Parts supply device

Abstract

To stably separate at least two or more kinds of components for each component.SOLUTION: A component supply device comprises: a storage part for storing a first component or a second component different from the first component; a supply part 4 for supplying the first component or the second component stored in the storage part to a picking table 5; and a supply adjustment part for adjusting operation of the supply part 4. The supply adjustment part switches between an operation for supplying the first component to the picking table 5 by the supply part 4 and an operation for supplying the second component to the picking table 5 by the supply part 4.SELECTED DRAWING: Figure 10

Description

[Technical Field]

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

[0002] Conventionally, there has been known a component supplying device that picks up a small number of components from a large number of components and supplies them to a predetermined location. Such a component supplying device is described, for example, in Patent Document 1. The component supplying device described in Patent Document 1 includes an image recognition device with a camera and a robot with an arm and a hand.

[0003] In the parts supply device described in Patent Document 1, the arms and hands of a robot grab multiple parts from a pile of parts and scatter them to eliminate overlapping of parts.Then, the arms and hands of the robot grab parts selected by an image recognition device from the scattered parts and supply them to a part supply location. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 06-127698 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the component supply device described in Patent Document 1 prevents overlapping of components by scattering a single type of component, but is not designed to scatter two or more types of components. Different types of components have different characteristics, such as component shape, component weight, and component center of gravity, so there is a risk that the same scattering operation will not be able to prevent overlapping of components.

[0006] SUMMARY OF THE INVENTION In consideration of the above problems, the present invention has an object to provide a component supplying device that can stably separate at least two or more types of components into individual components. [Means for solving the problem]

[0007] In order to achieve this object, the component supply device of the present invention comprises a storage unit, a supply unit, and a supply adjustment unit. The storage unit stores a first component or a second component different from the first component. The supply unit transfers the first component or the second component stored in the storage unit to a pick table. Let it fall The supply adjustment unit supplies the first component to the pick table by the supply unit. Let it fall The supply unit then supplies the second component to the pick table. Let it fall The operation of supplying Vary based on the characteristics of the parts supplied Adjust the operation of the supply unit so that A portion of the pick table overlaps with the accommodation portion in the vertical direction, and the first component or the second component that falls from the portion of the pick table returns to the accommodation portion. [Effects of the Invention]

[0008] According to the present invention, at least two or more types of parts can be stably separated into individual parts. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a perspective view of a component supply device according to a first embodiment of the present invention. [Figure 2] 1 is a top view of a component supply device according to a first embodiment of the present invention. FIG. [Figure 3] 1 is a side view of a component supply device according to a first embodiment of the present invention. [Figure 4] 1 is a side view of a supply unit in a component supply device according to a first embodiment of the present invention. FIG. [Figure 5] FIG. 2 is a perspective view of a hand of a supply unit in the component supply device according to the first embodiment of the present invention. [Figure 6] 1 is a perspective view of a pick table in a component supply device according to a first embodiment of the present invention. FIG. [Figure 7] 1 is a block diagram showing an example of the configuration of a control system in a component supply device according to a first embodiment of the present invention. FIG. [Figure 8] 3A to 3C are diagrams illustrating a component supplying operation of the component supplying device according to the first embodiment of the present invention. [Figure 9]3A and 3B are explanatory views showing the operation of a supply unit from a storage unit of the component supply device according to the first embodiment of the present invention, to gripping a component and supplying it to a pick table. [Figure 10] FIG. 3 is an explanatory diagram of parameters used in the component disassembly operation in the component supply device according to the first embodiment of the present invention. [Figure 11] FIG. 10 is an overall configuration diagram of a component supply device according to a second embodiment of the present invention. [Figure 12] FIG. 10 is an explanatory diagram of parameters used in the component unbundling operation in the component supply device according to the second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments to which the present invention is applied will be described in detail with reference to the drawings.

[0011] 1. First embodiment [Component supply device configuration] First, the configuration of the component supply device of the first embodiment will be described with reference to FIGS. Fig. 1 is a perspective view of the component supply device of the first embodiment, Fig. 2 is a top view of the component supply device of the first embodiment, and Fig. 3 is a side view of the component supply device of the first embodiment.

[0012] 1, the component supply device 1 according to the first embodiment includes a frame 2, storage units 3A and 3B, a supply unit 4, pick tables 5A and 5B, place tables 6A and 6B, and a control board 7. The storage units 3A and 3B, the supply unit 4, the pick tables 5A and 5B, the place tables 6A and 6B, and the control board 7 are attached to the frame 2. The component supply device 1 places the components stored in the storage units 3A and 3B on the place tables 6A and 6B in the correct orientation, and supplies them to the device for the next process.

[0013] The frame 2 is formed in a substantially rectangular parallelepiped shape and has a width, depth, and height. Here, in Figs. 1 to 3, the X-axis direction indicates the width direction of the frame 2, the Y-axis direction indicates the depth direction of the frame 2, and the Z-axis direction indicates the height direction of the frame 2. The X-axis and Y-axis directions correspond to two horizontal axis directions that are parallel to the horizontal plane, and the Z-axis direction corresponds to the vertical direction that is perpendicular to the horizontal plane. The frame 2 is composed of horizontal members extending in the X-axis or Y-axis direction and vertical members extending in the Z-axis direction.

