Parts supply device and parts supply method

Abstract

To provide a part supply device that can easily take out parts efficiently regardless of the shape of the parts, thereby improving versatility.SOLUTION: A part supply device includes a part storage unit that stores a plurality of parts, a plurality of posture adjustment units for adjusting the postures of the parts stored in the part storage unit, and a control unit that controls the driving of the posture adjustment units based on parts information about the parts stored in the storage unit.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a component feeding apparatus and a component feeding method.

Background Art

[0002] As a technology related to a component feeding apparatus that takes out a small amount of components from a stacked component group and feeds the components to a predetermined position, there is a technology disclosed in the following Patent Document 1. This Patent Document 1 describes a configuration in which, when the three-dimensional information processing unit of a component position and posture recognition device cannot recognize the position and posture of a component during component picking, the container body is rotated based on a preset rotation operation, and a vibration device is driven to vibrate the bottom of the container for a predetermined time, so as to change the stacked state of the components so that the positions and postures of the stacked components can be recognized.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] However, since the three-dimensional information processing unit of the above-described component feeding apparatus only recognizes the position and posture of components, when the shape of the handled component changes, it may be difficult to change the stacked state only by preset operations. For this reason, the shapes of components that can be efficiently taken out from the stacked component group and fed have been limited.

[0005] Therefore, an object of the present invention is to provide a component feeding apparatus and a component feeding method that facilitate efficient taking out of components regardless of component shapes, thereby enabling improvement of versatility.

Means for Solving the Problem

[0006] To achieve this objective, the present invention provides a parts supply device comprising: a parts storage section for storing a plurality of parts; a plurality of attitude adjustment sections for adjusting the attitude of the parts stored in the parts storage section; and a control unit that controls the driving of the plurality of attitude adjustment sections based on parts information relating to the parts stored in the storage section. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a parts supply device and a parts supply method that enable efficient removal of parts regardless of their shape, thereby improving versatility. [Brief explanation of the drawing]

[0008] [Figure 1] This is a perspective view of a parts supply device according to an embodiment. [Figure 2] This is a side view (part 1) of the main part of the parts supply device according to the embodiment. [Figure 3] This is a side view (part 2) of the main part of the parts supply device according to the embodiment. [Figure 4] This diagram shows the configuration of the control unit of the parts supply device according to the embodiment. [Figure 5] This is a flowchart showing the parts supply method according to the embodiment. [Figure 6] This is a flowchart showing the first component introduction / attitude adjustment process in the component supply method according to the embodiment. [Figure 7] This is a flowchart showing the second component introduction / attitude adjustment process in the component supply method according to the embodiment. [Figure 8] This is a flowchart showing the third component introduction / attitude adjustment process in the component supply method according to the embodiment. [Figure 9] This diagram illustrates the picking process of a parts supply device according to an embodiment of this product. [Modes for carrying out the invention]

[0009] Hereinafter, embodiments of the parts supply device and parts supply method of the present invention will be described in detail with reference to the drawings.

[0010] ≪Parts supply device≫ Figure 1 is a perspective view of a parts supply device according to an embodiment. The parts supply device 1 shown in this figure is for taking one or more parts from a large stack of parts and supplying them to a predetermined location [S]. Such a parts supply device 1 includes a parts storage device 10, a parts retrieval device 100, a control unit 200, various sensors 300, and an operation unit 400. The following describes each of these components.

[0011] <Parts storage device 10> Figures 2 and 3 are side views (1) and (2) of the main parts of the parts supply device according to the embodiment, and are views of the parts storage device 10 shown in Figure 1 as seen from the x direction. The parts storage device 10 shown in Figures 1 to 3 is for storing a large number of parts and includes a storage tower 11, storage trays 20, and a plurality of attitude adjustment units 30. These are as follows.

[0012] [Storage Tower 11] The storage tower 11 is a cylindrical container that, together with the storage tray 20 described below, constitutes a parts storage section for storing parts. The storage tower 11 is made of a cylindrical member erected upright, with an upper opening serving as a parts removal opening 11a. The storage tower 11 has slit openings 11b on two opposing side walls that are continuous with the removal opening 11a. Each slit opening 11b is provided with a shutter 12, described below, eliminating the need to consider parts falling out of the slit opening 11b. Therefore, the opening width and height of each slit opening 11b are not limited in relation to the size of the parts.

[0013] Furthermore, the storage tower 11 is provided with a carry-in opening 11c for carrying components into the storage tower 11 at a position independent of the two slit openings 11b on the side peripheral wall thereof. Further, the lower opening of the storage tower 11 is blocked by an elevating mechanism 31, which is one of the posture adjusting units 30 described below, and the elevating mechanism 31 forms a floor surface. Accordingly, in the storage tower 11, the floor surface moves in the vertical direction, and the height of the floor surface is variable.

[0014] Further, in the storage tower 11, the upper end edges of the two side surfaces where the slit openings 11b are arranged have a shape obliquely cut toward both sides with the arrangement position of the slit opening 11b as the highest portion. Accordingly, the configuration is such that interference of the storage tower 11 during movement of the component take-out device 100 described below is prevented.

[0015] The shutters 12 provided at the slit openings 11b of the storage tower 11 can freely open and close the two slit openings 11b respectively. Such a shutter 12 is arranged to cover each slit opening 11b from the outside of the storage tower 11, and opens and closes the slit opening 11b by moving in the vertical direction along the side surface of the storage tower 11.

[0016] The shutter 12 is pushed downward by a hand 102 (illustrated only in FIG. 1) of the component take-out device 100 described below, thereby moving downward in conjunction with the lowering of the hand 102 and opening the slit opening 11b. Further, the shutter 12 moves upward to close the slit opening 11b by releasing the downward pressing force. Such a shutter 12 has, for example, a configuration including a flange provided to protrude outward from the upper end edge, and when the hand 102 of the component take-out device 100 pushes the flange downward, the shutter 12 moves downward in conjunction with the lowering of the hand 102.

