Fastener supply device and robot system

Abstract

A fastener supply device 3 receives compressed air from a compressor 2 and supplies a fastener F to a fastening position, the fastener supply device 3 comprising: a cylindrical conveyance pipe 60 including a first hole 61 into which the fastener F is inserted and an air hole 62 into which the compressed air is introduced; an opening / closing shutter 65 that moves, with respect to the first hole 61 of the conveyance pipe 60, between a position for closing the first hole 61 and a position for opening the first hole 61; and a first drive mechanism 71 that relatively moves the conveyance pipe 60 and the opening / closing shutter 65 to open / close the first hole 61 by using the opening / closing shutter 65.

Description

Fastener Feeding Apparatus and Robot System

[0001] The technology disclosed herein relates to a fastener feeding apparatus and a robot system.

[0002] Conventionally, there has been known a fastener feeding apparatus that receives compressed air from a compressor and feeds a fastener to a fastening position. For example, the fastener feeding apparatus disclosed in Patent Document 1 includes a conveyance pipe having a receiving port into which a fastener is inserted. The fastener is fed into the conveyance pipe through the receiving port, and the fastener is conveyed through the conveyance pipe by blowing compressed air into the conveyance pipe.

[0003] Japanese Utility Model Publication No. 52-41860

[0004] However, in the conventional fastener feeding apparatus as described above, when compressed air is blown into the conveyance pipe to convey the fastener, the compressed air may leak out from the receiving port, which makes it difficult to convey the fastener.

[0005] The technology disclosed herein has been made in view of the foregoing point, and an object of the technology is to reliably convey a fastener.

[0006] The fastener feeding apparatus disclosed herein is a fastener feeding apparatus that receives compressed air from a compressor and feeds a fastener to a fastening position, and includes: a cylindrical conveyance pipe including a first hole into which the fastener is inserted and an air hole into which the compressed air is introduced; an opening / closing shutter that moves between a position closing the first hole and a position opening the first hole relative to the first hole of the conveyance pipe; and a first drive mechanism that relatively moves the conveyance pipe and the opening / closing shutter to cause the opening / closing shutter to open and close the first hole.

[0007] The robot system disclosed herein includes: a robot having an arm; a compressor; the above-described fastener feeding apparatus attached to the arm; and a control device that controls the robot, the compressor, and the first drive mechanism of the fastener feeding apparatus, wherein when the control device introduces compressed air from the compressor into the conveyance pipe to convey the fastener inserted into the conveyance pipe, the control device controls the first drive mechanism to cause the opening / closing shutter to close the first hole.

[0008] According to the fastener supply device and the robot system, fasteners can be reliably transported.

[0009] Figure 1 is a side view of a robot system according to an embodiment. Figure 2 is a diagram showing the hardware configuration of the control device. Figure 3 is a perspective view of the first fastener supply device. Figure 4 is a side view of the first fastener supply device. Figure 5 is an exploded perspective view of the fastener transport mechanism. Figure 6 is a cross-sectional view of the fastener transport mechanism with the first hole of the transport pipe closed. Figure 7 is a cross-sectional view of the fastener transport mechanism with the first hole of the transport pipe open. Figure 8 is a simplified side view of the fastener storage mechanism. Figure 9 is a simplified side view of the fastener storage mechanism and the fastener transport mechanism. Figure 10 is a view of the fastener storage mechanism from the forward X direction. Figure 11 is a cross-sectional view of the shutter mechanism showing the shutter mechanism closing the downstream path of the transport pipe. Figure 12 is a cross-sectional view of the shutter mechanism showing the shutter mechanism opening the downstream path of the transport pipe. Figure 13 is a view of the fastener path switching mechanism from the reverse X direction, showing the state in which the switching tube has moved to the first position. Figure 14 is a view of the fastener path switching mechanism from the reverse X direction, showing the state in which the switching tube has moved to the second position. Figure 15 is a view of the fastener path switching mechanism from the reverse Y direction, showing the state in which the switching tube has moved to the first position. Figure 16 is a perspective view of the fastener storage cartridge from above. Figure 17 is a cross-sectional view of the fastener storage cartridge along the line XVII-XVII in Figure 16. Figure 18 is an exploded perspective view of the fastener storage cartridge from above. Figure 19 is an enlarged cross-sectional view of a part of the fastener storage cartridge when the extrusion member has switched to the first position. Figure 20 is an enlarged cross-sectional view of a part of the fastener storage cartridge when the extrusion member has switched to the second position. Figure 21 is a cross-sectional view from above showing the positions of each member of the transmission mechanism when the switch is in the first position. Figure 22 is a top-view cross-sectional view showing the positions of each component of the transmission mechanism when the switch is in the second position. Figure 23 is an enlarged cross-sectional view of a portion of the fastener storage cartridge when the extrusion member has switched to the third position. Figure 24 is an enlarged cross-sectional view of a portion of the fastener storage cartridge when the fastener is loaded into the cartridge body. Figure 25 is a plan view of the fastener storage cartridge when the switch is in the third position.Figure 26 is a plan view of the inside of the cartridge body with the top cover removed. Figure 27 is a cross-sectional view of the cartridge body seen from above.

[0010] The following exemplary embodiments will be described in detail with reference to the drawings.

[0011] Figure 1 is a side view of the robot system 100. The robot system 100 performs fastening work, for example, in the assembly of an aircraft. The robot system 100 comprises a robot 1, a compressor 2, a first fastener supply device 3, and a control device 4. The first fastener supply device 3 is an example of a fastener supply device of this disclosure. The robot system 100 further comprises a trolley 5, a movable plate 6, a second fastener supply device 7, and a replacement device 8. The robot 1 is mounted on the movable plate 6, and the movable plate 6 is movably mounted on the trolley 5.

[0012] Hereinafter, the front-rear direction in the robot system 100 is defined as the direction in which the movable plate 6 moves until the robot 1 is positioned outside the trolley 5 in a plan view, with the front being the direction in which it moves and the opposite side being the rear. Figure 1 shows the state in which the movable plate 6 has moved to the front. The left-right direction in the robot system 100 is defined as the direction in which the right side is to the right and the left side is to the left when looking from the rear of the robot 1 to the front. The front-rear direction, left-right direction, and directions expressed by combinations thereof are collectively referred to as the horizontal direction. In this specification, "parallel" includes not only being perfectly parallel but also being substantially parallel. Similarly, "orthogonal" includes not only being perfectly orthogonal but also being substantially orthogonal.

[0013] The trolley 5 is a self-propelled trolley. The trolley 5 is, for example, an automated guided vehicle (AGV). The trolley 5 has a flat, roughly rectangular shape. The trolley 5 has drive wheels that are driven by a drive unit. In this example, the trolley 5 travels horizontally on the floor surface 9.

[0014] The movable plate 6 is mounted on the trolley 5. The movable plate 6 is roughly plate-shaped and extends horizontally. The movable plate 6 is attached to the top surface of the trolley 5 via rails. The movable plate 6 is movable horizontally. More specifically, the movable plate 6 moves horizontally until, in a plan view, the robot 1 is positioned outside the trolley 5. In this example, the movable plate 6 moves in the forward and backward directions as indicated by the arrows.

[0015] Robot 1 has an arm 10 and fastens fasteners. Specifically, robot 1 has an arm 10 connected to a movable plate 6 and an end effector 13 connected to the arm 10.

[0016] The arm 10 is connected to the upper surface of the movable plate 6. More specifically, the arm 10 is positioned in front of the movable plate 6. In other words, the robot 1 is located in front of the movable plate 6.

[0017] The arm 10 has multiple links, which are rotatably connected to each other. The arm 10 is configured to move in three dimensions. In this example, the arm 10 is a vertical articulated robot arm.

[0018] The multiple links include a first link 11a, a second link 11b, a third link 11c, a fourth link 11d, and a fifth link 11e, which are arranged in series from the movable plate 6 side. The fifth link 11e is located at the tip of the arm 10.

[0019] The movable plate 6 and the first link 11a are rotatably connected around the first axis 12a. The first link 11a and the second link 11b are rotatably connected around the second axis 12b. The second link 11b and the third link 11c are rotatably connected around the third axis 12c. The third link 11c and the fourth link 11d are rotatably connected around the fourth axis 12d. The fourth link 11d and the fifth link 11e are rotatably connected around the fifth axis 12e.

[0020] The end effector 13 is attached to the tip of the arm 10. Specifically, the end effector 13 and the fifth link 11e are rotatably connected around the sixth axis 12f. The end effector 13 includes a work tool for fastening fasteners.

[0021] The compressor 2 is mounted on the trolley 5. Specifically, the compressor 2 is located on the trolley 5 to the side of the movable plate 6 relative to the direction of movement of the movable plate 6. In this example, the compressor 2 is located to the right of the movable plate 6. In other words, the compressor 2 is mounted directly on the trolley 5, not on the movable plate 6. In this example, the compressor 2 is located at the rear of the trolley 5. The compressor 2 supplies compressed air to the first fastener supply device 3 and the second fastener supply device 7.

[0022] The first fastener supply device 3 is attached to the arm 10. Specifically, the first fastener supply device 3 is attached to the third link 11c of the arm 10.

[0023] The first fastener supply device 3 supplies fasteners to the end effector 13. Specifically, the first fastener supply device 3 receives compressed air from the compressor 2 and supplies fasteners to the fastening position. In this example, the first fastener supply device 3 supplies temporary fasteners as fasteners.

[0024] Fasteners include, for example, permanent fasteners and temporary fasteners. Permanent fasteners are fasteners used to provide permanent fastening to a workpiece. Temporary fasteners are fasteners used to fasten a workpiece temporarily. Generally, temporary fasteners are longer and heavier than permanent fasteners.

[0025] The second fastener supply device 7 is located on the upper surface of the movable plate 6. Specifically, the second fastener supply device 7 is located behind the movable plate 6. More specifically, the second fastener supply device 7 is located behind the robot 1 on the movable plate 6.

[0026] The second fastener supply device 7 supplies fasteners to the end effector 13. Specifically, the second fastener supply device 7 receives compressed air from the compressor 2 and supplies fasteners to the fastening position. In this example, the second fastener supply device 7 supplies permanent fasteners as fasteners.

[0027] The exchange device 8 is mounted on the trolley 5. Specifically, the exchange device 8 is located on the trolley 5 to the side of the movable plate 6 relative to the direction of movement of the movable plate 6. In this example, the exchange device 8 is located to the right of the movable plate 6. In other words, the exchange device 8 is mounted directly on the trolley 5, not on the movable plate 6. In this example, the exchange device 8 is located at the front of the trolley 5. The exchange device 8 changes the work tool of the end effector 13.

[0028] The control device 4 controls the entire robot system 100. Specifically, the control device 4 controls the robot 1, the compressor 2, the first fastener supply device 3, the second fastener supply device 7, etc. The control device 4 is not located on the movable plate 6, but is located directly on the rear side of the trolley 5.

[0029] Figure 2 shows the hardware configuration of the control device 4. The control device 4 includes a processor 41, a memory 42, and a memory 43.

[0030] The processor 41 performs various calculations. For example, the processor 41 is formed by a processor such as a CPU (Central Processing Unit). The processor 41 may also be formed by an MCU (Micro Controller Unit), MPU (Micro Processor Unit), FPGA (Field Programmable Gate Array), PLC (Programmable Logic Controller), system LSI, etc. The processor 41 fastens fasteners to the workpiece by operating the robot 1, compressor 2, first fastener supply device 3, second fastener supply device 7, etc.

[0031] Memory 42 stores programs and various data executed by the processor 41. For example, memory 42 stores control programs. Memory 42 is made up of non-volatile memory, an HDD (Hard Disk Drive), or an SSD (Solid State Drive), etc. Memory 43 temporarily stores data, etc. For example, memory 43 is volatile memory.

[0032] Figure 3 is a perspective view of the first fastener supply device 3. Figure 4 is a side view of the first fastener supply device 3. In Figures 3 and 4, the outer cover of the first fastener supply device 3 is removed. The first fastener supply device 3 comprises a fastener storage mechanism 31, a fastener transport mechanism 32, and a fastener route switching mechanism 33. The first fastener supply device 3 is attached to the third link 11c of the arm 10 by a mounting fixture 30.

[0033] As shown in the drawing, for the sake of explanation, the longitudinal direction of the first fastener supply device 3 is defined as the X direction, the short direction of the first fastener supply device 3 is defined as the Y direction, and the height direction of the first fastener supply device 3 is defined as the Z direction. The X, Y, and Z directions are mutually orthogonal. The X direction coincides with the extending direction of the third link 11c of the arm 10.

