JPS5818287B2 - All parts alignment device - Google Patents

Description

[Detailed Description of the Invention] This invention is provided in a parts feeder chute, etc., and feeds parts in any direction from the feeder so that all parts are aligned and fed in one direction. It provides equipment.

Unlike the conventional method of passing only the parts in the normal direction from among the parts to be transported and the rest being heli-directed in a ball, the 100% parts sorting device handles all the parts sent to the chute by horizontally or vertically inverting them. It uses a low reactor to rotate 180 degrees horizontally and vertically and supplies it in the normal direction.It uses a large number of photoconductive elements arranged according to the shape of the part and receives the output from these elements, which will be described later. It consists of an electronic device that operates a shutter that operates a low reactor, a shutter that supplies parts one by one, a low reactor that turns the relevant part 180 degrees, etc.

The details will be specifically explained below based on the drawings.

In the drawings, FIGS. 1 and 2 are front and side views of the conveyed parts according to this embodiment, and FIG. 3 shows four directions of the parts, /16:
The drawings represent l, A■, rot■, and 應■, and in the embodiment, the AI force direction is the normal direction.

FIGS. 4 and 5 are a plan view and a side view of the embodiment of the apparatus provided on the chute of a parts feeder.

In FIGS. 4 and 5, 1 is a parts feeder, 2 is a parts feeder chute, and various devices such as a shutter, a photoconductive element, a low reactor, etc. are mounted on the chute 2 as described below.

That is, 3 is an accumulator chute that temporarily pools the parts P from the parts feeder 1, 4 is a gate that sends out the pooled parts P to one piece, and 5 and 6 are gates that determine the horizontal and vertical directions of the part P and reach the part. A light source that also serves as a detection device, and three photoconductive elements 7 are shutters that are opened and closed by signals from the photoconductive element 6, and 8 is a shutter that also receives the above-mentioned signal and is used to flip the part horizontally by 180 degrees. horizontally inverted rotary actuators; 9 and 10 are light sources and photoconductive elements for detecting passage of the part P in the second zone B; 11 is a shutter from the second zone B to the final zone C; 12 is a shutter for detecting the part P; Vertical inversion row actuator that inverts 180° in the vertical direction, 13 is the first zone A1
An alignment chute for finally realigning the parts aligned in the normal direction in the second zone B; 14 and 15 are light sources and photoconductive elements for detecting passage of the parts sent to the alignment chute 13 in the final zone C; , 16 and 11 are a light source and a photoconductive element for detecting overflow from the alignment chute 13.

This embodiment is configured as described above.

Next, the operation will be specifically explained based on the parts flowchart in FIG. 6, the electronic device circuit diagram in FIG. 7, the time chart in FIG. 8, and the configuration diagrams in FIGS. 4 and 5.

That is, the parts P are fed from the parts feeder 1 in any one of the directions from /161, ■, ■, and ■, as shown in FIG.

These parts P are once pooled in an accumulator chute 3 and then sent out one by one from a gate 4.

It is now assumed that there are no parts on chute z after gate 4.

That is, in the circuit diagram of FIG. 7, the synchronization or passage detection photoconductive elements 6a and 10 of the first zone A1 and the second zone B are in the light receiving state, and again 1. The IJ timer 28 is not activated, the oscillator 20' and the gate circuit are connected as is, and the gate 4 is opened and closed according to the oscillation output of the oscillator 20 when the start switch 30 is turned on.

In other words, the photoconductive elements 6a, 1 to the AND element 21
Both signals from 0 pass through inverters 22 and 23, and
, 1, or memory M124 has R9S input both 0 and Q
Since the output is 1, that is, one input of the OR element 25 is 1, the oscillation output from the oscillator 20 appears as it is on the output side, and 1.0 is repeated, so that the start switch 30
When ゛ is inserted (time chart in Figure 8, 11 o'clock) A
The oscillation output is applied to the gate 4 via the ND element 26.

Assume that the gate 4 is opened at time 12 in the time chart of FIG. 8 and the part P is sent to the first zone A.

The first zone A is provided with three photoconductive elements 6a, 6b, and 6c for determining the component orientation.