[0017] Note that the shutter 12 may be provided with a drive unit. In this case, the shutter 12 is configured to move downward in conjunction with the lowering of the hand 102 to open the slit opening 11b in accordance with an instruction from the control unit 200 (only shown in FIG. 1) described below. In addition, as long as the shutter 12 is configured to open the slit opening 11b in conjunction with the lowering of the hand 102, it is not limited to a vertically movable shutter, and may be, for example, a double-door shutter.

[0018] [Storage Tray 20] The storage tray 20, together with the storage tower 11, constitutes a component accommodating section for accommodating components, and is adapted to allow components to flow into the storage tower 11 from the carry-in opening 11c of the storage tower 11. Such a storage tray 20 is a wide-mouthed container portion for efficiently introducing components into the storage tower 11. The storage tray 20 is disposed around the storage tower 11, and has an inclined bottom surface that is inclined toward the lower end of the carry-in opening 11c of the storage tower 11. Here, as an example, in consideration of making the component storage device 10 compact, the inclined bottom surface having a shape surrounding the storage tower 11 is shown. This makes it possible to save space of the component supply device 1. Such inclined bottom surfaces are, for example, a first inclined bottom surface 21a, a second inclined bottom surface 21b, and a third inclined bottom surface 21c.

[0019] The two first inclined bottom surfaces 21a are disposed to hold the storage tower 11 at positions sandwiching the surface of the storage tower 11 where the carry-in opening 11c is provided. The second inclined bottom surface 21b is disposed opposite to the carry-in opening 11c of the storage tower 11, and inclines toward the lower ends of the two first inclined bottom surfaces 21a. The third inclined bottom surface 21c is continuously disposed from the lower end of the second inclined bottom surface 21b at a position sandwiched between the two first inclined bottom surfaces 21a, and is provided so as to incline toward the lower end of the carry-in opening 11c.

[0020] The storage tray 20 is configured such that components supplied into the tray slide down the two first inclined bottom surfaces 21a and the second inclined bottom surface 21b to be supplied to the third inclined bottom surface 21c, and further slide down the third inclined bottom surface 21c to flow into the storage tower 11 through the carry-in opening 11c.

[0021] [Posture adjustment section 30] The attitude adjustment section 30 adjusts the attitude of a large number of parts housed inside the storage tower 11 and storage tray 20, and is provided in both the storage tower 11 and the storage tray 20. This attitude adjustment section 30 consists of an elevation mechanism 31, vibration mechanisms 32a, 32b, 32c, a flow straightening rod 33, a bottom surface movement section 34 (shown only in Figures 2 and 3), and a side wall movement section 35 (shown only in Figures 2 and 3). The parts housing section composed of the storage tower 11 and storage tray 20 may be provided with all types of these attitude adjustment sections 30, but it is assumed that at least two of these attitude adjustment sections 30, either of the same type or different types, are provided. Each of these attitude adjustment sections 30 will be described below.

[0022] -Elevator mechanism 31- The elevation mechanism 31 raises and lowers the bottom surface of the parts storage section, which is composed of the storage tower 11 and the storage tray 20. Here, as an example, the elevation mechanism 31 is configured to form the bottom of the storage tower 11 and is able to move up and down within the storage tower 11 using the storage tower 11 as a travel path. By raising and lowering the bottom of the storage tower 11, such an elevation mechanism 31 supplies a large number of parts stored in the storage tower 11 to the height of the slit opening 11b of the storage tower 11, and also adjusts the orientation of the parts by swinging the parts inside the storage tower 11. An elevation mechanism may also be provided for the bottom surface of the storage tray 20.

[0023] -Vibration mechanism 32a, 32b, 32c- The vibration mechanisms 32a, 32b, and 32c vibrate the component storage section, which is composed of the storage tower 11 and the storage tray 20, and are, for example, vibration motors. These vibration mechanisms 32a, 32b, and 32c are, for example, a vibration mechanism 32a that vibrates the first inclined bottom surface 21a, a vibration mechanism 32b that vibrates the third inclined bottom surface 21c, and a vibration mechanism 32c that vibrates the bottom surface of the storage tower 11. These vibration mechanisms 32a, 32b, and 32c adjust the orientation of the large number of components stored by individually vibrating the bottom surfaces of each part of the storage tower 11 and the storage tray 20. The vibration mechanisms may also vibrate the side wall portions of the storage tower 11 and the storage tray 20.

[0024] -Rectifier rod 33- The flow straightening rod 33 is provided so as to be able to protrude from the wall portion of the parts storage section, which is composed of the storage tower 11 and the storage tray 20. In this example, the flow straightening rod 33 is shown being provided so as to be able to protrude from the wall portion near the boundary between the second inclined bottom surface 21b and the third inclined bottom surface 21c of the storage tray 20. By protruding into the storage tray 20, such a flow straightening rod 33 moves the large number of parts stored in the storage tray 20, adjusts the orientation of the parts, and facilitates the introduction of the parts into the storage tower 11. Note that there may be multiple flow straightening rods 33 provided in relation to the storage tray 20, and additionally, some may be provided so as to protrude from the bottom surface of the storage tower 11.

[0025] -Bottom surface movement section 34 (shown only in Figures 2 and 3)- The bottom surface adjustment section 34 changes the shape of the bottom surface of the component storage section, which is composed of the storage tower 11 and the storage tray 20. In this example, the bottom surface adjustment section 34 is configured to freely change the inclination of the bottom surface by freely bending the bottom surface of the storage tower 11. By tilting the bottom surface of the storage tower 11 through bending (see Figure 3) and then returning it to a flat state (see Figure 2), the bottom surface adjustment section 34 moves the components stored inside the storage tower 11 and adjusts their position. The bottom surface adjustment section 34 may also be provided for each bottom surface of the storage tray 20.