[0014] The storage sections 3A and 3B are arranged on one side of the frame 2 in the Y-axis direction. The storage sections 3A and 3B face each other at an appropriate distance in the X-axis direction. The storage sections 3A and 3B are formed in a roughly box-like shape with an open top. The storage sections 3A and 3B are provided with an elevation mechanism that moves the bottom in the Z-axis direction. This allows the storage capacity and height position of the stored components of each storage section 3A and 3B to be changed.

[0015] For example, a first component may be stored in storage unit 3A, and a second component different from the first component may be stored in storage unit 3B. In this case, component supplying device 1 supplies the first component and the second component to the device in the next process. Alternatively, the first component may be stored in storage units 3A and 3B during a first period, and the second component may be stored in storage units 3A and 3B during a second period different from the first period. In this case, component supplying device 1 supplies the first component to the device in the next process during the first period, and supplies the second component to the device in the next process during the second period.

[0016] The supply unit 4 is disposed approximately in the center of the upper portion of the frame 2. The supply unit 4 grasps one or more components from the large quantity of first components or the large quantity of second components stored in the storage units 3A, 3B, and drops and supplies them onto the pick tables 5A, 5B. As a result, the first components or second components are placed on the pick tables 5A, 5B. The supply unit 4 also grasps the first components or second components placed on the pick tables 5A, 5B one by one, and supplies them to the place tables 6A, 6B. The configuration of the supply unit 4 will be described later with reference to FIGS. 4 and 5.

[0017] The pick tables 5A and 5B are disposed on both sides of the supply unit 4 in the X-axis direction. The pick tables 5A and 5B are adjacent to the storage units 3A and 3B in the Y-axis direction. The pick tables 5A and 5B are located above the storage units 3A and 3B.

[0018] In the Z-axis direction, a portion of pick table 5A overlaps with storage section 3A. As a result, a component that has fallen from part of pick table 5A is stored (returned) in storage section 3A. In the Z-axis direction, a portion of pick table 5B overlaps with storage section 3B. As a result, a component that has fallen from part of pick table 5B is stored (returned) in storage section 3B. The configuration of pick tables 5A and 5B will be described later with reference to FIG. 6.

[0019] The placing tables 6A and 6B have belt conveyors that transport parts in the Y-axis direction. The placing tables 6A and 6B are also attached to an X-axis movement mechanism. The X-axis movement mechanism moves the placing tables 6A and 6B in the X-axis direction. The placing tables 6A and 6B transport parts supplied from the supply unit 4 in the Y-axis direction and position them in the specified positions. The positioned parts are then supplied to the equipment for the next process.

[0020] 1 and 3, the control board 7 is attached to the side of the frame 2. The control board 7 is provided with a control unit 71 (see FIG. 7) that controls the operations of the storage units 3A and 3B, the supply unit 4, and the place tables 6A and 6B.

[0021] [Supply section configuration] Next, the configuration of the supply unit 4 will be described with reference to FIGS. Fig. 4 is a side view of the supply unit 4 in the component supply device 1. Fig. 5 is a perspective view of a hand of the supply unit 4 in the component supply device 1.

[0022] 4, the supply unit 4 includes an arm block 41 and a hand block 42 connected to the arm block 41. The arm block 41 has a support base 411 and an arm 412 attached to the support base 411. The support base 411 is fixed to the frame 2. The support base 411 supports the arm 412 so that it can rotate.

[0023] The arm 412 freely moves the hand block 42 in the X-axis, Y-axis, and Z-axis directions. The arm 412 also freely rotates the hand block 42 around the X-axis, Y-axis, and Z-axis. The arm 412 has a base member 413, a first link member 414, a second link member 415, and a connecting member 416.

[0024] The base member 413 is rotatably connected to the support table 411. The base member 413 rotates around the Z axis (first axis). One end of the first link member 414 is rotatably connected to the base member 413. The first link member 414 rotates around an axis (second axis) extending in the horizontal direction.

[0025] The second link member 415 has a rotating portion 415a and a swivel portion 415b connected to the rotating portion 415a. The rotating portion 415a is rotatably connected to the other end of the first link member 414. The rotating portion 415a rotates around an axis (third axis) extending in the horizontal direction. The rotating portion 415b is rotatably connected to the rotating portion 415a. The rotating portion 415b rotates around an axis (fourth axis) extending in the direction of connection with the rotating portion 415a.

[0026] The connecting member 416 has a rotating portion 416a and a swivel portion 416b connected to the rotating portion 416a. The rotating portion 416a is rotatably connected to the rotating portion 415b of the second link member 415. The rotating portion 416a rotates around an axis (fifth axis) extending in the horizontal direction. The rotating portion 416b is rotatably connected to the rotating portion 416a. The rotating portion 416b rotates around an axis (sixth axis) extending in the direction of connection with the rotating portion 416a. The directions in which the second axis, third axis, and fourth axis extend are parallel to each other.

