CN103920699B - Fixing Part Disassembly System, Fixing Part Disassembly And Program - Google Patents

Abstract

The present invention provides a fixing part disassembly system for disassembling the fixing of a fixing part reliably, a fixing part disassembly and a program. The fixing part disassembly system comprises a fixing part detection unit for detecting the fixing part for fixing a disassembly object according to at least a part of shot images of the disassembly object, and obtaining the location information representing the location of the detected fixing part in the disassembly object; and a fixing part disassembly unit, according to the location information detected by the fixing part detection unit, for moving a fixing releasing tool for releasing the fixing of the fixing part to the position of the fixing part, and using the fixing releasing tool to release the fixing based on the fixing part, and determining whether the fixing releasing tool release the fixing based on the fixing part.

Description

Fixed part break-up system, fixed part disassembling method

Technical field

The present invention relates to a kind of fixed part break-up system, fixed part disassembling method.

Background technology

In recent years, in the electronic product such as TV and personal computer comprise parts recycling attract attention.The framework of most of electronic products and circuit substrate etc. are fixed by multiple fixed part, need to dismantle these fixed parts, classify by each recoverable parts when therefore disintegrating.

Further, treat disintegration electronic product due to the fixing means of its size of each product or parts also different, be therefore difficult to the automation realizing disassembling operation, always be the manual disintegration carrying out each product.

Such as adopt with the following method: the disassembling operation personnel distributed by each job content are to disintegrated successively by the disintegration object of tape transport and TV (such as with reference to patent document 1).

Patent document 1: Japanese Unexamined Patent Publication 10-263518 publication

But most of household appliances are fixed wtih by multiple fixed part, and by its screw number of each household appliances and position also different, therefore there is the time-consuming problem of disassembling operation.In addition, when white goods product is disintegrated, also exist due to identification difference and be difficult to find fixed part, and the hand of people does not reach disintegration object and the situation of difficulty of disintegrating from job position.

Further, the patten's design that most of household appliances do not stretch out with fixed part, is therefore difficult to judge whether the fixing of fixed part is removed.Therefore, when fully not removing fixed part fixing, there is the time-consuming problem of disassembling operation.

Summary of the invention

The present invention puts in view of the above problems and completes, and its object is to provides a kind of fixing fixed part break-up system, the fixed part disassembling method that can reliably remove based on fixed part.

This invention completes to solve the problem, fixed part break-up system based on a mode of the present invention possesses: fixed part detecting unit, according to the photographed images at least partially photographing disintegration object, detect the fixed part that described disintegration object is fixed, and obtain the positional information representing this position of the described fixed part detected in described disintegration object, and fixed part solution body unit, according to the described positional information detected by described fixed part detecting unit, use and move on the position of described fixed part with the fixing fixing releasing appliance removed based on described fixed part, fixing based on described fixed part is removed by described fixing releasing appliance, and judge whether described fixing releasing appliance has removed fixing based on described fixed part, when rotate remove based on the screw as described fixed part fixing as the driver bit of described fixing releasing appliance time, unclamping in the disintegration process of described screw by described driver bit, the screw unclamped is done by making the rotary middle spindle of described driver bit move to different positions from the position consistent from the rotary middle spindle of described screw by described fixed part solution body unit.

So, whether discharged fixed part break-up system involved according to an embodiment of the present invention, judging based on fixed part fixing while, can remove fixing based on fixed part.Therefore, it is possible to reliably remove based on fixed part fixing while disintegration object is disintegrated, therefore, it is possible to effectively disintegrate.Further, can not occur to wait operation based on the fixing of same fixed part, therefore, it is possible to shorten removal time owing to fully not removing again to remove based on the fixing of fixed part.In addition, when being judged to remove based on fixed part fixing, promptly can carrying out the releasing of next fixed part, therefore can not cause time waste, shorten removal time.

And, based in the above-mentioned fixed part break-up system of a mode of the present invention, when judging that described fixing releasing appliance has been removed based on described fixed part fixing, described fixed part solution body unit makes described fixing releasing appliance move in the described fixed part detected by described fixed part detecting unit not also to be judged to have removed on the position of fixing described fixed part.

So, fixed part break-up system involved according to an embodiment of the present invention, can prevent from again performing the releasing having removed fixing fixed part situation or owing to fully not removing the fixing situation again removed based on same fixed part based on the fixing of fixed part, shorten removal time.