[0026] -Side wall movement section 35 (shown only in Figures 2 and 3)- The side wall movement section 35 is a mechanism that moves the side wall near the bottom surface of the storage tower 11. This side wall movement section 35 can change the distance between a pair of inclined side wall members erected on the bottom surface of the storage tower 11, for example. By changing the shape of the side wall near the bottom surface of the storage tower 11, such a side wall movement section 35 moves the components housed inside the storage tower 11 and adjusts their position.

[0027] <Parts removal device 100> Referring to Figure 1, the parts retrieval device 100 is for retrieving one or more parts from a large number of parts stored in the storage tower 11 of the parts storage device 10 and supplying them to a predetermined location [S]. Such a parts retrieval device 100 includes a robotic arm 101 and a hand 102. These components will be described below.

[0028] [Robot Arm 101] The robot arm 101 holds the hand 102 at its tip. Although only the tip of the robot arm 101 is shown in the drawing, this robot arm 101 can move the held hand 102 freely in the x, y, and z directions. The robot arm 101 may also have a mechanism to rotate the held hand 102 and to control the orientation of the hand 102.

[0029] [Hand 102] The hand 102 is held at the tip of the robot arm 101, protruding from the tip of the robot arm 101, and operates to hold and release parts. Such hands 102 are, for example, a pair of them arranged opposite each other as shown in the figure.

[0030] The pair of hands 102 are positioned with broad, generally flat surfaces facing each other, and their tips can be opened and closed by moving them closer together or further apart at the tip ends protruding from the robot arm 101. 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 tower 11. This allows the robot arm 101 to lower the hands 102 from above the storage tower 11, causing the tips of the hands 102 to press downwards against the upper end of the shutter 12, thereby moving the shutter 12 downwards and opening each of the slit openings 11b in the storage tower 11. In this state, each hand 102 is positioned opposite each of the slit openings 11b in the storage tower 11, and the hands 102 close the slit openings 11b. The pair of hands 102 are configured to move to the extent that their tips touch each other when their tips are closed.

[0031] Furthermore, each of the pair of hands 102 has a width smaller than the opening width of the slit opening 11b of the storage tower 11. This configuration allows the tip of each hand 102 to be inserted into the storage tower 11 through the two slit openings 11b that are opened by the shutter 12. By bringing the tips of the pair of hands 102 close together and closing them inside the storage tower 11, it becomes possible to hold parts inside the storage tower 11 between the pair of hands 102.

[0032] Furthermore, the pair of opposing hands 102 hold the part between them by bringing their tips close together. In this case, the hands 102 hold the part on the inner circumference side of the pair of hands 102 by bringing their tips into contact with each other. The hands 102 also hold the part by sandwiching it between their tips. Moreover, the hands 102 hold the part by sandwiching it between their tips and also hold the part on the inner circumference side.

[0033] Furthermore, the hand 102, while holding the part, is lifted upward from the storage tower 11 by the robot arm 101, thereby removing the part from the retrieval opening 11a of the storage tower 11. The hand 102 also releases the held part by opening the gap between its tips and places the part in a predetermined position [S].

[0034] <Control Unit 200> The control unit 200 controls the driving of the attitude adjustment unit 30 in the parts storage device 10 and the robot arm 101 and hand 102 in the parts retrieval device 100 based on information from various sensors 300 and the operation unit 400. As a result, the control unit 200 retrieves one or more parts from the large number of parts stored in the storage tower 11 of the parts storage device 10 and supplies them to a predetermined location [S].

[0035] Such a control unit 200 is composed of a computer. The computer is hardware used as a so-called computer. The computer includes a CPU (Central Processing Unit), RAM (Random Access Memory), and ROM (Read Only Memory), which are non-volatile memory units.

[0036] Figure 4 shows the configuration of the control unit 200 of the component supply device according to this embodiment. As shown in this figure, the control unit 200, which is configured by a computer, includes a storage unit 201, an information processing unit 202, and a drive control unit 203.

[0037] The memory unit 201 stores multiple adjustment programs for driving the attitude adjustment unit 30. The adjustment programs include control parameters such as the timing for driving each attitude adjustment unit, and the intensity and duration of driving each attitude adjustment unit. These adjustment programs are stored in the memory unit 201, associated with each classification of the part information that the parts possess. The part information is, for example, the size of the part, and one example is the maximum length [l] of the part.

[0038] The information processing unit 202 determines the classification of the parts handled by the parts supply device 1 based on the parts information from the various sensors 300 and the operation unit 400 shown in Figure 1, and extracts an adjustment program based on the determination from the adjustment programs stored in the storage unit 201.

[0039] The drive control unit 203 controls the driving of the attitude adjustment unit 30 in the parts storage device 10 and the robot arm 101 and hand 102 in the parts retrieval device 100, based on the adjustment program extracted by the information processing unit 202.

[0040] The drive control of the attitude adjustment unit 30, robot arm 101, and hand 102 by the control unit 200 will be explained in detail in the following section on parts supply methods.

[0041] <Various Sensors 300> Returning to Figure 1, the various sensors 300 are the image sensor 301, the safety sensor 302, and the height sensor 303. These are as follows:

[0042] [Image sensor 301] The image sensor 301 is used to detect the position and orientation of the parts storage device 10, and the position and orientation of the parts retrieval device 100 relative to a predetermined position [S] where parts are supplied. The image sensor 301 may also be used to detect the shape of parts in order to identify the part information of the parts handled by the parts supply device 1. Furthermore, the image sensor 301 can also be used as a sensor to detect the remaining amount of parts stored in the storage tower 11 and the amount of parts supplied to the predetermined position [S]. Such an image sensor 301 is, for example, an image recognition device having a camera. The image sensor 301 transmits the detected information to the control unit 200.

[0043] [Safety Sensor 302] The safety sensor 302 is for detecting components located at the retrieval opening 11a of the storage tower 11. Such a safety sensor 302 is a transmissive optical sensor comprising, for example, a light-emitting element that emits inspection light parallel to the retrieval opening 11a at a height near the upper end of the retrieval opening 11a, and a plurality of light-receiving elements (not shown) that receive the inspection light from the light-emitting element. The signal from such a safety sensor 302 is transmitted to the control unit 200 as information for confirming the storage status of components within the storage tower 11.

