Parts supply device

Abstract

To provide a part feeder reduced in conveyance time of parts.SOLUTION: A part feeder 1 has a hopper 3, a carrier robot 2, a pick table 4, and a discharge table 5. A temporary placing position Q3 of a tray 11 where a part is temporarily placed is arranged on a straight line connecting a feed position Q2 of the hopper 3 where the part is fed to the carrier robot 2 and a delivering position Q3 of the discharge table 5 where the part is delivered from the carrier robot 2. The discharge table 5 has an attitude varying mechanism 41 for varying the attitude of the part carried by the carrier robot 2.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] In recent years, component supply devices have been proposed that pick up a small number of components from a pile of components and supply them to a specified location. A conventional technology of this type is described, for example, in Patent Document 1. Patent Document 1 describes a component supply device that includes an image recognition device that recognizes the orientation of the components and selects components that are in an orientation that can be supplied, and a handling device that grabs and scatters multiple components from overlapping components, and grabs the components selected by the image recognition device from the scattered parts and carries them to a component supply location. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 6-127698 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technology described in Patent Document 1, when a part is picked up from a group of parts or when a part is transported, the posture of the hand of the transport robot is changed depending on the posture of the part placed, which makes the operation of the transport robot cumbersome. Furthermore, in order to ensure a movable range for changing the posture of the transport robot, it is necessary to widen the distance between the part supply position and the transport position.

[0005] As such, the technology described in Patent Document 1 not only required the posture of the transport robot to be changed, but also had the problem of increasing the distance the transport robot had to transport the parts, and therefore the time it took to transport the parts.

[0006] SUMMARY OF THE INVENTION In view of the above-mentioned problems of the prior art, an object of the present invention is to provide a component supply device that can reduce the time required to transport components. [Means for solving the problem]

[0007] In order to solve the above problems and achieve the object of the present invention, a component supply device includes a hopper, a transport robot, a pick table, and a discharge table. The hopper has a storage container in which components are stored. The transport robot grasps and transports the components. The pick table has a tray on which components transported from the hopper by the transport robot are placed. The discharge table transports the components placed on the tray by the transport robot. The temporary placement position on the tray where the parts are temporarily placed is located on a straight line connecting the supply position in the hopper where the parts are supplied to the transport robot and the delivery position on the discharge table where the parts are delivered from the transport robot. The discharge table has a posture changing mechanism that changes the posture of the part transferred by the transfer robot. [Effects of the Invention]

[0008] According to the component supply device having the above configuration, the time required for transporting components can be reduced. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a side view showing a component supply device according to an embodiment of the present invention; [Figure 2] 1 is a plan view showing a component supply device according to an embodiment of the present invention; [Figure 3] 1 is a schematic diagram showing a component transfer height in a component supply device according to an embodiment of the present invention; [Figure 4] 1 is a perspective view showing a pick table of a component supplying device according to an embodiment of the present invention; [Figure 5] 1 is a side view showing a pick table of a component supplying device according to an embodiment of the present invention; [Figure 6]5 is a perspective view showing a pick table of a component supplying device according to an embodiment of the present invention, seen from a different direction than FIG. 4. [Figure 7] 1 is a perspective view showing a hopper of a component supplying device according to an embodiment of the present invention, showing a state in which a push-up mechanism is raised. FIG. [Figure 8] 1 is a perspective view showing a hopper of a component supplying device according to an embodiment of the present invention, with a push-up mechanism in a lowered state. FIG. [Figure 9] 1 is a cross-sectional view showing a hopper of a component supplying device according to an embodiment of the present invention, with a push-up mechanism in a raised state. [Figure 10] 1 is a cross-sectional view showing a hopper of a component supplying device according to an embodiment of the present invention, showing a state in which a push-up mechanism is lowered. [Figure 11] 1 is a perspective view showing a transport robot of a component supply device according to an embodiment of the present invention; [Figure 12] 1 is a perspective view showing a discharge table of a component supplying device according to an embodiment of the present invention; [Figure 13] 1 is a side view showing a position changing mechanism of a discharge table of a component supplying device according to an embodiment of the present invention; [Figure 14] 1 is a perspective view showing a position changing mechanism of a discharge table of a component supplying device according to an embodiment of the present invention; [Figure 15] 10A and 10B are perspective views showing an example of operation of the attitude changing mechanism of the component supply device according to the embodiment of the present invention; [Figure 16] 10A and 10B are perspective views showing an example of operation of the attitude changing mechanism of the component supply device according to the embodiment of the present invention; [Figure 17] 10A and 10B are perspective views showing an example of operation of the attitude changing mechanism of the component supply device according to the embodiment of the present invention; [Figure 18] 10A and 10B are perspective views showing an example of operation of the attitude changing mechanism of the component supply device according to the embodiment of the present invention; [Figure 19] 10A and 10B are diagrams illustrating a component supplying operation of the component supplying device according to the embodiment of the present invention. [Figure 20]5 is a flowchart showing a component recognition operation in a component supply operation of the component supply device according to the embodiment of the present invention. [Figure 21] 1 is an explanatory diagram showing a difference in conveying distance between a component supplying device according to an embodiment of the present invention and a conventional component supplying device; [Figure 22] 1 is a perspective view showing a safety fence of a component supply device according to an embodiment of the present invention; [Figure 23] 23 is a perspective view of a safety fence of a component supplying device according to an embodiment of the present invention, seen from the opposite side to that of FIG. 22. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described with reference to Figures 1 to 23. Note that common members in each figure are given the same reference numerals. Furthermore, the present invention is not limited to the following embodiments.

[0011] 1. Example of implementation 1-1.Component supply device configuration First, the overall configuration of a component supply device according to an embodiment of the present invention (hereinafter referred to as "this example") will be described with reference to Figures 1 and 2. Figure 1 is a side view of the component supply device 1 of this example, and Figure 2 is a plan view of the component supply device 1 of this example.

[0012] 1 and 2, the component supplying device 1 is a device that supplies components to a downstream process. As shown in Fig. 1 and 2, the component supplying device 1 includes two hoppers 3A and 3B, two pick tables 4A and 4B, two discharge tables 5A and 5B, and a transport robot 2.

[0013] Parts are stored in hoppers 3A and 3B. The hoppers 3A and 3B deliver the stored parts to the transport robot 2. At this time, the transport robot 2 receives at least one or more parts from the hoppers 3A and 3B. The parts received by the transport robot 2 are temporarily placed flat (tentatively placed) on the pick tables 4A and 4B. The transport robot 2 then uses an imaging unit 36, which will be described later, to capture images of the parts placed flat on the pick tables 4A and 4B and check the condition of the parts.

[0014] Furthermore, the transfer robot 2 picks up one predetermined part from the parts temporarily placed on the pick tables 4A and 4B and transfers it to the discharge tables 5A and 5B. The discharge tables 5A and 5B then discharge the part transferred from the transfer robot 2 to a downstream process or device.