[0034] In this example, the fastener path switching mechanism 33 is located at the X-direction end of the first fastener supply device 3. The direction opposite to the side of the first fastener supply device 3 where the fastener path switching mechanism 33 is located is referred to as the forward X direction, and the side where the fastener path switching mechanism 33 is located is referred to as the reverse X direction. In other words, in the first fastener supply device 3, the fastener transport mechanism 32 feeds fasteners F from the forward X direction to the reverse X direction. Hereafter, the forward X direction will also be referred to as the rear side of the first fastener supply device 3, and the reverse X direction will also be referred to as the front side of the first fastener supply device 3.

[0035] The fastener transport mechanism 32 is located at the Y-direction end of the first fastener supply device 3. The direction opposite to the side of the first fastener supply device 3 where the fastener transport mechanism 32 is located is referred to as the forward Y-direction, and the side where the fastener transport mechanism 32 is located is referred to as the reverse Y-direction. Hereafter, the forward Y-direction will also be referred to as the right side of the first fastener supply device 3, and the reverse X-direction will also be referred to as the left side of the first fastener supply device 3.

[0036] The mounting fixture 30 is provided at the Z-direction end of the first fastener supply device 3. The direction opposite to the side of the first fastener supply device 3 where the mounting fixture 30 is provided is referred to as the forward Z direction, and the side where the mounting fixture 30 is provided is referred to as the reverse Z direction. Hereafter, the forward Z direction will also be referred to as the upper side of the first fastener supply device 3, and the reverse Z direction will also be referred to as the lower side of the first fastener supply device 3.

[0037] The fastener storage mechanism 31 stores fasteners F. The fastener storage mechanism 31 includes a shelf 35 and fastener storage cartridges 50 arranged within the shelf 35. In this example, the fastener storage mechanism 31 has a plurality of fastener storage cartridges 50. The fastener storage cartridges 50 are detachably attached to the shelf 35. The fastener storage cartridges 50 store a plurality of fasteners F.

[0038] The fastener transport mechanism 32 receives fasteners F from the fastener storage mechanism 31 and sends the fasteners F downstream using compressed air from the compressor 2. Specifically, the fastener transport mechanism 32 receives fasteners F from the fastener storage cartridge 50. The fastener transport mechanism 32 is connected to the compressor 2 via a hose 36.

[0039] The fastener route switching mechanism 33 is connected to the route of the fastener transport mechanism 32 and the route of the second fastener supply device 7, and selectively switches between the route of the fastener transport mechanism 32 and the route of the second fastener supply device. The route referred to here is the path that fasteners travel when they are transported. In other words, the fastener route switching mechanism 33 selectively switches between the temporary fasteners of the fastener transport mechanism 32 and the permanent fasteners of the second fastener supply device 7 and sends them to the end effector 13. The route of the second fastener supply device 7 is a route for transporting fasteners different from fasteners F of the first fastener supply device 3. The fastener route switching mechanism 33 may be connected to another route that transports fasteners different from fasteners F of the first fastener supply device 3, instead of the route of the second fastener supply device 7.

[0040] Figure 5 is an exploded perspective view of the fastener transport mechanism 32. Figure 6 is a cross-sectional view of the fastener transport mechanism 32 with the first hole 61 of the transport pipe 60 closed. Figure 7 is a cross-sectional view of the fastener transport mechanism 32 with the first hole 61 of the transport pipe 60 open.

[0041] The fastener transport mechanism 32 includes a transport pipe 60, an opening / closing shutter 65, and a first drive mechanism 71. Figures 5, 6, and 7 depict fasteners F inserted into the fastener transport mechanism 32. The fastener F is elongated and has a longitudinal direction. The fastener F includes a hypothetical axis Fa extending along the longitudinal direction of the fastener F.

[0042] The conveying tube 60 is cylindrical in shape. The conveying tube 60 includes an axis 60a, which is a virtual axis in the cylindrical shape of the conveying tube 60. In this example, the axis 60a is parallel to the X direction. The conveying tube 60 includes a first hole 61 and an air hole 62. The first hole 61 is into which the fastener F is inserted. Compressed air is introduced into the air hole 62.

[0043] Specifically, the conveyance pipe 60 has a plurality of first holes 61. In this example, the conveyance pipe 60 has two first holes 61. The plurality of first holes 61 are provided side by side in the direction in which the shaft 60a of the conveyance pipe 60 extends. The first hole 61 opens in a first direction orthogonal to the shaft 60a. In this example, the first direction is parallel to an imaginary YZ plane formed by the Y direction and the Z direction. The first hole 61 communicates with the inside of the conveyance pipe 60.

[0044] The air hole 62 opens at an end portion in the extending direction of the shaft 60a of the conveyance pipe 60. The air hole 62 communicates with the inside of the conveyance pipe 60. In a state where the fastener F is inside the conveyance pipe 60, compressed air is blown into the inside of the conveyance pipe 60, so that the fastener F travels inside the conveyance pipe 60 and is conveyed downstream.

[0045] The conveyance pipe 60 has a transparent conveyance pipe window 63 on a side surface of the conveyance pipe 60. The conveyance pipe 60 has a plurality of conveyance pipe windows 63. In this example, the conveyance pipe 60 has two conveyance pipe windows 63. The plurality of conveyance pipe windows 63 are provided side by side in the direction in which the shaft 60a of the conveyance pipe 60 extends. The conveyance pipe window 63 is disposed opposite to the first hole 61 with the shaft 60a interposed therebetween.

[0046] The opening / closing shutter 65 moves between a position closing the first hole 61 and a position opening the first hole 61 with respect to the first hole 61. In FIG. 6, the opening / closing shutter 65 is located at the position closing the first hole 61. In FIG. 7, the opening / closing shutter 65 is located at the position opening the first hole 61.

[0047] The opening / closing shutter 65 is a cylindrical component that covers the conveyance pipe 60. The opening / closing shutter 65 includes a shaft 65a, which is an imaginary axis in the cylindrical shape of the opening / closing shutter 65. Specifically, the inner diameter of the opening / closing shutter 65 is larger than the outer diameter of the conveyance pipe 60. The opening / closing shutter 65 is disposed concentrically with the conveyance pipe 60. That is, the opening / closing shutter 65 is disposed such that the shaft 65a coincides with the shaft 60a. The opening / closing shutter 65 is fitted to the outside of the conveyance pipe 60.

[0048] The opening / closing shutter 65 includes a second hole 66. The fastener F is inserted into the second hole 66. The opening / closing shutter 65 has a plurality of second holes 66. In this example, the opening / closing shutter 65 has two second holes 66. The plurality of second holes 66 are arranged side by side in the direction in which the shaft 65a of the opening / closing shutter 65 extends. The second hole 66 opens in a direction orthogonal to the shaft 65a. The second hole 66 communicates with the interior of the opening / closing shutter 65.

[0049] As shown in FIG. 6, when the opening / closing shutter 65 is positioned at the position closing the first hole 61, the second hole 66 is spaced apart from the first hole 61, and the first hole 61 is covered by the opening / closing shutter 65. As shown in FIG. 7, when the opening / closing shutter 65 is positioned at the position opening the first hole 61, the second hole 66 faces the first hole 61, and the first hole 61 communicates with the second hole 66.

[0050] The opening / closing shutter 65 has a transparent shutter window 67 on a side surface of the opening / closing shutter 65. The transport pipe window 63 overlaps at least the shutter window 67 when the side surface of the transport pipe 60 is viewed from the side surface of the opening / closing shutter 65 in a state where the first hole 61 is closed by the opening / closing shutter 65. Specifically, as shown in FIG. 6, in a state where the opening / closing shutter 65 closes the first hole 61, the transport pipe window 63 overlaps the shutter window 67 when viewed from a direction orthogonal to the shaft 60a. In this example, the shutter window 67 is provided over the entire side surface of the opening / closing shutter 65. Therefore, regardless of whether the first hole 61 is opened or closed, the transport pipe window 63 overlaps the shutter window 67 when viewed from a direction orthogonal to the shaft 60a.

[0051] The fastener transport mechanism 32 further includes a case 68 and a support base 69. The case 68 covers the transport pipe 60 and a part of the opening / closing shutter 65. The support base 69 is fixed to the inner surface of the case 68 and supports the opening / closing shutter 65. The case 68 has an opening 68a. When the first hole 61 is open, the opening 68a communicates with the first hole 61 and the second hole 66. That is, when the first hole 61 is open, the interior of the transport pipe 60 communicates with the outside of the case 68.

[0052] The first drive mechanism 71 moves the transport pipe 60 and the opening / closing shutter 65 relative to each other to open and close the first hole 61 using the opening / closing shutter 65. Specifically, the first drive mechanism 71 rotates the transport pipe 60 and the opening / closing shutter 65 relative to each other to switch the relative position of the first hole 61 with respect to the second hole 66, thereby connecting the second hole 66 to the first hole 61 or closing the first hole 61 with the opening / closing shutter 65.

[0053] In this example, the first drive mechanism 71 rotates the opening / closing shutter 65 relative to the transport pipe 60 to open and close the first hole 61. Specifically, as shown in Figure 6, the first drive mechanism 71 rotates the opening / closing shutter 65 around the axis 65a to move the opening / closing shutter 65 to a position that closes the first hole 61. Alternatively, as shown in Figure 7, the first drive mechanism 71 rotates the opening / closing shutter 65 around the axis 65a to move the opening / closing shutter 65 to a position that opens the first hole 61.

[0054] The first drive mechanism 71 includes, for example, a gear attached to the opening / closing shutter 65 and a motor connected to the gear. The motor rotates the gear, which in turn rotates the opening / closing shutter 65.

[0055] The first drive mechanism 71 is controlled by the processor 41 of the control device 4. Specifically, the processor 41 of the control device 4 controls the first drive mechanism 71 to open the first hole 61 with the opening / closing shutter 65 before inserting the fastener F into the transport pipe 60. After inserting the fastener F into the transport pipe 60, the processor 41 of the control device 4 controls the first drive mechanism 71 to close the first hole 61 with the opening / closing shutter 65.

[0056] Figure 8 is a simplified side view of the fastener storage mechanism 31. Figure 9 is a simplified side view of the fastener storage mechanism 31 and the fastener transport mechanism 32. Figure 9 shows the state in which the first hole 61 of the transport pipe 60 is open.

[0057] The fastener storage cartridge 50 includes an outlet 51. The outlet 51 discharges the fastener F toward the first hole 61 of the transport pipe 60 with the longitudinal direction of the fastener F parallel to the axis 60a of the transport pipe 60. In other words, the fastener F is discharged from the outlet 51 toward the first hole 61 with its axis Fa parallel to the axis 60a of the transport pipe 60.

[0058] Multiple fastener storage cartridges 50 are arranged in a second direction that is perpendicular to the axis 60a of the transport pipe 60 and also perpendicular to the first direction. In this example, the second direction is parallel to the Z direction. Specifically, the multiple fastener storage cartridges 50 are arranged vertically in the Z direction. In this example, four fastener storage cartridges 50 are stacked vertically in the Z direction.

[0059] The four fastener storage cartridges 50 are installed on a shelf 35. The shelf 35 has multiple tiers 35b in the vertical direction of Z. In this example, there are four tiers 35b. A fastener storage cartridge 50 is installed on each tier 35b of the shelf 35. The shelf 35 may have a locking lever to hold the position of the fastener storage cartridge 50, guide pins to guide the fastener storage cartridge 50, and a sensor to detect the presence or absence of the fastener storage cartridge 50.

[0060] The fastener transport mechanism 32 further includes a second drive mechanism 72. The second drive mechanism 72 moves the first hole 61 of the transport pipe 60 to a position facing the outlet 51 of the corresponding fastener storage cartridge 50 among the plurality of fastener storage cartridges 50. Specifically, the second drive mechanism 72 moves the fastener transport mechanism 32 in a second direction. More specifically, the second drive mechanism 72 moves the fastener transport mechanism 32 up and down in the Z direction, so that the fastener transport mechanism 32 faces one of the plurality of fastener storage cartridges 50 that are stacked vertically.

[0061] In this example, the second drive mechanism 72 includes a motor 721, a ball screw 722, and a timing belt 723. More specifically, the second drive mechanism 72 includes two ball screws 722. The two ball screws 722 are located on both sides of the fastener storage mechanism 31 in the X direction. Each of the two ball screws 722 is screwed into the case 68 of the fastener transport mechanism 32. The two ball screws 722 are connected to the timing belt 723. The motor 721 is connected to one of the ball screws 722 via a gear. As a result, when the motor 721 rotates one of the ball screws 722, the other ball screw 722 rotates via the timing belt 723. The rotation of the two ball screws 722 causes the fastener transport mechanism 32 to move up and down.

[0062] The second drive mechanism 72 is controlled by the processor 41 of the control device 4. Specifically, before inserting the fastener F into the transport tube 60, the processor 41 of the control device 4 controls the second drive mechanism 72 to move the transport tube 60 to a position facing the fastener storage cartridge 50 containing the desired fastener F.