[0044] [Height sensor 303] The height sensor 303 is used to detect the supply height of parts within the parts storage section, which is composed of the storage tower 11 and the storage tray 20, and is also used as a sensor to detect the remaining amount of parts stored in the storage tower 11. Such a height sensor 303 is, for example, a line sensor positioned vertically against the side wall of the storage tray 20. The signal from the height sensor 303 is transmitted to the control unit 200 as information to confirm the supply height of parts within the parts storage section, which is composed of the storage tower 11 and the storage tray 20.

[0045] <Operation unit 400> The operation unit 400 is for inputting instructions for supplying parts by the parts supply device 1, various settings, and parts information related to the parts handled by the parts supply device 1. The information input from this operation unit 400 is transmitted to the control unit 200.

[0046] ≪Parts Supply Method≫ Figure 5 is a flowchart showing the component supply method according to the embodiment. The component supply method described using this figure is a component supply method implemented by the component supply program of the control unit 200 (see Figures 1 and 4) described above. Hereinafter, the component supply method by the component supply device 1 will be described in the order shown in Figure 5, referring to Figures 1 to 4. Note that the flow shown in Figure 5 is started when the start of component supply is input from the operation unit 400.

[0047] <Step S101> In step S101, the information processing unit 202 acquires part information relating to the parts handled by the part supply device 1. The information processing unit 202 acquires part information by input from the operation unit 400 or identifies part information by analyzing the signal from the image sensor 301. The part information acquired here is, for example, the size of the part, and in this case, as an example, the maximum length [l] of the part.

[0048] <Step S102> In step S102, the information processing unit 202 determines, based on the acquired part information, which size category the part handled by the part supply device 1 belongs to. As an example, the information processing unit 202 determines, for each part size relative to the size of the storage tower 11, which of the three categories [large], [medium], or [small] the part belongs to. Specifically, the classification of the part is determined according to the table below, based on the relationship between the length of the long side [a] or end side [b] of the cylindrical bottom surface of the storage tower 11 and the maximum length [l] of the part.

[0049] [Table 1]

[0050] Furthermore, the information processing unit 202 may determine which size category a component belongs to for each component size relative to the depth [d] of the storage tower 11. A specific example in this case is determining whether the maximum length [l] of the component exceeds half the depth [d] of the storage tower 11 ([l] > (1 / 2) × [d]). Here, the depth [d] of the storage tower 11 is the depth from the connection point with the storage tray 20, and is the size when the elevator mechanism 31 is lowered to its deepest position.

[0051] <Step S103> In step S103, the information processing unit 202 extracts the adjustment program stored in the storage unit 201 based on the classification of the parts determined in step S102. Here, it is assumed that the storage unit 201 stores adjustment programs associated with the classification of parts.

[0052] <Step S104> In step S104, the drive control unit 203 performs a parts introduction / attitude adjustment process based on the adjustment program extracted in step S103. This parts introduction / attitude adjustment process is performed before the parts picking process so that the parts retrieval device 100 can efficiently retrieve the parts from the storage tower 11. The picking process is the process of retrieving the parts from the storage tower 11 by driving the parts retrieval device 100 and supplying them to the processing position [S].

[0053] In this process, the drive control unit 203 controls the drive of the attitude adjustment unit 30 in the parts storage device 10 according to the extracted adjustment program, thereby performing the parts introduction / attitude adjustment process. The parts introduction / attitude adjustment process performed by the drive control unit 203 will be described below in the following order: when the parts are classified as [small], [medium], and [large]. Note that the procedure shown below assumes that the elevator mechanism 31 shown in Figures 2 and 3 is located at the top of the storage tower 11 and that the process starts with a large quantity of parts loaded into the storage trays 20.

[0054] (Part introduction / position adjustment process for small parts) Figure 6 is a flowchart showing the first component introduction / attitude adjustment process in the component supply method according to the embodiment. The following describes the procedure for the component introduction / attitude adjustment process performed by the drive control unit 203 when the component classification is determined to be [small], referring to Figures 1 to 4, and following the procedure shown in Figure 6.

[0055] [Step S401] In step S401, the drive control unit 203 lowers the elevator mechanism 31 of the attitude adjustment unit 30. This allows multiple parts to flow in from the storage tray 20 into the storage tower 11. In step S401, the vibration mechanisms 32a, 32b, and 32c may also be driven to facilitate the introduction of parts into the storage tower 11. In this case, the intensity of each vibration mechanism 32a, 32b, and 32c is set to a predetermined size for the part classification [small]. If the part supply device 1 is equipped with a side wall movement unit 35 as the attitude adjustment unit 30, the drive control unit 203 moves the side wall movement unit 35 to the position set for the part classification [small] before lowering the elevator mechanism 31.

[0056] [Step S402] In step S402, the drive control unit 203 determines whether the elevator mechanism 31 has reached a predetermined lower limit position. If it determines that it has reached the lower limit position (YES), it proceeds to the next step S403. Here, the lower limit position of the elevator mechanism 31 is a value set for each component size relative to the depth [d] of the storage tower 11. For example, if the maximum length [l] of a component is less than or equal to half the depth [d] of the storage tower 11 ([l] ≤ (1 / 2) × [d]), the lower limit position of the elevator mechanism 31 is set to the maximum depth [d].

[0057] [Step S403] In step S403, the drive control unit 203 stops the descent of the elevator mechanism 31.

[0058] [Step S404] In step S404, the drive control unit 203 starts driving the vibration mechanisms 32a, 32b, and 32c. At this time, the intensity of each vibration mechanism 32a, 32b, and 32c is set to a value predetermined for the component classification [small]. If the vibration mechanisms 32a, 32b, and 32c have already been started in step 401, the driving of the vibration mechanisms 32a, 32b, and 32c is continued.