[0015] From the upstream side in the part conveying direction, hoppers 3A and 3B, pick tables 4A and 4B, and discharge tables 5A and 5B are arranged in this order. Here, the part conveying direction is referred to as the first direction X, and the direction perpendicular to the first direction X and parallel to the horizontal direction is referred to as the second direction Y. Furthermore, the direction perpendicular to the first direction X and the second direction Y and parallel to the vertical direction is referred to as the third direction Z.

[0016] The first hopper 3A, the first pick table 4A, and the first discharge table 5A are arranged on one side of the second direction Y, and the second hopper 3B, the second pick table 4B, and the second discharge table 5B are arranged on the other side of the second direction Y. In other words, the component supply device 1 of this example has two component supply lines: a first supply line consisting of the first hopper 3A, the first pick table 4A, and the first discharge table 5A, and a second supply line consisting of the second hopper 3B, the second pick table 4B, and the second discharge table 5B.

[0017] The transport robot 2 is disposed between the two supply lines. Specifically, the transport robot 2 is disposed between the pick tables 4A, 4B and the discharge tables 5A, 5B in the first direction X, and between the first pick table 4A and the second pick table 4B in the second direction Y.

[0018] The first hopper 3A and the second hopper 3B are supported on a first frame 7. The transport robot 2, pick tables 4A and 4B, and discharge tables 5A and 5B are supported on a second frame 8 that is different from the first frame 7. By placing the transport robot 2, pick tables 4A and 4B, and discharge tables 5A and 5B on a frame 8 that is different from the hoppers 3A and 3B, vibrations from the hoppers 3A and 3B are prevented from being transmitted to the transport robot 2, pick tables 4A and 4B, and discharge tables 5A and 5B. This prevents vibrations from the hoppers 3A and 3B from affecting the component recognition operation by the transport robot 2, the component posture change operation of the discharge tables 5A and 5B, and the component transport operation. Furthermore, by placing the hoppers 3A and 3B on a frame 7 that is different from the other devices, it is possible to easily replace only the hoppers 3A and 3B.

[0019] Although an example has been described in which the transport robot 2, pick tables 4A, 4B, and discharge tables 5A, 5B are installed on the same stand 8, this is not limited to this, and the transport robot 2, pick tables 4A, 4B, and discharge tables 5A, 5B may be installed on separate stands.

[0020] A leg 7a is provided at the lower end of the first frame 7 in the third direction Z, and a leg 8a is similarly provided at the lower end of the second frame 8 in the third direction Z. The legs 7a, 8a are configured to be extendable and retractable along the third direction Z. The legs 7a, 8a ensure a gap between the first frame 7 and the second frame 8 and the floor surface, allowing a transport member such as a hand lifter to be inserted. This allows the first frame 7 and the second frame 8 to be transported to a predetermined position. Once transported to the predetermined position, anchor stays are fixed to the legs 7a, 8a of the first frame 7 and the second frame 8. Then, by fixing the anchor stays to the floor surface, the first frame 7 and the second frame 8 are installed in the predetermined position.

[0021] Furthermore, casters 7b are provided near the legs 7a of the first base 7, and similarly, casters 8b are provided near the legs 8a of the second base 8. After the first base 7 and the second base 8 are transported by a hand lifter or the like, the installation positions of the first base 7 and the second base 8 can be finely adjusted by the casters 7b, 8b.

[0022] The first hopper 3A and the second hopper 3B have the same configuration, so in the following explanation, only the first hopper 3A will be described and the first hopper 3A will be simply referred to as the hopper 3. Furthermore, the first pick table 4A and the second pick table 4B have the same configuration, so in the following explanation, only the first pick table 4A will be described and the first pick table 4A will be simply referred to as the pick table 4. Furthermore, the first discharge table 5A and the second discharge table 5B have the same configuration, so in the following explanation, only the first discharge table 5A will be described and the first discharge table 5A will be simply referred to as the discharge table 5.

[0023] The pick table 4 is disposed between the hopper 3 and the discharge table 5. Here, the position in the hopper 3 where a component is supplied to the transport robot 2 is referred to as the supply position Q2, and the position in the discharge table 5 where the component is delivered from the transport robot 2 is referred to as the delivery position Q4. The position on the pick table 4 where the component is temporarily placed is referred to as the temporary placement position Q3. The temporary placement position Q3 of the pick table 4 is disposed on a straight line connecting the supply position Q2 and the delivery position Q4. Furthermore, the straight line connecting the supply position Q2, the temporary placement position Q3, and the delivery position Q4 is disposed parallel to the first direction X.

[0024] FIG. 3 is a schematic diagram showing the component transfer height in the component supply device 1. As shown in FIG. 3, the heights of the supply position Q2 of the hopper 3, the height of the temporary placement position Q3 of the pick table 4, and the height of the delivery position Q4 on the discharge table 5 in the third direction Z are set to be approximately the same height. As shown in FIG. 1, by adjusting the lengths in the third direction Z of the legs 7a, 8a provided on the first and second stands 7 and 8, the heights of the supply position Q2, the temporary placement position Q3, and the delivery position Q4 can be adjusted to desired heights.

[0025] 1-2.Pick table configuration Next, the detailed configuration of the pick table 4 will be described with reference to FIGS. 4 is a perspective view showing the pick table 4, FIG. 5 is a side view showing the pick table 4, and FIG. 6 is a perspective view of the pick table 4 seen from a different direction than that shown in FIG.

[0026] As shown in Figures 4 to 6, the pick table 4 has a tray 11 on which components are placed, a support portion 12 that supports the tray 11, a rotation shaft 13, and a movable mechanism 14. As shown in Figures 2 and 3, the tray 11 is in a temporary placement position Q3. As shown in Figures 4 to 6, the tray 11 is formed in a dish shape that is open upward in the vertical direction. The tray 11 also has a placement surface portion 11a and three wall surface portions 11b.

[0027] Components are temporarily placed on the placement surface 11a. The placement surface 11a is formed in a substantially rectangular shape. The size of the placement surface 11a is set to match the imaging angle of view of an imaging unit 36 of the transport robot 2, which will be described later. Furthermore, the upper surface of the placement surface 11a on which the components are placed is made of a material and color that suppresses light reflection. Examples of the color of the placement surface 11a include a neutral color between white and black. This makes it possible to suppress diffuse reflection of illumination from the upper surface of the placement surface 11a when the imaging unit 36 captures an image of the component.

[0028] Furthermore, the placement surface 11a is detachably attached to the tray 11 with, for example, double-sided tape. This allows the placement surface 11a to be replaced with a new one if it is damaged by components being placed flat on it or by being rubbed by the gripper 35 of the transport robot 2, which will be described later. As a result, when the imaging unit 36 of the transport robot 2 photographs the components placed flat on the tray 11, it is possible to prevent erroneous recognition of the components due to scratches on the placement surface 11a, and the components can be accurately recognized. Furthermore, by replacing the placement surface 11a with one of an optimal color depending on the color of the components to be supplied, the recognition accuracy of the components can be improved.