That is, 6a of the photoconductive elements is a discriminating element for synchronization, and when a component reaches the element 6a and the element 6a is shielded from light,
The direction of the component is determined by a combination of light shielding or light reception by the other elements 6b and 6c.

In the case of the normal direction of /161 in the parts flowchart of FIG. 6, when the synchronizing element 6a is light-shielded, the other 6b.

6c elements are both shielded from light and passed through as they are without sending any signals to both the horizontal and vertical low reactors 8 and 12.1. % [If direction is 6a, 6b when light is blocked, 6
Both c are in the light-receiving state, and they send operating signals to both the horizontal and vertical low reactors 8 and 12, respectively.A] In one direction, 6a is light-blocking, and 6c is light-receiving, so that only the vertical inversion low reactor 12 is operated. In addition, in the case of an AIV direction component, when 6a is shielded from light, conversely, when element 6b receives light and element 6c is shielded from light, only the horizontal inversion low reactor 8 needs to be operated.

Part P is the photoconductive element 6a, 6b of the first zone A.

Assume that the robot reaches the mounting section 6c and its orientation is in the /1611 direction.

That is, the outputs of the elements 6a, 6b, and 5c are passed through the width increasing/waveform shaping circuits 31, 32, and 33, the outputs of the 6a element are sent to the timer T134, and the outputs of the elements 6b, 6c, and 6c are sent to the latch circuit 35. The output of the launch circuit 35 is input to the decoder 36 according to the output timing of the element 6a.

Since the outputs of elements 6b and 6c are both 1, the decoder 36 decodes that it is the horizontal direction, and sends it to the respective inversion circuits 37 and 38 to operate the horizontal and vertical image inversion low actuators 8 and 12. , the latter sends an input signal via the memory 39.

After the element 6a is shielded from light t3 and the time T1 has elapsed by the timer T134, a timing signal is input to the inverting circuit 31 for horizontal inversion. Flip the part horizontally by 180°.

Of course, the timer T134 is provided in consideration of the time it takes for the component P to reach the horizontally inverted row reactor 8 from the location where the photoconductive elements 6a, 6b, and 6c are disposed.

In addition, the output of the element 6a is sent to the memory M via an AND gate 27.
It is also used as a set input for 124, increasing the Q output from 1 to O.
In addition, via the re-trigger timer 28 and the inverter 22,
One of the inputs of the ND gate 21 is switched from 1 to O, so the output of the OR gate 25 is O, the output of the AND gate 26 is also 01, and the gate 4 is closed, and if the component is in the element 6a part. The subsequently sent parts are gripped by the gate 4.

Then, the horizontally inverted part P is transferred to the next second tunnel B via the shutter 7. After T1 has elapsed, the circuit is opened.

That is, if we follow the initial assumption that there are no parts in either the second zone B or the final zone C, the outputs of the passage detection photoconductive elements 10.15 in each zone are both 0, and the R, The S input is also 0, and the d output is 1 at initial reset. Therefore, when the timer T134 output is applied to the AND gate 43 via the delay 42, the memory M244
The S input of is 1, the Q output is 1, and the shutter 7 is opened.

This reset state of the memory M341 stores that there are no parts in the second zone B.

In this way, the parts are sent to the second zone B, but before reaching the vertically inverted rotary actuator 12, they pass past the passage detection photoconductive element 10, which is shielded from light.

When the element 10 is shielded from light, T2 is activated via timer T245.
After a time t8, a timing signal is applied to the inverting circuit 38 for vertical inversion, so that the actuator 12 is actuated just when the component reaches the vertical inversion low actuator 12.

Note that the output of this element 10 is also used as the R input of the memory IJ'M124 via the timer M329, and when the component reaches the element 10, the memory M124 is reset at t7, t3 hours later, and the point output is The signal is inverted from 0 to 1, and the gate 4 is opened.

That is, 13 hours after the preceding component reaches the location where the photoconductive element 10 is installed in the second zone B, the trailing component is sent out from the gate 4 to the first zone.