[0059] [Step S405] In step S405, the drive control unit 203 determines whether a predetermined time has elapsed. Here, the predetermined time is a time set in advance for the [small] classification of parts, and is sufficient time for the parts in the parts storage section, which is composed of the storage tower 11 and the storage tray 20, to be orientation-adjusted by the driving of the vibration mechanisms 32a, 32b, and 32c. Here, sufficient time for the parts to be orientation-adjusted is sufficient time for the parts in the storage tray 20 to flow effectively into the storage tower 11. Furthermore, it is sufficient time for the gaps between the large number of parts stored in the storage tower 11 to be filled, thereby increasing the density of parts in the storage tower 11. This time is determined by prior experiments for each classification of parts, and the same applies to other parts introduction / attitude adjustment processes.

[0060] If the drive control unit 203 determines that a predetermined time has elapsed (YES), it proceeds to the next step S406.

[0061] [Step S406] In step S406, the drive control unit 203 stops the vibration mechanisms 32a, 32b, and 32c.

[0062] [Step S407] In step S407, the drive control unit 203 raises the elevator mechanism 31.

[0063] [Step S408] In step S408, the drive control unit 203 determines whether the signal from the safety sensor 302 has turned ON. Here, the signal from the safety sensor 302 being ON means that the detection light from the safety sensor 302 is blocked, and the detection light is not received by one or a predetermined number of the multiple light receiving units. This state allows the system to detect that a component inside the storage tower 11 has reached near the upper end of the retrieval opening 11a of the storage tower 11 where the safety sensor 302 is installed. If the drive control unit 203 determines that the signal from the safety sensor 302 has turned ON (YES), it proceeds to the next step S409.

[0064] [Step S409] In step S409, the drive control unit 203 stops the elevation of the elevator mechanism 31. With this, the part introduction / attitude adjustment process for when the part classification is determined to be [small] is completed, and the process proceeds to step S105 in Figure 5.

[0065] (Part introduction / position adjustment process for the [intermediate] part) Figure 7 is a flowchart showing the second component introduction / attitude adjustment process in the component supply method according to the embodiment. Hereinafter, referring to Figures 1 to 4, the procedure for component introduction / attitude adjustment performed by the drive control unit 203 when the component classification is determined to be [medium] will be shown according to the procedure shown in Figure 7. Note that the same step numbers will be used for processes in Figure 7 that are identical to those in Figure 6 when the component classification is determined to be [small], and some redundant explanations will be omitted.

[0066] [Step S401'] In step S401', the drive control unit 203 lowers the elevator mechanism 31 of the attitude adjustment unit 30. This allows multiple parts to flow in from the storage tray 20 into the storage tower 11. In step S401', the vibration mechanisms 32a, 32b, and 32c may also be driven, which will further accelerate the introduction of parts into the storage tower 11. In this case, the intensity of each vibration mechanism 32a, 32b, and 32c is set to a predetermined magnitude for the part classification [medium].

[0067] [Step S402'] In step S402', the drive control unit 203 determines whether the elevator mechanism 31 has reached a predetermined lower limit position. If it determines that it has reached the lower limit position (YES), it proceeds to the next step S403. Here, the lower limit position of the elevator mechanism 31 is a value set for each component size relative to the depth [d] of the storage tower 11. For example, if the maximum length [l] of a component is less than or equal to half the depth [d] of the storage tower 11 ([l] ≤ (1 / 2) × [d]), then the lower limit position of the elevator mechanism 31 is set to the maximum depth [d].

[0068] [Step S403] In step S403, the drive control unit 203 stops the descent of the elevator mechanism 31.

[0069] [Step S404'] In step S404', the drive control unit 203 starts driving the vibration mechanisms 32a, 32b, and 32c. At this time, the intensity of each vibration mechanism 32a, 32b, and 32c is set to a value predetermined for the component classification [medium]. If the vibration mechanisms 32a, 32b, and 32c have already been started in step 401', the drive control unit 203 continues to drive them.

[0070] [Step S405'] In step S405', the drive control unit 203 determines whether a predetermined time has elapsed. Here, the predetermined time is a time set in advance for the [medium] classification of parts, and is sufficient time for the parts in the parts storage section, which is composed of the storage tower 11 and the storage tray 20, to adjust their posture by driving the vibration mechanisms 32a, 32b, and 32c. If the drive control unit 203 determines that the predetermined time has elapsed (YES), it proceeds to the next step S406.

[0071] [Steps S406~Steps S409] In step S406, the drive control unit 203 stops the vibration mechanisms 32a, 32b, and 32c. Next, in step S407, the drive control unit 203 raises the elevator mechanism 31. Next, in step S408, if the drive control unit 203 determines that the signal from the safety sensor 302 is ON (YES), it proceeds to the next step S409. Next, in step S409, the drive control unit 203 stops the raising of the elevator mechanism 31.

[0072] [Step S410] Subsequently, in step S410, the drive control unit 203 bends and moves the bottom surface of the storage tower 11 by driving the bottom surface movement unit 34 of the attitude adjustment unit 30. At this time, the drive control unit 203 drives the bottom surface movement unit 34 a number of times predetermined for the classification [medium] of the parts. This number of times is sufficient for the orientation of the classification [medium] parts housed in the storage tower 11 to be adjusted.

[0073] [Step S411] In step S411, the drive control unit 203 moves the bottom surface of the storage tower 11 up and down by driving the elevator mechanism 31 of the attitude adjustment unit 30. At this time, the drive control unit 203 moves the bottom surface of the storage tower 11 up and down by driving the elevator mechanism 31 with a size and number of times set for the classification [medium] of the parts. This size and number of times are sufficient to adjust the attitude of the classification [medium] parts housed in the storage tower 11.