[0029] Although an example in which the mounting surface portion 11a is formed in a rectangular shape has been described, this is not limited to this, and it may be formed in various other shapes such as an approximately circular shape or a hexagonal shape, as long as it is a shape that corresponds to the imaging angle of view of the imaging unit 36.

[0030] Wall surface portions 11b are formed on three of the four sides of the placing surface portion 11a. The wall surface portions 11b protrude upward in the vertical direction, approximately perpendicular to the end of the placing surface portion 11a. Three of the four sides of the placing surface portion 11a are surrounded by the three wall surface portions 11b. This prevents parts placed on the placing surface portion 11a from falling off the placing surface portion 11a. Of the four sides of the placing surface portion 11a, one side facing the hopper 3, i.e., the upstream side in the part conveying direction, is open.

[0031] The tray 11 is rotatably supported by the support portion 12 via a rotation shaft 13. The rotation shaft 13 and the support portion 12 are disposed at the bottom end of the tray 11 in the up-down direction. A movable mechanism 14 is provided at the bottom end of the tray 11. The movable mechanism 14 is configured by an air cylinder. One end of the movable mechanism 14 is connected to the end of the bottom end of the tray 11 on the downstream side in the component conveyance direction. Another end of the movable mechanism 14 is disposed downstream in the conveyance direction of the rotation shaft 13 connected to the tray 11.

[0032] Furthermore, when the movable mechanism 14 is extended, the downstream end of the tray 11 in the conveying direction is pressed upward in the vertical direction. As a result, the tray 11 rotates about the rotation shaft 13, and the downstream end of the tray 11 in the conveying direction jumps up in the vertical direction. As a result, the parts temporarily placed on the tray 11 fall from an opening provided on the upstream side in the conveying direction. As a result, the parts temporarily placed on the tray 11 that will not be conveyed can be returned to the hopper 3.

[0033] Although an example in which an air cylinder is used as the movable mechanism 14 has been described, the present invention is not limited to this. For example, a drive unit that directly rotates the rotary shaft 13 may be applied as the movable mechanism 14, or various other mechanisms may be used. Furthermore, although an example in which the tray 11 is rotated to return the parts to the hopper 3 has been described, the present invention is not limited to this, and a pusher that presses the parts placed on the tray 11 toward the hopper 3 may also be used.

[0034] 1-3.Hopper configuration Next, the detailed configuration of the hopper 3 will be described with reference to FIGS. Figures 7 and 8 are perspective views showing the hopper 3, and Figures 9 and 10 are cross-sectional views showing the hopper 3. Figures 7 and 9 show a state in which a push-up mechanism 24, which will be described later, is raised, and Figures 8 and 19 show a state in which the push-up mechanism 24, which will be described later, is lowered.

[0035] 7 to 10, the hopper 3 has a support base 21, a storage container 22, a recovery unit 23, a push-up mechanism 24, a remaining amount detection sensor 26, an upper surface detection sensor 28, and a drive unit 29. The storage container 22, the recovery unit 23, the push-up mechanism 24, the upper surface detection sensor 28, and the drive unit 29 are supported by the support base 21.

[0036] The storage container 22 is a box-shaped container with an open top surface in the vertical direction. The storage container 22 has a side surface portion 22a that forms the wall surface of the storage container 22, an elevator path 22b, an inclined surface portion 22c, a recovery shutter 22d, and a recovery path 22e.

[0037] The inclined surface portion 22c is disposed within a space surrounded by the multiple side surface portions 22a. The inclined surface portion 22c is inclined so that its vertical height continuously decreases from the side surface portion 22a toward the center of the storage container 22. The inclined surface portion 22c is highest at the end of the storage container 22 on the pick table 4 side, and is inclined toward the bottom surface portion of the storage container 22. Furthermore, an elevator shaft 22b is formed on the inclined surface portion 22c toward the center of the storage container 22. The elevator shaft 22b is a passage that opens in the vertical direction.

[0038] Furthermore, a collection shutter 22d is provided on the bottom surface of the storage container 22. As shown in Figs. 9 and 10, the collection shutter 22d is inclined toward the center of the storage container 22, i.e., toward the elevator shaft 22b. The collection shutter 22d opens and closes an opening provided on the bottom surface of the storage container 22. A collection path 22e is connected to the bottom surface of the storage container 22 via the collection shutter 22d. The collection path 22e communicates with the opening provided on the bottom surface of the storage container 22.

[0039] Furthermore, a recovery section 23 is disposed vertically below recovery path 22e. When recovery shutter 22d is opened, the parts stored in storage container 22 pass through the opening and recovery path 22e and fall into recovery section 23. This makes it easy to recover parts remaining in storage container 22 after the supply operation is completed.

[0040] Furthermore, a remaining quantity detection sensor 26 is provided near the collection shutter 22d on the bottom surface of the storage container 22. The remaining quantity detection sensor 26 is disposed above the collection shutter 22d in the vertical direction. The remaining quantity detection sensor 26 detects the remaining quantity of parts stored in the storage container 22.

[0041] 1 and 3, the height of the upper end of the storage container 22 in the vertical direction is located at a position lower than that of the tray 11 of the pick table 4.

[0042] The push-up mechanism 24 is disposed so as to be movable up and down along the elevator shaft 22b. The push-up mechanism 24 is driven to move up and down by a drive unit 29. The drive unit 29 has a drive motor 29a and a drive chain 29b. Note that the mechanism for driving the push-up mechanism 24 to move up and down is not limited to the drive motor 29a and drive chain 29b, and various other drive mechanisms may also be used.

[0043] A recess 24a is formed at the top end of the push-up mechanism 24. As shown in Fig. 10, when the push-up mechanism 24 is lowered downward in the vertical direction, the recess 24a is located at the bottom surface of the storage container 22. At this time, a small number of parts among those stored in the storage container 22 are accommodated in the recess 24a.

[0044] 7 and 9, when the push-up mechanism 24 moves upward in the vertical direction, the recessed portion 24a protrudes upward in the vertical direction from the elevator shaft 22b. This allows the parts stored in the recessed portion 24a to be pushed up to a predetermined height. As shown in FIG. 2, the recessed portion 24a of the push-up mechanism 24 becomes the supply position Q2 of the hopper 3. As a result, the position at which parts are handed over to the transport robot 2 can be fixed at a specific position.

[0045] Furthermore, as shown in FIG. 3, by using the push-up mechanism 24 to push up the component to a predetermined height, the height of the supply position Q2 can be made the same as the height of the temporary placement position Q3 and the delivery position Q4.

[0046] Furthermore, the push-up mechanism 24 is configured to be separable from the storage container 22. That is, only the push-up mechanism 24 can be removed from the first frame 7. This allows only the push-up mechanism 24 to be replaced, improving the ease of maintenance of the push-up mechanism 24.