And, based in the above-mentioned fixed part break-up system of a mode of the present invention, when according to making described fixing releasing appliance be pressed into the pressure of the air mechanism on described fixed part based on during described fixed part fixing removing, when the pressure that described air mechanism presses described fixed part changes, described fixed part solution body unit judges that described fixing releasing appliance has removed fixing based on described fixed part.

And, based in the above-mentioned fixed part break-up system of a mode of the present invention, when according to making described fixing releasing appliance to the amount of movement of the travel mechanism of vertical direction movement based on during described fixed part fixing removing, when the mobile variable quantity of the time per unit of described amount of movement reduces, described fixed part solution body unit judges that described fixing releasing appliance has removed fixing based on described fixed part.

And, above-mentioned fixed part break-up system based on a mode of the present invention also possesses the elevation measurement mechanism of the height measuring described fixed part, described fixed part solution body unit is according to the information of the height and position of the vertical direction of expression disintegration described fixed part before treatment, judge whether the height of the described fixed part determined by described elevation measurement mechanism is changed before and after the disintegration process of described fixed part, and judge that described fixing releasing appliance has been removed based on being judged to be the fixing of the described fixed part that the height of described fixed part before and after process of disintegrating changes.

And, based in the above-mentioned fixed part break-up system of a mode of the present invention, when after process of disintegrating, described fixing releasing appliance gets back to prespecified initial position, described fixed part solution body unit is to being provided with in the structure of the different difference of height of height and position, the height and position of the described calibration test section after the disintegration height and position before treatment being arranged at the calibration test section on the position of corresponding described initial position and the disintegration process determined by described elevation measurement mechanism is compared, when described height and position is inconsistent, judge that the initial position of described fixing releasing appliance departs from.

And, based in the above-mentioned fixed part break-up system of a mode of the present invention, described fixed part break-up system also possesses the elevation measurement unit to measuring with the length of the vertical direction of the described disintegration object prespecified ventricumbent mode loaded, described fixed part detecting unit is according to the elevation information of the length of the described vertical direction of expression determined by described elevation measurement unit, and according to be aligned in focus described disintegration object vertical direction length half height and position on mode described disintegration object is taken and the photographed images obtained, detect the described fixed part that described disintegration object is fixed, and calculate the positional information representing this position of the described fixed part detected in described disintegration object.

And, fixed part disassembling method based on a mode of the present invention possesses following steps: according to the photographed images at least partially photographing disintegration object, detect the fixed part that described disintegration object is fixed, and obtain the positional information representing this position of the described fixed part detected in described disintegration object; According to the described positional information detected by described fixed part detecting step, use the fixing fixing releasing appliance removed based on described fixed part and move on the position of described fixed part; Fixing based on described fixed part is removed by described fixing releasing appliance; When rotate remove based on the screw as described fixed part fixing as the driver bit of described fixing releasing appliance time, unclamping in the disintegration process of described screw by described driver bit, moving to different positions by making the rotary middle spindle of described driver bit from the position consistent from the rotary middle spindle of described screw and the screw unclamped is done; And judge whether described fixing releasing appliance has removed fixing based on described fixed part.

Invention effect

According to the present invention, fixing based on fixed part reliably can be removed.

Accompanying drawing explanation

Fig. 1 is the block diagram of an example of the structure of the fixed part break-up system represented involved by embodiments of the present invention.

Fig. 2 is the figure of the summary of the fixed part break-up system illustrated involved by embodiments of the present invention.

Fig. 3 is the figure of the summary of the elevation measurement unit illustrated involved by embodiments of the present invention.

Fig. 4 is the figure of the summary of the fixed part detecting unit illustrated involved by embodiments of the present invention.

Fig. 5 is the figure of an example of the section synoptic diagram of the disintegration object represented involved by embodiments of the present invention.

Fig. 6 is the figure of an example of the section synoptic diagram of the disintegration object represented involved by embodiments of the present invention.

Fig. 7 is the figure of an example of the motion track of the video camera of the fixed part detecting unit represented involved by embodiments of the present invention.

Fig. 8 is the block diagram be described in order to an example of the structure to the XZ travel mechanism involved by embodiments of the present invention and drive control part.

Fig. 9 is the block diagram of an example of the structure of the fixed part detecting unit represented involved by embodiments of the present invention.

Figure 10 is the figure in order to be described an example of the locating guide involved by embodiments of the present invention and location travel mechanism.

Figure 11 is the reference diagram in order to the process undertaken by the graphical analysis portion involved by embodiments of the present invention to be described.

Figure 12 is the figure of the position relationship that lens involved by embodiments of the present invention and subject are described.

