JP6415051B2 - Work alignment method and work alignment system - Google Patents

Description

  The present invention relates to a method and system for taking out a plurality of stacked workpieces one by one and arranging them.

  Conventionally, an image processing technique is sometimes used as a method for aligning a plurality of stacked workpieces. As an example, a method has been proposed in which the position and orientation of each workpiece are calculated using a three-dimensional vision sensor and the workpiece is picked up based on the calculation result (see, for example, Patent Document 1).

JP2013-94936A

  However, using an image processing technique complicates the control and makes the system expensive. In particular, when a three-dimensional vision sensor is used, a waiting time is generated in the transfer robot due to a high calculation load, resulting in a long tact time. When a so-called parts feeder is used, a complicated mechanism and structure are required, and the system becomes expensive.

  Therefore, an object of the present invention is to provide a method and system for arranging and arranging stacked workpieces at low cost.

  A workpiece alignment method according to an aspect of the present invention is a workpiece alignment method in which a plurality of workpieces piled up in a stockpiling region are conveyed one by one to the alignment region, and the plurality of workpieces are aligned and arranged in the alignment region. Then, a magnet hand having a magnet whose magnetic force is adjusted so that one workpiece can be attracted is entered into the storage area, the magnet hand is moved while the workpiece is attracted to the magnet, and the workpiece is moved. Transport from the stockpiling area to the shooter, release the workpiece from the magnet hand and put it into the inlet of the shooter. The shooter rolls down to a predetermined position while adjusting the workpiece put into the inlet to a predetermined posture. And gripping the workpiece waiting at the predetermined position with the chucking hand in a state adjusted to the predetermined posture, Yakkuhando moves the to convey the workpiece being gripped to said chuck hand to the alignment region.

  A workpiece alignment system according to an aspect of the present invention is a workpiece alignment system that conveys a plurality of workpieces stacked in a stockpiling region to the alignment region one by one, and aligns and arranges the plurality of workpieces in the alignment region. A magnet hand having a magnet whose magnetic force is adjusted so that a single workpiece can be attracted, a chuck hand for gripping the workpiece, and a shooter having an inlet into which the workpiece is inserted, Entering the stockpile area, attracting the work to the magnet, transporting the work from the stockpile area to the shooter, and the shooter falling to a predetermined position while adjusting the work put into the entrance to a predetermined posture The chuck hand holds the workpiece waiting at the predetermined position in a state of being adjusted to the predetermined posture. Conveying the workpiece to the alignment region.

According to the method and configuration, since a magnet hand is used, one of them can be easily lifted even if a plurality of workpieces are piled up. Since the workpiece is thrown into the shooter and the workpiece is tumbled down to a predetermined position while adjusting the workpiece to a predetermined posture with the shooter, the workpiece can be aligned with a simpler structure than the parts feeder. Since the workpiece is waiting at a predetermined position in a state in which the workpiece is arranged in a predetermined posture, the workpiece can be transported to the alignment region by the chuck hand and aligned and arranged with easy control.

  The present invention can provide a method and a system for arranging stacked workpieces at low cost.

It is a conceptual diagram of the workpiece alignment method and system which concern on embodiment. It is a perspective view of the shooter shown in FIG. It is a block diagram which shows the structure of the workpiece | work alignment system shown in FIG. It is a side view of the magnet hand shown in FIG. It is typical sectional drawing of the fingertip part of the magnet hand shown in FIG. It is a flowchart which shows the workpiece alignment method performed by the control apparatus shown in FIG. It is a flowchart which shows the process which takes out a workpiece | work with a magnet hand, and the process which conveys a workpiece | work to a shooter. It is a figure explaining the process which throws a workpiece | work into a shooter. It is a flowchart which shows the process which discriminates the direction of a workpiece | work, etc. and the process which hold | grips a workpiece | work with a chuck hand.

  Hereinafter, embodiments will be described with reference to the drawings.