[0047] The top surface detection sensor 28 is disposed at the top end of the storage container 22 in the vertical direction. The top surface detection sensor 28 detects the state of the top surfaces of the parts stored in the storage container 22. The storage container 22 is also provided with a vibration mechanism (not shown). The vibration mechanism is driven based on information detected by the top surface detection sensor 28. This causes the vibration mechanism to vibrate the storage container 22, making it possible to level the top surfaces of the parts stored in the storage container 22.

[0048] 1-4.Configuration of the transport robot Next, the detailed configuration of the transfer robot will be described with reference to FIG. FIG. 11 is a perspective view showing the transfer robot 2. As shown in FIG.

[0049] As shown in Fig. 11, the transfer robot 2 is an articulated robot having multiple axes. The transfer robot 2 has a base 31, a rotating unit 32, multiple arms 33, a hand unit 34, a gripping unit 35, and an imaging unit 36. The rotating unit 32 is supported on the base 31 so as to be rotatable in the horizontal direction. As shown in Fig. 2, the rotation center Q1 of the rotating unit 32 in the transfer robot 2 is located in the middle of the two supply lines in the second direction Y. In addition, the rotation center Q1 of the transfer robot 2 is located near the temporary placement position Q3 in the first direction X.

[0050] The rotation center Q1 of the transport robot 2 is set at the center position of the entire component supply device 1. This ensures that the origin of the position of the arm 33 of the transport robot 2, which will be described later, can be secured even if the configurations and positions of the hopper 3, pick table 4, and discharge table 5 are changed. As a result, the transport robot 2 can be easily controlled.

[0051] 11, a plurality of arms 33 are connected to the rotating unit 32. A plurality of shafts are provided on the plurality of arms 33, and each arm 33 is supported so as to be rotatable about the shaft. A hand unit 34 is provided at the tip of each of the plurality of arms 33.

[0052] The hand unit 34 is provided with two gripping units 35, an imaging unit 36, and an irradiation unit (not shown) that irradiates components with light. The two gripping units 35 are supported by the hand unit 34 so that they can move toward and away from each other. The two gripping units 35 grip multiple components or just one component by moving toward and away from each other. Furthermore, elastic members are provided at the tips of the two gripping units 35. This allows components to be gripped without being damaged.

[0053] The configuration of the gripping portions 35 is not limited to that described above, and for example, a component may be gripped by three or four gripping portions 35, or a suction pad for suctioning a component may be provided.

[0054] The imaging unit 36 captures an image of the component placed on the placement surface 11a of the pick table 4. At this time, the illumination unit irradiates the component with light, thereby enabling the shape and orientation of the component to be accurately captured. The information captured by the imaging unit 36 is output to a control unit (not shown). Based on the information captured by the imaging unit 36, the control unit determines the interference state between components and selects components to be transported to the discharge table 5.

[0055] The control unit also determines the posture of the component placed on the placement surface 11a of the pick table 4 based on the information captured by the imaging unit 36. Then, the control unit transmits information related to the determined posture of the component to a posture changing mechanism 41 of the discharge table 5, which will be described later.

[0056] The control unit includes, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory) for storing programs executed by the CPU, and a RAM (Random Access Memory) used as a working area for the CPU.

[0057] The CPU is connected to each component constituting the component supply device 1 via a system bus. The CPU controls the operation of each component by communicating with these components connected via the system bus. The RAM temporarily stores data and other information required for the CPU to execute programs. The ROM is composed of non-volatile memory such as semiconductor memory, and stores a system program corresponding to the component supply device 1 and various programs that can be executed on the system program. The programs stored in the ROM are stored in the form of computer-readable program code, and the CPU sequentially executes operations in accordance with the program code.

[0058] 1-5. Configuration of the discharge platform Next, the detailed configuration of the discharge table 5 will be described with reference to FIGS. 12 is a perspective view showing the discharge tray 5, FIG. 13 is a side view showing a position change mechanism 41 of the discharge tray 5, which will be described later, and FIG.

[0059] 12 to 14, the discharge table 5 has an attitude changing mechanism 41, a transport mechanism 42, and a positioning mechanism 43. The discharge table 5 is arranged in the following order from the upstream side along the component transport direction: attitude changing mechanism 41, transport mechanism 42, and positioning mechanism 43.

[0060] The posture changing mechanism 41 changes the posture of the part transferred from the transfer robot 2 to a predetermined posture based on the information captured by the imaging unit 36. Then, the posture changing mechanism 41 supplies the part, whose posture has been changed to the predetermined posture, to the transfer mechanism 42. The detailed configuration of the posture changing mechanism 41 will be described later.

[0061] 13 and 14, the conveying mechanism 42 includes a conveying belt 42a, a driving roller 42b, and a driven roller (not shown). The driving roller 42b and the driven roller are arranged so that their axial directions are parallel to a direction perpendicular to the conveying direction. The driving roller 42b is arranged on the upstream side of the conveying direction, and the driven roller is arranged on the downstream side of the conveying direction.

[0062] The conveyor belt 42a is formed endlessly with both ends connected in the longitudinal direction. The conveyor belt 42a is stretched over a drive roller 42b and a driven roller. As the drive roller 42b rotates, the conveyor belt 42a moves cyclically between the drive roller 42b and the driven roller. This conveys the component M1 placed on the conveyor belt 42a. Furthermore, because the drive roller 42b rotates at a constant speed, the component M1 is conveyed to the discharge position at a predetermined constant speed.

[0063] The drive roller 42b and the driven roller are arranged at an interval in the first direction X, and the conveyor belt 42a has a predetermined length in the first direction X. This ensures a sufficient distance from the position changing mechanism 41 to the discharge position determined by the positioning mechanism 43, which will be described later. In other words, the conveyor belt 42a can provide a buffer for the component supply operation.

[0064] 12, the positioning mechanism 43 is disposed at the downstream end in the conveying direction of the conveyor belt 42a of the conveying mechanism 42. The positioning mechanism 43 is provided on the conveyor belt 42a. The upstream end in the conveying direction of the positioning mechanism 43 is open.

[0065] The positioning mechanism 43 has a guide portion 43a and a positioning groove 43b. The guide portion 43a is a groove formed continuously at the open end of the positioning mechanism 43. The distance between the opposing wall surfaces of the guide portion 43a continuously narrows from the upstream side to the downstream side in the conveying direction. When the component M1 is conveyed on the conveyor belt 42a by the conveying mechanism 42, the component M1 comes into contact with the wall surface of the guide portion 43a. The guide portion 43a then guides the component M1 to a predetermined discharge position.