Figure 13 is the figure of the summary of the fixed part solution body unit illustrated involved by embodiments of the present invention.

Figure 14 is the block diagram of an example of the structure of the fixed part solution body unit represented involved by embodiments of the present invention.

Figure 15 is the figure of an example of the drive control part of the fixed part solution body unit represented involved by embodiments of the present invention.

Figure 16 is the chart representing the example being removed the pressure change based on air regulator during screw NJ fixing by driver bit.

Figure 17 is the chart representing the example being removed the amount of movement change based on linear measuring instrument during screw NJ fixing by driver bit.

Figure 18 is the figure in order to be described an example of the laser displacement gauge involved by embodiments of the present invention.

Figure 19 is the flow chart in order to be described an example of the handling process of being undertaken by the fixed part detecting unit involved by embodiments of the present invention.

Figure 20 is the flow chart in order to be described another example of the handling process of being undertaken by the fixed part detecting unit involved by embodiments of the present invention.

Figure 21 is the flow chart in order to be described an example of the handling process of being undertaken by the fixed part solution body unit involved by embodiments of the present invention.

Figure 22 is the synoptic diagram be described in order to the action of the cutter head front end of the fixing releasing appliance involved by embodiments of the present invention.

Figure 23 is the synoptic diagram be described in order to the action of the cutter head front end of the fixing releasing appliance involved by embodiments of the present invention.

Figure 24 is the figure in order to be described an example of the calibration test section involved by embodiments of the present invention.

Figure 25 is the figure of the summary of the fixed part detecting unit illustrated involved by embodiments of the present invention.

Figure 26 is the figure of an example of multiple segmentation images of the region video camera shooting represented by the fixed part detecting unit involved by embodiments of the present invention.

Detailed description of the invention

[the 1st embodiment]

With reference to accompanying drawing, embodiments of the present invention are described in detail.Fig. 1 is the block diagram of the structure of the fixed part break-up system 100 represented involved by present embodiment.

As shown in Figure 1, the fixed part break-up system 100 involved by present embodiment comprises elevation measurement unit 1, fixed part detecting unit 2, fixed part solution body unit 3, supply unit 4 and central control unit 5.Central control unit 5 centralized Control elevation measurement unit 1, fixed part detecting unit 2, fixed part solution body unit 3 and supply unit 4.

Fixed part break-up system 100 involved by present embodiment is detect the fixed part be fixed on disintegration object and the system of being disintegrated to the fixed part detected by fixed part solution body unit 3 by fixed part detecting unit 2.In present embodiment, as the disintegration object of this fixed part break-up system 100, below with the housing of such as fastening display DP for example is described.Further, in present embodiment, fixed part is screw, fixed part is called screw NJ below.In addition, as the fixing release method of screw NJ, utilize below use fixing releasing appliance such as driver bit to make fastening screw NJ to unclamping that direction rotates, the example of method dismantled from the housing of display DP is described.But the present invention is not limited to this example.

Then, be described with reference to the summary of Fig. 2 to this fixed part break-up system 100.Fig. 2 is the figure of the summary that fixed part break-up system 100 is described.

As shown in the figure, supply unit 4 possesses conveyer belt 401 and conveying roller 402, to carry out the conveying of conveyer belt 401 by controlling the rotation of conveying roller 402 to prespecified throughput direction.In addition, this supply unit 4 can control transporting velocity or conveying timing etc. by central control unit 5.

Near supply unit 4, be disposed with elevation measurement unit 1, fixed part detecting unit 2 and fixed part solution body unit 3 from the upstream side of the throughput direction of supply unit 4 along downstream.On this conveyer belt 401, be placed with disintegration object and display DP, display DP is transported to elevation measurement unit 1, fixed part detecting unit 2, fixed part solution body unit 3 with the order of elevation measurement unit 1, fixed part detecting unit 2, fixed part solution body unit 3 by supply unit 4.This display DP loads to carry on the back supine mode on conveyer belt 401, and its upper surface of display DP on conveyer belt 401 can be observed screw NJ.In addition, throughput direction can not be straight line as shown in the figure, can change according to the environment arranging fixed part break-up system 100.

At this, from the upstream side side towards downstream of throughput direction, each structure comprised in fixed part solution body unit 100 is briefly described.