[0074] [Step S412] In step S412, the drive control unit 203 determines whether the signal output from the safety sensor 302 is below a predetermined value. Here, a uniform signal output from the safety sensor 302 means that the detection light from the safety sensor 302 is blocked, and the detection light is not received by a predetermined number of more than half of the multiple light receiving units. This state allows for the detection that only one or a small number of parts have not popped out of the retrieval opening 11a of the storage tower 11, and that many parts have reached the vicinity of the upper end of the retrieval opening 11a of the storage tower 11.

[0075] If the drive control unit 203 determines that the output signal from the safety sensor 302 is below a predetermined value (YES), it terminates the part introduction / attitude adjustment process for when the part classification is determined to be [medium], and proceeds to step S105 in Figure 5.

[0076] On the other hand, if the drive control unit 203 determines that the output signal from the safety sensor 302 is not below a predetermined value (NO), it returns to step S410 and repeats the process from there.

[0077] (Part introduction / position adjustment process for large parts) Figure 8 is a flowchart showing the third component introduction / attitude adjustment process in the component supply method according to the embodiment. Hereinafter, referring to Figures 1 to 4, the procedure for component introduction / attitude adjustment performed by the drive control unit 203 when the component classification is determined to be [large] will be shown according to the procedure shown in Figure 8. Note that the same step numbers are used for processes in Figure 8 that are identical to those in Figure 6 when the component classification is determined to be [small], and some redundant explanations will be omitted.

[0078] [Step S401”] In step S401", the drive control unit 203 lowers the elevator mechanism 31 of the attitude adjustment unit 30. This allows multiple parts to flow in from the storage tray 20 into the storage tower 11. In step S401", the vibration mechanisms 32a, 32b, and 32c may also be driven, which will accelerate the introduction of parts into the storage tower 11. In this case, the intensity of each vibration mechanism 32a, 32b, and 32c is set to a predetermined size for the part classification [large].

[0079] [Step S402”] In step S402", the drive control unit 203 determines whether the elevator mechanism 31 has reached a predetermined lower limit position. If it determines that it has reached the lower limit position (YES), it proceeds to the next step S403. Here, the lower limit position of the elevator mechanism 31 is a value set for each part size relative to the depth [d] of the storage tower 11. For example, if the maximum length [l] of a part exceeds half the depth [d] of the storage tower 11 ([l]>(1 / 2)×[d]), the lower limit position of the elevator mechanism 31 is set to a value smaller than the maximum depth [d].

[0080] [Step S403”] In step S403", the drive control unit 203 stops the descent of the elevator mechanism 31. At this time, if the vibration mechanisms 32a, 32b, and 32c are being driven, the drive of the vibration mechanisms 32a, 32b, and 32c is stopped.

[0081] [Step S403a] In step S403a, the drive control unit 203 drives the flow straightening rod 33 of the attitude adjustment unit 30 to extend and retract the flow straightening rod 33 from the bottom of the storage tray 20. At this time, the drive control unit 203 drives the flow straightening rod 33 with a size and number of repetitions set for the large category of parts. This size and number of repetitions are sufficient to adjust the attitude of the large category of parts in the storage tray 20 and introduce them into the storage tower 11.

[0082] [Step S404] In step S404, the drive control unit 203 starts driving the vibration mechanisms 32a, 32b, and 32c. At this time, the intensity of each vibration mechanism 32a, 32b, and 32c is set to a value predetermined for the component classification [large].

[0083] [Step S405”] In step S405, the drive control unit 203 determines whether a predetermined time has elapsed. Here, the predetermined time is the time set for the [large] category of parts, and is sufficient time for the parts in the parts storage section, which is composed of the storage tower 11 and the storage tray 20, to adjust their posture by driving the vibration mechanisms 32a, 32b, and 32c. If the drive control unit 203 determines that the predetermined time has elapsed (YES), it proceeds to the next step S406.

[0084] [Steps S406~Steps S409] In step S406, the drive control unit 203 stops the vibration mechanisms 32a, 32b, and 32c. Next, in step S407, the drive control unit 203 raises the elevator mechanism 31. Next, in step S408, if the drive control unit 203 determines that the signal from the safety sensor 302 is ON (YES), it proceeds to the next step S409. Next, in step S409, the drive control unit 203 stops the raising of the elevator mechanism 31.

[0085] [Step S410”] In step S410, the drive control unit 203 bends and moves the bottom surface of the storage tower 11 by driving the bottom surface movement unit 34 of the attitude adjustment unit 30. At this time, the drive control unit 203 drives the bottom surface movement unit 34 a number of times predetermined for the large category of parts. This number of times is sufficient to adjust the attitude of the large category of parts housed in the storage tower 11.

[0086] [Step S411”] In step S411, the drive control unit 203 moves the bottom surface of the storage tower 11 up and down by driving the elevator mechanism 31 of the attitude adjustment unit 30. At this time, the drive control unit 203 moves the bottom surface of the storage tower 11 up and down by driving the elevator mechanism 31 with a size and number of times set for the classification [large] of the parts. This size and number of times are sufficient to adjust the attitude of the classification [large] parts housed in the storage tower 11.

[0087] [Step S412] In step S412, the drive control unit 203 determines whether the signal output from the safety sensor 302 is below a predetermined value. Here, a uniform signal output from the safety sensor 302 means that the detection light from the safety sensor 302 is blocked, and the detection light is not received by a predetermined number of more than half of the multiple light receiving units. This state allows for the detection that only one or a small number of parts have not popped out of the retrieval opening 11a of the storage tower 11, and that many parts have reached the vicinity of the upper end of the retrieval opening 11a of the storage tower 11.

[0088] If the drive control unit 203 determines that the output signal from the safety sensor 302 is below a predetermined value (YES), it terminates the part introduction / attitude adjustment process for when the part classification is determined to be [large], and proceeds to step S105 in Figure 5.

[0089] On the other hand, if the drive control unit 203 determines that the output signal from the safety sensor 302 is not below a predetermined value (NO), it returns to step S410" and repeats the process from there.

[0090] <Step S105> Returning to Figure 5, after performing the part introduction / position adjustment process in step S104 by any of the above procedures, in step S105, the drive control unit 203 starts the picking process by driving the part picking device 100 (see Figure 1).

