where the bottom surface 11d-5 of the storage container 11-5 is moved to the uppermost part by driving the component supply unit 14 is shown.

[0063] <Component extraction device 100-5> The component extraction device 100-5 is for extracting one or a plurality of components [Wo] from a large number of components [Wo] stored in the storage container 11-5 of the component storage unit 10-5 and supplying them to a predetermined position. Such a component extraction device 100-5 includes a robot arm (not shown) and a hand 102-5. Each of these configurations will be described below.

[0064] [Robot arm] The robot arm, which is not shown here, holds the hand 102-5 at its tip. The robot arm freely moves the held hand 102-5 in the x direction, y direction, and z direction. Further, the robot arm may have a mechanism for rotating the held hand 102-5 and further controlling the orientation of the hand 102-5.

[0065] [Hand 102-5] The hand 102-5 is held at the tip of the robot arm in a state of protruding from the tip of the robot arm, operates to scoop up the component [Wo], and supply the scooped component [Wo] to a predetermined position. Such a hand 102-5 is, for example, a fork-shaped one with the tip divided into a plurality (here, three as an example) of claws 102aa corresponding to the slits 11bb of the storage container 11-5 as shown in the drawing. Each claw 102aa is provided with a width and interval that can be inserted into each slit 11bb.

[0066] Further, when the claws 102aa are inserted into the storage container 11-5 with each claw 102aa aligned with each slit 11bb, the hand 102-5 has a bent shape such that the claws 102aa follow the bottom surface 11d-5 and the inclined wall portion 11ee of the storage container 11-5. Also, in this state, the length of the claws 102aa is assumed to be the length across the bottom surface 11d-5 of the storage container 11-5.

[0067] <Component supply method> The component supply method by such a component supply device 5 is carried out as follows. First, the component supply section 14 in the component storage section 10-5 pushes up the bottom surface 11d-5 of the storage container 11-5 to supply the component [Wo] in the storage container 11-5 to the height position of the slit 11bb. Next, the robot arm inserts each claw 102aa of the hand 102-5 into the storage container 11-5 from each slit 11bb along the bottom surface 11d-5 of the storage container 11-5. Thereby, the component [Wo] is scooped up by the claw 102aa portion of the hand 102-5.

[0068] Thereafter, the robot arm raises the hand 102-5 and scoops up and takes out one or more components [Wo] scooped up by the hand 102-5 from the storage container 11-5. Further, the robot arm moves the hand 102-5 to a predetermined position and tilts the tip of the hand 102-5 to supply one or more components [Wo] held on the hand 102-5 to the predetermined position.

[0069] <Effects of the fifth embodiment> Even with such a component supply device 5 of the fifth embodiment, the same effects as those of the component supply device 4 of the fourth embodiment can be obtained. That is, since a slit 11bb into which the claw 102aa on the tip side of the hand 102-5 of the component extraction device 100-5 is inserted is provided on the side surface of the storage container 11-5, the claw 102aa at the tip of the hand 102-5 having a fork shape can be inserted into the storage container 11-5 along the bottom surface 11d-5 of the storage container 11-5 to scoop up the component [Wo]. Therefore, the component [Wo] can be scooped up and taken out from the storage container 11-5 without applying pressure to the component [Wo], and the component [Wo] can be ensured of its quality without being damaged.

[0070] Moreover, since the bottom surface 11d-5 of the storage container 11-5 is inclined toward the inclined wall portion 11ee side of the storage container 11-5 having the slit 11bb, the component [Wo] in the storage container 11-5 is supplied to the hand 102-5 with the claw 102aa inserted through the slit 11bb by natural fall. Therefore, the component [Wo] can be scooped up and taken out from the storage container 11-5 without applying pressure to the component [Wo], and the component [Wo] can be ensured of its quality without being damaged.

[0071] Also, since the tip of the hand 102-5 is formed in a fork shape, the slit opening 11b-5 of the corresponding storage container 11-5 can be divided into a plurality of slits 11bb. As a result, the slit opening 11b-5 has the effect of simplifying the device configuration because there is no need to provide a shutter for preventing the component [Wo] from falling off.

[0072] <<Sixth Embodiment>> FIG. 9 is a perspective view showing the component supply device 6 of the sixth embodiment. The component supply device 6 of the sixth embodiment shown in FIG. 9 is for taking out one or a plurality of components from a group of components (not shown) stacked in large quantities and supplying them to a predetermined position. Such a component supply device 6 includes a component storage unit 10-6, a component extraction device 100-6, a control unit 200, and a sensor 300. Since the configurations of the control unit 200 and the sensor 300 are the same as those of the first embodiment, the description thereof is omitted. Hereinafter, each configuration of the component storage unit 10-6 and the component extraction device 100-6 will be described.