At the same time, the output of element 10 is also used as the S input of the memory IJM341 and the R input of the memory M244.
341 is set, that is, it is stored that there is a component in the second zone B, the memory M244 is reset, the Q output is set to 1, and the shutter 7 is closed.

Thus, in the second zone B, the shack 7 is closed by shielding the photoconductive element 10 from light, and only one component is present, but when this component reaches the vertically inverted row reactor 12, As shown in the figure, the part that is vertically reversed by 180 degrees and converted from the All direction part to the ■th direction by the first horizontal reversal is finally reversed to the normal direction A1 direction.

The parts are then sent to the final zone C via the shutter 11, aligned by the alignment chute 13, and supplied to an external device.

Of course, in this case, since there is no component in the final zone C, the shutter 11 is opened some time after the low reactor 12 is operated, similar to the shutter 7.

That is, the timing signal from the timer T245 to the inverting circuit 38 is sent to the memory IJ after 12 hours via the delay 252.
M2S 1 is set, the Q output is set to 1, of course the output of the overflow detection photoconductive element 17 is O, the inverter 56 output is 1, the AND gate 57 output is 1, the memory M,
The S input of 53 is 1, the Q output is 1, and the shutter 11 is opened (at time 10).

In this way, the parts fed randomly onto the chute from the parts feeder 1 are converted to the normal direction by the horizontal or vertical reversal row reactor and reach the final zone 0.
Zone C is provided with a photoconductive element 15 for detecting passage, as in zones A and B, and is further provided with a photoconductive element 17 for detecting overflow of music.

The overflow detection photoconductive element 17 is provided to prevent further components from flowing in once the zone C is full of components, and its function is as follows:
Irrespective of the timing output signal of the inversion circuit 38 mentioned above, input of human power to the memo IJM, 553 is prevented and the shutter 11 is prevented from opening.

That is, in order to switch one input of the AND gate 57 from 1 to O by shielding the light from the element 17, the output of the element 17 is switched to the amplifying/waveform shaping circuit 54, the on-delay 55, and the inverter 5.
6 to the AND gate 57.

On the other hand, the action of the photoconductive element 15 for passage detection is the same as that of the passage detection elements 6a and 10 in zones A and B, which closes the shutter 11 and remembers that there are no parts in the second zone B. The purpose is to enable the shutter T to open. Specifically, the output of the element 15 is
added as an R input to M451 and memory M553;
The Q output of the memo IJM, 53 is switched from 1 to O to open the shutter 7, and it is also added as an R input to the memory M341, and one input of the AND gate 43 is set to 1.
It is stored that there are no parts in the second zone B, and the shutter 7 is prepared to be opened 11 hours later by the timing signal of the horizontal inversion circuit 37.

That is, only a maximum of one component is allowed to exist in the second zone B at any time, and the same is true for the first zone A. If the element 6a is in a light-shielded state due to the passage of a component, the memo I
JM124 is set and remembers that there is a component in zone A, gate 4 remains closed, and it is opened until memory M124 is reset by the passage detection signal of element 10 and the Q output becomes 1. Therefore, gate 4 is opened for the first time at this point.

That is, whether or not there are parts in the first zone A is memorized by this memo IJM 124, and the gate 4 is opened and closed based on the output of the memo IJM 124, so during normal operation, this zone A There can only be at most one part in .

Note that the function of the retrigger timer 28 that operates in the first zone A is to continue outputting for a certain period of time from that point on when an input pulse signal is input, and under normal conditions, parts are sent one after another from the parts feeder 1 to the chute 2. sent above,
Since the output signal from the synchronization photoconductive element 6a is sequentially applied before the timer time of the retrigger timer 28 ends and the output is not turned off, the output of the retrigger timer 28 is always on, and the output of the inverter 22, that is, the AND One of the inputs of the gate 21 is always 0, and the oscillation output of the oscillator 20 is not connected to the gate 4 circuit.

However, if for some reason the parts feed speed from the parts feeder becomes slower than the parts flow speed on the chute and there are no parts to be ejected even if the gate 4 is opened, the synchronization photoconductive element 6as passage detection photoconductive element If there is no signal from 10 and the re-trigger timer 28 is not provided, the gate 4 will remain open, and for example, even if a large number of parts come at once, this cannot be prevented, and the correct orientation of the parts cannot be prevented. Discrimination becomes impossible and the alignment operation stops.

