JP7800082B2 - Component supply device and component supply method - Google Patents

Description

The present invention relates to a component supply device and a component supply method.

Technology related to a device that picks out small amounts of parts from a pile of parts and supplies them to a specified location is disclosed in Patent Document 1 below. Patent Document 1 discloses technology in which a robot's arm and hand move freely above a part supply location based on information from an image recognition device, and grab multiple parts from the pile and scatter them, eliminating overlapping parts. It also discloses technology in which the arm and hand grab parts selected by the image recognition device from the scattered parts and supply them to the part supply location.

Japanese Patent Application Publication No. 06-127698

However, it has not been easy to reliably pick up a small number of parts from a large pile of parts. Therefore, the present invention aims to provide a parts supply device and a parts supply method that can reliably pick up parts from a large number of parts stored in a storage container.

To solve the above problems, the present invention provides a parts supply device that includes a parts storage device that stores multiple parts, and a parts picking device that picks the parts from the parts storage device and supplies them to a predetermined location. The parts storage device includes a storage container with a parts picking opening and a parts swinging unit that swings the multiple parts stored in the storage container. The parts picking device is a parts supply device that includes a hand that inserts its tip into the storage container to hold the parts in the storage container and picks the held parts from the picking opening.

The present invention provides a component supply device and a component supply method that can reliably remove components from a large number of components stored in a storage container.

1 is a perspective view showing a component supply device according to a first embodiment; FIG. 2 is a side view showing the component supply device of the first embodiment. 5A to 5C are diagrams illustrating the operation of a component supply unit in the component supply device of the first embodiment. 5A to 5C are diagrams illustrating the operation of a component swinging unit in the component supply device of the first embodiment. 5A to 5C are diagrams illustrating the operation of the component picking device in the component supply device of the first embodiment. 1A to 1C are diagrams (part 1) illustrating a component supplying method by the component supplying device of the first embodiment. 10A to 10C are diagrams (part 2) illustrating a component supplying method by the component supplying device of the first embodiment. FIG. 10 is a diagram showing the configuration of a component storage device in a component supply device of a second embodiment. FIG. 11 is a diagram showing the configuration of a component storage device in a component supply device of a third embodiment. FIG. 10 is a diagram showing the configuration of a component storage device in a component supply device of a fourth embodiment. FIG. 13 is a diagram showing the configuration of a component storage device in a component supply device of a fifth embodiment. FIG. 13 is a diagram showing the configuration of a component storage device in a component supply device of a sixth embodiment. FIG. 13 is a diagram showing the configuration of a component storage device in a component supply device of a seventh embodiment. FIG. 19 is a diagram showing the configuration of a component storage device in a component supply device of an eighth embodiment. FIG. 13 is a diagram showing the configuration of a component storage device in a component supply device of a ninth embodiment.

Each embodiment of the component supply device of the present invention will be described in detail below with reference to the drawings. Note that identical components in each embodiment described below will be assigned the same reference numerals, and duplicate explanations will be omitted.

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

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

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

The storage container 11 also has a loading opening 11c on its side, at a position independent of the two slit openings 11b, for loading parts [Wo] into the storage container 11. Furthermore, the bottom surface 11d of the storage container 11 is movable along the side, allowing the capacity of the storage container 11 and the height position of the parts [Wo] within the storage container 11 to be varied. This bottom surface 11d is movable between the lower end of the side wall of the storage container 11 and a height near the lower end of the slit openings 11b, for example.

Furthermore, the upper edges of the two side surfaces of the storage container 11 where the slit openings 11b are located are cut diagonally on both sides, with the location of the slit openings 11b being the highest point. This prevents interference with the storage container 11 when the component removal device 100, described next, moves.

In addition, the bottom surface 11d of the storage container 11 has a sloped portion that slopes downward toward the center, for example.

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

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

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

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

With this configuration, parts [Wo] inserted through the insertion opening 13a of the parts loading section 13 slide down the inclined surface 13b of the parts loading section 13 and are loaded into the storage container 11 through the loading opening 11c.

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

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

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

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

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

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

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

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

Figure 5 is a diagram illustrating the operation of the component picking device 100 in the component supply device 1 of the first embodiment. As shown in this figure, a pair of opposing hands 102 hold a component [Wo] between them by bringing their tips close together.

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

Furthermore, by opening the tips of such a hand 102, it can release the held part [Wo] and place the part [Wo] in a predetermined position.

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

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

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

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

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

The second sensor 302 described above transmits the detected information to the control unit 200.

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

First, as shown in Figure 6 (1), the component supply unit 14 of the component storage device 10 lowers the bottom surface 11d of the storage container 11. This allows components [Wo] to be loaded from the component loading unit 13 through the loading opening 11c into the storage container 11 of the component storage device 10, resulting in a state in which a large amount of components [Wo] is stored. Note that the component loading unit 13 is only shown in Figure 6 (1) and is omitted from other figures.

