Component supply device and component supply method

Abstract

To provide a component supply device capable of certainly taking out components from among a large quantity of component groups stored in a storing container.SOLUTION: A component supply device comprises: a component storing device which stores a plurality of components; and a component taking out device which takes out the components from the component storing device to supply the components to a prescribed position. The component storing device comprises: a storing container which has a take-out opening for the components; and a component rocking unit which rocks the plurality of components housed in the storing container. The component taking out device has a hand which inserts a tip end part in the storing container to hold the components in the storing container, and takes out the held components from the take-out opening.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a component supplying device and a component supplying method. [Background technology]

[0002] Patent Document 1 below discloses a technology relating to a device that picks up a small number of parts from a pile of parts and supplies them to a specified location. Patent Document 1 discloses a technology in which a robot's arm and hand move freely above a part supply location based on information from an image recognition device, and grab multiple parts from the pile and scatter them, eliminating overlapping of parts. Patent Document 1 also discloses a technology in which the arm and hand grab parts selected by the image recognition device from the scattered parts and supply them to the part supply location. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 06-127698 Summary of the Invention [Problem to be solved by the invention]

[0004] However, it is not easy to reliably pick up a small number of parts from a large pile of parts. Therefore, an object of the present invention is to provide a parts supply device and a parts supply method that can reliably pick up parts from a large number of parts stored in a storage container. [Means for solving the problem]

[0005] In order to solve the above problem, the present invention is a parts supply device comprising a parts storage device for storing a plurality of parts, and a parts removal device for removing the parts from the parts storage device and supplying them to a predetermined position, the parts storage device comprising a storage container having a parts removal opening, and a parts swinging unit for swinging the plurality of parts stored in the storage container, and the parts removal device having a hand that inserts a tip end into the storage container to hold the parts in the storage container and removes the held parts from the removal opening. [Effects of the Invention]

[0006] According to the present invention, it is possible to provide a component supplying device and a component supplying method that can reliably pick up components from a large number of components stored in a storage container. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a perspective view showing a component supply device of a first embodiment. FIG. [Figure 2] FIG. 1 is a side view showing a component supply device according to a first embodiment. [Figure 3] 5A to 5C are diagrams illustrating the operation of a component supply unit in the component supply device of the first embodiment. [Figure 4] 5A to 5C are diagrams illustrating the operation of a component swinging unit in the component supply device of the first embodiment. [Figure 5] 5A to 5C are diagrams illustrating the operation of the component picking device in the component supply device of the first embodiment. [Figure 6] 1A to 1C are diagrams (part 1) for explaining a component supplying method by the component supplying device of the first embodiment. [Figure 7] 5A to 5C are diagrams (part 2) illustrating a component supplying method by the component supplying device of the first embodiment. [Figure 8] FIG. 10 is a diagram showing the configuration of a component storage device in a component supply device of a second embodiment. [Figure 9] FIG. 10 is a diagram showing the configuration of a component storage device in a component supply device of a third embodiment. [Figure 10]FIG. 10 is a diagram showing the configuration of a component storage device in a component supply device of a fourth embodiment. [Figure 11] FIG. 10 is a diagram showing the configuration of a component storage device in a component supply device of a fifth embodiment. [Figure 12] FIG. 13 is a diagram showing the configuration of a component storage device in a component supply device of a sixth embodiment. [Figure 13] FIG. 13 is a diagram showing the configuration of a component storage device in a component supply device of a seventh embodiment. [Figure 14] FIG. 13 is a diagram showing the configuration of a component storage device in a component supply device of an eighth embodiment. [Figure 15] FIG. 13 is a diagram showing the configuration of a component storage device in a component supply device of a ninth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, each embodiment of the component supply device of the present invention will be described in detail with reference to the drawings. Note that the same components in each embodiment described below will be given the same reference numerals, and duplicated explanations will be omitted.

[0009] First Embodiment FIG. 1 is a perspective view showing a component supplying device 1 of the first embodiment. FIG. 2 is a side view showing the component supplying device 1 of the first embodiment, as seen from the x direction in FIG. 1. The component supplying device 1 shown in these figures is for picking up one or more components [Wo] from a group of components in which a large number of components [Wo] (shown only in FIG. 2) are stacked, and supplying them to a predetermined position. Such a component supplying device 1 has a component storage device 10, a component picking device 100, a control unit 200, a first sensor 301, and a second sensor 302. Each of these components will be described below, followed by a description of a component supplying method using the component supplying device 1.

[0010] <Parts storage device 10> The component storage device 10 stores a large amount of components [Wo], and includes a storage container 11, a shutter 12, a component carry-in section 13, a component supply section 14, and a component swinging section 15 (shown only in FIG. 2).