[0073] <Component storage unit 10-6> The component storage unit 10-6 is for storing a large number of components, and includes a storage container 11-6, a shutter 12-6, a component loading section 13, and a component supply section 14.

[0074] [Storage container 11-6] The storage container 11-6 is a box-shaped container for accommodating a large number of components, and the box-shaped top surface serves as an extraction opening 11a for the component [Wo] (not shown). Further, the storage container 11-6 is configured such that an upper portion of one side surface 11e among the four side walls is an inclined wall portion 11ee inclined so as to widen the extraction opening 11a toward the upper end edge.

[0075] The storage container 11-6 is provided with a slit opening 11b-6 continuous from the extraction opening 11a in the inclined wall portion 11ee. Further, the storage container 11-6 is provided with a component loading opening 11c for the component [Wo] into the storage container 11-6 at a position independent of the slit opening 11b-6 on the side surface. Furthermore, the bottom surface 11d of the storage container 11-6 is configured to be movable in a direction along the side wall, and the capacity of the storage container 11-6 and the height position of the component [Wo] in the storage container 11-6 are variable. Such a bottom surface 11d is to be movable between the lower end of the wall surface of the storage container 11-6 and, for example, the height near the lower end of the slit opening 11b-6. In the drawing, the bottom surface 11d is shown in the uppermost position.

[0076] [Shutter 12-6] The shutter 12-6 opens and closes the slit opening 11b-6 of the storage container 11-6. Such a shutter 12-6 is arranged to cover the slit opening 11b-6 from the outside of the storage container 11-6, and opens and closes the slit opening 11b-6 by moving vertically along the side surface of the storage container 11-6.

[0077] Such a shutter 12-6 is provided with a flange 12a protruding outward from the upper end edge. The shutter 12-6 moves downward to open the slit opening 11b-6 by pushing the flange 12a. Also, the shutter 12-6 moves upward to close the slit opening 11b-6 by releasing the pressing pressure on the flange 12a.

[0078] [Component Loading Section 13] The component loading section 13 is a part for loading components [Wo] into the storage container 11-6 through the loading opening 11c, and has the same configuration as that described in the first embodiment.

[0079] [Component Supply Section 14] The component supply section 14 is a part for supplying the components [Wo] loaded into the storage container 11-6 to a predetermined height within the storage container 11-6, and has the same configuration as that described in the first embodiment. In the drawings, the state where the bottom surface 11d of the storage container 11-6 is moved to the uppermost position by the drive of the component supply section 14 is shown.

[0080] <Component Extractor 100-6> The component extractor 100-6 is for extracting one or more components [Wo] from a large number of components [Wo] stored in the storage container 11-6 of the component storage section 10-6 and supplying them to a predetermined position. Such a component extractor 100-6 includes a robot arm (not shown) and a hand 102-6. Each of these configurations will be described below.

[0081] [Robot Arm] The robot arm (not shown here) holds the hand 102-6 at its tip. The robot arm can freely move the held hand 102-6 in the x-direction, y-direction, and z-direction. The robot arm may also have a mechanism for rotating the held hand 102-6 and further controlling the orientation of the hand 102-6.

[0082] [Hand 102-6] The hand 102-6 is held at the tip of the robot arm in a state of protruding from the tip of the robot arm, holds the part [Wo], and operates to release the held part [Wo]. Such a hand 102-6 has a scoop shape with a tip that is curved in a concave surface shape. The width [W102-6] of the tip of such a hand 102-6 is smaller than the opening width [W11b-6] of the slit opening 11b-6 of the storage container 11-6. Thereby, the hand 102-6 can insert the scoop-shaped tip portion into the storage container 11-6 from the slit opening 11b-6 released by the shutter 12-6 with the width direction of the tip portion aligned with the width direction of the slit opening 11b-6. Then, the hand 102-6 can hold the part [Wo] by operating to scoop up the part [Wo] in the storage container 11-6 with the scoop-shaped tip portion.