The present invention solves this problem by using the re-trigger timer 28. Since the re-trigger timer 28 loses the input pulse from the synchronizing photoconductive element 6a and there is no input signal even after the timer time elapses, its output is After the timer time, it is switched from 1 to 0, so the output of impark 22 is switched from 0 to 1, and the output of impark 23 is also switched from element 10.
Since there is no output from the AND gate 21 and it is 1, the remaining two outputs outside the oscillator 20 of the AND gate 21 are both 1, that is, the oscillation output of the oscillator 20 is directly connected to the circuit of the gate 4, and the output from the OR gate 25 and the AND gate are 1. The output of the chute 26 repeats 1.0 in accordance with the above-mentioned oscillation output frequency, and the gate 4 is opened and closed at appropriate intervals to prevent a large number of parts from being fed to the chute 2 at once and to supply only one piece. The signals are sent out at intervals of the oscillation output frequency.

When this oscillator 20 reaches a normal stable state in which the components are sent to the first zone A and further supplied to the second zone B, the output signals from the elements 6a and 10 are activated and the oscillator is disconnected from the circuit. Return to the starting state.

As described above, the present invention relates to a total alignment device that feeds parts sent from a parts feeder in any direction onto a chute in a manner that aligns all parts in a regular fixed direction, and detects and stores passage of parts. Accordingly, a horizontal reversal row rear check and a photoconductive element for determining component orientation were provided.

A first zone between the chute entrance gate and a shutter located immediately after the actuator installation location, and a second zone between the shutter and the shack immediately after the actuator installation location, which is equipped with a vertically inverted row actuator. The most distinctive feature is that only one component is allowed to exist in each of the parts in a stable operating state.
Because of this, the component shape is always determined by the photoconductive element for each component, and there is no need to consider incorrect direction determination due to continuous feeding, which improves reliability. In addition, each row actuator always operates only one part, and for example, it is possible for two parts to ride on the actuator and force it to reverse. Damage to both parties can be prevented and safety can be improved.

In addition, the present invention provides a final zone after the second zone with an accumulation rake chute for alignment in order to finally realign the parts that have been reversed in the normal direction in the second zone and supply them to the outside. This final zone is equipped with an overflow detection photoconductive element to detect the saturation of components, and when the components of the accumulator chute are full, the overflow detection element is activated to shut off the gate between each zone. Temporarily stopping the alignment operation,
Parts destined for one piece are smoothly supplied to the outside from the chute.

Further, the present invention includes an oscillator and a retrigger timer, and opens and closes the gate between the parts feeder ball and the chute according to the action of the oscillator, that is, the oscillation output frequency even in an initial state where there are no parts on the chute. As in a steady, stable operating state where parts are sent one after another, processing is performed without stagnation, and parts are sent one after another at regular intervals, and the output of the photoconductive elements for passage detection in the first and second zones allows the above-mentioned There is a steady and stable operating state where the gate opens and closes, and for some reason the supply of parts from the parts feeder cannot keep up with the processing speed on the chute, and the switch to the gate opening/closing control state using the oscillator, similar to the initial state above. The feature is that it is completely automatic.

In the block diagram of FIG. 1, 46 and 58 are amplification and waveform shaping circuits for the passage detection photoconductive elements 10 and 15 in the second zone B1 and final zone C, respectively.

In addition, in the time chart of Fig. 8, the first part sent from the parts feeder onto the chute is the part in the /16H direction, as mentioned earlier, and the next part fed at time 17 is the horizontally inverted actuator in the All direction. 8 is not activated and only the vertical reversal actuator 12 is activated, and the next component is in the normal direction of corrosion and both actuators 8 and 12 are not activated and it is about to be sent to the final zone in that state. However, if it is assumed that the overflow photoconductive element 1T is activated at time t1□ while the second component in the 2nd direction has reached the final zone and is passing through the passage detection element 15, the shutter 11 will be activated as described above. At the ON time point t1□ of the passage detection element 15, the memory M553 is reset and closed;
7 is switched from 1 to 0, and the output of the passage detection element 10 of the second zone B is the same as the above memo IJM55.
3 is closed] and the shutter 11 is not opened.