[0011] [Storage Container 11] The storage container 11 is a box-shaped container for storing a large amount of parts [Wo], and the top surface of the box serves as an opening 11a for removing the parts [Wo]. This storage container 11 has slit openings 11b on two opposing sides that continue from the opening 11a. Each slit opening 11b is provided with a shutter 12, which will be described next, so there is no need to consider the possibility of the parts [Wo] falling out of the slit openings 11b. Therefore, there are no restrictions on the width or height of each slit opening 11b relative to the size of the parts [Wo].

[0012] The storage container 11 also has a carry-in opening 11c on its side, at a position independent of the two slit openings 11b, for carrying in the parts [Wo] into the storage container 11. Furthermore, the bottom surface 11d of the storage container 11 is configured to be movable along the side, making it possible to change the capacity of the storage container 11 and the height position of the parts [Wo] within the storage container 11. The bottom surface 11d is movable between the lower end of the side wall surface of the storage container 11 and a height near the lower end of the slit openings 11b, for example.

[0013] Furthermore, the upper edges of the two sides of the storage container 11 where the slit opening 11b is located are cut diagonally toward both sides, with the location of the slit opening 11b being the highest point, which prevents the storage container 11 from interfering with the movement of the component picking device 100, which will be described next.

[0014] The bottom surface 11d of the storage container 11 has an inclined portion that becomes lower toward the center, for example.

[0015] [Shutter 12] The shutter 12 freely opens and closes each of the two slit openings 11b of the storage container 11. Such a shutter 12 is disposed to cover each slit opening 11b from the outside of the storage container 11, and moves up and down along the side surface of the storage container 11 to open and close the slit openings 11b.

[0016] The shutter 12 has a flange 12a that protrudes outward from the upper edge. When the flange 12a is pressed downward by a hand 102 of the component picking device 100, which will be described next, the shutter 12 moves downward in conjunction with the descent of the hand 102, opening the slit opening 11b. When the pressing pressure on the flange 12a is released, the shutter 12 moves upward to close the slit opening 11b.

[0017] The shutter 12 may be equipped with a drive unit, and in this case, is configured to move downward in conjunction with the descent of the hand 102 to open the slit opening 11b in response to instructions from the control unit 200, which will be described later. Also, the shutter 12 is not limited to one that can move in the vertical direction, as long as it is configured to open the slit opening 11b in conjunction with the descent of the hand 102, and may be, for example, a double-door type.

[0018] [Parts loading section 13] The component loading section 13 is a section for loading components [Wo] into the storage container 11 through the loading opening 11c, and is a box-shaped container that protrudes from the loading opening 11c to the outside of the storage container 11. The component loading section 13 communicates with the storage container 11 at the loading opening 11c, and the top surface of the box serves as an insertion opening 13a for the components [Wo]. The bottom surface of the component loading section 13 forms an inclined surface 13b that protrudes obliquely upward from the lower edge of the loading opening 11c toward the outside of the storage container 11.

[0019] With this configuration, the component [Wo] input through input opening 13a of component loading section 13 slides down inclined surface 13b of component loading section 13 and is loaded into storage container 11 through loading opening 11c.

[0020] [Parts Supply Section 14] 3 is a diagram illustrating the operation of the component supply unit 14 in the component supply device 1 of the first embodiment. As shown in this figure, the component supply unit 14 is a drive part that moves the bottom surface 11d of the storage container 11 up and down along the wall surface of the storage container 11. In this way, the component supply unit 14 moves the components (not shown) in the storage container 11 to the height position of the slit opening 11b and supplies the components to the height position of the slit opening 11b.

[0021] [Parts swinging part 15] 4 is a diagram illustrating the operation of the component swinging unit 15 in the component supply device 1 of the first embodiment. As shown in this figure, the component swinging unit 15 swings a large number of components (not shown) contained in the storage container 11 by freely bending the bottom surface 11d of the storage container 11. This fills gaps between the components (not shown) contained in the storage container 11, thereby increasing the density of the components in the storage container 11.

[0022] In this case, the bottom surface 11d of the storage container 11 has inclined sidewalls 11e that slope toward a predetermined portion. As an example, the bottom surface 11d of the storage container 11 is configured to have inclined sidewalls 11e as an inclined portion that slopes downward toward the center. Therefore, when the component swinging unit 15 is driven, the bottom surface 11d of the storage container 11 bends and then returns to flat, causing the components stored in the storage container 11 to move in a direction that causes them to fall toward the lower position of the bottom surface 11d that has the inclined sidewalls 11e. This increases the density of the components in the storage container 11. Note that, although the bottom surface 11d of the storage container 11 in the drawings has inclined sidewalls 11e that slope downward toward the center, it may also have inclined sidewalls that slope downward toward the ends.