  FIG. 1 is a conceptual diagram of a work alignment method and system according to an embodiment. As shown in FIG. 1, in the work alignment method and work alignment system 1, a plurality of works 2 stacked in a stockpiling area A1 are combined. Each is conveyed to the alignment area A2. A plurality of workpieces 2 are aligned and arranged in the alignment region A2.

  The workpiece alignment system 1 includes a magnet hand 11 having a magnet 12 whose magnetic force is adjusted so that only one workpiece 2 can be attracted, a chuck hand 13 that holds the workpiece 2, and a shooter having an inlet 15 into which the workpiece 2 is inserted. 14. The shooter 14 is provided between the stockpiling area A1 and the alignment area A2.

  The workpiece alignment system 1 operates to execute the following workpiece alignment method. That is, the magnet hand 11 enters the stockpiling area A <b> 1, and one of a plurality of stacked works is attracted to the magnet 12. The magnet hand 12 moves while the work 2 is attracted to the magnet 12, and the work 2 is conveyed from the storage area A1 to the shooter 14. The workpiece 2 is released from the magnet hand 11 and is put into the entrance of the shooter 14. In the shooter 14, the workpiece 2 falls to a predetermined position while being adjusted to a predetermined posture. The chuck hand 13 holds the workpiece 2 waiting at a predetermined position in a state where the chuck hand 13 is adjusted to a predetermined posture. Then, the chuck hand 13 moves with the workpiece 2 held, and the workpiece is conveyed to the alignment area A2.

The work 2 is, for example, a bolt that is piled up in a work storage box 3 that is opened upward in the stockpiling area A1. In that case, the alignment tool 4 is arrange | positioned with the attitude | position which orient | assigned the several hole 4a to the alignment area | region A2. The bolt is inserted from above into the hole 4a in such a posture that the shaft extends vertically and the head is positioned above. The bolt is supported by the alignment tool 4 by the head being hooked on the partition member 4b that divides the hole 4a. The plurality of holes 4a are regularly arranged, and the bolts are aligned by inserting the plurality of bolts into the holes 4a. The alignment tool 104 may be formed in a tray shape having a non-through cylindrical hole 104a, and two kinds of alignment tools 4, 104 may be arranged in the alignment region A2, or any of the alignment tools 4, Only 104 may be arranged in the alignment region A2.

  The workpiece 2 may be any type, and the workpiece alignment system 1 and the workpiece alignment method can be suitably used when it is necessary to adjust the posture of the workpiece that has been originally piled up. For example, it can be used for aligning shafts and stepped shafts in addition to bolts. When the workpiece is a long axis or a cylinder like a bolt or a stepped shaft, the axial direction of the workpiece can be adjusted to a predetermined direction. Further, even when the shape of the workpiece is different between the one end and the other end in the axial direction, the positions of the one end and the other end can be adjusted when the workpiece is conveyed to the alignment region A2 (for example, bolts) Head up, bolt tip down).

  FIG. 2 is a perspective view of the shooter 14 shown in FIG. As shown in FIGS. 1 and 2, the shooter 14 includes a frame 21 and a groove member 22 fixed to the frame 21. The groove member 22 extends in, for example, a V-shaped cross section, and is arranged in a posture in which the valley bottom portion 22a is directed downward and opened upward. The groove member 22 is disposed such that one end portion in the extending direction is located on the upper side and is inclined downward from the one end portion toward the other end portion. The shuter 14 has a shooter wall 23 that surrounds one end of the groove member 22 in the extending direction and defines the inlet 15. The shooter wall 23 has, for example, a U-shaped cross section, and protrudes upward from both sides of the groove member 22 and the outer surface of one end. The shuter 14 has an outlet rail 24 that is continuous with the other end of the groove member 22. The valley bottom 22a and the exit rail 24 of the groove member 22 form a fall path for the workpiece 2. A stopper 25 is provided at the tip of the exit rail 24, and the stopper 25 forms a dead end of the fall path.