[0066] A positioning groove 43b is continuously formed on the downstream side of the guide portion 43a in the conveying direction. The component M1 conveyed by the conveying mechanism 42 and guided by the guide portion 43a fits into the positioning groove 43b. The position where this positioning groove 43b is provided becomes the discharge position of the discharge table 5 and the component supply device 1. In this way, by positioning the component M1 at the discharge position using the positioning mechanism 43, the component can be efficiently delivered to a process or device downstream of the component supply device 1. As a result, the work efficiency of the process or device downstream of the component supply device 1 can be improved.

[0067] The positioning mechanism 43 is detachably attached to the conveyor belt 42a of the conveyor mechanism 42. A plurality of positioning mechanisms 43 with different shapes of the positioning groove 43b and the guide portion 43a are provided depending on the part to be conveyed. Then, the desired positioning mechanism 43 is attached to the conveyor belt 42a depending on the part to be conveyed.

[0068] Next, the detailed configuration of the attitude changing mechanism 41 will be described. As shown in Figures 12 to 14, the posture change mechanism 41 has a base 45, two chuck portions 46, a rotating member 47, a rotation drive portion 48, a receiving table 51, a first sensor 52, and a second sensor 53.

[0069] The base 45 is disposed on the upstream side of the conveying mechanism 42 in the conveying direction. One surface of the base 45 on the downstream side in the conveying direction faces the conveying mechanism 42. The rotating member 47 has a rotation shaft 47b provided on one surface of the base 45 on the downstream side in the conveying direction. The rotating member 47 is rotatably supported on this rotation shaft 47b. The rotating member 47 protrudes from the base 45 toward the downstream side in the conveying direction. The base 45 is also provided with a rotation drive unit 48 that rotationally drives the rotating member 47, and a first sensor 52.

[0070] A chuck support portion 47a is provided at the tip of the rotating member 47 on the downstream side in the conveying direction. Two chuck portions 46 are supported by the chuck support portion 47a so that they can move toward and away from each other. The two chuck portions 46 move toward and away from each other by a drive portion (not shown) provided on the rotating member 47. In this way, the two chuck portions 46 grip and separate the part M1 placed on the receiving table 51.

[0071] A second detection piece 55 is attached to the chuck portion 46. The second detection piece 55 protrudes downward from the chuck portion 46. The second detection piece 55 is detected by a second sensor 53 provided near the first sensor 52. The second sensor 53 detects the second detection piece 55 to detect the interval between the opening and closing of the two chuck portions 46 and the rotation angle of the chuck portions 46.

[0072] A receiving table 51 is fixed to the rotating member 47. As shown in Fig. 14, the receiving table 51 has a receiving surface portion 51a and a rear end portion 51b. The rear end portion 51b is disposed on the chuck support portion 47a of the rotating member 47. The rear end portion 51b is disposed between the two chuck portions 46.

[0073] The receiving surface 51a protrudes from the rotating member 47 toward the downstream side in the conveying direction. The receiving surface 51a is disposed above the upstream end of the conveyor belt 42a in the conveying direction. The receiving surface 51a is disposed below the two chucks 46 in the vertical direction and between the two chucks 46. The part M1 conveyed from the conveyor robot 2 is placed on the receiving surface 51a.

[0074] The receiving surface 51a is disposed parallel to the horizontal direction. The upstream end of the receiving surface 51a in the conveying direction may be inclined downward in the vertical direction. As a result, the component M1 placed on the receiving surface 51a moves toward the rear end 51b due to the inclination of the receiving surface 51a. Then, the component M1 comes into contact with the rear end 51b, thereby eliminating variations in the gripping positions of the two chucks 46.

[0075] The two chuck portions 46 and the receiving table 51 rotate together with the rotating member 47 around the rotation axis 47b.

[0076] The rotating member 47 is also provided with a first detection piece 54. The first detection piece 54 is fixed to the lower surface of the rotating member 47 in the vertical direction. The first detection piece 54 protrudes downward in the vertical direction from the rotating member 47. The first detection piece 54 is detected by a first sensor 52. By detecting the first detection piece 54, the first sensor 52 detects that the rotating member 47 is in the receiving state shown in FIGS. 13 and 14, i.e., that the receiving surface 51a of the receiving platform 51 is facing upward in the vertical direction.

[0077] 2 and 3, the receiving surface 51a of the receiving table 51 is the delivery position Q4. Also, as shown in FIG. 3, the height of the receiving table 51 in the third direction Z is set to be approximately the same height as the height of the tray 11 of the pick table 4.

[0078] Next, an example of the operation of the attitude changing mechanism 41 will be described with reference to FIGS. 14 to 18 are perspective views showing an example of the operation of the posture-changing mechanism 41. Note that the example of the operation shown in Fig. 14 to 18 describes an example in which the part M1 is handed over from the transport robot 2 in a state where it is oriented sideways, i.e., with the top surface of the part M1 facing horizontally.

[0079] First, as shown in Fig. 14, when receiving component M1, the posture change mechanism 41 rotates the rotating member 47 based on the detection information of the first sensor 52 (see Fig. 3) so that the receiving surface 51a of the receiving table 51 faces upward in the vertical direction. At this time, the two chucks 46 are separated, i.e., open. The state of the rotating member 47, chucks 46, and receiving table 51 shown in Fig. 14 is referred to as the receiving state.

[0080] 15, the transport robot 2 places the component M1 on the receiving surface 51a of the receiving table 51. Then, the posture changing mechanism 41 brings the two chucks 46 closer to each other, and the two chucks 46 grip the component M1 placed on the receiving table 51.

[0081] Next, as shown in FIG. 16, the posture change mechanism 41 drives the rotation drive unit 48 to rotate the rotating member 47 by 90 degrees. As a result, the top surface of the part M1 faces upward in the vertical direction, and the posture of the part M1 is changed to the correct posture. At this time, the part M1 is gripped by the two chuck units 46. Therefore, when the rotating member 47 rotates, the part M1 can be prevented from unintentionally falling off the receiving table 51.

[0082] 17, the posture change mechanism 41 separates, i.e., opens, the two chucks 46 and releases the grip of the component M1. As described above, the receiving surface 51a of the receiving table 51 is disposed above the conveyor belt 42a of the conveying mechanism 42. Therefore, when the grip of the chucks 46 is released, the component M1 is transferred from the receiving table 51 to be placed on the conveyor belt 42a.

[0083] When the component M1 is placed on the conveyor belt 42a, the conveyor mechanism 42 drives the drive roller 42b, thereby conveying the component M1 placed on the conveyor belt 42a downstream in the conveying direction, as shown in FIG.

[0084] When the component M1 is supplied to the transport mechanism 42, the attitude changing mechanism 41 drives the rotation drive unit 48 to return the rotation member 47, the chuck unit 46, and the receiving table 51 to the receiving state shown in FIG.

[0085] 2. Example of parts supply device operation Next, an example of the operation of the component supplying device 1 having the above-described configuration, that is, the component supplying operation, will be described with reference to FIGS. FIG. 19 is a diagram illustrating the component supplying operation of the component supplying device 1.