[0023] <Component pick-up device 100> 1 and 2, the component picking device 100 is configured to pick up one or more components [Wo] from a large number of components [Wo] stored in the storage container 11 of the component storage device 10, and supply them to a predetermined position. The component picking device 100 includes a robot arm 101 and a hand 102. Each of these components will be described below.

[0024] [Robot Arm 101] The robot arm 101 holds a hand 102 at its tip. Although only the tip of the robot arm 101 is shown in the drawing, the robot arm 101 can freely move the held hand 102 in the x, y, and z directions. The robot arm 101 can also have a mechanism for rotating the held hand 102 and further controlling the orientation of the hand 102.

[0025] [Hand 102] The hand 102 is held at the tip of the robot arm 101 in a state where it protrudes from the tip of the robot arm 101, and operates to hold a part [Wo] and release the held part [Wo]. Such hands 102 are, for example, a pair of hands arranged opposite each other as shown in the figure.

[0026] The pair of hands 102 are arranged with their roughly flat, wide surfaces facing each other, and their tips protruding from the robot arm 101 can be moved toward or away from each other to open and close their tips. When the pair of hands 102 are open, the distance between their tips is slightly wider than the distance between the two slit openings 11b in the storage container 11. This allows the robot arm 101 to lower the hands 102 from above the storage container 11, so that the tips of the hands 102 can press against the flange 12a of the shutter 12, moving the shutter 12 downward to open each slit opening 11b in the storage container 11. In this state, each hand 102 is positioned opposite each slit opening 11b in the storage container 11, and the hands 102 close the slit openings 11b. The pair of hands 102 are configured to move so that their tips come into contact with each other when their tips are closed.

[0027] Each of the pair of hands 102 has a width smaller than the opening width of the slit openings 11b of the storage container 11. This allows the tip of the hand 102 to be inserted into the storage container 11 through the two slit openings 11b opened by the shutter 12. Then, by bringing the tips of the pair of hands 102 close to each other inside the storage container 11 and closing them, it becomes possible to hold the part [Wo] inside the storage container 11 between the pair of hands 102.

[0028] 5 is a diagram illustrating the operation of the component picking device 100 in 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 a component [Wo] between them by bringing their tips close to each other so as to close together.

[0029] In this case, as shown in Fig. 5(a), the tips of the hands 102 are in contact with each other and the part [Wo] is held on the inner periphery of the pair of hands 102. As shown in Fig. 5(b), the hands 102 hold the part [Wo] by sandwiching it between their tips. Furthermore, as shown in Fig. 5(c), the hands 102 hold the part [Wo] by sandwiching it between their tips, and further hold the part [Wo] on the inner periphery.

[0030] Moreover, such a hand 102 can release the held part [Wo] by opening the tip end thereof and place the part [Wo] in a predetermined position.

[0031] <Control unit 200> 1 and 2, the control unit 200 controls the driving of the component supply unit 14 and the component swinging unit 15 in the component storage device 10, and also the driving of the robot arm 101 and the hand 102 in the component picking device 100, based on information from the first sensor 301 and the second sensor 302. In this way, the control unit 200 picks up one or more components [Wo] from the large number of components [Wo] stored in the storage container 11 of the component storage device 10, and supplies them to a predetermined position.

[0032] Such a control unit 200 is configured by a calculator. A calculator is hardware used as a so-called computer. The calculator has a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), and other non-volatile storage units. Based on programs stored in the storage unit, the calculator controls the drive of the component supply unit 14 and component swinging unit 15 in the component storage device 10, and the robot arm 101 and hand 102 in the component picking device 100. The drive control of the component supply unit 14, component swinging unit 15, robot arm 101, and hand 102 by the control unit 200 will be described in detail in the following component supply method.

[0033] <First sensor 301> The first sensor 301 is used to detect the position and orientation of the component storage device 10, and the position and attitude of the component picking device 100 relative to the position where the component [Wo] picked up by the component picking device 100 is placed. Such a first sensor 301 is, for example, an image recognition device having a camera. The first sensor 301 transmits the detected information to the control unit 200.

[0034] <Second sensor 302> The second sensor 302 is for detecting the height position of the parts in the storage container 11 relative to the height position of the removal opening 11a of the storage container 11. Such second sensor 302 is a transmission type optical sensor equipped with, for example, a light-emitting element that emits inspection light parallel to the removal opening 11a at the height of the upper end of the removal opening 11a, and a light-receiving element (not shown) that receives the inspection light from the light-emitting element. In such second sensor 302, whether or not the parts in the storage container 11 have reached the removal opening 11a is determined by the on / off state of the inspection light from the light-receiving element.