[0083] <Component supply method> The component supply method by such a component supply device 6 is implemented as follows. First, the component supply unit 14 in the component storage unit 10-6 pushes up the bottom surface 11d of the storage container 11-6 and supplies the component [Wo] in the storage container 11-6 to the height position of the slit opening 11b-6. Next, the robot arm aligns the scoop-shaped tip portion of the hand 102-6 with the opening width direction of the storage container 11-6 and lowers the hand 102-6 from above the shutter 12-6. Thereby, the hand 102-6 presses the flange 12a of the shutter 12-6 to pull down the shutter 12-6, opens the slit opening 11b-6 of the storage container 11-6, and arranges the hand 102-6 opposite to the slit opening 11b-6.

[0084] Next, the robotic arm inserts the scoop-shaped tip of the hand 102-6 into the storage container 11-6 through the slit opening 11b-6 along the bottom surface 11d, and scoops and holds the parts [Wo] in the scoop shape.

[0085] After that, the robotic arm raises the hand 102-6 and scoops up and removes one or more parts [Wo] held by the hand 102-6 from the storage container 11-6. Further, the robotic arm moves the hand 102-6 to a predetermined position and tilts the tip of the hand 102-6 to supply one or more parts [Wo] held on the hand 102-6 to a predetermined position.

[0086] <Effect of the Sixth Embodiment> The component supply device 6 of the sixth embodiment as described above is configured to provide a slit opening 11b-6 on the side surface of the storage container 11-6 into which the hand 102-6 of the component extraction device 100-6 is inserted. Thereby, without affecting the arrangement state of a large number of parts [Wo] accommodated in the storage container 11-6, the parts group in the storage container 11-6 can be scooped up by the hand 102-6 inserted into the storage container 11-6 from the outside of the storage container 11-6. For this reason, it is possible to surely take out one or a plurality of small amounts of parts [Wo] from a large number of parts [Wo].

[0087] Moreover, since the hand 102-6 is not inserted into the parts group in the storage container 11-6, the parts [Wo] are not damaged by the insertion of the hand 102-6 into the parts group, and it is also possible to ensure the quality of the parts [Wo].

[0088] ≪Seventh Embodiment≫ FIG. 10 is a perspective view showing a component supply device 7 according to the seventh embodiment. The component supply device 7 according to the seventh embodiment shown in this figure is for taking out one or a plurality of components from a group of components (not shown) stacked in large quantities and supplying them to a predetermined position, and is also a modified example of the component supply device 2 according to the second embodiment described with reference to FIG. 5. Such a component supply device 7 includes a component storage unit 10-7, a component extraction device 100, a control unit 200, and a sensor 300. Since the configurations of the component extraction device 100, the control unit 200, and the sensor 300 are the same as those in the first embodiment, the description thereof will be omitted. Hereinafter, the configuration of the component storage unit 10-7 will be described.

[0089] <Component storage unit 10-7> The component storage unit 10-7 is for storing a large number of components and includes a storage container 11-7 and a shutter 12. Since the configuration of the shutter 12 is the same as that in the first embodiment, the description thereof will be omitted.

[0090] [Storage container 11-7] The storage container 11-7 is a box-shaped container for accommodating a large number of components [Wo]. Here, as an example, the outer shape of the storage container 11-7 is a pentagonal prism shape, and the top surface 11a' is formed by two adjacent surfaces among the five side surfaces of the pentagonal prism shape. Such a storage container 11-7 has one of the two bottom surfaces of the pentagonal prism shape as an inlet 11c for the components [Wo] to enter the storage container 11-7. The other of the two bottom surfaces of the pentagonal prism shape is a closed surface 11f.

[0091] Further, the storage container 11-7 has a take-out opening 11a-7 for the component [Wo] at a position on the top surface 11a' that is away from the carry-in opening 11c. The storage container 11-7 is provided with slit openings 11b-7 that are continuous from the take-out opening 11a-7 on two opposing side surfaces that are continuous from the top surface 11a'. Note that only one of the two slit openings 11b-7 is shown in the drawing. Here, when the surface arranged to face the top surface 11a' among the five side surfaces having a pentagonal prism shape that constitutes the storage container 11-7 is defined as the bottom surface 11d-7 of the storage container 11-7, the two slit openings 11b-7 are assumed to extend vertically from the take-out opening 11a-7 toward the edge of the bottom surface 11d-7.

[0092] For each slit opening 11b-7, since a shutter 12 is provided, there is no need to consider the dropping of the component [Wo] from the slit opening 11b-7. For this reason, the opening width [W11b-7] of each slit opening 11b-7 with respect to the size of the component [Wo] is not limited. The shutter 12 is the same as that in the first embodiment and has a flange 12a.

[0093] Such a storage container 11-7 is arranged with the carry-in opening 11c facing upward and the bottom surface 11d-7 inclined. Thereby, the component [Wo] carried in from the carry-in opening 11c slides down the bottom surface 11d-7 to the position where the slit opening 11b-7 is formed and is supplied.