[0091] Figure 9 illustrates the picking process of the parts supply device according to the embodiment, and corresponds to a view of the main part of Figure 1 from the x-direction. The picking operation will be described below based on Figure 9.

[0092] First, as shown in Figure 9(1), the robot arm 101 moves the hand 102 onto the slit opening 11b of the storage tower 11. In this state, the component [Wo] housed in the storage tower 11 is pushed up to near the upper end of the removal opening 11a of the storage tower 11 by one of the component introduction / attitude adjustment processes described above.

[0093] Next, as shown in Figure 9(2), the robot arm 101 lowers the hands 102, and each hand 102 pushes down the shutter 12. This opens the slit opening 11b of the storage tower 11 and positions the hands 102 opposite the slit opening 11b. At this time, even if the parts [Wo] are of a certain size or larger, such as classified as [medium] or [large], no part of the parts [Wo] protrudes from the upper edge of the storage tower 11. Therefore, the bottom of the robot arm 101 does not interfere with the parts [Wo].

[0094] Next, the pair of hands 102 close their tips together, inserting the tip ends of the hands 102 into the interior of the storage tower 11 through the slit opening 11b. The hands 102 then hold the component [Wo] between their closed tips and at least on the inner circumference of the two closed hands 102. Following this movement of the hands 102, the shutter 12 rises and closes the slit opening 11b.

[0095] Subsequently, as shown in Figure 9(3), the robot arm 101 lifts and moves the hand 102 from the retrieval opening 11a of the storage tower 11, and retrieves one or more parts [Wo] that it has grasped by sandwiching them between the pair of hands 102 from the storage tower 11. At this time, the robot arm 101 slightly raises the hand 102 and carries the hand 102 out of the storage tower 11 from a low position in the retrieval opening 11a. This makes it possible to carry the hand 102 that has grasped the parts [Wo] out of the storage tower 11 with a shorter movement path without raising it significantly.

[0096] After the above, the robot arm 101 moves the hand 102 to a predetermined position [S] (see Figure 1). At the destination, the hand 102 opens its tip by separating it, thereby supplying one or more parts [Wo] held by the pair of hands 102 to the predetermined position [S].

[0097] Returning to Figure 5 (see Figures 1 to 4), during the picking process initiated in step S105 above, at least the attitude adjustment process by driving the attitude adjustment unit 30 installed in the storage tower 11 may be performed in parallel. In this case, the drive control unit 203 may change the control parameters of the attitude adjustment unit 30 based on the remaining amount of parts in the storage tower 11, using signals from the image sensor 301 or the height sensor 303, and reduce the drive strength of the attitude adjustment unit 30 as the remaining amount decreases.

[0098] <Step S106> Returning to Figure 5, in step S106, the information processing unit 202 determines whether the picking process is being carried out efficiently. At this time, the information processing unit 202 calculates, for example, the amount of parts [Wo] supplied to a predetermined position [S] or the remaining amount of parts [Wo] in the storage tower 11 based on information from the image sensor 301 (see Figure 1), relative to the number of pickings or processing time. Then, it determines whether the picking process is being carried out efficiently based on whether the supply amount or remaining amount has reached a preset level for each classification of parts [Wo].

[0099] If the information processing unit 202 determines that the process is being carried out efficiently (YES), it proceeds to step S107. On the other hand, if it determines that the process is not being carried out efficiently (NO), it proceeds to step S106a.

[0100] <Step S106a> In step S106a, the information processing unit 202 instructs the drive control unit 203 to perform the storage tower orientation adjustment process. This storage tower orientation adjustment process is performed in parallel with the parts picking process so that the parts retrieval device 100 can efficiently retrieve parts from the storage tower 11.

[0101] In this case, the drive control unit 203 performs an in-storage tower attitude adjustment process by controlling the drive of at least one of the attitude adjustment units 30 provided for the storage tower 11, according to the adjustment program extracted in step S103. This process is performed in parallel with the picking process. If the attitude adjustment process by driving the attitude adjustment unit 30 is performed in parallel with the picking process, then the in-storage tower attitude adjustment process in step S106a may be performed by temporarily increasing the drive strength of the attitude adjustment unit 30.

[0102] <Step S106b> In step S106b, the information processing unit 202 performs a control parameter change process and overwrites the adjustment program stored in the memory unit 201. At this time, the information processing unit 202 increases the adjustment strength of each attitude adjustment unit 30 related to the part introduction / attitude adjustment process in the adjustment program extracted in step S103. Here, adjustment strength corresponds to increasing or strengthening the drive strength of each attitude adjustment unit 30, or increasing the drive time or number of drives. As a result of this process, in the part introduction / attitude adjustment process performed in step S104 thereafter, the part introduction / attitude adjustment process is performed based on the adjustment program whose control parameters have been changed by the overwrite, and the efficiency of the subsequent picking process is improved.

[0103] <Step S107> On the other hand, in step S106, the system determines that the picking process is being carried out efficiently (YES), and proceeds to step S107. In this step, the information processing unit 202 determines whether the amount of parts [Wo] supplied to the predetermined position [S] has reached a predetermined number. At this time, the information processing unit 202 determines, for example, based on information from the image sensor 301 (see Figure 1), whether the amount of parts [Wo] supplied to the predetermined position [S] has reached the planned predetermined supply amount. If the information processing unit 202 determines that the predetermined supply amount has been reached (YES), it terminates the process. On the other hand, if the information processing unit 202 determines that the predetermined supply amount has not been reached (NO), it proceeds to step S108.

[0104] <Step S108> In step S108, the information processing unit 202 determines whether or not there are remaining parts in the storage tower 11. At this time, the information processing unit 202 determines whether or not there are pickable parts remaining in the storage tower 11, for example, based on information from the image sensor 301 (see Figure 1). If the information processing unit 202 determines that there are remaining parts (YES), it returns to step S107 and repeats the process until it determines in step S107 that a predetermined supply amount has been reached (YES).