  As shown in FIG. 1, normally, the workpiece 2 thrown into the inlet 15 is guided by the valley bottom 22 a of the groove member 22 and falls down by its own weight and reaches the outlet rail 24. The workpiece 2 is abutted against the stopper 25, and thereby the workpiece 2 stops. The workpiece 2 is supported on the exit rail 24 and positioned in a state of being abutted against the stopper 25. If the workpiece 2 is a long axis like a bolt, the axial direction of the workpiece 2 is guided by the valley bottom 22a and the exit rail, and is directed toward the falling direction (extending direction of the falling path, see the dotted arrow in FIG. 1). In this way, the posture of the workpiece 2 is adjusted. The workpiece 2 is positioned at a position where it abuts against the stopper 25 after the posture is adjusted in this way. In this way, the shooter 14 adjusts the posture of the workpiece 2 using the dead weight of the workpiece 2 and positions it on the exit rail 24. The shooter 14 does not include complicated mechanisms and devices that vibrate the workpiece 2, and the configuration of the workpiece alignment system 1 is simplified. The chuck hand 13 grips the workpiece 2 by accessing the workpiece 2 waiting on the exit rail 24 from above and sandwiching the workpiece 2 with a plurality of (for example, two) fingers 16.

  As shown in FIG. 2, the shooter 14 includes a pair of guide members 26 arranged so as to sandwich an exit rail 24 that forms a fall path at a position where the workpiece 2 is positioned. By this guide member 26, it is possible to prevent the workpiece 2 that has reached the exit rail 24 from sticking out of the fall path and being out of position. The guide member 26 can be bent and deformed. For this reason, when the chuck hand 13 is accessed from above, the guide member 26 bends and does not hinder the entrance of the chuck hand 13. Therefore, the guide member 26 can be disposed close to the exit rail 24 to enhance the effect of suppressing the posture change and to improve the certainty of the gripping operation by the chuck hand 13.

The surface of the groove member 22 is uneven near the entrance 15. For example, a plurality of blocks 27 protruding from the surface are installed on the surface of the groove member 22. The blocks 27 are irregularly arranged in the vicinity of the entrance 15, and the workpiece 2 thrown into the entrance 15 can not slide down on the surface of the groove member 22 and is guided to the valley bottom 22 a by hitting the block 27. . Therefore, it becomes easy to feed the workpiece 2 to the exit rail 24 in a state where the axial direction of the workpiece 2 is directed to the falling direction. In addition, since the workpiece 2 can be made unstable by feeding the block 27 and the workpiece 2 can be sent to the bottom of the valley, the workpiece 2 is easily guided by the valley bottom, and the axial direction of the workpiece 2 is in the falling direction. It becomes easy to be pointed.

  The shooter 14 determines whether the workpiece 2 is positioned at one end upward or the other end thereof in the axial direction, whether the workpiece is poorly transported or falls, whether it is a foreign object not to be transported (for example, In order to detect whether or not bolts having different shaft lengths are mixed, a plurality of sensors are provided. The sensor includes a first sensor 31 that detects that the tip of the workpiece 2 in the falling direction exists around the stopper 25. Further, the sensor is disposed adjacent to the first sensor 31 and detects that a large one of the one end and the other end in the axial direction of the work 2 is located at the lower end in the falling direction of the work 2. A second sensor 32 is included. When the workpiece 2 is a bolt, the second sensor 32 detects whether the head is positioned below or the shaft tip is positioned below. Since the head and the tip of the shaft are different in diameter, the second sensor 32 is configured by a photoelectric sensor, and if the detection area of the second sensor 32 is set on the outer peripheral side of the shaft tip and on the center side of the head, it is turned ON. Based on this, it can be detected that the head is located below. The sensor includes a third sensor 33 that detects that the upper end of the workpiece 2 in the falling direction is located at a required position. In the illustrated example, the first to third sensors 33 are arranged around the stopper 25, but the arrangement of the sensors is not particularly limited, and may be arranged on the groove member 22, for example. The shooter 14 has a door 28 that is pushed by the work 2 and passively opens when the work 2 passes the other end of the groove member. When the workpiece 2 finishes passing through the door 28 and reaches the exit rail 24, the door 28 is automatically closed. The sensor includes a fourth sensor 34 (see FIG. 3) that detects that the door 28 is open.