[0027] 5, the hand block 42 has a housing 421, and a hand 422 and a camera 423 attached to the housing 421. The housing 421 is connected to a pivoting portion 416b of a connecting member 416 of the arm 412. The housing 421 is a substantially rectangular parallelepiped casing. A hand hole 421a through which the hand 422 passes and a lens hole 421b through which the objective lens of the camera 423 is exposed are formed on the bottom surface of the housing 421.

[0028] The hand 422 is composed of multiple (two in this embodiment) gripping pieces 422a. Inside the housing 421, there are disposed an opening / closing mechanism for opening and closing the multiple gripping pieces 422a, and an elevating mechanism for raising and lowering the multiple gripping pieces 422a. The multiple gripping pieces 422a are raised and lowered by the elevating mechanism, thereby changing the length by which they protrude from the hand hole 421a. Increasing the length by which the multiple gripping pieces 422a protrude from the hand hole 421a increases the space available for holding components, allowing for a greater number of components to be held. On the other hand, shortening the length by which the multiple gripping pieces 422a protrude from the hand hole 421a reduces the space available for holding components, allowing for a smaller number of components to be held.

[0029] Each of the multiple gripping pieces 422a can grip a single component at its tip. The hand 422 grips one or more components from a large number of components stored in the storage section 3A or storage section 3B and supplies them to the pick table 5A or pick table 5B. On the other hand, the hand 422 grips one component from one or more components placed on the pick table 5A or pick table 5B and supplies it to the place table 6A or place table 6B.

[0030] Camera 423 represents a specific example of a detection unit according to the present invention. Camera 423 includes an imaging element, multiple lenses including an objective lens, a polarizing filter, lighting, etc. Camera 423 is housed in housing 421. The objective lens of camera 423 is exposed from lens hole 421b of housing 421.

[0031] The image (video) captured by the camera 423 is transmitted to the control unit 71, which will be described later. The control unit 71 detects information such as the positions of the storage units 3A and 3B and the pick tables 5A and 5B from the image captured by the camera 423.

[0032] [Pick table configuration] Next, the configuration of the pick tables 5A and 5B will be described with reference to FIG. FIG. 6 is a perspective view of the pick table 5A in the component supply device 1. As shown in FIG.

[0033] The pick tables 5A and 5B have the same configuration. Therefore, the configuration of the pick table 5A will be described here as an example. As shown in Fig. 6, the pick table 5A has a loading plate 51 that forms a loading surface and three wall plates 52 to 54 that are continuous with the loading plate 51.

[0034] The loading plate 51 is a substantially rectangular plate. The plane of the loading plate 51 is substantially perpendicular to the Z-axis direction. The loading plate 51 has two sides substantially parallel to the X-axis direction and two sides substantially parallel to the Y-axis direction. The wall plate 52 protrudes substantially perpendicularly from one of the two sides of the loading plate 51 substantially parallel to the X-axis direction, the side farther from the storage section 3A (see FIG. 2). The wall plates 53 and 54 protrude substantially perpendicularly from each of the two sides of the loading plate 51 substantially parallel to the Y-axis direction.

[0035] Wall plates 52 to 54 prevent the supplied components from falling off the load plate 51. The side of the load plate 51 where no wall plate is provided overlaps with the opening of the storage section 3A in the Z-axis direction. As a result, components that fall from the side of the load plate 51 where no wall plate is provided return to the storage section 3A. In addition, a tilting mechanism that tilts the pick table 5A is provided below the pick table 5A. The tilting mechanism tilts the pick table 5A so that the side of wall plate 52 is higher. As a result, components placed on the pick table 5A fall from the side of the load plate 51 where no wall plate is provided and are collected in the storage section 3A.

[0036] [Control system configuration] Next, the configuration of the control system of the component supply device 1 will be described with reference to FIG. FIG. 7 is a block diagram showing an example of the configuration of a control system in the component supply device 1.

[0037] The control board 7 (see FIG. 1) is provided with a control unit 71 and a storage unit 72. The control unit 71 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The various functions of the control unit 71 are realized by the CPU executing predetermined processing programs stored in the ROM. The various functions of the control unit 71 include, for example, operation control of the arm 412 by an arm control unit 712 and operation control of the hand 422 by a hand control unit 713.

[0038] 7, the control unit 71 has an overall control unit 711, an arm control unit 712, a hand control unit 713, and a recognition control unit 714. The control unit 71 represents a specific example of a supply adjustment unit according to the present invention.

[0039] The overall control unit 711 is connected to an arm control unit 712, a hand control unit 713, and a recognition control unit 714. The overall control unit 711 receives detection results from the recognition control unit 714, such as the positions of each unit, including the storage units 3A and 3B and the hand 422, the sizes of the pick tables 5A and 5B, and the number of parts held by the hand 422.