[0105] On the other hand, if the information processing unit 202 determines that there are no remaining parts (NO), it returns to step S104 and performs the parts introduction / attitude adjustment process. In this case, if it returns to step S104 after passing through the previous step 106b, the parts introduction / attitude adjustment process performed in the returned step S104 is carried out based on the adjustment program overwritten in the storage unit 201.

[0106] <<Effects of the Embodiment>> According to the embodiment described above, the configuration controls the driving of multiple attitude adjustment units 30 based on the part information of the parts being handled to adjust the attitude of the parts in the storage tower 11 and storage tray 20. As a result, regardless of the shape (size) of the parts, more parts can be brought from the storage tray 20 into the storage tower 11, and the gaps between parts in the storage tower 11 can be filled to increase the density of parts in the storage tower 11. As a result, regardless of the shape of the parts, efficient removal of parts from the storage tower 11 and supply of the removed parts become possible. As a result, the versatility of the parts supply device 1 can be improved, the space required for arranging the parts supply device 1 can be reduced without the need to prepare different parts supply devices for each part shape, and costs can also be reduced. [Explanation of Symbols]

[0107] 1... Parts supply device 11…Storage tower 11a... Removal opening 11b... Slit opening 11c…Carry-in opening 12...Shutter 20…Storage trays 21a...first inclined bottom surface 21b…Second inclined bottom surface 21c…Third inclined bottom surface 30…Posture adjustment section 31…Elevator mechanism 32a,32b,32c...Vibration mechanism 33... Rectifier rod 34...Bottom surface movement section 35... Side wall movement section 100... Parts removal device 200... Control Unit 201...Storage section 202… Information Processing Section 203…Drive Control Unit 301…Image sensor 302…Safety Sensor 303... Height sensor 400...Operation unit

Claims

1. A parts storage section for storing multiple parts, Multiple attitude adjustment units for adjusting the attitude of the components housed within the component housing, The system includes a control unit that controls the driving of the plurality of attitude adjustment units based on component information relating to the components housed in the component housing section, The aforementioned component housing section is A storage tower having a cylindrical member erected on its side perimeter wall having an opening for loading the aforementioned parts, The storage tower is surrounded by storage trays for allowing parts to flow into the storage tower through the loading opening. Parts supply device.

2. The plurality of attitude adjustment units are at least two of the same or different types selected from among a vibration mechanism for vibrating the component housing, an elevator mechanism for raising and lowering the bottom surface of the component housing, a bottom surface fluctuation unit for fluctuating the bottom surface of the component housing, a side wall fluctuation unit for fluctuating the side walls of the component housing, and a flow straightening rod that can protrude into the component housing. The parts supply device according to claim 1.

3. The control unit, A storage unit for storing the control parameters of the attitude adjustment unit, The system includes a drive control unit that controls the drive of the attitude adjustment unit based on the aforementioned component information and the aforementioned control parameters. The parts supply device according to claim 1.

4. The control unit, The system includes an information processing unit that determines the classification of the parts based on the parts information, and extracts control parameters associated with the determined classification from the control parameters stored in the storage unit, which are associated with each classification of the parts. The drive control unit controls the drive of the attitude adjustment unit based on the control parameters extracted by the information processing unit. The parts supply device according to claim 3.

5. The control unit, A storage unit that stores multiple adjustment programs associated with each classification of the aforementioned parts, An information processing unit that determines the classification of the parts based on the parts information and extracts an adjustment program associated with the determined classification from the storage unit, The system includes a drive control unit that drives the attitude adjustment unit according to the adjustment program extracted by the information processing unit. The parts supply device according to claim 1.

6. The drive control unit drives the attitude adjustment unit selected from the plurality of attitude adjustment units according to the classification of the parts. The parts supply device according to claim 5.

7. The component housing section is equipped with a sensor for detecting the component located at the component removal opening, The control unit repeatedly drives the plurality of attitude adjustment units based on the signals from the sensors. The parts supply device according to claim 1.

8. The system includes a parts removal device for removing the parts housed in the parts housing from the removal opening of the parts housing and supplying them to a predetermined position. The control unit operates the parts removal device after driving the plurality of attitude adjustment units. The parts supply device according to claim 7.

9. A parts removal device for removing the parts housed in the parts housing and supplying them to a predetermined position, The component housing section is equipped with a sensor for detecting the remaining amount of the component housed within it. The control unit modifies the control parameters of the plurality of attitude adjustment units based on the signals from the sensors. The parts supply device according to claim 1.

10. The control unit modifies the control parameters of the plurality of attitude adjustment units based on the efficiency of removing parts from the parts storage unit by the parts removal device. The parts supply device according to claim 9.

11. Equipped with an image sensor, The control unit identifies the part information based on the image acquired by the image sensor. The parts supply device according to claim 1.

12. It is equipped with an operating unit for inputting the aforementioned component information. The parts supply device according to claim 1.

13. The plurality of attitude adjustment units are provided in the storage tower and the storage tray. The parts supply device according to claim 1.

14. The system includes a parts removal device for removing the parts housed in the parts housing and supplying them to a predetermined position. The control unit operates the parts removal device after driving the posture adjustment unit provided in the storage tower and the storage tray. The parts supply device according to claim 1.

15. The control unit drives at least the attitude adjustment unit provided in the storage tower when operating the parts extraction device. The parts supply device according to claim 14.

16. A parts supply method using a parts supply device comprising: a storage tower having a cylindrical member erected on its side circumferential wall having an opening for loading parts; a storage tray arranged around the storage tower for allowing parts to flow into the storage tower from the loading opening; a parts storage section for storing a plurality of parts; and a plurality of posture adjustment sections for adjusting the posture of parts stored in the parts storage section, wherein the parts supply device comprises: The control unit controls the driving of the plurality of attitude adjustment units based on component information relating to the components housed in the component housing unit. Parts supply method.

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