  If all of the first to fourth sensors 31 to 34 are OFF, it can be determined that the workpiece 2 does not exist near the exit rail of the shooter 14. If the first and third sensors 31 and 33 are ON and the fourth sensor 34 is OFF, it can be determined that the workpiece 2 to be conveyed is positioned in a normal posture and position. At this time, if the second sensor 32 is ON, it can be determined that the large end portion (for example, the bolt head portion) of the both ends in the axial direction is positioned on the lower side in the falling direction, and the second sensor 32 is OFF. If there is, it can be determined that the small end portion (for example, the shaft tip) of the both ends in the axial direction is located on the lower side in the falling direction.

  If the first sensor 31 is ON and the fourth sensor 34 is ON, a foreign object larger than the workpiece to be transported is undesirably mixed and has been transported to the shooter 14, or two or more workpieces are undesired. It can be determined that there is a fall-off failure such as being put in If the first sensor 31 is ON, the fourth sensor 34 is OFF, and the third sensor 33 is OFF, the workpiece 2 is not in a normal posture or foreign matter smaller than the workpiece 2 to be conveyed is undesirably mixed. Therefore, it can be determined that a fall failure such as having been transported to the shooter 14 has occurred. If the 4th sensor 34 is ON even if the 1st sensor 31 is OFF, it can be judged that the fall defect that the work 2 is not positioned by the normal posture and position has arisen. As described above, the shooter 14 according to the present embodiment can detect various types of falling failures including contamination of foreign matters while maintaining a simple structure. Therefore, when the workpiece 2 is subsequently aligned using the chuck hand 13, the workpiece 2 can be properly aligned.

FIG. 3 is a block diagram showing a configuration of the workpiece alignment system 1. As shown in FIG. 3, the workpiece alignment system 1 includes a controller 40. The controller 40 inputs detection results from the first to fourth sensors 31 to 34 of the shooter 14. The magnet hand 11 and the chuck hand 13 are attached to the tip of a robot arm 41 driven by a robot actuator 42, and the controller 40 controls the drive of the robot actuator 41, thereby controlling the positions of the magnet hand 11 and the chuck hand 13. To do. FIG. 3 illustrates a case where the magnet hand 11 and the chuck hand 13 constitute a single multifunction robot hand 43 and the robot hand 43 is attached to a single robot arm 41. The hand 11 and the chuck hand 13 may be configured separately and attached to different robot arms. The chuck hand 13 is provided with a hand actuator 44 that moves the fingers closer to or away from each other, and the controller 40 controls the operation of the hand actuator 44.

  The magnet hand 11 has a magnet 12 at the tip (see FIG. 1). The magnet hand 11 includes a collision sensor 36 that detects that the tip of the magnet hand 11 has collided with the workpiece 2 or other external member. The magnet hand 11 has a work holding sensor 37 that detects whether or not the work 2 is attracted to the magnet 12. The controller 40 inputs detection results from the collision sensor 36 and the work holding sensor 37.

  FIG. 4 is a side view of the magnet hand 11. The magnet hand 11 has a long main body 51, a cylinder 52 attached to the base end of the main body 51, and a fingertip 53 provided at the distal end of the main body. The cylinder 52 has a rod 52a that can be expanded and contracted, and the rod 52a is disposed at the center of the main body 51 and is urged in an extended state. The fingertip portion 53 can slide on the main body portion 51. When the fingertip part 53 collides with something, the fingertip part 53 slides into the main body part 51, and the rod 52a is pushed by the fingertip part 53 and contracts. The collision sensor 36 is provided in the cylinder 51. When the rod 52a is in a predetermined contracted state (when contraction starts or contracts for a predetermined length), a signal indicating that the fingertip portion 53 has collided is sent to the controller 40.