[0063] Multiple fastener storage cartridges 50 are arranged such that their discharge ports 51 are aligned in the direction in which the shaft 60a of the transport pipe 60 extends. Specifically, multiple fastener storage cartridges 50 are arranged in the X direction. In this example, two fastener storage cartridges 50 are arranged in the X direction. In other words, multiple fastener storage cartridges 50 are arranged in two rows in the X direction. More specifically, four fastener storage cartridges 50, stacked vertically in the Z direction, are arranged in two rows in the X direction. In other words, the shelves 35 on which the four fastener storage cartridges 50 are installed are arranged in two rows in the X direction.

[0064] The first holes 61 of the transport pipe 60 are arranged in the direction of the axis 60a of the transport pipe 60 so as to correspond to the respective outlets 51 of the multiple fastener storage cartridges 50 arranged in the direction of the axis 60a of the transport pipe 60. In this example, two first holes 61 face the respective outlets 51 of two fastener storage cartridges 50 arranged left and right. Specifically, the left first hole 61 in the X direction faces the outlet 51 of the left fastener storage cartridge 50 in the X direction, and the right first hole 61 in the X direction faces the outlet 51 of the right fastener storage cartridge 50 in the X direction.

[0065] Figure 10 is a view of the fastener storage mechanism 31 from the forward X direction. In Figure 10, the fastener transport mechanism 32 is simply shown by a dashed line. The fastener storage mechanism 31 has a plurality of levers 37 and a plurality of third drive mechanisms 73.

[0066] Multiple levers 37 are positioned corresponding to each of the multiple fastener storage cartridges 50. The multiple levers 37 move toward the transport pipe 60, thereby discharging fasteners F from each of the multiple fastener storage cartridges 50. In this example, the direction in which the multiple levers 37 move toward the transport pipe 60 is the opposite Y direction.

[0067] Specifically, the multiple levers 37 are located on the side of the shelf 35. The multiple levers 37 are arranged in a straight line in the second direction. In this example, the multiple levers 37 are arranged in a straight line in the Z direction.

[0068] Multiple guide grooves 35a are provided on the side surface of the shelf 35. The multiple guide grooves 35a are arranged linearly in the second direction. In this example, the multiple guide grooves 35a are arranged linearly in the Z direction.

[0069] The guide groove 35a extends in the direction toward the transport pipe 60 in the first fastener supply device 3. In other words, the guide groove 35a extends in the first direction, which is the direction toward which the first hole 61 opens. In this example, the guide groove 35a extends in the Y direction.

[0070] Lever 37 is inserted into guide groove 35a and connected to fastener storage cartridge 50. More specifically, lever 37 reciprocates along guide groove 35a. In other words, lever 37 reciprocates in a first direction. In this example, lever 37 reciprocates in the Y direction. Lever 37 is connected to fastener storage cartridge 50 so as to discharge fasteners F from fastener storage cartridge 50 by moving toward the transport pipe 60.

[0071] Multiple third drive mechanisms 73 are attached to each of the multiple levers 37 and move each of the multiple levers 37. Specifically, the third drive mechanisms 73 move the levers 37 back and forth in a direction toward the conveying pipe 60 and in a direction toward the conveying pipe 60.

[0072] Multiple third drive mechanisms 73 are arranged in a staggered pattern in the second direction. Specifically, multiple third drive mechanisms 73 are located on the side of the shelf 35. In this example, multiple third drive mechanisms 73 are arranged in a staggered pattern in the Z direction. In other words, multiple third drive mechanisms 73 are arranged in the Z direction and are offset alternately to the left and right in the Y direction. That is, multiple third drive mechanisms 73 are arranged with multiple levers 37, which are arranged linearly in the Z direction, in between, and offset alternately to the left and right in the Y direction.

[0073] In this example, the third drive mechanism 73 is an air cylinder. The third drive mechanism 73 has a cylinder body 731 and a telescopic rod 732 attached to the cylinder body 731. The telescopic rod 732 is connected to a lever 37 via a connecting plate 38. As a result, when the telescopic rod 732 extends and retracts, the lever 37 moves back and forth in a direction toward the conveying pipe 60 and in a direction toward the conveying pipe 60.

[0074] More specifically, when the third drive mechanism 73 is located on the side of the conveying pipe 60 that the lever 37 is located, the retractable rod 732 retracts, causing the lever 37 to move closer to the conveying pipe 60, and the retractable rod 732 extends, causing the lever 37 to move away from the conveying pipe 60. When the third drive mechanism 73 is located on the opposite side of the conveying pipe 60 that the lever 37 is located, the retractable rod 732 extends, causing the lever 37 to move closer to the conveying pipe 60, and the retractable rod 732 retracts, causing the lever 37 to move away from the conveying pipe 60.

[0075] The third drive mechanism 73 is controlled by the processor 41 of the control device 4. Specifically, when inserting a fastener F into the transport pipe 60, the processor 41 of the control device 4 controls the desired third drive mechanism 73 to discharge the fastener F from the fastener storage cartridge 50 containing the desired fastener F.

[0076] As shown in Figure 5, the fastener transport mechanism 32 has a shutter mechanism 34. The shutter mechanism 34 is located downstream of the transport pipe 60. The shutter mechanism 34 opens and closes the path downstream of the transport pipe 60.

[0077] Figure 11 is a cross-sectional view of the shutter mechanism 34 showing the state in which the shutter mechanism 34 is closing the downstream path of the conveying pipe 60. Figure 12 is a cross-sectional view of the shutter mechanism 34 showing the state in which the shutter mechanism 34 is opening the downstream path of the conveying pipe 60. The shutter mechanism 34 has a main body 80, a first path shutter 81, and a fourth drive mechanism 74.

[0078] The main body 80 is connected downstream of the transport pipe 60. The main body 80 has a path 80a inside that communicates with the path of the transport pipe 60.

[0079] The first path shutter 81 moves between a position that closes the downstream path of the conveying pipe 60 and a position that opens the downstream path of the conveying pipe 60. Specifically, the first path shutter 81 is installed inside the main body 80 and opens and closes the path 80a of the main body 80. In Figure 11, the first path shutter 81 is in the position that closes the downstream path of the conveying pipe 60, and in Figure 12, the first path shutter 81 is in the position that opens the downstream path of the conveying pipe 60.

[0080] In this example, the first path shutter 81 is a ball valve. The first path shutter 81 rotates inside the main body 80 to open and close the path 80a of the main body 80. The first path shutter 81 may also be a butterfly valve or a gate valve.

[0081] The fourth drive mechanism 74 moves the first path shutter 81 to open and close the downstream path of the transport pipe 60 using the first path shutter 81. Specifically, the fourth drive mechanism 74 rotates the first path shutter 81 to open and close the path 80a of the main body 80. In this example, the fourth drive mechanism 74 is a rotary cylinder.

[0082] The fourth drive mechanism 74 is controlled by the processor 41 of the control device 4. Specifically, when fastening the fastener F to the transport pipe 60, the processor 41 of the control device 4 controls the fourth drive mechanism 74 to move it to a position that closes the first path shutter 81 to the downstream path of the transport pipe 60. When sending the fastener F downstream of the transport pipe 60, the processor 41 of the control device 4 controls the fourth drive mechanism 74 to move it to a position that opens the first path shutter 81 to the downstream path of the transport pipe 60.

[0083] Figure 13 is a view of the fastener path switching mechanism 33 from the reverse X direction, showing the state in which the switching pipe 90 has moved to the first position L1. Figure 14 is a view of the fastener path switching mechanism 33 from the reverse X direction, showing the state in which the switching pipe 90 has moved to the second position L2. Figure 15 is a view of the fastener path switching mechanism 33 from the reverse Y direction, showing the state in which the switching pipe 90 has moved to the first position L1. In Figure 15, for convenience, the frame 39 is shown in cross-section.

[0084] The fastener path switching mechanism 33 includes a frame 39, a switching pipe 90, a second path shutter 82, a third path shutter 83, a fifth drive mechanism 75, and a sixth drive mechanism 76.

[0085] The frame 39 extends along the YZ plane. The frame 39 has a guide groove 39a extending in the Y direction. The frame 39 has a linear guide 39b extending in the Y direction. The guide groove 39a is located above the linear guide 39b. One end of the guide groove 39a faces the path 80a of the main body 80 of the shutter mechanism 34. The other end of the guide groove 39a faces the path 7a downstream of the second fastener supply device 7.

[0086] The switching pipe 90 is cylindrical in shape. The switching pipe 90 has a path 90a inside. The path 90a is connected to the end effector 13 via a tube or the like. The switching pipe 90 moves between a first position L1 connected downstream of the transport pipe 60 and a second position L2 connected to a transport path that transports fasteners F different from fastener F.

[0087] Specifically, the switching pipe 90 is inserted into the guide groove 39a of the frame 39 and moves along the guide groove 39a. The first position L1 is located at one end of the guide groove 39a. The second position L2 is located at the other end of the guide groove 39a. The first position L1 is the position where the path 90a of the switching pipe 90 faces the path 80a of the main body 80 of the shutter mechanism 34. The second position L2 is the position where the path 90a of the switching pipe 90 faces the downstream path 7a of the second fastener supply device 7.

[0088] The second path shutter 82 opens and closes the downstream path of the transport pipe 60. The second path shutter 82 is located at the first position L1. The second path shutter 82 is plate-shaped. The second path shutter 82 is pivotably attached to the frame 39 by fasteners 85 such as bolts. Specifically, the upper part of the second path shutter 82 is attached by fasteners 85 above one end of the guide groove 39a. The lower part of the second path shutter 82 opens and closes the path 80a of the main body 80 of the shutter mechanism 34 by the swinging motion of the second path shutter 82.

[0089] More specifically, when the switching pipe 90 moves to the first position L1, the switching pipe 90 pushes and swings the lower part of the second path shutter 82, and the lower part of the second path shutter 82 opens the path 80a of the main body 80 of the shutter mechanism 34. At this time, the path 90a of the switching pipe 90 faces the path 80a of the main body 80 of the shutter mechanism 34. When the switching pipe 90 moves from the first position L1 to the second position L2, the switching pipe 90 moves away from the lower part of the second path shutter 82, and the lower part of the second path shutter 82 closes the path 80a of the main body 80 of the shutter mechanism 34.

[0090] The third path shutter 83 opens and closes the path 7a downstream of the second fastener supply device 7. The third path shutter 83 is located at the second position L2. The third path shutter 83 is plate-shaped. The third path shutter 83 is pivotably attached to the frame 39 by fasteners 86 such as bolts. Specifically, the upper part of the third path shutter 83 is attached by fasteners 86 above the other end of the guide groove 39a. The lower part of the third path shutter 83 opens and closes the path 7a downstream of the second fastener supply device 7 by the swinging motion of the third path shutter 83.

[0091] More specifically, when the switching pipe 90 moves to the second position L2, the switching pipe 90 pushes and swings the lower part of the third path shutter 83, and the lower part of the third path shutter 83 opens the path 7a downstream of the second fastener supply device 7. At this time, the path 90a of the switching pipe 90 faces the path 7a downstream of the second fastener supply device 7. When the switching pipe 90 moves from the second position L2 to the first position L1, the switching pipe 90 moves away from the lower part of the third path shutter 83, and the lower part of the third path shutter 83 closes the path 7a downstream of the second fastener supply device 7.

[0092] The fifth drive mechanism 75 moves the switching pipe 90 to the first position L1, causing the switching pipe 90 to push and move the second path shutter 82, thereby opening the downstream path of the transport pipe 60 and connecting the switching pipe 90 to the downstream path of the transport pipe 60. On the other hand, by moving the switching pipe 90 to the second position L2, the switching pipe 90 moves away from the second path shutter 82, causing the second path shutter 82 to close the downstream path of the transport pipe 60.

[0093] The fifth drive mechanism 75 is attached to the frame 39. In this example, the fifth drive mechanism 75 is an air cylinder. A first compressed air tube 751 and a second compressed air tube 752 are connected to both ends of the fifth drive mechanism 75. The first compressed air tube 751 is positioned on the first position L1 side, and the second compressed air tube 752 is positioned on the second position L2 side. When compressed air is supplied to the first compressed air tube 751, the fifth drive mechanism 75 moves the switching pipe 90 from the first position L1 to the second position L2. When compressed air is supplied to the second compressed air tube 752, the fifth drive mechanism 75 moves the switching pipe 90 from the second position L2 to the first position L1.

[0094] Specifically, the fifth drive mechanism 75 includes a cylinder tube, a piston disposed inside the cylinder tube and moving within the cylinder tube, and a slider disposed outside the cylinder tube and magnetically or mechanically coupled to the piston. The cylinder tube extends in the Y direction. A first compressed air tube 751 is connected to one end of the cylinder tube, and a second compressed air tube 752 is connected to the other end of the cylinder tube. The piston is moved by compressed air supplied into the cylinder tube, and the slider moves along the cylinder tube together with the piston.