[0094] The method of supplying components by such a component supply device 7 is implemented in the same procedure as that described with reference to FIG. 4 in the first embodiment. However, the supply of the component [Wo] into the storage container 11-7 is implemented by carrying the component [Wo] into the storage container 11-7 from the carry-in opening 11c. Further, the robot arm 101 controls the driving of the hand 102 in accordance with the extending direction of the slit opening 11b-7. Here, the fact that the opening width [W11b-7] of the slit opening 11b-7 is smaller than the width [W102] of the hand 102 is the same as in the first embodiment.

[0095] <Effect of the Seventh Embodiment> The component supply device 7 of the seventh embodiment as described above is configured such that a slit opening 11b-7 into which the hand 102 of the component removal device 100 is inserted is provided on the side surface of the storage container 11-7. Thereby, without affecting the arrangement state of the large amount of components [Wo] accommodated in the storage container 11-7, the component group in the storage container 11-7 can be sandwiched by a pair of hands 102 inserted into the storage container 11-7 from the outside of the storage container 11-7. For this reason, it is possible to surely take out one or a plurality of small amounts of components [Wo] from the large amount of components [Wo].

[0096] Moreover, since the hand 102 is not inserted into the component group in the storage container 11-7, the components [Wo] are not damaged by the insertion of the hand 102 into the component group, and it is also possible to ensure the quality of the components [Wo].

[0097] Furthermore, the component supply device 7 of the seventh embodiment does not need to use the driving force such as the component supply unit 14 (see FIGS. 1 and 2) used in the first embodiment in order to supply the components [Wo] to the height position of the slit opening 11b-7 of the storage container 11-7, and it is also possible to achieve energy saving and simplification of the device configuration.

[0098] ≪Eighth Embodiment≫ FIG. 11 is a perspective view showing a component supply device 8 of the eighth embodiment. The component supply device 8 of the eighth embodiment shown in this figure is for taking out one or a plurality of components from a component group in which a large amount of components (not shown) are stacked and supplying them to a predetermined position. Such a component supply device 8 includes a component storage unit 10-8, a component removal device 100, a control unit 200, and a sensor 300. Since the configurations of the component removal device 100, the control unit 200, and the sensor 300 are the same as those in the first embodiment, the description thereof is omitted. Hereinafter, the configuration of the component storage unit 10-8 will be described.

[0099] <Component Storage Unit 10-8> The component storage unit 10-8 is for storing a large amount of components, and includes a storage container 11-8, a shutter 12-8, and a component supply unit 14-8.

[0100] [Storage container 11-8] The storage container 11-8 is a box-shaped container for accommodating a large number of parts. Here, as an example, the outer shape of the storage container 11-8 is a pentagonal prism shape, and one of the five side surfaces of the pentagonal prism shape serves as the extraction opening 11a-8 for the parts [Wo]. Further, two slit openings 11b-8 that are continuous from the extraction opening 11a-8 are provided on two side surfaces that are continuous from the extraction opening 11a-8 among the five side surfaces of the pentagonal prism shape. Here, among the five side surfaces of the pentagonal prism shape that constitute the storage container 11-8, the two side surfaces arranged opposite to the extraction opening 11a-8 serve as the bottom surface 11d-8 of the storage container 11-8.

[0101] And it is assumed that the slit opening 11b-8 extends from the extraction opening 11a-8 to the bottom surface 11d-8 of the storage container 11-8.

[0102] Also, one of the two bottom surfaces of the pentagonal prism shape that constitutes the storage container 11-8 is a closed wall portion, and the other bottom portion is a movable wall portion 11g that moves along the side surface of the pentagonal shape. Although the illustration here is omitted, the storage container 11-8 may communicate with, for example, the component loading portion 13 (see FIGS. 1 and 2) described in the first embodiment at a position independent of the slit opening 11b-8.

[0103] [Shutter 12-8] The shutter 12-8 opens and closes the two slit openings 11b-8 of the storage container 11-8 respectively. Such a shutter 12-8 is arranged to cover each slit opening 11b-8 from the outside of the storage container 11-8, and opens and closes the slit opening 11b-8 by moving in the vertical direction along the wall surface of the storage container 11-8.

[0104] Such a shutter 12-8 is provided with a flange 12a that protrudes outward from the upper edge. The shutter 12-8 moves downward to open the slit opening 11b-8 by pushing the flange 12a. Also, the shutter 12-8 moves upward to close the slit opening 11b-8 by releasing the pressing pressure on the flange 12a.