[0040] The overall control unit 711 performs overall control of the arm control unit 712 and the hand control unit 713 based on the detection results received from the recognition control unit 714 and the supply parameters 723 and characteristic information 724 stored in the memory unit 72.

[0041] The arm control unit 712 is connected to the drive unit of the arm 412. The arm control unit 712 receives control commands from the overall control unit 711. The arm control unit 712 generates an arm drive signal for driving the arm 412 based on the control command received from the overall control unit 711, and transmits the signal to the drive unit of the arm 412. As a result, the arm 412 performs an operation according to the control command from the overall control unit 711.

[0042] The hand control unit 713 is connected to the drive unit of the hand 422. The hand control unit 713 receives control commands from the overall control unit 711. Based on the control commands received from the overall control unit 711, the hand control unit 713 generates a hand drive signal for driving the hand 422 and transmits it to the drive unit of the hand 422. As a result, the hand 422 performs an operation according to the control command from the overall control unit 711.

[0043] The recognition control unit 714 is connected to the camera 423. The recognition control unit 714 controls the shooting by the camera 423 based on the shooting parameters 721 stored in the storage unit 72. In addition, the recognition control unit 714 performs image processing on the image data received from the camera 423 based on the image processing parameters (various correction values) stored in the storage unit 72.

[0044] The recognition control unit 714 detects the positions of the storage units 3A and 3B, the pick tables 5A and 5B, and the place tables 6A and 6B from the image data that has been image-processed. The recognition control unit 714 detects the posture of the hand 422 and the number of parts held by the hand 422 from the image data that has been image-processed. The recognition control unit 714 also detects the size (area) of the pick tables 5A and 5B, the shape of the pick tables 5A and 5B (whether or not they have wall panels), the outer shapes (outlines) of the parts placed on the pick tables 5A and 5B, etc. from the image data that has been image-processed. The recognition control unit 714 then transmits the detection results to the overall control unit 711.

[0045] The storage unit 72 stores imaging parameters 721, image processing parameters 722, supply parameters 723, and characteristic information 724. The imaging parameters 721 are used when the camera 423 captures an image of each part (pick tables 5A, 5B, etc.). Examples of imaging parameters include exposure time, lighting intensity, image size, etc., depending on the object being imaged. The image processing parameters 722 are various correction values ​​used when performing image processing on image data received from the camera 423.

[0046] The supply parameters 723 are used to determine the operation of the supply unit 4 when supplying components to the pick table 5A or the pick table 5B. The supply parameters 723 are stored in advance in the storage unit 72. The supply parameters 723 are prepared according to characteristic information, which will be described later. The contents of the supply parameters 723 will be described later with reference to FIG. 8.

[0047] The characteristic information 724 is at least one of the following information: part shape, part weight, part center of gravity, part material, part surface property, part surface friction coefficient, and part color. The characteristic information 724 is stored in advance in the storage unit 72 for each type of part. The control unit 71 may extract the characteristic information 724 from 3D model data of the part. In this case, the 3D model data of the part is stored in advance in the storage unit 72.

[0048] [Component supply operation of the component supply device] Next, the component supplying operation of the component supplying device 1 will be described with reference to FIG. FIG. 8 is a diagram illustrating the component supplying operation of the component supplying device 1. In FIG.

[0049] 8, in order for the component supply device 1 to supply components to a device in the next process, the components are first stored in storage units 3A and 3B (hereinafter referred to as "storage unit 3"). The components may be stored in storage unit 3 by a device in the previous process, or may be stored manually.

[0050] Next, the supply unit 4 grasps one or more components from the large amount of components in the storage unit 3 and supplies them to the pick table 5A or pick table 5B (hereinafter referred to as "pick table 5"). At this time, the supply unit 4 performs a supply operation such that the grasped components are separated on the pick table 5. Hereinafter, the supply operation such that the components are separated on the pick table 5 is referred to as a "component separation operation."

[0051] Next, the camera 423 photographs the top of the pick table 5, and the recognition control unit 714 of the control unit 71 recognizes the top of the pick table 5 from a bird's-eye view. At this time, the recognition control unit 714 determines whether or not there are any grippable parts on the pick table 5. If it is determined that there are no grippable parts on the pick table 5, the supply unit 4 grips one or more parts from the large amount of parts in the storage unit 3.

[0052] Note that even if a component is placed on the pick table 5, if the component is in a position that cannot be grasped by the supply unit 4, it is determined that there is no component that can be grasped on the pick table 5. In this case, the tilting mechanism is driven to tilt the pick table 5. As a result, the component placed on the pick table 5 falls from the side of the loading plate 51 where the wall panel is not provided, and is collected into the storage unit 3.

[0053] When it is determined that there is a part that can be grasped on the pick table 5, the recognition control unit 714 recognizes (determines) a gripping position for grasping one of the parts on the pick table 5. Then, the supply unit 4 grasps one part and supplies it to the place tables 6A and 6B (hereinafter referred to as "place table 6"). The place table 6 positions the supplied part in a predetermined position. The part positioned in the predetermined position is supplied to the equipment for the next process.