[0095] A connecting plate 753 is attached to the slider of the fifth drive mechanism 75. The connecting plate 753 is connected to the first mounting plate 87. The first mounting plate 87 is attached to the linear guide 39b. The first mounting plate 87 moves back and forth in the Y direction along the linear guide 39b.

[0096] A sixth drive mechanism 76 is attached to the first mounting plate 87. In this example, the sixth drive mechanism 76 is an air cylinder. The rod of the sixth drive mechanism 76 extends in the X direction and extends and retracts in the X direction. A second mounting plate 88 is attached to the rod of the sixth drive mechanism 76. A switching pipe 90 is attached to the second mounting plate 88.

[0097] As the slider of the fifth drive mechanism 75 moves together with the connecting plate 753, the first mounting plate 87 moves along the linear guide 39b, and the switching pipe 90 moves along the guide groove 39a. Specifically, when the slider of the fifth drive mechanism 75 moves toward the first position L1, the switching pipe 90 moves toward the first position L1, and when the slider of the fifth drive mechanism 75 moves toward the second position L2, the switching pipe 90 moves toward the second position L2.

[0098] As the rod of the sixth drive mechanism 76 extends and retracts, the second mounting plate 88 moves along the X direction, and the switching pipe 90 moves along the X direction. Specifically, when the switching pipe 90 is in the first position L1, the rod of the sixth drive mechanism 76 retracts, moving the switching pipe 90 away from the path 80a of the main body 80 of the shutter mechanism 34. On the other hand, as the rod of the sixth drive mechanism 76 extends, the switching pipe 90 is pressed against the path 80a of the main body 80 of the shutter mechanism 34, and the path 90a of the switching pipe 90 comes into close contact with the path 80a of the main body 80.

[0099] Similarly, when the switching pipe 90 is in the second position L2, the rod of the sixth drive mechanism 76 retracts, moving the switching pipe 90 away from the downstream path 7a of the second fastener supply device 7. On the other hand, when the rod of the sixth drive mechanism 76 extends, the switching pipe 90 is pressed against the downstream path 7a of the second fastener supply device 7, and the path 90a of the switching pipe 90 comes into close contact with the downstream path 7a of the second fastener supply device 7.

[0100] The fifth drive mechanism 75 is controlled by the processor 41 of the control device 4. Specifically, when connecting the switching pipe 90 to the downstream path of the transport pipe 60, the processor 41 of the control device 4 controls the fifth drive mechanism 75 to move the switching pipe 90 to the first position L1, and the switching pipe 90 pushes the second path shutter 82, opening the downstream path of the transport pipe 60 with the second path shutter 82. When separating the switching pipe 90 from the downstream path of the transport pipe 60, the processor 41 of the control device 4 controls the fifth drive mechanism 75 to move the switching pipe 90 to the second position L2, separating it from the second path shutter 82, and closing the downstream path of the transport pipe 60 with the second path shutter 82.

[0101] Similarly, when the processor 41 of the control device 4 connects the switching pipe 90 to the downstream path 7a of the second fastener supply device 7, it controls the fifth drive mechanism 75 to move the switching pipe 90 to the second position L2, and the switching pipe 90 pushes the third path shutter 83, causing the third path shutter 83 to open the downstream path 7a of the second fastener supply device 7. When the processor 41 of the control device 4 separates the switching pipe 90 from the downstream path 7a of the second fastener supply device 7, it controls the fifth drive mechanism 75 to move the switching pipe 90 to the first position L1, separating it from the third path shutter 83, causing the third path shutter 83 to close the downstream path 7a of the second fastener supply device 7.

[0102] The sixth drive mechanism 76 is controlled by the processor 41 of the control device 4. Specifically, the processor 41 of the control device 4 controls the sixth drive mechanism 76 to press the switching pipe 90 against the downstream path of the transport pipe 60 or the downstream path 7a of the second fastener supply device 7, or to move the switching pipe 90 away from the downstream path of the transport pipe 60 or the downstream path 7a of the second fastener supply device 7.

[0103] Next, the operation of the first fastener supply device 3 will be explained. The control device 4 controls and operates the first drive mechanism 71, the second drive mechanism 72, the third drive mechanism 73, the fourth drive mechanism 74, the fifth drive mechanism 75, the sixth drive mechanism 76, and the compressor 2.

[0104] First, the second drive mechanism 72 moves the fastener transport mechanism 32 to a position facing the desired fastener storage cartridge 50. Then, the first drive mechanism 71 moves the transport pipe 60 and the opening / closing shutter 65 relative to each other, opening the first hole 61 with the opening / closing shutter 65. At this time, the fourth drive mechanism 74 moves the first path shutter 81, closing the downstream path of the transport pipe 60 with the first path shutter 81.

[0105] Subsequently, the third drive mechanism 73 moves the lever 37 connected to the desired fastener storage cartridge 50, ejecting the fastener F from the desired fastener storage cartridge 50 toward the first hole 61, and inserting the fastener F into the transport pipe 60 through the first hole 61. Then, the first drive mechanism 71 moves the transport pipe 60 and the opening / closing shutter 65 relative to each other, closing the first hole 61 with the opening / closing shutter 65.

[0106] Subsequently, the fifth drive mechanism 75 moves the switching pipe 90 to the first position L1, which causes the switching pipe 90 to push and move the second path shutter 82, opening the downstream path of the transport pipe 60 and connecting the switching pipe 90 to the downstream path of the transport pipe 60. At this time, the sixth drive mechanism 76 presses the switching pipe 90 against the downstream path of the transport pipe 60.

[0107] Subsequently, the fourth drive mechanism 74 moves the first path shutter 81 to open the downstream path of the transport pipe 60. Then, the compressor 2 sends compressed air into the transport pipe 60, and the fastener F inside the transport pipe 60 is carried by the compressed air and supplied towards the end effector 13, passing through the transport pipe 60 and the switching pipe 90.

[0108] Furthermore, when supplying fasteners from the second fastener supply device 7 to the end effector 13, the fifth drive mechanism 75 moves the switching pipe 90 to the second position L2, thereby causing the switching pipe 90 to push and move the third path shutter 83, opening the downstream path 7a of the second fastener supply device 7 and connecting the switching pipe 90 to the downstream path 7a of the second fastener supply device 7. At this time, the switching pipe 90 is separated from the second path shutter 82, and the second path shutter 82 closes the downstream path of the transport pipe 60.

[0109] Figure 16 is a perspective view of the fastener storage cartridge 50 from above. Figure 17 is a cross-sectional view of the fastener storage cartridge 50 along the line XVII-XVII in Figure 16. Figure 18 is an exploded perspective view of the fastener storage cartridge 50 from above. In this example, the X, Y, and Z directions in the description of the fastener storage cartridge 50 coincide with the X, Y, and Z directions in the description of the first fastener supply device 3.

[0110] The fastener storage cartridge 50 sends the fastener F to the transport pipe 60 of the fastener supply device 3. The fastener storage cartridge 50 comprises a cartridge body 53, an extrusion member 54, a switch 55, and a transmission mechanism 20.

[0111] The cartridge body 53 includes a storage space 52 and an outlet 51. The storage space 52 stores multiple fasteners F. Specifically, the storage space 52 stores multiple fasteners F arranged parallel to each other in a direction perpendicular to the axis Fa of each fastener F. The outlet 51 discharges the fasteners F stored in the storage space 52. In this example, the outlet 51 is located at the Y-direction end of the cartridge body 53. The direction opposite to the side of the fastener storage cartridge 50 where the outlet 51 is located is referred to as the forward Y-direction, and the side where the outlet 51 is located is referred to as the reverse Y-direction. Hereafter, the forward Y-direction will also be referred to as the rear side of the fastener storage cartridge 50, and the reverse Y-direction will also be referred to as the front side of the fastener storage cartridge 50.

[0112] A guide plate 58 is provided in the storage space 52. The guide plate 58 is located on the lower side of the storage space 52 in the Z direction. The guide plate 58 extends in the Y direction. Multiple fasteners F are placed on the guide plate 58. The fasteners F slide along the guide plate 58 and are discharged from the discharge port 51. The guide plate 58 has a thickness corresponding to the type of fastener F. Specifically, when the outer diameter of the fastener F is small, the thickness of the guide plate 58 is thick, and when the outer diameter of the fastener F is large, the thickness of the guide plate 58 is thin. This allows the fasteners F to maintain a stable posture within the storage space 52 regardless of the size of their outer diameter.

[0113] The cartridge body 53 has a rectangular parallelepiped shape including six faces. The six faces include a first face 53a and a second face 53b that face each other and have a larger area than the other faces. Specifically, the first face 53a is the upper face in the Z direction, and the second face 53b is the lower face in the Z direction. In other words, in the fastener-storage cartridge 50, the direction on the side of the cartridge body 53 where the first face 53a is provided is the forward Z direction, i.e., the upper side, and the direction on the side of the cartridge body 53 where the second face 53b is provided is the reverse Z direction, i.e., the lower side. Holes or notches may be provided on a part of at least one of the six faces.

[0114] The extrusion member 54, the switch 55, and the transmission mechanism 20 are arranged on the first surface 53a. Specifically, the extrusion member 54 is placed in a notch provided on the first surface 53a, and the switch 55 and the transmission mechanism 20 are placed on the first surface 53a.

[0115] A cover 56 is attached to a portion of the first surface 53a. The extrusion member 54, switch 55, and transmission mechanism 20 are covered by the cover 56. The cover 56 may be colored to match the type of fastener F. Similarly, the guide plate 58 may also be colored to match the type of fastener F.

[0116] The extrusion member 54 is attached near the discharge port 51 of the cartridge body 53. The extrusion member 54 pushes the fastener F out of the discharge port 51 of the cartridge body 53 in a direction perpendicular to the axis Fa of the fastener F. Specifically, the extrusion member 54 pushes the fastener F closest to the discharge port 51 in the opposite Y direction from the discharge port 51, among the multiple fasteners F stored in the storage space 52 arranged parallel to the direction perpendicular to the axis Fa of the fastener F. In other words, the extrusion member 54 pushes the fastener F out of the storage space 52 through the discharge port 51.

[0117] The extrusion member 54 is a rotating body that rotates around an axis 54a parallel to the axis Fa of the fastener F. Specifically, the extrusion member 54 has a shaft portion 540. The shaft portion 540 is attached to the cartridge body 53 so that the extrusion member 54 rotates around the axis 54a. In this example, the shaft portion 540 and the axis 54a extend in the X direction. Both ends of the shaft portion 540 are supported by two support portions 57 attached to the first surface 53a.

[0118] The switch 55 moves relative to the cartridge body 53. Specifically, the direction of movement of the switch 55 is parallel to the axis 54a of the extrusion member 54. In other words, the switch 55 moves back and forth in the X direction. More specifically, the switch 55 is attached to the cartridge body 53 so as to be pushable into the cover 56. In this example, the switch 55 is located at the X-side end of the fastener storage cartridge 50, but the direction on which the switch 55 is located on the fastener storage cartridge 50 is referred to as the forward X direction, and the direction on the opposite side of where the switch 55 is located is referred to as the reverse X direction. In this example, the direction in which the switch 55 is pushed in is the reverse X direction. Hereafter, the forward X direction will also be referred to as the left side of the fastener storage cartridge 50, and the reverse X direction will also be referred to as the right side of the fastener storage cartridge 50.

[0119] The transmission mechanism 20 transmits the force caused by the displacement of the switch 55 to the extrusion member 54. The transmission mechanism 20 comprises a first member 21, a second member 22, a first guide 23, and a second guide 24.

[0120] The first component 21 is connected to the switch 55. In this example, the switch 55 is integrated with the first component 21. The switch 55 and the first component 21 may be made of the same material, or they may be made of different materials.

[0121] The first member 21 has a first sawtooth-shaped portion 21a. Specifically, the first sawtooth-shaped portion 21a protrudes in the forward Y direction when viewed from the first member 21. The first sawtooth-shaped portion 21a has an inclined surface. The inclined surface is inclined toward the forward Y direction as it moves toward the forward X direction.

[0122] The first guide 23 guides the first member 21 to slide in the direction of movement of the switch 55. Specifically, the first guide 23 guides the first member 21 to reciprocate in the X direction. The first guide 23 extends in the X direction. The first guide 23 is located in the opposite Y direction as viewed from the first member 21.