[0035] The second sensor 302 may also be configured to partially detect the on / off state of the inspection light in a planar portion covering the removal opening 11a. This allows detection of a portion of the component [Wo] protruding from the removal opening 11a. Therefore, based on the detected information, it is possible to prevent interference between the protruding component [Wo] and the bottom surface of the robot arm 101.

[0036] The second sensor 302 as described above transmits the detected information to the control unit 200.

[0037] <Parts supply method> 6 and 7 are diagrams (part 1) and (part 2) illustrating the component supply method by the component supply device 1 of the first embodiment, and correspond to views of FIG. 1 viewed from the x direction. The component supply method described using these diagrams is a component supply method implemented by the component supply program stored in the control unit 200 (see FIG. 1) described above. The component supply method by the component supply device 1 will be described below in the order shown in FIGS. 6 and 7 with reference to the above-mentioned FIGS. 1 and 2.

[0038] First, as shown in Fig. 6(1), the component supply unit 14 of the component storage device 10 lowers the bottom surface 11d of the storage container 11. As a result, components [Wo] are carried into the storage container 11 of the component storage device 10 from the component carry-in unit 13 through the carry-in opening 11c, and a large amount of components [Wo] is stored in the storage container 11. Note that the component carry-in unit 13 is only shown in Fig. 6(1) and is not shown in other figures.

[0039] The robot arm 101 of the component picking device 100 moves the hand 102 to the upper part of the component storage device 10. The tip of the hand 102 is left open. At this point, the slit opening 11b of the storage container 11 is closed by the shutter 12.

[0040] Thereafter, as shown in FIG. 6(2), the component swinging unit 15 of the component storage device 10 bends the bottom surface 11d of the storage container 11. Furthermore, as shown in FIG. 6(2), the component swinging unit 15 of the component storage device 10 straightens out the bottom surface 11d of the storage container 11 from the bent state. By performing such bending and stretching swinging operations, the component swinging unit 15 swings the large number of components [Wo] contained in the storage container 11. The component swinging unit 15 may repeat the swinging operation multiple times. This fills in gaps among the large number of components [Wo] contained in the storage container 11, increasing the density of the components in the storage container 11.

[0041] 7(1), the component supply unit 14 in the component storage device 10 raises the bottom surface 11d of the storage container 11 to a predetermined height and supplies the component [Wo] in the storage container 11 to the height position of the slit opening 11b. At this time, the component supply unit 14 may control the position to which the bottom surface 11d of the storage container 11 is raised based on information from the second sensor 302.

[0042] If the second sensor 302 detects that some of the components [Wo] are protruding from the removal opening 11a, the component supply unit 14 lowers the bottom surface 11d of the storage container 11. Then, as shown in FIGS. 6(2) and 6(3), the component swinging unit 15 of the component storage device 10 again bends the bottom surface 11d of the storage container 11 and then straightens it out from the bent state. This swings and rearranges the large number of components [Wo] in the storage container 11, filling in gaps among the large number of components [Wo] and increasing the density of the components in the storage container 11. Then, as shown in FIG. 7(1), the component supply unit 14 of the component storage device 10 again raises the bottom surface 11d of the storage container 11 to a predetermined height. Then, based on information from the second sensor 302, the component supply unit 14 repeats the above swinging operation until it is confirmed that the components [Wo] are not protruding above the upper edge of the storage container 11.

[0043] 7(2), the robot arm 101 then lowers the hands 102, and each hand 102 presses against the flange 12a of the shutter 12 to pull down the shutter 12. This opens the slit opening 11b of the storage container 11, and the hands 102 are positioned opposite the slit opening 11b. At this time, because the part [Wo] does not protrude from the upper edge of the storage container 11, the bottom of the robot arm 101 does not interfere with the part [Wo].

[0044] Next, the pair of hands 102 bring their tips close together and close together, inserting the tips of the hands 102 into the storage container 11 through the slit opening 11b. The hands 102 then sandwich and hold the part [Wo] between the tips of the closed hands and / or on the inner periphery of the two hands 102 with their tips closed (see FIG. 5). Following this movement of the hands 102, the shutter 12 rises and closes the slit opening 11b.

[0045] 7(3), the robot arm 101 moves the hand 102 and removes one or more parts [Wo] that it has grasped by pinching them between the pair of hands 102 from the storage container 11. At this time, the robot arm 101 slightly raises the hand 102 and carries the hand 102 out of the storage container 11 from a low position in the removal opening 11a. This allows the hand 102 that has grasped the part [Wo] to be carried out of the storage container 11 over a shorter movement path without being raised significantly.