  FIG. 5 is a cross-sectional view showing the configuration of the fingertip portion 53 of the magnet hand 11. As shown in FIG. 5, the fingertip portion 53 includes a cylindrical housing 54, a plunger 55 that passes through the distal end wall of the housing 54 and protrudes from the housing 54 to the outside of the housing 54, and the plunger 55 is retracted into the housing 54. And an urging member 56 for urging the urging member. As shown in FIG. 5A, the magnet 12 is attached to the tip of the plunger 55, and the retraction of the plunger 55 stops when the magnet 12 hits the surface of the tip wall of the housing 54. At this time, the base end portion of the plunger 55 comes into contact with the work holding sensor 37 accommodated in the housing 54. As shown in FIG. 5B, when the work 2 is attracted to the magnet 12, the plunger 55 protrudes out of the housing 55 against the urging force of the urging member 56 due to the weight load of the work 2. As a result, the base end portion of the plunger 55 is separated from the workpiece holding sensor 37. The workpiece holding sensor 37 is constituted by a contact sensor, for example, and the workpiece holding sensor 37 sends a signal indicating that the workpiece 2 is held by the magnet 12 to the controller 40 when the plunger 55 is separated.

  The magnet 12 is a permanent magnet. Therefore, compared with the case where the magnet 12 is an electromagnet, no wiring is required and the configuration of the magnet hand 11 is simplified. The magnetic force of the magnet 12 is adjusted so that the magnet 12 attracts only one workpiece 2 to be transported and no two or more workpieces 2 are attracted to the magnet 12 or another workpiece 2 is attracted to the workpiece 2. The For example, the magnet 12 is covered with a cover 57 made of a non-ferromagnetic material such as a synthetic resin material, and only the tip surface is exposed. In addition, the magnetic force adjustment of the magnet 12 can be realized by adjusting the size (for example, diameter) of the magnet 12.

FIG. 6 is a flowchart showing a work alignment method executed by the control device 40 shown in FIG. As shown in FIG. 6, first, one of a plurality of workpieces 2 stacked by the magnet hand 11 is attracted (S1). Next, the sucked work 2 is conveyed to the shooter 14 (S2). If a conveyance failure occurs such as the workpiece 2 dropping off, the process returns to S1. When the work 2 is conveyed to the shooter 14, the work 2 is loaded into the shooter 14 (S3). The first to fourth sensors 31 to 34 are used to determine whether or not the orientation of the work 2 is normal (S4). If not normal, the work 2 is taken out and the process returns to S3. If normal, the workpiece 2 is gripped by the chuck hand 13 (S5), and the workpiece 2 is transported to the alignment area (S6). This operation is repeated.

  FIG. 7 is a flowchart for explaining the processing (S1) for taking out the workpiece 2 with the magnet hand 11 and the processing (S2) for transporting the workpiece 2 to the shooter 14. When S1 is executed for the first time (for example, when the work 2 is reloaded), the route is initialized (S101). Next, the magnet hand 11 is lowered (S102). While the lower limit position is not reached (S103: NO), and the collision sensor 36 does not detect the collision of the fingertip portion 53 (S104: NO), the lower limit position is continued (S102). The lower limit position may be the position of the inner bottom surface of the work storage box 3. If the lower limit position is reached with no collision detected (S103: YES), the magnet hand 11 is raised (S105), the horizontal position is changed (S106), and the magnet hand 11 is lowered again (S102). If a collision is detected before reaching the lower limit position (S104: YES), the magnet hand 11 is raised. If the holding of the workpiece 2 is not detected by the workpiece holding sensor 37 with the magnet hand 11 raised to some extent (S108: NO), the process proceeds to S105 and the magnet hand 11 is lowered again. If holding of the workpiece 2 is detected by the workpiece holding sensor 37 (S108: YES), the position at which the magnet hand 11 collides with the workpiece 2 (particularly the position in the vertical direction of the magnet hand 11) is stored (S109). , Go to S2.

  When returning from S6 to S1, the collision position is stored in the process of S1 executed last time. The magnet hand 11 is moved at high speed to the vicinity of the collision position (S111). This speeds up the second and subsequent processing. Further, in this case, the collision of the magnet hand 11 can be avoided until it moves to the vicinity of the collision position. From near the collision position, the process proceeds to S102 where the moving speed is decreased and the magnet hand 11 is lowered. The subsequent steps are the same as above.