[0123] The second member 22 has a second sawtooth-shaped portion 22a. The second sawtooth-shaped portion 22a interlocks with the first sawtooth-shaped portion 21a. Specifically, the second sawtooth-shaped portion 22a protrudes in the opposite Y direction when viewed from the second member 22. The second sawtooth-shaped portion 22a has an inclined surface. The inclined surface is inclined in the opposite Y direction as it moves toward the opposite X direction. The inclined surface of the first sawtooth-shaped portion 21a and the inclined surface of the second sawtooth-shaped portion 22a are in contact. The force with which the inclined surface of the first sawtooth-shaped portion 21a moves in the opposite X direction is converted into a force with which the inclined surface of the second sawtooth-shaped portion 22a moves in the forward Y direction.

[0124] The second guide 24 guides the second member 22 to slide in a direction perpendicular to the sliding direction of the first member 21. Specifically, the second guide 24 guides the second member 22 to reciprocate in the Y direction. The second guide 24 extends in the Y direction. In this example, two second guides 24 are located on both sides of the second member 22 in the X direction.

[0125] The second member 22 includes a first portion 221, a second portion 222, and a third portion 223. The first portion 221 and the second portion 222 sandwich the first member 21 in the Y direction. Specifically, the first portion 221 is located in the forward Y direction when viewed from the first member 21. The second portion 222 is located in the reverse Y direction when viewed from the first member 21. The third portion 223 connects the first portion 221 and the second portion 222. The third portion 223 is located in the forward Z direction when viewed from the first portion 221 and the second portion 222. In this way, the first portion 221 and the second portion 222 move together as a unit via the third portion 223.

[0126] The first portion 221 has a first sawtooth-shaped portion 21a and a protrusion 221a. The protrusion 221a protrudes in the forward Z direction when viewed from the first portion 221.

[0127] The second portion 222 has a first protrusion 222a and a second protrusion 222b. The first protrusion 222a is located in the forward Y direction when viewed from the second protrusion 222b. The first protrusion 222a and the second protrusion 222b project in the forward Z direction when viewed from the second portion 222. The second portion 222 has two first protrusions 222a. The two first protrusions 222a are arranged side by side in the X direction.

[0128] The third portion 223 has a first hole 223a, a second hole 223b, and a third hole 223c. The first hole 223a, the second hole 223b, and the third hole 223c are arranged in this order in the opposite Y direction. The protrusion 221a is fitted into the first hole 223a. The first protrusion 222a is fitted into the second hole 223b. The second protrusion 222b is fitted into the third hole 223c.

[0129] The second portion 222 further includes a notch 222c and a hole 222d. The notch 222c is located between two first protrusions 222a. The notch 222c is cut out from the end face of the second portion 222 in the forward Y direction toward the reverse Y direction. The hole 222d is located in the reverse Y direction when viewed from the notch 222c. The second protrusion 222b is located around the hole 222d.

[0130] The second member 22 further has a contact portion 22b. The contact portion 22b contacts the extrusion member 54 and rotates the extrusion member 54 by the sliding movement of the second member 22. The extrusion direction of the fastener F of the extrusion member 54 is parallel to the sliding direction of the second member 22. Specifically, the contact portion 22b is provided on the second part 222 of the second member 22. The contact portion 22b is located in the forward Z direction when viewed from the extrusion member 54. The extrusion direction of the fastener F of the extrusion member 54 is in the reverse Y direction.

[0131] The second guide 24 includes a first portion 241 and a second portion 242. The first portion 241 is located in the forward Y direction as viewed from the second portion 242. The first portion 241 is located on both sides of the first portion 221 in the X direction and guides the first portion 221 to reciprocate in the Y direction. The second portion 242 is located on both sides of the second portion 222 of the second member 22 in the X direction and guides the second portion 222 to reciprocate in the Y direction.

[0132] Figure 19 is an enlarged cross-sectional view of a portion of the fastener storage cartridge 50 when the extrusion member 54 is switched to the first position. Figure 20 is an enlarged cross-sectional view of a portion of the fastener storage cartridge 50 when the extrusion member 54 is switched to the second position. For convenience, hatching is omitted in Figures 19 and 20.

[0133] The extrusion member 54 rotates to selectively switch between a first position in which the fastener F is held inside the cartridge body 53 and a second position in which the fastener F is pushed out of the cartridge body 53. Specifically, the lower surface of the contact portion 22b of the second member 22 has a convex curved surface 22b1. The convex curved surface 22b1 protrudes downward in the Z direction. The upper surface of the extrusion member 54 has a first concave curved surface 541. The first concave curved surface 541 is recessed downward in the Z direction. The lower surface of the extrusion member 54 has a second concave curved surface 542. The second concave curved surface 542 is recessed upward in the Z direction. A part of the convex curved surface 22b1 of the contact portion 22b contacts the first concave curved surface 541. A part of the second concave curved surface 542 contacts a part of the outer circumferential surface of the fastener F.

[0134] As shown in Figure 19, in the first position of the extruded member 54, the convex curved surface 22b1 of the contact portion 22b contacts the end of the first concave curved surface 541 of the extruded member 54 in the opposite Y direction. The end of the second concave curved surface 542 of the extruded member 54 in the opposite Y direction contacts a part of the outer circumferential surface of the fastener F. The contact portion between the convex curved surface 22b1 of the contact portion 22b and the first concave curved surface 541 of the extruded member 54 is located in the opposite Y direction when viewed from the axis 54a of the extruded member 54.

[0135] As shown by arrow A1, the contact portion 22b applies a counterclockwise force to the extrusion member 54 around the axis 54a in Figure 19. As shown by arrow A2, the extrusion member 54 applies a force to the fastener F that includes a component in the opposite direction to the discharge port 51. The fastener F is sandwiched between the extrusion member 54 and the guide plate 58. As a result, the extrusion member 54 keeps the fastener F inside the cartridge body 53. At this time, the end of the first concave curved surface 541 of the extrusion member 54 in the forward Y direction enters the hole 222d of the second portion 222 of the second member 22, and does not contact the second portion 222 itself.

[0136] As shown in Figure 20, in the second position of the extruded member 54, the convex curved surface 22b1 of the contact portion 22b contacts the end of the first concave curved surface 541 of the extruded member 54 in the forward Y direction. The end of the second concave curved surface 542 of the extruded member 54 in the forward Y direction contacts a part of the outer circumferential surface of the fastener F. The contact portion between the convex curved surface 22b1 of the contact portion 22b and the first concave curved surface 541 of the extruded member 54 is located in the forward Y direction when viewed from the axis 54a of the extruded member 54.

[0137] As shown by arrow A3, the contact portion 22b applies a force to the extrusion member 54 in a clockwise direction around the axis 54a in Figure 20. As shown by arrow A4, the extrusion member 54 applies a force to the fastener F in the direction from the storage space 52 toward the discharge port 51. As a result, as shown by arrow A5, the extrusion member 54 pushes the fastener F out of the cartridge body 53, and the fastener F is discharged from the discharge port 51 as shown by the dashed line in Figure 20.

[0138] As shown in Figure 18, an elastic member 93 is attached to the shaft portion 540 of the extrusion member 54. In this example, the elastic member 93 is a torsion coil spring. The elastic member 93 biases the extrusion member 54 so that it switches to a first position. Specifically, the elastic member 93 biases the extrusion member 54 in a counterclockwise direction around the shaft 54a in Figure 19.

[0139] Figure 21 is a top-view cross-sectional view showing the positions of each component of the transmission mechanism 20 when the switch 55 is in the first position. Figure 22 is a top-view cross-sectional view showing the positions of each component of the transmission mechanism 20 when the switch 55 is in the second position. Figures 21 and 22 further show the shelf 35, lever 37, and third drive mechanism 73.

[0140] The transmission mechanism 20 rotates the extrusion member 54 so that it assumes a first position when the switch 55 is in a first position relative to the cartridge body 53. On the other hand, the transmission mechanism 20 rotates the extrusion member 54 so that it assumes a second position when the switch 55 is in a second position relative to the cartridge body 53. Specifically, the transmission mechanism 20 is displaced by the force caused by the displacement of the switch 55, thereby selectively switching the extrusion member 54 between the first and second positions.

[0141] As shown in Figure 21, in the first position of the switch 55, the switch 55 is not pushed in the reverse X direction by the lever 37. The first position of the switch 55 is the leftmost position in the fastener storage cartridge 50 within the range of movement in which the switch 55 can move in the X direction. Similarly, the first member 21 is located in the leftmost position in the fastener storage cartridge 50 within the range of movement in which it can move in the X direction. The first portion 221 and the second portion 222 of the second member 22 are located in the frontmost position in the fastener storage cartridge 50 within the range of movement in which they can move in the Y direction. At this time, as shown in Figure 19, the convex curved surface 22b1 of the contact portion 22b contacts the end in the reverse Y direction of the first concave curved surface 541 of the extrusion member 54, switching the extrusion member 54 to the first position.

[0142] As shown in Figure 22, the third drive mechanism 73 moves the lever 37 in the reverse Y direction, as indicated by arrow B1. The switch 55 is pushed in the reverse X direction by the lever 37, as indicated by arrow B2, and is positioned in the second position. The second position of the switch 55 is the rightmost position on the fastener storage cartridge 50 within the range of movement of the switch 55 in the X direction.

[0143] Specifically, the inclined surface of the lever 37 contacts the inclined surface of the switch 55, and the movement of the lever 37 in the reverse Y direction is converted into movement of the switch 55 in the reverse X direction. The inclined surface of the lever 37 tilts toward the reverse X direction as it moves toward the forward Y direction. The inclined surface of the switch 55 tilts toward the forward X direction as it moves toward the reverse Y direction.

[0144] As the switch 55 moves, the first member 21 moves to the far right of the fastener storage cartridge 50 within its range of movement in the X direction, as shown by arrow B3. As the first member 21 moves, the first portion 221 of the second member 22 moves to the far rear of the fastener storage cartridge 50 within its range of movement in the Y direction, as shown by arrow B4. Specifically, the second sawtooth-shaped portion 22a slides in the forward Y direction relative to the first sawtooth-shaped portion 21a.

[0145] As the first portion 221 of the second member 22 moves, the second portion 222 of the second member 22 moves to the rearmost position in the fastener storage cartridge 50 within the range of movement in the Y direction, as shown by arrow B5. At this time, as shown in Figure 20, the convex curved surface 22b1 of the contact portion 22b contacts the end on the forward Y direction side of the first concave curved surface 541 of the extrusion member 54, switching the extrusion member 54 to the second position.

[0146] In this way, the transmission mechanism 20 converts the force caused by the displacement of the lever 37 in the opposite Y direction into a force caused by the displacement in the Y direction and transmits it to the extrusion member 54. In other words, the transmission mechanism 20 converts the force caused by the displacement of the lever 37 in one direction into a force caused by the displacement in the direction reversed by 180° and transmits it to the extrusion member 54.

[0147] As shown in Figures 17 and 18, the fastener storage cartridge 50 has an elastic member 91. The elastic member 91 is an example of a first elastic member. In this example, the elastic member 91 is a tension coil spring. The elastic member 91 biases the switch 55 so that it is in a first position. In other words, the elastic member 91 biases the switch 55 in the opposite direction to the direction in which the switch 55 is pressed. In this example, the direction in which the switch 55 is pressed is the opposite X direction.

[0148] Specifically, the elastic member 91 is positioned in the notch 222c. The elastic member 91 is positioned along the Y direction. The end of the elastic member 91 on the reverse Y direction side is attached to a protrusion 531 provided on the first surface 53a of the cartridge body 53 so as to protrude upward in the Z direction. The end of the elastic member 91 on the forward Y direction side is attached to a protrusion 223d provided on the third portion 223 of the second member 22 so as to protrude downward in the Z direction.

[0149] The third portion 223 is biased in the reverse Y direction by the elastic member 91. That is, the second member 22 is biased in the reverse Y direction by the elastic member 91. As a result, the first member 21 is biased in the forward X direction by the elastic member 91. Therefore, the switch 55 is biased in the forward X direction by the elastic member 91.

[0150] Figure 23 is an enlarged cross-sectional view of a portion of the fastener storage cartridge 50 when the extrusion member 54 has switched to the third position. For convenience, hatching is omitted in Figure 23. By rotating, the extrusion member 54 switches to a third position, which is between the first and second positions, and allows the fastener F to be loaded into the cartridge body 53 from the discharge port 51.

[0151] Specifically, in the third position of the extruded member 54, the convex curved surface 22b1 of the contact portion 22b contacts the intermediate portion in the Y direction of the first concave curved surface 541 of the extruded member 54. The contact portion between the convex curved surface 22b1 of the contact portion 22b and the first concave curved surface 541 of the extruded member 54 is located directly above the axis 54a of the extruded member 54 in the Z direction.

[0152] In the third position of the extrusion member 54, the extrusion member 54 can rotate clockwise and counterclockwise around the axis 54a in Figure 23. However, the extrusion member 54 is biased in the counterclockwise direction in Figure 23 by the elastic member 93. For this reason, the extrusion member 54 keeps the fastener F inside the cartridge body 53.