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

Then, as shown in FIG. 6 (2), the component swinging unit 15 of the component storage device 10 bends the bottom surface 11d of the storage container 11. Furthermore, as shown in FIG. 6 (2), the component swinging unit 15 of the component storage device 10 extends the bottom surface 11d of the storage container 11 from the bent state to a straight state. By performing these bending and extending swinging operations, the component swinging unit 15 swings the large number of components [Wo] stored in the storage container 11. The component swinging unit 15 may repeat the swinging operation multiple times. This fills the gaps among the large number of components [Wo] stored in the storage container 11, increasing the density of components within the storage container 11.

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

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

Next, as shown in Figure 7 (2), the robot arm 101 lowers the hands 102, and each hand 102 presses against the flange 12a of the shutter 12, pulling down the shutter 12. This opens the slit opening 11b of the storage container 11, and the hand 102 is positioned opposite the slit opening 11b. At this time, because the part [Wo] does not protrude from the top edge of the storage container 11, the part [Wo] does not interfere with the bottom of the robot arm 101.

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

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

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

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

The component supply device 1 is also configured with a slit opening 11b on the side of the storage container 11, into which the hand 102 of the component removal device 100 is inserted. This allows the pair of hands 102 to pinch the group of components inside the storage container 11 from outside the storage container 11 without affecting the arrangement of the large number of components [Wo] contained within the storage container 11. This makes it possible to reliably remove one or more small quantities of components [Wo] from a large number of components [Wo].

Furthermore, since the hand 102 is not inserted into the group of parts in the storage container 11, the part [Wo] is not damaged by the hand 102 being inserted into the group of parts, and the quality of the part [Wo] can be ensured.

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

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

This component swinging operation by the component swinging unit 15-2 may be performed at the timing described in the component supply method of the first embodiment. This swinging operation may also be performed after the bottom surface 11d of the storage container 11 has been pushed up to a predetermined height and the component [Wo] in the storage container 11 has been supplied to the same height as the slit opening 11b.

<Effects of the Second Embodiment>
The component supplying device provided with the component swinging section 15-2 of the second embodiment described above can also obtain the same effects as the component supplying device of the first embodiment.

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

As shown in Figure 9(a), the part swinging unit 15-3 is, for example, rod-shaped, and moves the tip of the rod horizontally at a predetermined height in the storage container 11, bringing the tip into contact with the parts [Wo] contained in the storage container 11 and swinging the parts [Wo]. This fills in the gaps between the large number of parts [Wo] contained in the storage container 11, increasing the density of parts within the storage container 11, as shown in Figure 9(b).

This component swinging operation by the component swinging unit 15-3 may be performed at the timing described in the component supply method of the first embodiment. This swinging operation may also be performed after the bottom surface 11d of the storage container 11 has been pushed up to a predetermined height and the component [Wo] in the storage container 11 has been supplied to the same height as the slit opening 11b.

<Effects of the Third Embodiment>
The component supplying device provided with the component swinging section 15-3 of the third embodiment described above can also obtain the same effects as the component supplying device of the first embodiment.

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

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

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

This component swinging operation by the component swinging unit 15-4 may be performed at the timing described in the component supply method of the first embodiment. This swinging operation may also be performed after the bottom surface 11d of the storage container 11 is pushed up to a predetermined height and the component [Wo] in the storage container 11 is supplied to the same height as the slit opening 11b.

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

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

As shown in Figure 11(a), the part swinging unit 15-5 is a motor that swings the bottom surface 11d of the storage container 11, and by swinging the bottom surface 11d of the storage container 11, swings the parts [Wo] stored in the storage container 11. As a result, as shown in Figure 11(b), gaps among the large number of parts [Wo] stored in the storage container 11 can be filled, increasing the density of parts in the storage container 11.

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

This component swinging operation by the component swinging unit 15-5 may be performed at the timing described in the component supply method of the first embodiment. This swinging operation may also be performed after the bottom surface 11d of the storage container 11 is pushed up to a predetermined height and the component [Wo] in the storage container 11 is supplied to the same height as the slit opening 11b.

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

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

As shown in Figure 12(a), the part shaking unit 15-6 is cylindrical and sprays a gas [G] such as air from the bottom surface 11d of the storage container 11. The spray of gas [G] causes the parts [Wo] stored in the storage container 11 to shake. As a result, as shown in Figure 12(b), it is possible to fill gaps among the large number of parts [Wo] stored in the storage container 11 and increase the density of parts within the storage container 11.

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

This oscillation of the component [Wo] by the component oscillation unit 15-6 using the gas [G] may be performed at the timing described in the component supply method of the first embodiment. This oscillation may also be performed with the bottom surface 11d of the storage container 11 raised to a predetermined height and the component [Wo] in the storage container 11 supplied to the same height as the slit opening 11b.

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

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

As shown in Figure 13(a), the part swinging unit 15-7 is a motor that swings the inclined sidewall 11e on the bottom surface 11d of the storage container 11. By swinging the inclined sidewall 11e on the bottom surface 11d of the storage container 11, the parts [Wo] stored in the storage container 11 are swung. As a result, as shown in Figure 13(b), it is possible to fill gaps among the large number of parts [Wo] stored in the storage container 11 and increase the density of parts within the storage container 11.