  In S2, the robot arm 41 is operated to move the magnet hand 11. Thus, the work 2 attracted by the magnet 12 is conveyed toward the shooter 14 until the magnet hand 11 arrives at the position where the work 2 is released (S203: NO) (S201). If workpiece holding is not detected by the workpiece holding sensor 37 during this conveyance (S202: YES), the process returns to S1 and the workpiece 2 is taken out again. In that case, it is possible to return to S110 instead of S101.

  FIG. 8 is a diagram for explaining the processing S3 for putting the workpiece 2 into the shooter 14. As shown in FIG. 8, in S <b> 3, the main body 51 is turned up and down so that the magnet 12 is positioned at the lower end of the magnet hand 11 as in the case of transporting the workpiece 2 to the shooter 14. 8A, the magnet hand 11 is moved in an inclined direction from the inside to the outside of the shooter wall 23. In the initial stage of the tilt movement, the magnet 12 of the magnet hand 11 is positioned below the upper edge of the shooter wall 23. The magnet hand 11 gradually moves upward along with the tilting movement, and the magnet 12 passes slightly above the upper edge of the shooter wall 53 and comes out of the shooter wall 53. The work 2 hits the inner surface of the shooter wall 53, is detached from the magnet 12 by the impact, and is introduced into the inlet 15 of the shooter 14. By moving the magnet hand 11 in this manner, the magnet 12 is a permanent magnet and cooperates with the shooter wall 53 so that the workpiece 2 is attracted to the magnet 12 in any posture. Even if the on / off of the generation cannot be switched, the workpiece 2 can be reliably released from the magnet hand 11 and put into the inlet 15.

  FIG. 9 is a flowchart showing the process (S4) for determining the orientation and the like of the work 2 and the process (S5) for gripping the work 2 with the chuck hand 13. As shown in FIG. 9, in S <b> 4, based on the on / off state of the first to fourth sensors 31 to 34 (see S <b> 401 to S <b> 404), the workpiece 2 having an appropriate length is in a normal position on the outlet rail 24 in a normal posture. It is determined whether it is positioned at. If the 1st-3rd sensors 31-33 are ON and the 4th sensor 34 is OFF (S403: YES), the workpiece | work 2 of appropriate length will be located in a normal position by the normal attitude | position which located the large sized edge part below. If so, the process proceeds to S5. If the 1st and 3rd sensors 31 and 33 are ON and the 2nd and 4 sensors 32 and 34 are OFF (S404: YES), the work 2 of appropriate length will be a large sized end (in the case of a bolt, head). S5 is assumed to be in the normal position with the normal posture positioned upward, and the process proceeds to S5. Otherwise, as an example, the magnet hand 11 may access the exit rail 24 to attract the work 2 and return to S2 to transfer the work 2 back to the shooter. When it is determined that the length is not appropriate, the magnet hand 11 may access the exit rail 24 to attract the foreign matter, transport the foreign matter to a predetermined foreign matter collection unit, and remove the foreign matter from the work transport system 1. In the present embodiment, whether or not the workpiece 2 has an appropriate length and whether the posture and position of the workpiece 2 are normal while the shooter 14 has a simple configuration without using vibration or the like. Therefore, both the simplification of the alignment system 1 and the alignment method and the reliable alignment of the workpiece 2 are compatible.

  In S5, when the chuck hand 13 enters the shooter 14, the posture of the chuck hand 13 is set to the first posture if the large end is up (S501), and the posture of the chuck hand 13 is set if the large end is down. The second posture is set (S502). Then, the work 2 is gripped by the chuck hand 13. The first posture and the second posture differ from each other by 180 degrees when viewed from the bases of the shooter 14 and the robot arm 41, but are the same postures when viewed from the workpiece 2.

  That is, as shown in FIG. 1, the posture of the chuck hand 13 and the workpiece changes so that the large end faces upward in the process of transporting the gripped workpiece, regardless of the posture, and the alignment region is changed depending on the posture. A2 is reached. The posture of the chuck hand 13 at that time is made the same regardless of whether the large end portion is positioned on the upper side or the lower side on the exit rail 24. Thereby, control when releasing the workpiece 2 from the chuck hand 13 is facilitated.