[0054] When the supply unit 4 supplies one component to the place table 6, the recognition control unit 714 recognizes (determines) a gripping position for gripping one of the components on the pick table 5. If there are no components on the pick table 5 at this time, the operation of supplying components to the place table 6 is terminated. Then, the supply unit 4 grips one or more components from the large number of components in the storage unit 3.

[0055] [Operation of the supply unit] Next, the operation of the supply unit 4 will be described with reference to FIG. FIG. 9 is an explanatory diagram showing the operation of the supply unit 4 from gripping a component from the storage unit 3 to supplying it to the pick table 5.

[0056] Before describing the operation of the supply unit 4, the storage unit 3 will be described. As shown in Fig. 9, the storage unit 3 has two slits 31 through which the two gripping pieces 422a of the hand 422 can pass, and a shutter 32 that opens and closes the two slits 31. The two slits 31 are provided on wall surfaces of the storage unit 3 that face each other in the X-axis direction. The two slits 31 extend in the Z-axis direction from an opening at the top of the storage unit 3.

[0057] The shutter 32 has a flange 32a that protrudes outward from the upper edge. The shutter 32 is biased upward in the Z-axis direction by a biasing member (not shown). When the flange 32a of the shutter 32 is pressed downward in the Z-axis direction by the hand 422, the shutter 32 moves downward against the biasing force of the biasing member. As a result, the shutter 32 opens the two slits 31. Furthermore, when the pressing force of the hand 422 is released, the shutter 32 moves upward due to the biasing force of the biasing member. As a result, the shutter 32 closes the two slits 31.

[0058] The shutter 32 may be configured to move in the Z-axis direction by a drive unit. In this case, the shutter 32 moves in the Z-axis direction in conjunction with the elevation of the hand 422. The shutter according to the present invention is not limited to one that moves in the Z-axis direction, and any other opening and closing mechanism, such as a double door, may be used as long as it opens and closes two slits.

[0059] To supply one or more components from the storage unit 3 to the pick table 5, first, the hand 422 of the supply unit 4 is moved above the storage unit 3. At this time, the multiple gripping pieces 422a of the hand 422 are in an open state. Also, the shutter 32 closes the two slits 31 of the storage unit 3. Next, the hand 422 is lowered. As a result, the flange 32a of the shutter 32 is pressed by the hand 422, and the shutter 32 is lowered against the biasing force of the biasing member. Then, the two slits 31 are opened, and the multiple gripping pieces 422a of the hand 422 are inserted into the two slits 31 (see FIG. 9(A)).

[0060] Next, the multiple gripping pieces 422a of the hand 422 are moved in a closing direction to insert the multiple gripping pieces 422a into the storage unit 3. As a result, the hand 422 pinches and grips one or more components between the tips of the multiple gripping pieces 422a in the closed state and / or inside the multiple gripping pieces 422a (see FIG. 9(B)). Meanwhile, the shutter 32 is released from the pressing force of the hand 422 and rises due to the biasing force of the biasing member. As a result, the shutter 32 closes the two slits 31.

[0061] Next, the hand 422 is raised, and the one or more components held by the hand 422 are removed from the storage unit 3 (see FIG. 9(C)). Thereafter, the hand 422 is moved above the pick table 5. Then, the multiple gripping pieces 422a of the hand 422 are opened, and the one or more components held by the hand 422 are dropped onto the pick table 5 and supplied (see FIG. 9(D)). At this time, the control unit 71 changes the supply operation of the hand 422 (supply unit 4) according to the characteristic information of the one or more components being held.

[0062] [Supply parameters] Next, the supply parameters 723 will be described with reference to FIG. FIG. 10 is an explanatory diagram of the supply parameters 723.

[0063] In the component supply device 1, the supply unit 4 supplies components to the pick table 5, and then the components placed on the pick table 5 are grasped one by one by the hand 422 of the supply unit 4 and supplied to the place table 6. Therefore, when the supply unit 4 supplies the components to the pick table 5, the components are spread out to prevent overlapping of the components.

[0064] Therefore, control unit 71 changes the component disassembly operation when a first component is supplied to pick table 5 and the component disassembly operation when a second component is supplied to pick table 5. Control unit 71 determines supply parameters 723 in accordance with component characteristic information 724. Control unit 71 then determines the component disassembly operation to be performed by supply unit 4 based on the determined supply parameters 723. This allows supply unit 4 to perform the component disassembly operation in accordance with component characteristic information 724. As a result, at least two or more types of components can be stably separated for each component.

[0065] As described above, the characteristic information 724 is, for example, at least one of the following information: part shape, part weight, part center of gravity, part material, part surface properties, part surface friction coefficient, and part color. Of the characteristic information 724, the part shape, part weight, part center of gravity, and part material are particularly important items when determining the supply parameters 723. Therefore, when determining the part disassembly operation, it is preferable to use at least one of the part shape, part weight, part center of gravity, and part material as the characteristic information 724.