[0086] As shown in Fig. 19, in order for the component supply device 1 to supply components to the device in the next process, the components are first stored in the hopper 3 (step S101). The components may be stored in the hopper 3 by a device in the preceding process or manually. The components are stored in the hopper 3 through a supply port 73 (Fig. 22) of the safety fence 10, which will be described later. Then, the components are bulk-piled in the storage container 22 of the hopper 3.

[0087] Next, the gripper 35 of the transport robot 2 grasps one or more parts from the large quantity of parts in the storage container 22 of the hopper 3 (step S102). In the operation of step S102, first, as shown in FIGS. 7 and 9, the drive unit 29 of the hopper 3 is driven to raise the push-up mechanism 24 to a predetermined height. As a result, the parts stored in the storage container 22 of the hopper 3 are pushed up to the supply position Q2 by the recessed portion 24a of the push-up mechanism 24. Then, the gripper 35 of the transport robot 2 grasps the parts accommodated in the recessed portion 24a.

[0088] Next, the transport robot 2 transports the component to the tray 11 on the pick table 4. Here, as shown in Fig. 3, the heights of the supply position Q2 and the temporary placement position Q3 are set to be approximately the same, so that the displacement of the hand unit 34 of the transport robot 2 in the third direction Z, i.e., the height direction, can be shortened. This reduces the rotational movement of the multiple arms 33 of the transport robot 2, and shortens the time required for the transport robot 2 to change its posture.

[0089] Once the components are transported to the pick table 4, the transport robot 2 supplies the components to the pick table 4 (step S103). At this time, the transport robot 2 performs a supply operation such that the gripped components are separated on the pick table 4. Hereinafter, the supply operation such that the components are separated on the pick table 4 will be referred to as the "component separation operation." In the component separation operation, the transport robot 2 drops the components onto the tray 11 of the pick table 4 from a predetermined height in the third direction Z and supplies them. This separates the components on the tray 11, making it possible to prevent the components from interfering with each other. Here, the height at which the components are dropped onto the tray 11 is changed depending on the components to be supplied.

[0090] Next, the imaging unit 36 of the transfer robot 2 captures an image of the top of the tray 11 on the pick table 4, and the control unit recognizes the top of the tray 11 from above (step S104). The detailed operation of step S104 will be described later. At this time, the control unit determines whether or not there are any grippable parts on the tray 11. If it is determined that there are no grippable parts on the tray 11, the process returns to step S102, and the transfer robot 2 grips one or more parts from the large amount of parts in the hopper 3.

[0091] Note that even if a part is placed on the tray 11, if the part is in a position where it cannot be grasped by the transport robot 2, it is determined that there are no parts that can be grasped on the tray 11. In this case, the control unit drives the movable mechanism 14 to tilt the tray 11. As a result, the parts placed on the tray 11 fall from an opening in the tray 11 where the wall portion 11b is not provided, and are collected into the storage container 22 of the hopper 3. The collection operation is performed while the transport robot 2, which will be described later, is performing a supply operation (place operation) to the discharge table 5.

[0092] Furthermore, the parts collected in storage container 22 slide down along inclined surface 22c to the bottom of storage container 22. In this way, by providing inclined surface 22c to storage container 22, a space for collecting parts can be secured.

[0093] If it is determined that there is a grippable part on the tray 11, the control unit recognizes (determines) a gripping position for gripping one of the parts on the tray 11 (step S105). The detailed operation of step S105 will be described later. Then, the transport robot 2 grips one part (step S106) and transports it to the receiving table 51 of the discharge table 5, i.e., the delivery position Q4.

[0094] Furthermore, the transport robot 2 transports the gripped component without changing its posture and hands it over to the receiving table 51 (step 107). This eliminates the need to change the posture of the transport robot 2 according to the posture of the component placed on the pick table 4. As a result, the operation of the transport robot 2 can be simplified and the time required to change the posture of the transport robot 2 can be reduced. Furthermore, when the transport robot 2 transports one component to the discharge table 5, the control unit recognizes (determines) the gripping position of the next component to be gripped from among the multiple components on the pick table 4.

[0095] 3, the heights of the temporary placement position Q3 and the delivery position Q4 are set to be approximately the same, which reduces the displacement of the hand unit 34 of the transport robot 2 in the third direction Z, i.e., in the height direction. This reduces the number of rotational movements of the multiple arms 33 of the transport robot 2, thereby shortening the time required to change the posture of the transport robot 2.

[0096] When the transport robot 2 places the component on the receiving tray 51 of the discharge tray 5, the orientation change mechanism 41 grips the component with the chuck 46. Then, based on the information about the component's orientation received from the control unit, the orientation change mechanism 41 rotates the rotating member 47 to change the orientation of the component to a predetermined orientation (step S108). Once the orientation change of the component is complete, the orientation change mechanism 41 supplies the component to the transport mechanism 42. The transport mechanism 42 then transports the component to the positioning mechanism 43, where the positioning mechanism 43 positions the component. This completes the component supply operation of the component supply device 1 to downstream processes and devices.

[0097] Furthermore, during the process of step S108, i.e., while the posture of the component is being changed by the posture change mechanism 41, the transport robot 2 moves from the discharge table 5 to the pick table 4. As described above, according to the component supply device 1 of this example, it is not necessary to change the posture of the component by the transport robot 2, so that the transport robot 2 can immediately move to the supply position Q2 or the temporary placement position Q3 after completing the transport operation to the delivery position Q4. This allows the time required for the component supply operation in the component supply device 1 to be shortened.

[0098] Furthermore, by arranging the supply position Q2, temporary placement position Q3, and delivery position Q4 on a straight line, the movement path of the hand unit 34 that grips the parts in the transport robot 2 can be made on a straight line. This shortens the transport distance of the parts transported by the transport robot 2. This reduces the time it takes for the transport robot 2 to transport the parts. As a result, the time it takes for the part supply device 1 to transport the parts can be reduced.

[0099] Furthermore, after the processing of step S107, if there are no components on the pick table 4, the operation of supplying components to the discharge table 5 is terminated. Then, the transport robot 2 grasps one or more components from the large amount of components in the hopper 3 and places them flat on the pick table 4.

[0100] Next, the detailed operations of steps S104 and S105 will be described with reference to FIG. FIG. 20 is a flowchart showing the component recognition operation.

[0101] 20, first, the control unit drives the arm 33 of the transfer robot 2 to move the hand unit 34 of the transfer robot 2 to a photographing position for bird's-eye view recognition (step S11). Next, photographing is performed by the imaging unit 36 of the transfer robot 2 (step S12). Note that in the processing of step S12, the entire pick table 4, i.e., the entire tray 11, falls within the angle of view of the imaging unit 36.

[0102] Next, the control unit processes the image captured by the imaging unit 36 (step S13). Then, the control unit extracts parts to be grasped, i.e., pick target candidates, based on the image data that has undergone image processing (step S14). The target candidate extraction process is performed by determining parts from the image data using a threshold value based on the area of the parts that has been stored in advance.