  Although the embodiment has been described so far, the above configuration and method can be appropriately changed within the scope of the present invention.

  INDUSTRIAL APPLICABILITY The present invention can be used for aligning a plurality of workpieces that are piled up, in particular, workpieces having a long axis shape such as a bolt and having different shapes at one end and another end in the axial direction.

A1 Storage area A2 Alignment area 1 Work alignment system 2 Work 11 Magnet hand 12 Magnet 13 Chuck hand 14 Shutter 15 Inlet 23 Shooter wall 26 Guide member 40 Controller 57 Cover

Claims (5)

Using a magnet hand attached to the tip of the robot arm and having a magnet whose magnetic force is adjusted so that one workpiece can be attracted, a plurality of workpieces stacked in the stockpiling area A work alignment method in which the plurality of works are aligned and arranged in the alignment area,
Operate the robot arm to cause the magnet hand to enter the storage area,
The magnet hand is moved in a state where the work is attracted to the magnet, and the work is transported from the storage area to the shooter.
Release the work from the magnet hand and put it into the entrance of the shooter.
With the shooter, the workpiece thrown into the entrance is dropped to a predetermined position while adjusting the workpiece to a predetermined posture,
Holding the workpiece waiting at the predetermined position in a state adjusted to the predetermined posture with a chuck hand,
A series of steps of moving the chuck hand and transporting the workpiece gripped by the chuck hand to the alignment region are repeated,
In the step of entering the storage area, the robot arm is operated so that the magnet hand moves at high speed to a position near the position where the magnet hand can attract the workpiece in the previous entry step ,
It is determined whether the workpiece with the proper length is positioned in the normal position in the normal posture or the rolling failure that is not the case between the process of dropping the work and the process of gripping the work with the chuck hand. With a process,
A work aligning method in which when it is determined that a falling failure has occurred, a step of taking out a work from the shooter with the magnet hand and putting the work into an entrance of the shooter is performed again . The entrance of the shooter is defined by a shooter wall;
In the step of throwing the workpiece into the entrance of the shooter, the magnet hand is moved in an inclined direction that is inclined upward as it goes from the inside to the outside of the shooter wall that defines the entrance. The work alignment method according to claim 1, wherein the work attracted by the magnet is applied to an inner surface of the shooter wall and released from the magnet hand. The work has a long axis shape, and the shape is different at one end and the other end in the axial direction.
In the process of dropping the workpiece, the posture of the workpiece is adjusted so that the axial direction of the workpiece faces the falling direction,
A step of determining whether the axial one end portion of the workpiece is positioned upstream or downstream in the falling direction between the step of dropping the workpiece and the step of gripping the workpiece with a chuck hand. Item 3. The work alignment method according to Item 1 or 2. A workpiece alignment system that transports a plurality of workpieces stacked in a stockpiling region one by one to the alignment region, and aligns the plurality of workpieces in the alignment region,
A robot arm,
A magnet hand attached to the tip of the robot arm and having a magnet whose magnetic force is adjusted so as to attract one workpiece;
A chuck hand for gripping a workpiece;
A shooter having an inlet into which a workpiece is inserted,
The magnet hand enters the storage area and attracts a work to the magnet, and transports the work from the storage area to the shooter.
The shooter is allowed to fall to a predetermined position while adjusting the work put into the entrance to a predetermined posture,
The chuck hand grips a workpiece waiting at the predetermined position in a state adjusted to the predetermined posture, and conveys the workpiece to the alignment region,
The robot arm is configured to operate so that the magnet hand moves at a high speed to a position near the position where the magnet hand can attract the workpiece when entering the storage area when the magnet hand enters the storage area ,
The chute is in said predetermined position, a pair of guide members which are arranged so as to sandwich the sliding path of the workpiece, the guide member to a variant capable der bending, work aligning system. The workpiece alignment system according to claim 4 , wherein the magnet hand has a cover made of a non-ferromagnetic material covering an outer peripheral surface.

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