[0066] 10, the supply parameters 723 are at least one of the component drop height, component drop start position (position in the X-axis direction and Y-axis direction), component drop start angle, component drop speed, and component drop acceleration. Of these supply parameters 723, the component drop height and component drop start position are parameters that are particularly effective in disassembling the components. Therefore, when determining the component disassembly operation, it is preferable to determine at least one of the component drop height and component drop start position as the supply parameters 723.

[0067] The drop height of the part can be changed by controlling the height position of the hand 422 with the arm 412. The drop start position of the part can be changed by controlling the position of the hand 422 in the X-axis and Y-axis directions with the arm 412. The drop start angle of the part can be changed by controlling the posture of the hand 422 with the arm 412. The drop speed and drop acceleration of the part can be changed by controlling the opening amount and opening speed of the multiple gripping pieces 422a in the hand 422.

[0068] Furthermore, the control unit 71 determines the supply parameters 723 according to the number of components to be supplied to the pick table 5. That is, the control unit 71 determines the supply parameters 723 according to the number of components held by the hand 422. In this embodiment, the recognition control unit 714 detects the number of components held by the hand 422 from the image captured by the camera 423.

[0069] For example, when one component is being held by the hand 422, the supply parameters 723 (e.g., the component drop height, the component drop start position) are determined so that the component is placed approximately in the center of the pick table 5. This prevents the component from being placed in contact with the wall panels 53, 54, etc., and makes it easier for the hand 422 to hold one component on the pick table 5 when supplying it to the place table 6.

[0070] On the other hand, when one component is being held by the hand 422, the supply parameters 723 (e.g., component drop height, component drop start position) are determined so that the multiple components are separated. Specifically, the drop height is set higher than when the hand 422 is holding one component, so that the multiple components are separated on the pick table 5.

[0071] The number of parts gripped by hand 422 may be detected from the amount of opening of gripping pieces 422a of hand 422 when gripping parts. The number of parts gripped by hand 422 may also be detected from the weight of the gripped parts.

[0072] Furthermore, the control unit 71 determines the supply parameters 723 according to the state of the pick table 5. In this embodiment, the recognition control unit 714 detects the state of the pick table 5 from an image captured by the camera 423. However, the state of the pick table 5 may be stored in advance in the storage unit 72.

[0073] The state of the pick table 5 may include the area of ​​the placement surface (loading plate 51) of the pick table 5, the presence or absence of walls (wall panels 52 to 54), the height of the walls, and the recognition range of the pick table 5. The recognition range of the pick table 5 is the range within which one or more components are separated by the component separation operation. The control unit 71 determines the supply parameters 723 according to at least one of the area of ​​the placement surface of the pick table 5, the presence or absence of walls, the height of the walls, and the recognition range of the pick table 5. This allows the supply unit 4 to execute the component separation operation according to the state of the pick table 5.

[0074] 2. Second embodiment [Component supply device configuration] First, the configuration of the component supply device of the second embodiment will be described with reference to FIG. FIG. 11 is a diagram showing the overall configuration of a component supply device according to the second embodiment.

[0075] As shown in Fig. 11, the component supply device 100 according to the second embodiment includes a transport unit 104, a pick table 105, and a camera 123. The transport unit 104 serves as both a storage unit and a supply unit according to the present invention. The transport unit 104 is disposed above the pick table 105. The transport unit 104 drops one or more components and supplies them to the pick table 105. The pick table 105 has the same configuration as the pick table 5 of the first embodiment.

[0076] The transport unit 104 has a belt conveyor 1041, a vibrating unit 1042, a partition plate 1043, and an elevating mechanism that raises and lowers the belt conveyor 1041. One or more parts are supplied to one end of the belt conveyor 1041. A first part is supplied to one end of the belt conveyor 1041 in a first period. Furthermore, a second part different from the first part is supplied to one end of the belt conveyor 1041 in a second period different from the first period. The part supplying device 100 supplies the first part to the device of the next process in the first period, and supplies the second part to the device of the next process in the second period.

[0077] In the second embodiment, a storage unit may be provided upstream of the conveying unit 104. In this case, components are supplied from the storage unit to the conveying unit 104. The storage unit has, for example, a housing with a supply port opening downward and a shutter that opens and closes the supply port. The shutter opens the supply port when components are supplied to the conveying unit 104. The shutter then closes the supply port when a predetermined amount of components have been supplied from the supply port to the conveying unit 104. Furthermore, a plurality of supply units may be provided. In this case, a first storage unit may store a first component, and a second storage unit may store a second component.

[0078] Belt conveyor 1041 transports one or more components supplied to one end to the other end, and drops one or more components from the other end. The components dropped from the other end of belt conveyor 1041 are supplied to pick table 105. In other words, vibrating unit 1042 is one of the mechanisms that supplies components to pick table 105. The driving of belt conveyor 1041 and the driving of the lifting mechanism that raises and lowers belt conveyor 1041 are controlled by a control unit (not shown). The control unit (not shown) corresponds to a supply adjustment unit according to the present invention.