[0046] After the above, although not shown in the drawings, the robot arm 101 moves the hands 102 to a predetermined position. At the destination, the hands 102 open their tips and supply one or more parts [Wo] held by the pair of hands 102 to the predetermined position.

[0047] <Effects of the first embodiment> The component supply device 1 of the first embodiment described above is provided with the component swinging unit 15 that swings the components [Wo] in the storage container 11, thereby increasing the density of the components [Wo] at the location where the components [Wo] are placed in the storage container 11. This makes it possible to hold more components [Wo] between the hands 102, making it possible to reliably remove the components [Wo] from the storage container 11.

[0048] The component supply device 1 is also configured such that a slit opening 11b is provided on the side of the storage container 11, into which the hand 102 of the component picking device 100 is inserted. This allows the group of components in the storage container 11 to be pinched by the pair of hands 102 from outside the storage container 11, without affecting the arrangement of the large number of components [Wo] contained in the storage container 11. This makes it possible to reliably pick up one or more small quantities of components [Wo] from the large number of components [Wo].

[0049] Moreover, since the hand 102 is not inserted into the group of parts in the storage container 11, the parts [Wo] are not damaged by the insertion of the hand 102 into the group of parts, and the quality of the parts [Wo] can be ensured.

[0050] Second Embodiment Fig. 8 is a diagram showing the configuration of component storage device 10 in the component supply device of the second embodiment. The component storage device 10 in the component supply device of the second embodiment shown in this figure differs from the component storage device 10 in the component supply device 1 of the first embodiment described with reference to Figs. 1 to 7 in the configuration of component swinging unit 15-2, but the other configurations are similar.

[0051] As shown in Fig. 8(a), the component swinging unit 15-2 is, for example, rod-shaped and moves within the storage container 11 to stir the components [Wo] contained within the storage container 11. As a result, the component swinging unit 15-2 swings the components [Wo] contained within the storage container 11 by bringing the tip of the rod-shaped component swinging unit 15-2 into contact with the components [Wo] contained within the storage container 11. As a result, as shown in Fig. 8(b), the gaps among the large number of components [Wo] contained within the storage container 11 can be filled, thereby increasing the density of the components within the storage container 11.

[0052] Such component swinging operation by component swinging unit 15-2 may be performed at the timing explained in the component supply method of embodiment 1. This swinging operation may also be performed in a state where bottom surface 11d of storage container 11 is pushed up to a predetermined height and the components [Wo] in storage container 11 are supplied to the height position of slit opening 11b.

[0053] <Effects of the second embodiment> The component supplying device provided with the component swinging portion 15-2 of the second embodiment described above can also achieve the same effects as the component supplying device of the first embodiment.

[0054] Third Embodiment 9 is a diagram showing the configuration of component storage device 10 in the component supply device of the third embodiment. The component storage device 10 in the component supply device of the third embodiment shown in this figure differs from the component storage device 10 in the component supply device 1 of the first embodiment described with reference to FIGS. 1 to 7 in the configuration of component swinging unit 15-3, but the other configurations are similar.

[0055] 9(a), the component swinging unit 15-3 is, for example, rod-shaped, and moves the tip of the rod horizontally at a predetermined height in the storage container 11, thereby bringing the tip of the rod into contact with the components [Wo] contained in the storage container 11 and swinging the components [Wo]. As a result, as shown in FIG. 9(b), it is possible to fill gaps among the large number of components [Wo] contained in the storage container 11 and increase the density of the components in the storage container 11.

[0056] Such component swinging operation by component swinging unit 15-3 may be performed at the timing described in the component supply method of embodiment 1. This swinging operation may also be performed in a state where bottom surface 11d of storage container 11 is pushed up to a predetermined height and the components [Wo] in storage container 11 are supplied to the height position of slit opening 11b.

[0057] <Effects of the third embodiment> The component supplying device provided with the component swinging section 15-3 of the third embodiment described above can also achieve the same effects as the component supplying device of the first embodiment.

[0058] Fourth Embodiment Fig. 10 is a diagram showing the configuration of component storage device 10 in a component supplying device of the fourth embodiment. The component storage device 10 in the component supplying device of the fourth embodiment shown in this figure differs from the component storage device 10 in the component supplying device 1 of the first embodiment described with reference to Figs. 1 to 7 in the configuration of component swinging unit 15-4, but the other configurations are similar.