[0103] Next, based on the data extracted in step S14, the control unit determines whether there is interference between components or between a component and the wall surface portion 11b of the pick table 4 (step S15). Then, based on the interference determination in step S15, the control unit prioritizes the components to be transported from the pick table 4 to the discharge table 5 by the transport robot 2 (step S16).

[0104] The above-described processes from step S11 to step S16 correspond to the overhead view recognition process (step S104) shown in FIG.

[0105] When the overhead view recognition process is completed, the control unit moves the hand unit 34 to a photographing position for grasping position recognition so that the center of gravity of the part is located at the center of the angle of view of the imaging unit 36 (step S21). Then, the control unit performs photographing using the imaging unit 36 of the transfer robot 2 (step S22). Next, the control unit performs image processing on the image captured by the imaging unit 36 (step S23). Then, the control unit estimates the grasping position on the part and the orientation of the part based on the image data that has undergone image processing (step S24). The process of steps S21 to S24 completes the part grasping position recognition process shown in FIG. 19.

[0106] Information regarding the posture of the component estimated in the process of step S24 is transmitted to the posture change mechanism 41 of the discharge table 5. Then, based on the received information, the posture change mechanism 41 performs the process of step S108 shown in Fig. 19, i.e., performs the posture change operation of the component.

[0107] 3. Comparison Next, the difference in conveying distance between the conventional component supply device and the component supply device of this embodiment will be described with reference to FIG. Figures 21A and 21B are explanatory diagrams showing the difference in conveying distance between a conventional component supply device and the component supply device 1 of this example, where Figure 21A is an explanatory diagram showing the conveying distance of the conventional component supply device, and Figure 21B is an explanatory diagram showing the conveying distance of the component supply device 1 of this example.

[0108] In a conventional component supply device, the transfer robot 2 changes the posture of the component M1 when transferring the component M1 from the pick table 4 to the discharge table 5. It is necessary to ensure a range of motion for the transfer robot 2 to change its posture, and as shown in FIG. 21A, it is necessary to widen the gap between the pick table 4 and the discharge table 5.

[0109] In contrast, in the component supply device 1 of this example, the posture of the component M1 is changed by the posture change mechanism 41 provided on the discharge table 5, so the posture of the transport robot 2 when transporting the component M1 from the pick table 4 to the discharge table 5 is fixed. Because a movable range for changing the posture of the transport robot 2 is not required, the distance between the pick table 4 and the discharge table 5 can be narrowed, as shown in FIG. 21B. As a result, as shown in FIGS. 21A and 21B, the transport distance H2 of the component M1 by the transport robot 2 in the component supply device 1 of this example can be shorter than the transport distance H1 of the component M1 by the transport robot 2 in the conventional component supply device.

[0110] Furthermore, in the conventional component supply device, the position at which the components M1 are supplied from the hopper 3 to the transport robot 2 is not fixed. Therefore, in the conventional component supply device, the transport robot 2 needs to change its posture depending on the state of the components stored in the hopper 3.

[0111] In contrast to this, in the component supplying device 1 of this example, the position (supply position Q2) at which the component M1 is supplied from the hopper 3 to the transport robot 2 is fixed to a position where the recessed portion 24a of the push-up mechanism 24 is provided. As a result, in the component supplying device 1 of this example, the transport robot 2 can grasp the component M1 from the predetermined supply position Q2 without changing its posture.

[0112] In this way, the component supply device 1 of this example can shorten the transport distance of the component M1 in the transport robot 2 and minimize the posture change operation of the transport robot 2. As a result, the operating time of the transport robot 2 can be shortened, and the component transport time in the component supply device 1 can be shortened.

[0113] 4. Safety fence configuration example The component supply device 1 having the above-described configuration is covered by the following safety fence 10. Next, the configuration of the safety fence 10 will be described with reference to FIGS. 22 and 23 are perspective views showing the safety fence 10. FIG.

[0114] 22 and 23, the safety fence 10 has a front panel 81, a back panel 83, two side panels 82, and a ceiling panel 84. The front panel 81, the back panel 83, the two side panels 82, and the ceiling panel 84 are formed from flat, substantially rectangular members.

[0115] The front panel 81 is disposed at one end in the first direction X, and the rear panel 83 is disposed at the other end in the first direction X. The front panel 81 and the rear panel 83 face each other along the first direction X. The two side panels 82 are disposed at both ends in the second direction Y and face each other. The ceiling panel 84 is disposed at the upper ends of the front panel 81, the rear panel 83, and the two side panels 82 in the third direction Z, i.e., at the upper ends in the vertical direction. The front panel 81, the rear panel 83, the two side panels 82, and the ceiling panel 84 cover the component supply device 1 described above.

[0116] The rear panel 83 also covers the upper part of the component supplying device 1 in the third direction Z, i.e., the upper part in the vertical direction. The lower part of the rear panel 83 in the third direction Z is open, and the positioning mechanism 43 of the transport mechanism 42 on the discharge table 5 is exposed from the rear panel 83. This allows components transported to the positioning mechanism 43, which is the discharge position, to be discharged to a process or device downstream of the component supplying device 1. Furthermore, the positioning mechanism 43 can be easily replaced.

[0117] The front panel 81, rear panel 83, two side panels 82, and ceiling panel 84 are made of light-blocking materials or have light-blocking sheets attached to them, which prevents external light from entering the interior of the safety fence 10. As a result, the imaging unit 36 of the transfer robot 2 can capture images of components without being affected by external light, improving the accuracy of component recognition.

[0118] The front panel 81, rear panel 83, two side panels 82, and ceiling panel 84 do not have to be entirely light-blocking, and portions thereof may be transparent or translucent, as long as at least the periphery of the pick table 4 is light-blocking. In this way, by making portions of the front panel 81, rear panel 83, two side panels 82, and ceiling panel 84 transparent or translucent, the state inside the safety fence 10 can be easily seen from the outside.

[0119] Furthermore, by covering the entire component supply device 1 with the safety fence 10, it is possible to prevent the operating noise of the component supply device 1 from leaking to the outside. As a result, it is possible to improve the quietness of the component supply device 1. Note that sound-absorbing materials may be provided on the inner surfaces of the front panel 81, the rear panel 83, the two side panels 82, and the ceiling panel 84.

[0120] The front panel 81 is provided with a first opening / closing door 71 and two supply ports 73. The first opening / closing door 71 is attached to the front panel 81 so as to be able to open and close. By opening the first opening / closing door 71, an operator can access the hopper 3 covered by the safety fence 10. The first opening / closing door 71 is provided with the two supply ports 73.