[0079] A guide plate 108 is provided between the pick table 105 and the belt conveyor 1041 to guide components that have fallen from the belt conveyor 1041 to the pick table 105. Note that a component that has fallen from the belt conveyor 1041 may be guided by the guide plate 108 or may reach the pick table 105 without coming into contact with the guide plate 108.

[0080] The vibrating unit 1042 vibrates the other end of the belt conveyor 1041. In other words, the vibrating unit 1042 is one of the mechanisms that supplies components to the pick table 105. The driving of the vibrating unit 1042 is controlled by a control unit (not shown).

[0081] The partition plate 1043 is provided at the other end of the belt conveyor 1041. The partition plate 1043 is formed in the shape of a roughly triangular plate. The partition plate 1043 is configured to be rotatable around an axis extending in a direction parallel to its two planes. The partition plate 1043 rotates when a component comes into contact with it, appropriately changing the direction in which the component falls. In other words, the partition plate 1043 is one of the mechanisms that supplies components to the pick table 105.

[0082] The transport unit 104 may have a partition plate driving unit that rotates the partition plate 1043. A control unit (not shown) controls the partition plate driving unit to change the direction in which the partition plate 1043 faces. This makes it possible to control the direction in which the parts that have reached the other end of the belt conveyor 1041 fall.

[0083] A component detection sensor 1044 is provided at the other end of the belt conveyor 1041. The component detection sensor 1044 detects the number of components that have reached a predetermined position at the other end of the belt conveyor 1041. The component detection sensor 1044 transmits the detection results to a control unit (not shown). For example, a photo sensor or a camera can be used as the component detection sensor 1044.

[0084] Camera 123 is disposed above pick table 105. Camera 123 captures an image of the surface of pick table 105 on which components are loaded. Camera 123 transmits the captured image data to a control unit (not shown). The control unit (not shown) recognizes, from the captured image data, the positions of the components on the pick table, the amount of overlap of the components, the number of components, whether or not the components can be picked, etc.

[0085] [Supply parameters] Next, the supply parameters of the component supply device 100 will be described with reference to FIG. FIG. 12 is an explanatory diagram of the supply parameters of the component supply device 100.

[0086] The component supply device 100 supplies components to a pick table 105 by a transport unit 104. After that, the components placed on the pick table 105 are grasped and received one by one by a device for the next process. Therefore, when the components are supplied to the pick table 105 by the transport unit 104, the components are spread out so that they do not overlap with each other.

[0087] Therefore, the control unit (shown in the attached drawings) of the component supply device 100 changes the component disassembly operation when a first component is supplied to the pick table 105 and the component disassembly operation when a second component is supplied to the pick table 105. The control unit determines supply parameters according to the characteristic information of the components. Then, the control unit determines the component disassembly operation to be performed by the transport unit 104 based on the determined supply parameters. This allows the component disassembly operation to be performed by the transport unit 104 according to the characteristic information of the components. As a result, at least two or more types of components can be stably separated into individual components.

[0088] As in the first embodiment, the characteristic information is, for example, at least one of the following: part shape, part weight, part center of gravity, part material, part surface property, part surface friction coefficient, and part color. The part shape, part weight, part center of gravity, and part material are particularly important items when determining the supply parameters. Therefore, when determining the part disassembly operation, it is preferable to use at least one of the part shape, part weight, part center of gravity, and part material as the characteristic information.

[0089] As shown in Fig. 12, the supply parameters according to the second embodiment are at least one of the component drop height, component drop start position (horizontal position), component drop start angle, component drop direction, component drop speed, and whether or not vibration occurs during drop. The component drop height and component drop start position are parameters that are particularly effective in disassembling components. Therefore, when determining the component disassembly operation, it is preferable to determine at least one of the component drop height and component drop start position as the supply parameters.

[0090] The height at which the parts fall can be changed by controlling the height position of the belt conveyor 1041 with the lifting mechanism. The position at which the parts start falling can be changed by controlling the rotation position of the partition plate 1043 with the partition plate drive unit and by controlling the speed of the belt conveyor 1041. The angle at which the parts start falling can be changed by controlling the speed of the belt conveyor 1041.

[0091] The direction in which the parts fall can be changed by controlling the rotational position of the partition plate 1043 using the partition plate drive unit. The speed at which the parts fall can be changed by controlling the speed of the belt conveyor 1041. Whether or not vibration occurs during the fall can be changed by controlling the drive of the vibration unit 1042.

[0092] The control unit also determines the supply parameters according to the number of components to be supplied to the pick table 105. That is, the control unit determines the supply parameters according to the number of components that drop from the other end of the belt conveyor 1041.

[0093] Furthermore, the control unit determines the supply parameters according to the state of the pick table 105. In this embodiment, the control unit detects the state of the pick table 105 from an image captured by the camera 123. However, the state of the pick table 105 may be stored in advance in a storage unit (not shown).