[0105] [Component supply unit 14-8] The component supply unit 14-8 is a part for supplying the component [Wo] carried into the storage container 11-8 to the position where the slit opening 11b-8 in the storage container 11-8 is formed. Such a component supply unit 14-8 is a driving part that moves the moving wall part 11g of the storage container 11-8 along the side surface of the storage container 11-8.

[0106] The method of supplying components by such a component supply device 8 is implemented in the same procedure as described with reference to FIG. 4 in the first embodiment. However, the supply of the component [Wo] into the storage container 11-8 is implemented, for example, by carrying the component [Wo] into the storage container 11-8 from the take-out opening 11a-8. Although the illustration here is omitted, the component loading unit 13 (see FIGS. 1 and 2) described in the first embodiment may be attached to the storage container 11-8.

[0107] <Effects of the Eighth Embodiment> The component supply device 8 of the eighth embodiment as described above has a configuration in which a slit opening 11b-8 into which the hand 102 of the component extraction device 100 is inserted is provided on the side surface of the storage container 11-8. Thereby, without affecting the arrangement state of the large amount of components [Wo] accommodated in the storage container 11-8, the component group in the storage container 11-8 can be sandwiched by a pair of hands 102 inserted into the storage container 11-8 from the outside of the storage container 11-8. For this reason, it is possible to reliably take out one or a plurality of small amounts of components [Wo] from the large amount of components [Wo].

[0108] Moreover, since the hand 102 is not inserted into the component group of the storage container 11-8, the components [Wo] will not be damaged by the insertion of the hand 102 into the component group, and it is also possible to ensure the quality of the components [Wo].

Explanation of Signs

[0109] 1,2,3,4,5,6,7,8… Component supply device 10,10-2,10-3,10-5,10-6,10-7,10-8… Component storage section 11,11-2,11-3,11-5,11-6,11-7,11-8… Storage container 11a,11a-7,11a-8… Removal opening 11b,11b-3,11b-5,11b-6,11b-7,11b-8… Slit opening 11bb… Slit 11c… Loading opening 11d,11d-2,11d-5,11d-7,11d-8… Bottom surface 11e… Side surface 12,12-6,12-8… Shutter 12a… Flange 13… Component loading section 14,14-8… Component supply section 100,100-3,100-3’,100-5,100-6… Component extraction device 102,102-3,102-3’,102-5,102-6… Hand 102aa… Claw (tip part) [Wo]… Component

Claims

1. A component storage unit for storing a plurality of components, and a component extraction device for extracting the components from the component storage unit and supplying them to a predetermined position, wherein the component storage unit comprises a storage container provided with a component extraction opening and a slit opening continuous from the extraction opening, and a shutter for freely opening and closing the slit opening of the storage container, and the component extraction device has a hand that inserts a tip portion into the storage container through the slit opening to hold a component in the storage container and takes out the held component from the extraction opening component supply device.

2. The component supply device according to claim 1, wherein the storage container has the extraction opening on the top surface thereof and the slit opening on a side surface thereof. The component supply device according to claim 1.

3. The storage container has a pair of the slit openings on opposing side surfaces thereof, and the component extraction device has a pair of the hands whose tip portions are inserted into the storage container from outside the storage container through the pair of slit openings, and sandwiches the component with the pair of hands The component supply device according to claim 1 or 2.

4. The hand has a scoop-shaped tip portion and scoops up the component accommodated in the storage container The component supply device according to claim 1 or 2.

5. The shutter opens the slit opening in conjunction with the lowering of the hand The component supply device according to any one of claims 1 to 4.

6. The shutter includes a flange protruding toward the outside of the storage container, and the hand presses the flange downward with the tip portion to push down the shutter and open the slit opening The component supply device according to any one of claims 1 to 5.

7. The component storage unit has a component supply unit that supplies the components accommodated inside the storage container to the height of the slit opening by moving the bottom surface of the storage container The component supply device according to any one of claims 1 to 6.

8. The component storage unit comprises a component loading unit that communicates with the storage container at a loading opening provided on a side surface of the storage container in a state independent of the slit opening, and the component loading unit is box-shaped and configured as an inclined surface whose bottom surface becomes lower toward the loading opening The component supply device according to any one of claims 1 to 7.

9. The bottom surface of the storage container is configured as an inclined surface that slopes downward toward the side where the slit opening is provided. The component supply device according to any one of claims 1 to 8.

Images