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

This component swinging operation by the component swinging unit 15-7 may be performed at the timing described in the component supply method of the first embodiment. This swinging operation may also be performed after the bottom surface 11d of the storage container 11 has been pushed up to a predetermined height and the component [Wo] in the storage container 11 has been supplied to the same height as the slit opening 11b.

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

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

As shown in Figure 14, the bottom surface 11d of the storage container 11 has separate sidewall members 11-8 and 11-8' that form the inclined sidewall 11e, and these sidewall members 11-8 and 11-8' can be attached to and detached from the bottom surface 11d.

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

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

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

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

As shown in Figure 15, the bottom surface 11d of the storage container 11 has a separate sidewall member 11-9 that forms the inclined sidewall 11e, and this sidewall member 11-9 can be freely adjusted in height relative to the bottom surface 11d.

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

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

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

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

Furthermore, the component supply device 1 of the first to ninth embodiments described above has been described as having a storage container 11 equipped with a slit opening 11b, as shown in Figures 1 and 2. However, the storage container 11 may not have a slit opening. In this case, the hand 102 is configured to insert its tip into the storage container 11 through the removal opening 11a for the component [Wo] and clamp the component [Wo] inside the storage container 11.

1...component supply device 10...component storage device 11...storage container 11-8, 11-8', 11-9...side wall member 11a...removal opening 11b...slit opening 11d...bottom surface 11e...inclined side wall 15, 15-2 to 15-7...component swinging section 100...component removal device 102...hand 302...second sensor [Wo]...component

Claims (18)

a parts storage device that stores a plurality of parts;
a component picking device for picking up the component from the component storage device and supplying it to a predetermined position;
The parts storage device
a storage container provided with a component removal opening and a slit opening continuous with the component removal opening ;
a shutter for freely opening and closing the slit opening of the storage container;
a component swinging unit that swings the components contained in the storage container,
The component picking device is
a hand that inserts a tip end of the hand into the storage container through the slit opening to hold the component in the storage container and removes the held component from the removal opening; The component supply device according to claim 1 , wherein the component swinging unit swings the plurality of components accommodated in the storage container by making the bottom surface of the storage container bendable. The component supply device according to claim 1 , wherein the component swinging unit swings the components contained in the storage container by moving within the storage container and coming into contact with the components contained in the storage container. The component supply device according to claim 3 , wherein the component swinging unit moves at a predetermined height above the storage container in which the plurality of components are stored. The component supply device according to claim 3 , wherein the component swinging portion is capable of projecting into the storage container from a bottom surface of the storage container in which the plurality of components are accommodated. The component supply device according to claim 1 , wherein the component swinging unit swings the components accommodated in the storage container by vibrating a bottom surface of the storage container. The component supply device according to claim 1 , wherein the component swinging unit swings the components accommodated in the storage container by ejecting gas into the storage container in which the components are accommodated. The component supply device according to claim 1 , wherein the component swinging unit swings the components housed in the storage container by vibrating the storage container in which the components are housed. The component supply device according to claim 8 , wherein the component swinging unit vibrates a side wall of the storage container in which the plurality of components are stored. The component supply device according to any one of claims 1 to 9, wherein the bottom surface of the storage container has an inclined side wall that slopes toward a predetermined portion. The component supply device according to claim 10 , wherein the bottom surface of the storage container is provided with a separate sidewall member having the inclined sidewall. The component supply device according to claim 11, wherein the side wall member is replaceable. The component supply device according to claim 11 , wherein the side wall member is capable of freely adjusting a protruding height from the bottom surface. 14. The component supply device according to claim 1 , wherein the shutter opens the slit opening in conjunction with the lowering of the hand . The component supply device according to claim 14, wherein the removal opening is provided on a top surface of the storage container, and the slit opening is provided on a side surface of the storage container. The storage container has a pair of the slit openings on opposite sides thereof,
The component supply device according to claim 14 or 15, wherein the component removal device has a pair of hands whose tip ends are inserted into the storage container from outside the storage container through the pair of slit openings, and the pair of hands pinch the component. 17. The component supply device according to claim 1, further comprising a sensor provided at a predetermined height relative to the removal opening for detecting protrusion of the component from within the storage container. A component supply method using a component supply device including a component storage device having a storage container provided with a slit opening continuing from a component removal opening and a shutter for freely opening and closing the slit opening, the component storage device storing a plurality of components in the storage container , and a component removal device for removing the components from the component storage device and supplying them to a predetermined position, comprising:
a plurality of components accommodated in a storage container of the component storage device are swung while the slit opening is closed by the shutter , thereby reducing gaps between the components in the storage container and densely arranging the components in the storage container;
Next, the shutter is pulled down to open the slit opening , the tip of the hand of the component removal device is inserted into the storage container through the slit opening to hold the component in the storage container, and the held component is removed from the component removal opening in the storage container.