[0059] 10(a), the component swinging unit 15-4 is, for example, rod-shaped and can freely protrude from the bottom surface 11d of the storage container 11, thereby swinging the components [Wo] stored in the storage container 11. This makes it possible to fill gaps among the large number of components [Wo] stored in the storage container 11, thereby increasing the density of the components in the storage container 11, as shown in FIG. 10(b).

[0060] In this case, it is preferable that component swinging unit 15-4 be able to protrude freely at the lowest position on bottom surface 11d of storage container 11. Furthermore, when the top surface of the housing of component supply unit 14 also serves as bottom surface 11d of storage container 11, a hole 140 communicating with storage container 11 is formed in the housing of component supply unit 14, and rod-shaped component swinging unit 15-4 is housed in this hole 140, so that rod-shaped component swinging unit 15-4 protrudes from hole 140 into storage container 11.

[0061] Such component swinging operation by component swinging unit 15-4 may be performed at the timing explained in the component supply method of embodiment 1. This swinging operation may also be performed in a state where bottom surface 11d of storage container 11 is pushed up to a predetermined height and the components [Wo] in storage container 11 are supplied to the height position of slit opening 11b.

[0062] <Effects of the Fourth Embodiment> The component supplying device provided with the component swinging portion 15-4 of the fourth embodiment described above can also obtain the same effects as the component supplying device of the first embodiment.

[0063] Fifth Embodiment Fig. 11 is a diagram showing the configuration of component storage device 10 in a component supplying device of the fifth embodiment. The component storage device 10 in the component supplying device of the fifth embodiment shown in this figure differs from the component storage device 10 in the component supplying device 1 of the first embodiment described with reference to Figs. 1 to 7 in the configuration of component swinging unit 15-5, but the other configurations are similar.

[0064] 11(a), the component swinging unit 15-5 is a motor that swings the bottom surface 11d of the storage container 11, and swings the components [Wo] contained in the storage container 11 by swinging the bottom surface 11d of the storage container 11. This allows the gaps between the large number of components [Wo] contained in the storage container 11 to be filled, thereby increasing the density of the components in the storage container 11, as shown in FIG. 11(b).

[0065] In addition, if the top surface of the housing of the component supply unit 14 also serves as the bottom surface 11d of the storage container 11, the component swinging unit 15-5, which is composed of a motor, is attached to the housing of the component supply unit 14.

[0066] Such component swinging operation by component swinging unit 15-5 may be performed at the timing described in the component supply method of embodiment 1. This swinging operation may also be performed in a state where bottom surface 11d of storage container 11 is pushed up to a predetermined height and the components [Wo] in storage container 11 are supplied to the height position of slit opening 11b.

[0067] <Effects of the Fifth Embodiment> The component supplying device provided with the component swinging section 15-5 of the fifth embodiment described above can also obtain the same effects as the component supplying device of the first embodiment.

[0068] ≪Sixth embodiment≫ Fig. 12 is a diagram showing the configuration of component storage device 10 in a component supplying device of the sixth embodiment. The component storage device 10 in the component supplying device of the sixth embodiment shown in this figure differs from the component storage device 10 in the component supplying device 1 of the first embodiment described with reference to Figs. 1 to 7 in the configuration of component swinging unit 15-6, but the other configurations are similar.

[0069] 12(a), the component swinging unit 15-6 is a cylindrical member that sprays a gas [G] such as air from the bottom surface 11d of the storage container 11, and the sprayed gas [G] swings the components [Wo] contained in the storage container 11. As a result, as shown in FIG. 12(b), it is possible to fill gaps among the large number of components [Wo] contained in the storage container 11 and increase the density of the components in the storage container 11.

[0070] In this case, it is preferable that component swinging unit 15-6 be configured to spray gas [G] at the lowest position on bottom surface 11d of storage container 11. Furthermore, if the top surface of the housing of component supplying unit 14 also serves as bottom surface 11d of storage container 11, a hole 140 communicating with storage container 11 is formed in the housing of component supplying unit 14, and cylindrical component swinging unit 15-6 that sprays gas [G] is installed in this hole 140.

[0071] The component swinging unit 15-6 may swing the components [Wo] by ejecting the gas [G] at the timing described in the component supply method of the first embodiment. This swinging operation may also be performed after the bottom surface 11d of the storage container 11 is raised to a predetermined height and the components [Wo] in the storage container 11 are supplied to the height position of the slit opening 11b.

[0072] <Effects of the Sixth Embodiment> The component supplying device provided with the component swinging section 15-6 of the sixth embodiment described above can also achieve the same effects as the component supplying device of the first embodiment.