[0121] The two supply ports 73 are arranged at positions corresponding to the storage containers 22 of the first hopper 3A and the second hopper 3B. The supply ports 73 are arranged above the storage containers 22 in the hopper 3 in the third direction Z. The supply ports 73 communicate with openings of the storage containers 22 in the third direction Z. Components can be supplied to the storage containers 22 from outside the safety fence 10 via the supply ports 73. This allows components to be supplied to the storage containers 22 without stopping the component supply operation of the component supply device 1.

[0122] A second opening / closing door 72 is provided on the side panel 82. The second opening / closing door 72 is provided on the other end side of the side panel 82 in the first direction X, and is disposed in a position corresponding to the pick table 4, the transport robot 2, and the discharge table 5. By opening the second opening / closing door 72, a worker can access the pick table 4, the transport robot 2, and the discharge table 5, which are covered by the safety fence 10. This allows the worker to collect parts remaining on the conveyor belt 42a of the discharge table 5.

[0123] The first opening / closing door 71 and the second opening / closing door 72 are provided with an opening / closing detection unit that detects whether the door is open or closed. When the opening / closing detection unit detects that the first opening / closing door 71 or the second opening / closing door 72 is open, it outputs opening information to the control unit of the component supplying device 1. When the control unit receives the opening information, it brings the operation of the entire component supplying device 1 to an emergency stop. This makes it possible to provide a component supplying device 1 that is highly safe.

[0124] When only the first opening / closing door 71 is opened, the control unit does not need to stop the transport mechanism 42 of the discharge table 5. This allows the transport mechanism 42 to continue the component transport operation, and allows the component supply device 1 to continue the supply operation to downstream processes and devices.

[0125] One of the two side panels 82, 82 is provided with a display unit 74, an operation switch 75, and an operation unit 76. The display unit 74 is configured, for example, by a display such as a liquid crystal display (LCD) or an organic ELD (Electro Luminescence Display). The display unit 74 displays images captured by the imaging unit 36 of the transport robot 2 and various information related to the component supply device 1. The display unit 74 may also be configured as a touch panel in which a touch sensor serving as an operation input unit is superimposed on the display.

[0126] An operation switch 75 is provided below the display unit 74 in the third direction Z. The operation switch 75 is provided with various switches and buttons, such as an emergency stop button for bringing the component supply device 1 to an emergency stop and a switch for starting the operation of the component supply device 1. In this way, operations related to the operation of the component supply device 1 can be performed using the switches and buttons, so that the component supply device 1 can be operated without being affected by the skill level of the operator.

[0127] An operation unit 76 is provided below the operation switch 75 in the third direction Z. The operation unit 76 is configured with a keyboard, a mouse, etc. Various pieces of information for operating the component supply device 1 are input by an operator through the operation unit 76.

[0128] In this way, by providing the operation switch 75 and operation unit 76 for operating the component supply device 1 on the safety fence 10, the worker can operate the component supply device 1 without entering inside the safety fence 10, thereby providing a highly safe component supply device 1.

[0129] The emergency stop button may be provided on both of the two side panels 82, 82, rather than just on one of them.

[0130] The above describes the embodiments, including their effects. However, the present invention is not limited to the above embodiments, and various modifications are possible within the scope of the invention as defined in the claims.

[0131] In this specification, the words "parallel" and "orthogonal" are used, but these do not mean only "parallel" and "orthogonal" in the strict sense, but also include "parallel" and "orthogonal" and may also mean a "substantially parallel" or "substantially orthogonal" state within a range in which the functions can be exerted. [Explanation of symbols]

[0132] REFERENCE SIGNS LIST 1...component supply device, 2...transport robot, 3, 3A, 3B...hopper, 4, 4A, 4B...pick table, 5, 5A, 5B...discharge table, 7...first stand, 8...second stand, 10...safety fence, 11...tray, 11a...placing surface portion, 11b...wall surface portion, 12...support portion, 13...rotating shaft, 14...movable mechanism, 21...support base, 22...storage container, 22a...side portion, 22b...hoistway, 22c...inclined surface portion, 22d...recovery shutter, 22e...recovery path, 23...recovery portion, 24...push-up mechanism, 24a...recess, 28...upper surface detection sensor, 29...drive portion, 29a...drive motor, 29b...drive chain, 31...base, 32...rotating portion, 33...arm, 34...hand portion, 35...gripping portion, 36...imaging portion, 41...position change mechanism, 42...transport mechanism, 42a...transport belt, 42b...drive roller, 43...positioning mechanism, 43a...guide portion, 43b...positioning groove, 45...base, 46...chuck portion, 47...rotating member, 47a...chuck support portion, 47b...rotating shaft, 48...rotation drive portion, 51...receiving table, 51a...chamfered surface portion, 51b...rear end portion, 52...first sensor, 53...second sensor, 54...first detection piece, 55...second detection piece, 71...first opening / closing door, 72...second opening / closing door, 73...supply port, 74...display portion, 75...operation switch, 76...operation portion, 81...front panel, 82...Side panel, 83...Rear panel, 84...Ceiling panel, H1, H2...Transport distance, M1...Part, Q1...Rotation center, Q2...Supply position, Q3...Temporary placement position (flat placement position), Q4...Delivery position

Claims

1. a hopper having a storage container in which the parts are stored; a transport robot that grasps and transports the part; a pick table having a tray on which the parts transferred from the hopper by the transfer robot are placed; a discharge table onto which the parts placed on the tray are transported by the transport robot, a temporary placement position on the tray where the component is temporarily placed is arranged on a straight line connecting a supply position on the hopper where the component is supplied to the transport robot and a delivery position on the discharge table where the component is delivered from the transport robot; The ejection table has a posture change mechanism for changing the posture of the part transferred by the transfer robot. Parts supply device.

2. the transport robot has an imaging unit that images the parts placed on the tray, The posture change mechanism changes the posture of the component based on the information captured by the imaging unit. The component supply device according to claim 1 .

3. The attitude change mechanism includes: a receiving table on which the component is placed; a base that rotatably supports the receiving platform; The receiving platform becomes the transfer position.

3. The component supply device according to claim 1 or 2.

4. The attitude change mechanism includes: a chuck portion that grips the part placed on the receiving table; a rotating member provided with the receiving base and the chuck portion, The base rotatably supports the rotary member via a rotary shaft.

4. The component supply device according to claim 3.

5. The position change mechanism has sensors that detect the states of the rotating member and the receiving table.

5. The component supply device according to claim 4.

6. The discharge table is a conveying mechanism that receives the component from the attitude changing mechanism and conveys the component; a positioning mechanism for positioning the part transported by the transport mechanism at a discharge position; The component supply device according to any one of claims 1 to 5.

7. The supply position, the temporary placement position, and the delivery position are arranged at the same height. The component supply device according to claim 1 .

8. The hopper has a lifting mechanism that lifts the parts stored in the storage container to a predetermined height.

8. The component supply device according to claim 7.

9. a recess for accommodating the component is provided at an upper end of the push-up mechanism in the vertical direction; The recessed portion serves as the supply position.

9. The component supply device according to claim 8.

Images