Parts supply apparatus, parts supply method and robot system

Patent metadata

Field	Value
Publication number	US-11020835-B2
Application number	US-201816034636-A
Country	US
Kind code	B2
Filing date	Jul 13, 2018
Priority date	Apr 7, 2015
Publication date	Jun 1, 2021
Grant date	Jun 1, 2021

Abstract

A parts supply apparatus includes a supply tray stacking portion where a supply tray containing parts is stacked; a tray raising/lowering unit for separating one of the supply trays from the supply tray stacking portion; a tray holding unit with which the tray raising/lowering unit is provided; and an empty tray stacking portion where an empty tray, which is the supply tray that is emptied after supply of the parts, is stacked. The empty tray stacking portion is disposed above the supply tray stacking portion in a vertical direction.

First claim

What is claimed is:

1. A method for manufacturing an article using a robot system, the robot system including a part supply apparatus and a robot, the part supply apparatus having (i) a supply tray stacking portion configured to hold a plurality of supply trays in a stacked arrangement in which a first supply tray is stacked on top of a second supply tray, the second supply tray supporting the first supply tray in the stacked arrangement, each of the supply trays in the supply tray stacking portion containing parts therein; (ii) a tray raising/lowering unit having a tray holding unit; and (iii) a tray moving unit capable of being moved in a z-axis direction by the tray raising/lowering unit, the method comprising:
separating the first supply tray containing the parts from the plurality of supply trays held in the stacked arrangement by the supply tray stacking portion by engaging the tray holding unit with the first supply tray, moving the first supply tray in the z-axis direction with the tray raising/lowering unit such that the second supply tray no longer supports the first supply tray, and holding the first supply tray by the tray holding unit;
moving the separated first supply tray in an x-axis direction by the tray moving unit to move the separated first supply tray below the robot;
moving the separated first supply tray in the z-axis direction with the tray raising/lowering unit to move the separated first supply tray to a height in which the robot is capable of receiving at least one of the parts contained by the separated first supply tray; and
manufacturing an article by processing the at least one of the parts after receiving the at least one of the part by the robot.

2. The method according to claim 1 , wherein the robot does not move in the z-axis direction when the robot receives the at least one of the parts.

3. The method according to claim 1 ,
wherein the robot has a grasping device; and
wherein the grasping device grasps the at least one of the parts when the robot receives the at least one of the parts.

4. The method according to claim 3 ,
wherein the robot further has (i) an x-axis moving unit configured to move the grasping device in the x-axis direction; and (ii) a y-axis moving unit configured to move the grasping device in a y-axis direction,
the method further comprising moving the grasping device to a position in a vertical direction of the at least one of the part by the x-axis moving unit and the y-axis moving unit of the robot after the moving the separated one first supply tray by the tray moving unit.

5. The method according to claim 1 , wherein, when moving the separated first supply tray in the x-axis direction by the tray moving unit to move the separated first supply tray below the robot, the separated first supply tray is held by the tray holding unit.

6. The method according to claim 1 , wherein, when moving the separated first supply tray in the z-axis direction by the tray raising/lowering unit to move the separated first supply tray to the height in which the robot is capable of receiving the at least one of the parts contained by the separated first supply tray, the separated first supply tray is held by the tray holding unit.

7. The method according to claim 1 , further comprising stacking the first supply tray as an emptied supply tray in an empty tray stacking portion of the part supply apparatus after the robot receives all of the parts contained in the first supply tray by the robot.

8. The method according to claim 7 , wherein the empty tray stacking portion is disposed above the supply tray stacking portion in a vertical direction.

Assignees

• Canon Kk

Inventors

• Sasamoto Hiroshi
• Nagashima Shunichi

Classifications

• B65G57/301 Primary

  by means of reciprocatory or oscillatory lifting and holding or gripping devices · CPC title

• B65G60/00

  Simultaneously or alternatively stacking and de-stacking of articles · CPC title

• B23Q7/1494 Primary

  using grippers · CPC title