[0094] The state of the pick table 105 may include the area of ​​the placement surface (loading plate 51) of the pick table 105, the presence or absence of walls (wall panels 52 to 54), the height of the walls, and the recognition range of the pick table 105. The recognition range of the pick table 105 is the range of the pick table 105 photographed by the camera 123. The control unit determines the supply parameters according to at least one of the area of ​​the placement surface of the pick table 105, the presence or absence of walls, the height of the walls, and the recognition range of the pick table 105. This allows the transport unit 104 to perform a component disassembly operation according to the state of the pick table 105.

[0095] The above describes the embodiment of the component supply device of the present invention, including its functions and effects. However, the component supply device of the present invention is not limited to the above embodiment, and various modifications are possible within the scope of the invention as defined in the claims.

[0096] For example, in the first embodiment described above, the hand 422 of the supply unit 4 is configured to grip a component and supply it to the pick table 5. In addition, in the second embodiment, the belt conveyor 1041 of the transport unit 104 is configured to supply the component to the pick table 105. However, the supply unit according to the present invention is not limited to using a gripping or belt mechanism, and may also grip and release the component by other methods, such as suction, air suction, magnetic attraction, or holding by a container-like member. [Explanation of symbols]

[0097] 1,100...component supply device, 2...frame, 3,3A,3B...storage section, 4...supply section, 5,5A,5B,105...pick table, 6,6A,6B...place table, 7...control board, 31...slit, 32...shutter, 32a...flange, 41...arm block, 42...hand block, 51...loading plate, 52,53,54...wall plate, 71...control section, 72...memory section, 104...transport section (storage section and supply section), 108...guide plate, 123,423...camera, 411...support base, 412...arm, 413...base member, 414...first link member, 415...second link member, 416...connection member, 421...housing, 422...hand, 422a...gripping piece, 711... Overall control unit, 712... Arm control unit, 713... Hand control unit, 714... Recognition control unit, 721... Photography parameters, 722... Image processing parameters, 723... Supply parameters, 724... Characteristics information, 1041... Belt conveyor, 1042... Vibration unit, 1043... Partition plate, 1044... Component detection sensor

Claims

1. a housing portion that houses a first component or a second component different from the first component; a supply unit that drops the first component or the second component accommodated in the accommodation unit onto a pick table and supplies the first component or the second component; a supply adjustment unit that adjusts the operations of the supply unit so that the supply unit drops and supplies the first component onto the pick table and the supply unit drops and supplies the second component onto the pick table are different based on characteristic information of the components to be supplied, a portion of the pick table overlaps with the accommodation portion in the vertical direction; The first component or the second component that has fallen from a part of the pick table returns to the accommodation section. Parts supply device.

2. The supply unit has a plurality of gripping pieces that grip one or more of the first parts or the second parts, and grips the first parts or the second parts supplied to the pick table one by one and supplies them to the place table. The component supply device according to claim 1 .

3. A camera capable of photographing the pick table; a tilting mechanism that tilts the pick table so that the portion is positioned downward, When the supply adjustment unit determines, based on the image supplied from the camera, that even if the first component or the second component is placed on the pick table, there is no first component or second component that the supply unit can grip to supply to the place table, the supply adjustment unit operates the tilt mechanism to return the first component or the second component on the pick table to the storage unit.

3. The component supply device according to claim 2.

4. The housing portion has a first housing portion and a second housing portion, the first housing portion houses the first component, The second housing portion houses the second component. The component supply device according to claim 1 .

5. a storage unit that stores the characteristic information of each of the first part and the second part; The component supply device according to claim 1 .

6. The characteristic information is stored in advance in the storage unit.

6. The component supply device according to claim 5.

7. The characteristic information is extracted from 3D model data of the first part and the second part.

6. The component supply device according to claim 5.

8. The characteristic information is at least one of the following: shape of the part, weight of the part, center of gravity of the part, material of the part, surface property of the part, and surface friction coefficient of the part.

6. The component supply device according to claim 5.

9. The supply adjustment unit determines parameters for operating the supply unit based on the characteristic information. The component supply device according to any one of claims 5 to 8.

10. The parameter is at least one of a drop height, a drop start position, a drop start angle, a drop speed, and a drop acceleration.

10. The component supply device according to claim 9.

11. The supply adjustment unit determines the parameter in accordance with the number of components to be supplied to the pick table.

10. The component supply device according to claim 9.

12. The supply unit includes a number detection unit that detects the number of components supplied to the pick table. The component supply device according to claim 11.

13. The supply adjustment unit determines the parameters depending on at least one of the area of ​​the pick table, the presence or absence of a wall, and a recognition range.

10. The component supply device according to claim 9.

14. When the pick table has a wall, the supply adjustment unit determines the parameter in accordance with the height of the wall.

10. The component supply device according to claim 9.

15. the supply unit has a plurality of gripping pieces that grip one or more of the first component or the second component, The parameter is at least one of an opening / closing speed of the plurality of gripping pieces, an attitude of the plurality of gripping pieces, an opening amount of the plurality of gripping pieces, and a position of the plurality of gripping pieces.

10. The component supply device according to claim 9.

Images