In other words, this third AI force direction component is normally sent to the second zone B, but even if the photoconductive element 10 for passage detection in the second zone B is shielded from light as described above, its output is Memo IJM, 53 could not be set, and shutter 11 remained closed. Normally, it would have been opened as shown by the broken line in Figure 8, but the parts were kept in this second zone B. Become.

Therefore, in the fourth component (A61V direction) that follows, the gate 4 is opened by the passing signal (by the element 10) in the second zone B of the preceding third component, and the gate 4 is opened in the first zone A.
However, the next shutter 7 remains closed and is not opened.

Since the shutter 11 remains blocked, there is no passing signal (element 15) in the final zone C, and the memo IJM341 remains set by the passing signal from the element 10.
Output is 0, Memo IJM, , 44 output maintains 0 even though the passing signal of the first zone A is applied.

[Brief explanation of the drawing]

The drawings are as follows: Fig. 1 and Fig. 2 are front and side views of the conveyed parts according to the embodiment of the present invention, Fig. 3 is a view showing four directions of the above-mentioned parts, and Fig. 4 and Fig. 5 are views of the parts feeder. A plane when the chute is equipped with the present invention. 6 is a flowchart of parts, FIG. 1 is a circuit diagram of an electronic device, and FIG. 8 is a time chart for explaining the operation. 4... Parts inflow side gate of the first zone, 6a.
...Photoconductive element for detecting passage through the first zone, 6b, 6
c...Photoconductive element for determining component orientation, 7...
...Shutter between the first and second zones, 8...--Horizontal inversion low actuator, 10...Photoconductive element for detecting passage of second zone, 11......No. 2. Shutter between final zones, 12... Vertical inversion low reactor, 15... Photoconductive element for detecting passage of final zone, 17... Photoconductive element for overflow detection. , 20...Oscillator, 24...Memory M1.28...Retrigger timer, 44...
...Memory M2.41 ...Memory M3.5
1...Memory M4.53...Memory M
,.

Claims (1)

[Claims] 1 A plurality of photoconductive elements are arranged below the parts transfer path according to the shape of the part, and a photoelectric component orientation determination device that determines the component orientation based on the shielding and light reception status of these photoconductive elements and the optical device output are used to identify the component orientation. Each row actuator flips the parts 180° horizontally and vertically,
In the total parts aligning device, which is equipped with the above-mentioned horizontal and
1st and 2nd with rotary actuator for vertical reversal
a photoconductive element for detecting passage of the parts, disposed in each of the zone and the final zone equipped with an alignment chute for finally aligning and supplying the parts;
Based on the combination of blocking and receiving light of these photoconductive elements, a gate between the zones and a gate on the component inflow side of the first zone are provided, which are controlled to open and close based on the combination of blocking and receiving light of these photoconductive elements, and are used to detect passage of each of the first and second zones. When both of the photoconductive elements are in the light receiving state, the oscillator that controls opening and closing of the component inflow side gate of the first zone at a constant cycle and the light shielding of the first pass detection photoconductive element are used to control the first zone. At the same time, the component inflow side gate is closed, and the fact that the component exists in the first zone is memorized, and the memory is cleared after a certain period of time after the light shielding of the photoconductive element for detecting passage of the second zone. The first,
The shutter between the second zones is closed, and the presence of the component in the second zone is memorized, and this memory is cleared by blocking the light of the photoconductive element for detecting passage of the final zone.
A second zone storage element that opens the second zone inter-zone shutter, and a light shielding of the final zone passage detection photoconductive element to close the second and final zone shutter;
A memory element for a final zone is configured to open after a certain period of time from the time when a photoconductive element for detecting passage of the second zone is blocked by a subsequent component, and in order to prevent more than a certain amount of components from flowing into this final zone, An overflow detection photoconductive element disposed in the final zone that closes the gate between the second and final zones.