[0073] Seventh Embodiment Fig. 13 is a diagram showing the configuration of component storage device 10 in the component supply device of the seventh embodiment. The component storage device 10 in the component supply device of the seventh embodiment shown in this figure differs from the component storage device 10 in the component supply device 1 of the first embodiment described with reference to Figs. 1 to 7 in the configuration of component swinging unit 15-7, but the other configurations are similar.

[0074] 13(a), the component swinging unit 15-7 is a motor that swings the inclined sidewall 11e on the bottom surface 11d of the storage container 11, and swings the components [Wo] stored in the storage container 11 by swinging the inclined sidewall 11e on the bottom surface 11d of the storage container 11. This makes it possible to fill gaps among the large number of components [Wo] stored in the storage container 11 and increase the density of the components in the storage container 11, as shown in FIG. 13(b).

[0075] In this case, the bottom surface 11d of the storage container 11 has a separate side wall member that constitutes the inclined side wall 11e, and only the side wall member of the inclined side wall 11e is configured to swing left and right by the component swinging unit 15-7, which is composed of a motor.

[0076] Such component swinging operation by component swinging unit 15-7 may be performed at the timing described in the component supply method of embodiment 1. This swinging operation may also be performed after bottom surface 11d of storage container 11 is pushed up to a predetermined height and components [Wo] in storage container 11 are supplied to the height position of slit opening 11b.

[0077] <Effects of the Seventh Embodiment> The component supplying device provided with the component swinging portion 15-7 of the seventh embodiment described above can also achieve the same effects as the component supplying device of the first embodiment.

[0078] Eighth Embodiment Figure 14 is a diagram showing the configuration of a component storage device 10 in a component supply device of the eighth embodiment. The component storage device 10 in the component supply device of the eighth embodiment shown in this figure differs from the component storage device 10 in the component supply device 1 of the first embodiment described with reference to Figures 1 to 7 in the configuration of the bottom surface 11d of the storage container 11, but the other configurations are similar.

[0079] As shown in FIG. 14, the bottom surface 11d of the storage container 11 is provided with side wall members 11-8 and 11-8' that constitute the inclined side wall 11e as separate bodies, and these side wall members 11-8 and 11-8' can be attached to and detached from the bottom surface 11d.

[0080] These side wall members 11-8, 11-8' are, for example, triangular prisms with different bottom shapes, and are interchangeably attached to the bottom surface 11d of the storage container 11. This allows the appropriate side wall member to be selected from the different side wall members 11-8, 11-8' according to the shape and size of the part [Wo] to be stored in the storage container 11 and attached to the bottom surface 11d of the storage container 11.

[0081] For example, as shown in Figure 14(a), when small parts [Wo] are stored in the storage container 11, a sidewall member 11-8 with a high inclined sidewall 11e is attached to the bottom surface 11d of the storage container 11. This ensures that the parts [Wo] can be stacked to a certain height, and enables the hand 102 of the part picking device 100 (see Figures 1 and 2) to hold a sufficient amount of parts [Wo].

[0082] 14(b), when storing a thin and long part [Wo] in the storage container 11, a sidewall member 11-8 with a low inclined sidewall 11e is attached to the bottom surface 11d of the storage container 11. This prevents the part [Wo] from being stored upright in the storage container 11 and prevents the part [Wo] from protruding from the upper edge of the removal opening 11a of the storage container 11 and interfering with the bottom surface of the robot arm 101.

[0083] Ninth Embodiment Figure 15 is a diagram showing the configuration of a component storage device 10 in a component supply device of the ninth embodiment. The component storage device 10 in the component supply device of the ninth embodiment shown in this figure differs from the component storage device 10 in the component supply device 1 of the first embodiment described with reference to Figures 1 to 7 in the configuration of the bottom surface 11d of the storage container 11, but the other configurations are similar.

[0084] As shown in FIG. 15, the bottom surface 11d of the storage container 11 is provided with a sidewall member 11-9 as a separate body that constitutes the inclined sidewall 11e, and the height position of this sidewall member 11-9 relative to the bottom surface 11d can be freely adjusted.

[0085] The sidewall member 11-9 is, for example, a triangular prism with a different bottom shape, and the protrusion height from the bottom surface 11d of the storage container 11 is adjustable. This allows the sidewall member 11-9 to protrude from the bottom surface 11d at an appropriate height to match the shape and size of the parts [Wo] stored in the storage container 11.

[0086] For example, when small parts [Wo] are stored in the storage container 11, the protrusion height of the side wall member 11-9 from the bottom surface 11d is increased. This ensures that the parts [Wo] can be stacked to a sufficient height, and a sufficient amount of parts [Wo] can be held by the hand 102 of the part picking device 100 (see FIGS. 1 and 2).