[0153] In the third position of the extrusion member 54, when the operator pushes the predetermined fastener F0 shown by the dashed line into the cartridge body 53 from the discharge port 51, the predetermined fastener F0 pushes the fastener F inside the cartridge body 53 in the forward Y direction. As the operator pushes the predetermined fastener F0 further, as shown in Figure 24, the predetermined fastener F0 overcomes the end in the reverse Y direction of the second concave curved surface 542 of the extrusion member 54 and enters the cartridge body 53, and the second concave curved surface 542 of the extrusion member 54 comes into contact with the outer circumferential surface of the predetermined fastener F0. As a result, the predetermined fastener F0 is loaded into the cartridge body 53.

[0154] Figure 25 is a plan view of the fastener storage cartridge 50 when the switch 55 is in the third position. In Figure 25, only the first member 21 of the transmission mechanism 20 is shown.

[0155] The transmission mechanism 20 rotates the extrusion member 54 so that it assumes a third posture when the switch 55 is in the third position. For example, the third position is located midway between the first and second positions in the X direction.

[0156] In Figure 25, the switch 55 is shown with a dotted line when it is in the third position. In addition, in Figure 25, the switch 55 is shown with a dashed line when it is in the first position, and the switch 55 is shown with a double dashed line when it is in the second position.

[0157] Specifically, when the switch 55 is in the third position, as shown in Figure 24, the convex curved surface 22b1 of the contact portion 22b contacts the middle portion in the Y direction of the first concave curved surface 541 of the extrusion member 54, thereby switching the extrusion member 54 to the third position.

[0158] As shown in Figures 16 and 25, the fastener storage cartridge 50 has a restricting portion 59 that restricts the movement of the switch 55 from the third position to the second position. Specifically, the restricting portion 59 is provided on the cover 56. The restricting portion 59 is one side of a notched groove formed on the periphery of the cover 56.

[0159] The restricting portion 59 is located at a position corresponding to the third position of the switch 55. More specifically, when the switch 55 is in the third position, the restricting portion 59 overlaps the front edge of the switch 55 in the X direction when the fastener storage cartridge 50 is viewed from above in the Z direction.

[0160] When the switch 55 is in the first position, the switch 55 is exposed from the cover 56, and the edge of the switch 55 in the forward X direction is positioned further forward in the X direction than the restrictor 59. When the switch 55 is in the second position, the switch 55 is covered by the cover 56, and the edge of the switch 55 in the forward X direction is positioned further backward in the X direction than the restrictor 59.

[0161] The gap between the restricting portion 59 and the first surface 53a of the cartridge body 53 in the Z direction is greater than the thickness of the switch 55 in the Z direction, allowing the switch 55 to pass through the gap. The gap is greater than the thickness of the portion of the lever 37 that contacts the switch 55 in the Z direction, allowing that portion of the lever 37 to pass through the gap. The gap is smaller than the thickness of the operator's finger, so the finger cannot pass through the gap.

[0162] As a result, when the switch 55 is pushed by the lever 37, the switch 55 can be pushed from the first position through the third position to the second position. On the other hand, when the operator pushes the switch 55 with their finger, the switch 55 can be pushed from the first position to the third position, but the finger hits the restricting part 59, preventing the switch 55 from being pushed from the third position to the second position.

[0163] Figure 26 is a plan view of the inside of the cartridge body 53 with the top cover removed. Figure 27 is a cross-sectional view of the cartridge body 53 seen from above. In Figure 27, some of the fasteners F are shown, and the other fasteners F are indicated by dots.

[0164] An elastic member 92 is positioned inside the cartridge body 53. The elastic member 92 is an example of a second elastic member. In this example, the elastic member 92 is a coil spring. The elastic member 92 biases the fasteners F housed in the cartridge body 53 toward the discharge port 51. More specifically, the elastic member 92 biases multiple fasteners F inside the cartridge body 53 in the opposite Y direction.

[0165] Specifically, the elastic member 92 is installed on the running platform 95. The running platform 95 is located in the storage space 52. The running platform 95 is resting on a guide rail 96. The guide rail 96 extends along the Y direction. The running platform 95 moves back and forth along the guide rail 96. The running platform 95 is positioned in the forward Y direction relative to the multiple fasteners F in the storage space 52 and presses the multiple fasteners F in the reverse Y direction.

[0166] One end 92a of the elastic member 92 is connected to the cartridge body 53. Specifically, the cartridge body 53 has a first side wall 532 and a second side wall 533. The first side wall 532 and the second side wall 533 extend in the Y direction. The first side wall 532 and the second side wall 533 face each other in the X direction. One end 92a of the elastic member 92 is connected to the inner surface of the first side wall 532. One end 92a of the elastic member 92 is located on the discharge port 51 side. The other end of the elastic member 92 is connected to the traveling platform 95.

[0167] As a result, the elastic member 92 biases the travel platform 95 to move toward the discharge port 51. When the storage space 52 is fully loaded with fasteners F, the travel platform 95 is located at the outermost position in the forward Y direction, as shown by the solid line. On the other hand, when the storage space 52 is not loaded with fasteners F at all, the travel platform 95 is located at the outermost position in the reverse Y direction, as shown by the dashed line.

[0168] The first side wall 532 has a hole 532a. The second side wall 533 has a hole 533a. The holes 532a and 533a are located closest to the traveling platform 95 shown by the dashed-dot line in the forward Y direction. A light-emitting sensor 97 is provided in the part of the shelf 35 opposite to the hole 532a. A light-receiving sensor 98 is provided in the part of the shelf 35 opposite to the hole 533a. The light-receiving sensor 98 transmits information to the control device 4 indicating whether or not it has received a signal transmitted from the light-emitting sensor 97.

[0169] When the vehicle platform 95 is positioned as shown by the dashed line, the signal from the light-emitting sensor 97 is received by the light-receiving sensor 98 as shown by the arrow C1 on the dashed line. In this way, if no fasteners F are loaded into the storage space 52, the signal from the light-emitting sensor 97 is received by the light-receiving sensor 98, and it can be determined from this signal that no fasteners F are present in the storage space 52.

[0170] If the platform 95 is located at the position shown by the solid line, the signal from the light-emitting sensor 97 is blocked by the elastic member 92 and not received by the light-receiving sensor 98, as shown by the solid arrow C2. Also, if even one fastener F is loaded in the storage space 52, the platform 95 is located in the forward Y direction from the position shown by the dashed line, and the signal from the light-emitting sensor 97 is blocked by the elastic member 92 or the platform 95 and not received by the light-receiving sensor 98. Thus, if even one fastener F is loaded in the storage space 52, the signal from the light-emitting sensor 97 is not received by the light-receiving sensor 98. The control device 4 can determine that a fastener F is present in the storage space 52 based on this information transmitted from the light-receiving sensor 98.

[0171] Next, the operation of ejecting the fastener F from the fastener storage cartridge 50 will be explained. In the following steps, the control device 4 controls the operation of the third drive mechanism 73.

[0172] First, as shown in Figure 21, when the third drive mechanism 73 is not moving the lever 37, the switch 55 is in the first position, and as shown in Figure 19, the extrusion member 54 takes the first position. As a result, the extrusion member 54 keeps the fastener F inside the cartridge body 53.

[0173] Subsequently, as shown in Figure 22, when the third drive mechanism 73 moves the lever 37 in the reverse Y direction, the switch 55 moves from the first position to the second position, and as shown in Figure 20, the transmission mechanism 20 rotates the extrusion member 54, and the extrusion member 54 switches from the first position to the second position. As a result, the extrusion member 54 pushes out one fastener F from the cartridge body 53.

[0174] Subsequently, as shown in Figure 21, when the third drive mechanism 73 moves the lever 37 in the forward Y direction and returns it to its original position, the tensile force of the elastic member 91 of the transmission mechanism 20 causes the switch 55 to return from the second position to the first position, and as shown in Figure 19, the transmission mechanism 20 rotates the extrusion member 54, causing the extrusion member 54 to return from the second position to the first position. As a result, the extrusion member 54 holds the remaining fastener F inside the cartridge body 53.

[0175] By repeating the above process, the extrusion member 54 pushes out the fasteners F one by one from the cartridge body 53.

[0176] Next, we will explain the operation of loading fastener F into fastener storage cartridge 50.

[0177] First, as shown in Figure 21, when the third drive mechanism 73 is not moving the lever 37, the switch 55 is in the first position, and as shown in Figure 19, the extrusion member 54 takes the first position. As a result, the extrusion member 54 keeps the fastener F inside the cartridge body 53.

[0178] The worker removes the fastener storage cartridge 50 from the first fastener supply device 3 and holds it in their hand. Then, as shown in Figure 25, when the worker moves the switch 55 from the first position to the third position with their finger, the transmission mechanism 20 rotates the extrusion member 54, as shown in Figure 23, and the extrusion member 54 switches from the first position to the third position. At this time, the finger is prevented from pushing the switch 55 from the third position to the second position by the restricting part 59.

[0179] Subsequently, as shown in Figure 23, the worker pushes the fastener F0 into the cartridge body 53 from the outlet 51, and loads the fastener F0 into the cartridge body 53 as shown in Figure 24. At this time, the worker manually loads the fasteners F0 into the cartridge body 53 one by one.

[0180] Subsequently, when the operator releases their finger from the switch 55, as shown in Figure 21, the tensile force of the elastic member 91 of the transmission mechanism 20 causes the switch 55 to return from the third position to the first position, and as shown in Figure 19, the transmission mechanism 20 rotates the extrusion member 54, causing the extrusion member 54 to return from the third position to the first position. As a result, the extrusion member 54 holds the fastener F loaded in the cartridge body 53 inside the cartridge body 53.

[0181] The operator loads a predetermined number of fasteners F into the cartridge body 53 by repeating the process described above. In the process described above, the operator loads fasteners F into the cartridge body 53 while there are still fasteners F remaining in the cartridge body 53, but it is also possible to load fasteners F into the cartridge body 53 only after all the fasteners F in the cartridge body 53 have been used. In the process described above, the operator moves the switch 55 from the first position to the third position with their finger, but it is also possible to move the switch 55 from the first position to the third position with the lever 37. Alternatively, the switch 55 may be automatically moved from the first position to the third position by another machine or robot other than the lever 37.

[0182] According to the first fastener supply device 3 described above, the first fastener supply device 3 is equipped with a transport pipe 60, an opening / closing shutter 65, and a first drive mechanism 71. When transporting the fastener F together with compressed air, the opening / closing shutter 65 can close the first hole 61, preventing leakage of compressed air from the transport pipe 60. Therefore, the fastener F can be transported reliably. In more detail, the force with which the compressed air transports the fastener F can be transmitted to the fastener F more efficiently, ensuring that the fastener F is transported reliably. This is particularly suitable for reliably transporting relatively heavy fasteners F, such as temporary fasteners.

[0183] Furthermore, the opening / closing shutter 65 is cylindrical in shape and covers the transport pipe 60. The first drive mechanism 71 rotates the transport pipe 60 and the opening / closing shutter 65 relative to each other to switch the relative position of the first hole 61 with respect to the second hole 66, thereby opening and closing the first hole 61. This allows the opening / closing shutter 65 to be positioned concentrically with respect to the transport pipe 60, reducing the installation space required for the opening / closing shutter 65.

[0184] Furthermore, since the transport pipe window 63 overlaps with at least the shutter window 67 when the first hole 61 is closed by the opening / closing shutter 65, it is possible to visually confirm from the outside whether or not the fastener F is inserted into the transport pipe 60.

[0185] Furthermore, since the first hole 61 of the transport pipe 60 opens in a first direction perpendicular to the axis 60a of the transport pipe 60, when inserting the fastener F into the first hole 61 with its longitudinal direction parallel to the axis 60a of the transport pipe 60, the fastener F can be inserted into the transport pipe 60 so that its longitudinal direction coincides with the axis 60a of the transport pipe 60. Therefore, the fastener F can be inserted into the transport pipe 60 and transported without changing the orientation of the fastener F.

[0186] Furthermore, since the fastener storage cartridge 50 includes an outlet 51 that discharges the fastener F toward the first hole 61 with the longitudinal direction of the fastener F parallel to the axis 60a of the transport pipe 60, the fastener F can be inserted into the transport pipe 60 so that its longitudinal direction coincides with the axis 60a of the transport pipe 60. Therefore, the fastener F can be inserted into the transport pipe 60 and transported without changing the orientation of the fastener F.

[0187] Furthermore, since the first fastener supply device 3 has a second drive mechanism 72, it can receive fasteners F from a desired fastener storage cartridge 50 among the multiple fastener storage cartridges 50.