[0087] Furthermore, when storing a long and narrow part [Wo] in the storage container 11, the protruding height of the side wall member 11-9 from the bottom surface 11d is reduced. This prevents the part [Wo] from being stored upright in the storage container 11, and also prevents the part [Wo] from protruding from the upper edge of the removal opening 11a of the storage container 11 and interfering with the bottom surface of the robot arm 101.

[0088] The configurations of the eighth and ninth embodiments can be combined with the configurations of the second to seventh embodiments described above.

[0089] In addition, the component supply devices 1 of the first to ninth embodiments described above have been described assuming that the storage container 11 has the slit opening 11b, as shown in Figures 1 and 2. However, the storage container 11 may not have the slit opening. In this case, the hand 102 is configured to insert the tip into the storage container 11 through the removal opening 11a for the component [Wo] and clamp the component [Wo] in the storage container 11. [Explanation of symbols]

[0090] 1...Parts supply device 10...Parts storage device 11...Storage container 11-8, 11-8', 11-9...Side wall members 11a...Removal opening 11b...Slit opening 11d...bottom 11e…Slanted side wall 15, 15-2 to 15-7...Parts swinging section 100...Parts removal device 102...Hand 302...Second sensor [Wo]…Parts

Claims

1. a parts storage device that stores a plurality of parts; a component picking device for picking up the component from the component storage device and supplying it to a predetermined position; The parts storage device a storage container provided with a component removal opening and a slit opening continuous with the component removal opening; a shutter for freely opening and closing the slit opening of the storage container; a component swinging unit that swings the components contained in the storage container, The component picking device is a hand for inserting a tip portion into the storage container through the slit opening to hold a component in the storage container and for removing the held component from the removal opening; Parts supply device.

2. The component swinging unit swings the components accommodated in the storage container by allowing the bottom surface of the storage container to bend freely. The component supply device according to claim 1 .

3. The component swinging unit swings the components accommodated in the storage container by moving within the storage container and contacting the components accommodated in the storage container. The component supply device according to claim 1 .

4. The component swinging unit moves at a predetermined height of the storage container in which the plurality of components are stored.

4. The component supply device according to claim 3.

5. The component swinging portion is capable of protruding into the storage container from the bottom surface of the storage container in which the plurality of components are accommodated.

4. The component supply device according to claim 3.

6. The component swinging unit swings the components accommodated in the storage container by vibrating the bottom surface of the storage container. The component supply device according to claim 1 .

7. The component swinging unit swings the components accommodated in the storage container by ejecting gas into the storage container in which the components are accommodated. The component supply device according to claim 1 .

8. The component swinging unit swings the components accommodated in the storage container by vibrating the storage container in which the components are accommodated. The component supply device according to claim 1 .

9. The component swinging unit vibrates the side wall of the storage container in which the components are stored.

9. The component supply device according to claim 8.

10. The bottom surface of the storage container has a sloped sidewall that slopes toward a predetermined portion. The component supply device according to any one of claims 1 to 9.

11. The bottom surface of the storage container is provided with a separate sidewall member having the inclined sidewall. The component supply device according to claim 10.

12. The sidewall members are replaceable. The component supply device according to claim 11.

13. The side wall member has a protruding height from the bottom surface that can be freely adjusted. The component supply device according to claim 11.

14. 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 13.

15. The storage container has the removal opening on the top surface thereof and the slit opening on the side surface thereof.

15. The component supply device according to claim 14.

16. The storage container has a pair of the slit openings on opposite sides thereof, The component picking device has a pair of hands whose tip ends are inserted into the storage container from the outside through the pair of slit openings, and the pair of hands pinch the components.

16. The component supply device according to claim 14 or 15.

17. A sensor for detecting protrusion of the part from within the storage container is provided at a predetermined height relative to the removal opening. The component supply device according to any one of claims 1 to 16.

18. A method of supplying parts using a parts supply device having a storage container provided with a slit opening continuing from a parts removal opening and a shutter for freely opening and closing said slit opening, said storage container including a parts storage device for storing a plurality of parts in said storage container, and a parts removal device for removing said parts from said parts storage device and supplying them to a predetermined position, comprising: a plurality of components accommodated in a storage container of the component storage device are swung while the slit opening is closed by the shutter, thereby reducing gaps between the components in the storage container and densely arranging the components in the storage container; Next, the shutter is pulled down to open the slit opening, and the tip of the hand of the component picking device is inserted into the storage container through the slit opening to hold the component in the storage container, and the held component is taken out from the component picking opening in the storage container. Parts supply method.

Images