[0188] Furthermore, since the multiple fastener storage cartridges 50 are arranged in a second direction perpendicular to the axis 60a of the transport pipe 60 and perpendicular to the first direction, fasteners F can be received from multiple fastener storage cartridges 50 stacked in the second direction. For example, when a fastener F runs out in a predetermined fastener storage cartridge 50, the transport pipe 60 can be moved to a position corresponding to another fastener storage cartridge 50 that stores fasteners F, thereby enabling a continuous supply of fasteners F.

[0189] Furthermore, since the multiple third drive mechanisms 73 are arranged in a staggered pattern in the second direction, the dimensions of the first fastener supply device 3 in the second direction can be reduced.

[0190] Furthermore, the first holes 61 of the transport pipe 60 are arranged in the axial direction 60a of the transport pipe 60 so as to correspond to the respective outlets 51 of the multiple fastener storage cartridges 50 arranged in the axial direction 60a of the transport pipe 60, so that fasteners F can be continuously supplied from a desired fastener storage cartridge 50 among the multiple fastener storage cartridges 50. For example, when a fastener F runs out in a predetermined fastener storage cartridge 50, a fastener F can be inserted through the first hole 61 located at a position corresponding to another fastener storage cartridge 50 that stores fasteners F, thereby enabling a continuous supply of fasteners F.

[0191] Furthermore, since the first fastener supply device 3 has a first path shutter 81 and a fourth drive mechanism 74, the orientation of the first fastener supply device 3 can prevent the fastener F from moving off the path of the transport pipe 60 at an unintended timing.

[0192] More specifically, the first fastener supply device 3 is mounted on the arm 10, which is a movable part of the robot 1. Therefore, changes in the posture of the arm 10 may cause changes in the posture of the first fastener supply device 3. When a fastener F is taken into the transport pipe 60, depending on the posture of the first fastener supply device 3, the fastener F may move at an unintended time even without being sent out by compressed air. In contrast, by providing the first path shutter 81, it is possible to prevent the fastener F from moving at an unintended time.

[0193] Since the first path shutter 81 is a ball valve, compared to a gate valve, it can reduce the gap in the path 80a of the main body 80, thereby preventing compressed air leakage. Furthermore, it can smooth the inner surface of the path 80a of the main body 80, preventing steps and thus preventing the fastener F being transported from getting caught.

[0194] Furthermore, since the first fastener supply device 3 includes a switching pipe 90, a second path shutter 82, and a fifth drive mechanism 75, the second path shutter 82 opens and closes the downstream path of the transport pipe 60 in mechanical linkage with the movement of the switching pipe 90. This prevents fasteners F from being discharged from the transport pipe 60 at an unintended timing due to malfunction of the first fastener supply device 3 or the like.

[0195] Furthermore, since the first fastener supply device 3 has a sixth drive mechanism 76, the switching pipe 90 is pressed against the downstream path of the transport pipe 60, specifically the path 80a of the main body 80 of the shutter mechanism 34, thereby preventing leakage of compressed air.

[0196] Furthermore, since the robot system 100 is equipped with a first fastener supply device 3, the first hole 61 can be closed by the opening / closing shutter 65 when the fastener F is transported together with compressed air, thereby preventing the compressed air from leaking from the transport pipe 60. Therefore, the fastener F can be reliably supplied to the fastening position.

[0197] According to the fastener storage cartridge 50 described above, the extrusion member 54 pushes the fastener F out of the discharge port 51 of the cartridge body 53 in a direction perpendicular to the axis Fa. This allows the fastener F to be pushed out from the cartridge body 53 in a sideways orientation and sent to the fastener supply device 3 in a sideways orientation. Therefore, the fastener F can be sent out in a constant orientation.

[0198] Furthermore, the extrusion member 54 can selectively switch between a first position and a second position by rotating. This allows the fastener F to be pushed out by the rotation of the extrusion member 54, and the extrusion member 54 can be made into a simple cam mechanism.

[0199] Furthermore, the transmission mechanism 20 rotates the extrusion member 54 so that it assumes a first posture when the switch 55 is in the first position, and rotates the extrusion member 54 so that it assumes a second posture when the switch 55 is in the second position. As a result, the fastener F can be pushed out by the movement of the switch 55, and the fastener F can be pushed out with a simple configuration.

[0200] Furthermore, the elastic member 91 biases the switch 55 so that it is in the first position. This allows the extrusion member 54 to be held in the first position when no force is applied to the switch 55.

[0201] Furthermore, the direction of movement of the switch 55 is parallel to the axis 54a of the extrusion member 54. This allows the extrusion member 54 to not get in the way when the switch 55 is moved, and the switch 55 and the extrusion member 54 can be positioned close together.

[0202] Furthermore, the elastic member 92 biases the fasteners F stored in the cartridge body 53 toward the discharge port 51. As a result, the elastic member 92 can cooperate with the extrusion member 54 to push the fasteners F out of the discharge port 51. In addition, adjacent fasteners F stored in the storage space 52 of the cartridge body 53 can be brought into close contact, and multiple fasteners F can be aligned so that their respective axes Fa are parallel. Furthermore, when loading fasteners F into the cartridge body 53 from the discharge port 51, the fasteners F to be loaded can be brought into close contact with the fasteners F inside the cartridge body 53, and the fasteners F can be aligned and loaded so that the axis Fa of the fasteners F to be loaded is parallel to the axis Fa of the fasteners F inside the cartridge body 53.

[0203] Furthermore, the extrusion member 54, the switch 55, and the transmission mechanism 20 are arranged on the first surface 53a of the cartridge body 53. This allows the extrusion member 54, the switch 55, and the transmission mechanism 20 to be installed together on the same surface of the cartridge body 53, making it easy to install the extrusion member 54, the switch 55, and the transmission mechanism 20 as a unit on the cartridge body 53.

[0204] Furthermore, the extrusion direction of the fastener F of the extrusion member 54 is parallel to the sliding direction of the second member 22. This allows the extrusion direction of the fastener F of the extrusion member 54 to be set perpendicular to the movement direction of the switch 55, thereby improving the design flexibility of the fastener storage cartridge 50.

[0205] Furthermore, the transmission mechanism 20 rotates the extrusion member 54 so that it assumes a third posture when the switch 55 is in the third position. This allows the operator to load the fastener F into the cartridge body 53 from the discharge port 51 by moving the switch 55 to the third position.

[0206] Furthermore, the restricting unit 59 restricts the movement of the switch 55 from the third position to the second position. This prevents the operator from accidentally moving the switch 55 to the second position by restricting its movement with their finger or the like. On the other hand, the operator can move the switch 55 to the third position and load the fastener F.

[0207] 《Other Embodiments》 As described above, the embodiments described herein have been presented as examples of the technology disclosed herein. However, the technology in this disclosure is not limited thereto and can be applied to embodiments that have been modified, replaced, added, or omitted as appropriate. It is also possible to combine the components described in the embodiments above to create new embodiments. Furthermore, the components described in the attached drawings and detailed description may include not only components essential for solving the problem, but also components that are not essential for solving the problem, in order to illustrate the technology. Therefore, the mere presence of such non-essential components in the attached drawings and detailed description should not be immediately assumed to mean that those non-essential components are essential.

[0208] The opening / closing shutter 65 is cylindrical in shape and covers the transport pipe 60, but it only needs to be formed to open and close the first hole 61, and may be, for example, arc-shaped.

[0209] The shutter window 67 may be provided on a part of the side surface of the opening / closing shutter 65. In this case, when the opening / closing shutter 65 is closed through the first hole 61, the transport pipe window 63 should overlap the shutter window 67 when viewed from a direction perpendicular to the axis 60a.

[0210] The number of first holes 61 in the transport pipe 60 may be increased or decreased. The number of second holes 66 in the opening / closing shutter 65 may be increased or decreased. It is sufficient that the number of first holes 61 and second holes 66 are the same.

[0211] Multiple fastener storage cartridges 50 are arranged so as to be aligned in a second direction, in this example, the Z direction, and also aligned in the direction of the axis 60a of the transport pipe 60, in this example, the X direction. However, multiple fastener storage cartridges 50 may be arranged so as to be aligned only in the second direction, or multiple fastener storage cartridges 50 may be arranged so as to be aligned only in the direction of the axis 60a of the transport pipe 60.

[0212] The number of fastener storage cartridges 50 arranged in the second direction, in this example the Z direction, may be increased or decreased. The number of fastener storage cartridges 50 arranged in the direction of the axis 60a of the transport pipe 60, in this example the X direction, may be increased or decreased.

[0213] The first drive mechanism 71, the second drive mechanism 72, the third drive mechanism 73, the fourth drive mechanism 74, and the fifth drive mechanism 75 and the sixth drive mechanism 76 may be other mechanisms such as an air cylinder, an electric cylinder, or a rack and pinion.

[0214] The multiple third drive mechanisms 73 are arranged in a staggered pattern in the second direction, in this example, in the Z direction, but they may also be arranged linearly in the second direction.

[0215] The first fastener supply device 3 includes a first path shutter 81 and a fourth drive mechanism 74, but the first path shutter 81 and the fourth drive mechanism 74 may be omitted.

[0216] The first fastener supply device 3 includes a second path shutter 82 and a fifth drive mechanism 75, but the second path shutter 82 and the fifth drive mechanism 75 may be omitted.

[0217] The first fastener supply device 3 has a sixth drive mechanism 76, but the sixth drive mechanism 76 may be omitted.

[0218] Robot 1 is driven by the drive wheels of the trolley 5, but it may also run on rails, and the means of movement is not limited. Robot 1 is capable of moving, but it may also be fixed to the floor and unable to move.

[0219] The transmission mechanism 20 rotates the extrusion member 54 so that when the switch 55 is pressed by the lever 37, the extrusion member 54 takes a second position in which it pushes the fastener F out of the cartridge body 53. However, the transmission mechanism 20 may also rotate the extrusion member 54 so that when the switch 55 is pressed by the lever 37, the extrusion member 54 takes a first position in which it keeps the fastener F inside the cartridge body 53.

[0220] The transmission mechanism 20 includes an elastic member 91 that biases the switch 55 to the first position, but the elastic member 91 is not required. In this case, the switch 55 may be moved from the second position to the first position manually or automatically.

[0221] The fastener storage cartridge 50 has an elastic member 93 that biases the extrusion member 54 so that it switches to a first position, but the elastic member 93 is not required. In this case, if the transmission mechanism 20 has an elastic member 91 that biases the switch 55 to the first position, the biasing of the elastic member 91 may be used to indirectly bias the extrusion member 54.

[0222] The direction of movement of the switch 55 is parallel to the axis 54a of the extrusion member 54, but it may also be in a direction intersecting the axis 54a of the extrusion member 54.

[0223] The fastener storage cartridge 50 has an elastic member 92 that biases the fastener F stored in the cartridge body 53 toward the discharge port 51, but the elastic member 92 is not required.

[0224] The extrusion member 54, the switch 55, and the transmission mechanism 20 are arranged on the first surface 53a of the cartridge body 53, but they may be arranged on other surfaces of the cartridge body 53 or on surfaces that are different from each other.

[0225] The extrusion direction of the fastener F of the extruded member 54 is perpendicular to the direction of movement of the switch 55, but it may be in a direction different from the direction of movement of the switch 55.

[0226] The fastener F is loaded into the cartridge body 53 from the discharge port 51, but an opening may be provided in the cartridge body 53 on the side opposite to the discharge port 51, and the fastener F may be loaded into the cartridge body 53 from this opening.

[0227] The fastener storage cartridge 50 has a restricting portion 59 that restricts the movement of the switch 55 from the third position to the second position, but the restricting portion 59 may be omitted.

[0228] The functions of the elements disclosed herein may be implemented using one or more circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), FPGAs (Field Programmable Gate Arrays), and / or conventional circuits. The functions of the elements disclosed herein may be implemented using one or more circuits or processing circuits, including combinations of general-purpose processors, special-purpose processors, integrated circuits, ASICs, FPGAs, and conventional circuits. One or more circuits or processing circuits may be programmed using one or more programs stored together or individually in one or more memories, or may be otherwise configured to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. A processor may be a programmed processor that executes programs stored in memory. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions individually or in combination with each other, or hardware programmed to perform the enumerated functions individually or in combination with each other. The hardware may be any hardware disclosed herein that is programmed or configured to perform the listed functions.

[0229] A computer program, including computer instructions, is stored in memory. The computer instructions provide logic and routines that enable hardware to execute the methods disclosed herein. The hardware includes, for example, processing circuits or circuits. The computer program may be implemented in known formats on computer-readable storage media, computer program products, memory devices, recording media such as CD-ROMs or DVDs, and / or in the memory of FPGAs or ASICs.

[0230] [Embodiments] The embodiments described above are specific examples of the following embodiments.

[0231] (Aspect 1) The fastener supply device 3 is a fastener supply device 3 that receives compressed air from a compressor 2 and supplies fasteners F to the fastening position, and comprises a cylindrical transport pipe 60 including a first hole 61 into which the fastener F is inserted and an air hole 62 into which the compressed air is introduced, an opening / closing shutter 65 that moves between a position that closes the first hole 61 and a position that opens the first hole 61 with respect to the first hole 61 of the transport pipe 60, and a first drive mechanism 71 that moves the transport pipe 60 and the opening / closing shutter 65 relative to each other to open and close the first hole 61 with the opening / closing shutter 65.

[0232] With this configuration, when the fastener F is transported together with compressed air, the opening / closing shutter 65 can close the first hole 61, preventing compressed air from leaking from the transport pipe 60. Therefore, the fastener F can be transported reliably.

[0233] (Aspect 2) In the fastener supply device 3 described in Aspect 1, the opening / closing shutter 65 is cylindrical in shape and covers the transport pipe 60, and includes a second hole 66 into which the fastener F is inserted, and the first drive mechanism 71 rotates the transport pipe 60 and the opening / closing shutter 65 relative to each other to switch the relative position of the first hole 61 with respect to the second hole 66, thereby connecting the second hole 66 to the first hole 61 or closing the first hole 61 with the opening / closing shutter 65.

[0234] With this configuration, the opening and closing shutter 65 can be arranged concentrically with respect to the transport pipe 60, and the installation space required for the opening and closing shutter 65 can be reduced.

[0235] (Aspect 3) In the fastener supply device 3 described in Aspect 1 or Aspect 2, the opening / closing shutter 65 has a transparent shutter window 67 on its side, the transport pipe 60 has a transparent transport pipe window 63 on its side, and the transport pipe window 63 overlaps with at least the shutter window 67 when the side of the transport pipe 60 is viewed from the side of the opening / closing shutter 65 with the first hole 61 closed by the opening / closing shutter 65.

[0236] With this configuration, it is possible to visually confirm from the outside whether or not the fastener F is inserted into the transport pipe 60.

[0237] (Aspect 4) In the fastener supply device 3 described in any one of aspects 1 to 3, the first hole 61 of the transport pipe 60 opens in a first direction perpendicular to the axis 60a of the transport pipe 60.

[0238] With this configuration, when inserting the fastener F into the first hole 61 with its longitudinal direction parallel to the axis 60a of the transport pipe 60, the fastener F can be inserted into the transport pipe 60 so that its longitudinal direction coincides with the axis 60a of the transport pipe 60. Therefore, the fastener F can be inserted into and transported in the transport pipe 60 without changing the orientation of the fastener F.

[0239] (Aspect 5) In the fastener supply device 3 according to any one of aspects 1 to 4, the fastener F has a longitudinal direction, the fastener supply device 3 further comprises a fastener storage cartridge 50 for storing the fastener F, and the fastener storage cartridge 50 includes a discharge port 51 for discharging the fastener F toward the first hole 61 of the transport pipe 60 with the longitudinal direction of the fastener F parallel to the axis 60a of the transport pipe 60.

[0240] With this configuration, the fastener F can be inserted into the conveying pipe 60 so that its longitudinal direction coincides with the axis 60a of the conveying pipe 60. Therefore, the fastener F can be inserted into the conveying pipe 60 and conveyed without changing the orientation of the fastener F.

[0241] (Aspect 6) The fastener supply device 3 according to any one of aspects 1 to 5, further comprising: a plurality of fastener storage cartridges 50 for storing the fasteners F, each including an outlet 51 for discharging the fasteners F; and a second drive mechanism for moving the first hole 61 of the transport pipe 60 to a position facing the outlet 51 of the corresponding fastener storage cartridge 50 among the plurality of fastener storage cartridges 50.

[0242] With this configuration, a fastener F can be received from a desired fastener storage cartridge 50 among multiple fastener storage cartridges 50.

[0243] (Aspect 7) In the fastener supply device 3 described in any one of aspects 1 to 6, the first hole 61 of the transport pipe 60 opens in a first direction perpendicular to the axis 60a of the transport pipe 60, and the plurality of fastener storage cartridges 50 are arranged in a second direction perpendicular to the axis 60a of the transport pipe 60 and perpendicular to the first direction.

[0244] With this configuration, fasteners F can be received from multiple fastener storage cartridges 50 stacked in a second direction.

[0245] (Aspect 8) The fastener supply device 3 according to any one of aspects 1 to 7, further comprising: a plurality of levers 37 arranged corresponding to each of the plurality of fastener storage cartridges 50, which move in the direction of the transport pipe 60 to discharge the fasteners F from each of the plurality of fastener storage cartridges 50; and a plurality of third drive mechanisms 73 attached to each of the plurality of levers 37 to move each of the plurality of levers 37, wherein the plurality of third drive mechanisms 73 are arranged in a staggered pattern in the second direction.

[0246] This configuration allows for a reduction in the dimensions of the fastener supply device 3 in the second direction.

[0247] (Aspect 9) The fastener supply device 3 according to any one of aspects 1 to 8, further comprising a plurality of fastener storage cartridges 50 for storing the fasteners F, each fastener storage cartridge 50 including an outlet 51 for discharging the fasteners F, wherein the plurality of fastener storage cartridges 50 are arranged such that the outlets 51 are aligned in the direction of the axis 60a of the transport pipe 60, and the first holes 61 of the transport pipe 60 are provided aligned in the direction of the axis 60a of the transport pipe 60 so as to correspond to each of the outlets 51 of the plurality of fastener storage cartridges 50.

[0248] With this configuration, fasteners F can be continuously supplied from a desired fastener storage cartridge 50 among a plurality of fastener storage cartridges 50.

[0249] (Aspect 10) The fastener supply device 3 according to any one of aspects 1 to 9 further comprises: a first path shutter 81 that moves to a position that closes the downstream path of the transport pipe 60 and a position that opens the downstream path of the transport pipe 60 with respect to the downstream path of the transport pipe 60; and a fourth drive mechanism 74 that moves the first path shutter 81 to open and close the downstream path of the transport pipe 60 with respect to the downstream path of the transport pipe 60.

[0250] With this configuration, the orientation of the fastener supply device 3 prevents the fastener F from moving off the path of the transport pipe 60 at an unintended timing.

[0251] (Aspect 11) The fastener supply device 3 according to any one of aspects 1 to 10 further comprises: a cylindrical switching pipe 90 that moves between a first position L1 connected downstream of the transport pipe 60 and a second position L2 connected to a transport path that transports a fastener F different from the fastener F; a second path shutter 82 that opens and closes the path downstream of the transport pipe 60; and a fifth drive mechanism 75 which, when the switching pipe 90 is moved to the first position L1, pushes and moves the second path shutter 82 to open the path and connects the switching pipe 90 to the path, while when the switching pipe 90 is moved to the second position L2, the switching pipe 90 separates from the second path shutter 82 and the second path shutter 82 closes the path.

[0252] With this configuration, the second path shutter 82 opens and closes the downstream path of the transport pipe 60 in mechanical conjunction with the movement of the switching pipe 90, thereby preventing fasteners F from being discharged from the transport pipe 60 at an unintended timing due to malfunction of the fastener supply device 3 or the like.

[0253] (Aspect 12) The robot system 100 comprises a robot 1 having an arm 10, a compressor 2, a fastener supply device 3 according to any one of aspects 1 to 11 attached to the arm 10, and a control device 4 that controls the robot 1, the compressor 2, and the first drive mechanism 71 of the fastener supply device 3, wherein the control device 4 controls the first drive mechanism 71 to close the first hole 61 with the opening / closing shutter 65 when introducing compressed air from the compressor 2 into the transport pipe 60 to transport the fastener F inserted into the transport pipe 60.

[0254] With this configuration, when the fastener F is transported together with compressed air, the opening / closing shutter 65 can close the first hole 61, preventing compressed air from leaking from the transport pipe 60. Therefore, the fastener F can be reliably supplied to the fastening position.

[0255] 1 Robot 2 Compressor 3 First fastener supply device (fastener supply device) 4 Control device 10 Arm 37 Lever 50 Fastener storage cartridge 51 Discharge port 60 Conveyor pipe 60a Shaft 61 First hole 62 Air hole 63 Conveyor pipe window 65 Opening / closing shutter 66 Second hole 67 Shutter window 71 First drive mechanism 72 Second drive mechanism 73 Third drive mechanism 74 Fourth drive mechanism 75 Fifth drive mechanism 81 First path shutter 82 Second path shutter 90 Switching pipe 100 Robot system F Fastener L1 First position L2 Second position

Claims

1. A fastener supply device that receives compressed air from a compressor and supplies fasteners to a fastening position, comprising: a cylindrical transport pipe including a first hole into which the fastener is inserted and an air hole into which the compressed air is introduced; an opening / closing shutter that moves relative to the first hole of the transport pipe between a position that closes the first hole and a position that opens the first hole; and a first drive mechanism that moves the transport pipe and the opening / closing shutter relative to each other to open and close the first hole with the opening / closing shutter.

2. A fastener supply device according to claim 1, wherein the opening / closing shutter is cylindrical in shape and covers the transport pipe and includes a second hole into which the fastener is inserted, and the first drive mechanism rotates the transport pipe and the opening / closing shutter relative to each other to switch the relative position of the first hole with respect to the second hole, thereby connecting the second hole to the first hole or closing the first hole with the opening / closing shutter.

3. A fastener supply device according to claim 2, wherein the opening / closing shutter has a transparent shutter window on its side surface, the transport pipe has a transparent transport pipe window on its side surface, and the transport pipe window overlaps at least the shutter window when the side surface of the transport pipe is viewed from the side surface of the opening / closing shutter with the first hole closed by the opening / closing shutter.

4. A fastener supply device according to claim 1, wherein the first hole of the transport pipe opens in a first direction perpendicular to the axis of the transport pipe.

5. The fastener supply device according to claim 1, wherein the fastener has a longitudinal direction, the fastener supply device further comprises a fastener storage cartridge for storing the fastener, and the fastener storage cartridge includes a discharge port for discharging the fastener toward the first hole of the transport pipe with the longitudinal direction of the fastener parallel to the axis of the transport pipe.

6. A fastener supply device according to claim 1, further comprising: a plurality of fastener storage cartridges for storing fasteners, each having an outlet for discharging fasteners; and a second drive mechanism for moving the first hole of the transport pipe to a position facing the outlet of a corresponding fastener storage cartridge among the plurality of fastener storage cartridges.

7. A fastener supply device according to claim 6, wherein the first hole of the transport pipe opens in a first direction perpendicular to the axis of the transport pipe, and the plurality of fastener storage cartridges are arranged in a second direction perpendicular to the axis of the transport pipe and perpendicular to the first direction.

8. A fastener supply device according to claim 7, further comprising: a plurality of levers arranged corresponding to each of the plurality of fastener storage cartridges and moving in the direction of the transport pipe to discharge fasteners from each of the plurality of fastener storage cartridges; and a plurality of third drive mechanisms attached to each of the plurality of levers and moving each of the plurality of levers, wherein the plurality of third drive mechanisms are arranged in a staggered pattern in the second direction.

9. A fastener supply device according to claim 1, further comprising a plurality of fastener storage cartridges for storing fasteners, each containing an outlet for discharging fasteners, wherein the plurality of fastener storage cartridges are arranged such that their outlets are aligned in the axial direction of the transport pipe, and the first hole of the transport pipe is provided aligned in the axial direction of the transport pipe to correspond to the respective outlets of the plurality of fastener storage cartridges.

10. A fastener supply device according to claim 1, further comprising: a first path shutter that moves to a position that closes the downstream path of the transport pipe and a position that opens the downstream path of the transport pipe with respect to the downstream path of the transport pipe; and a fourth drive mechanism that moves the first path shutter to open and close the downstream path of the transport pipe with respect to the downstream path of the transport pipe.

11. A fastener supply device according to claim 1, further comprising: a cylindrical switching pipe that moves between a first position connected downstream of the transport pipe and a second position connected to a transport path for transporting fasteners different from the fastener; a second path shutter that opens and closes the path downstream of the transport pipe; and a fifth drive mechanism which, when the switching pipe is moved to the first position, pushes and moves the second path shutter to open the path and connect the switching pipe to the path, while when the switching pipe is moved to the second position, the switching pipe separates from the second path shutter and the second path shutter closes the path.

12. A robot system comprising: a robot having an arm; a compressor; a fastener supply device according to claim 1 attached to the arm; and a control device for controlling the robot, the compressor, and the first drive mechanism of the fastener supply device, wherein the control device controls the first drive mechanism to close the first hole with the opening / closing shutter when introducing compressed air from the compressor into the transport pipe to transport the fastener inserted into the transport pipe.

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