Elevation measurement unit 1 measures the length of the vertical direction of the display DP be placed on conveyer belt 401 and the thickness of display DP.In present embodiment, display DP with by the back side towards vertical direction top, the mode of display surface towards the below of vertical direction is placed on conveyer belt 401.The height and position that the highest portion of elevation measurement unit 1 to the display DP carried by conveyer belt 401 is divided measures, and measures the length of the vertical direction of display DP thus.Elevation measurement unit 1 exports to fixed part detecting unit 2 information that namely measurement result represent vertical-direction length.

In addition, in present embodiment, in order to be that the example of display DP is described to disintegration object, the length of the thickness of display DP as vertical direction measures by elevation measurement unit 1.But the present invention is not limited thereto, as long as elevation measurement unit 1 measures with the length of the vertical direction of the disintegration object prespecified ventricumbent mode loaded, the disintegration object in vertical direction with length can also be applicable to.

Fixed part detecting unit 2, according to the image photographing disintegration object and display DP, detects the screw NJ be fixed the housing of this display DP, and obtains the positional information representing the position of screw NJ in display DP detected.

In present embodiment, fixed part detecting unit 2 is such as according to the elevation information of the display DP determined by elevation measurement unit 1, the mode be aligned in focus on the height and position of the vertical-direction length half of display DP is taken display DP, detects screw NJ according to this photographed images.Below, the detection method of this screw NJ is called the detection method based on single shot.

But the present invention is not limited thereto, fixed part detecting unit 2 can according to the elevation information of the display DP determined by elevation measurement unit 1, the mode be aligned in respectively with focus on the diverse location on the thickness direction of display DP is taken display DP, and multiple photographed images different according to the height and position of the aligning of focus in the vertical direction of display DP respectively detect screw NJ.Below, the detection method of this screw NJ is called the detection method based on plural number shooting.

In addition, the position of screw NJ is that initial point (O, 0,0) represents with XYZ coordinate value by the positioning datum position P specified on display DP.The present invention is not limited thereto, the position of screw NJ can also be that initial point represents with XY coordinate value by the positioning datum position P specified on display DP.

Will with this positioning datum position P for the three dimensions of initial point (O, 0,0) be called stage coordinate space.The XY plane in this stage coordinate space is consistent with horizontal plane, and Z-direction is consistent with vertical direction.In addition, from X-axis-direction towards the direction in+direction and throughput direction (namely, from upstream towards the direction in downstream) consistent, from Z axis-direction towards+direction direction and above-below direction (that is, in vertical direction from downside towards the direction of upside) unanimously.

This fixed part detecting unit 2 detects the screw NJ be fixed the housing of display DP, and at least obtains the positional information of the position in the XY plane representing the screw NJ detected.In present embodiment, the positional information of screw NJ is represent the information that can be observed the position of the screw head of the screw hole of screw NJ.In addition, fixed part detecting unit 2 can also calculate the screw NJ that detects in the lump at stage coordinate Z coordinate value spatially.

If illustrate, fixed part detecting unit 2, according to photographing the data with the photographed images in the whole region in disintegrate object and the relevant horizontal plane direction of display DP, detects fixed part and screw NJ, and the XY coordinate value of screw NJ detected by calculating.To represent at the XY coordinate value of the spatially prespecified positioning datum position P (O, 0,0) of stage coordinate relative to display DP in the position of screw NJ that this calculates.In addition, this positioning datum position P (O, 0,0) is that detailed content is by aftermentioned by one jiao of display DP that locates.

In addition, when utilizing the detection method based on plural number shooting, fixed part detecting unit 2 is for the whole region relevant with disintegration object and display DP, according to the data of multiple photographed images of taking in the focus mode be aligned in respectively on different height and positions, obtain the positional information (that is, stage coordinate Z coordinate value spatially) of the position representing fixed part in vertical direction and screw NJ.If illustrate, fixed part detecting unit 2, according to focal length when photographing the photographed images of the most accurately focusing, obtains the Z coordinate value of screw NJ.

In addition, the present invention is not limited thereto, fixed part detecting unit 2 only can calculate the XY coordinate value of screw NJ, and this is sent to fixed part solution body unit 3 as positional information.

Fixed part solution body unit 3 is according to the positional information obtained by fixed part detecting unit 2, use and move on the position of the screw NJ in disintegration object to remove based on the fixing fixing releasing appliance of screw NJ and the front end of driver bit, remove fixing based on screw NJ by this fixing releasing appliance.

Further, when utilizing the detection method based on single shot, fixed part solution body unit 3, according to the elevation information determined by elevation measurement unit 1, changes the translational speed of driver bit.If illustrate, making driver bit vertically fall when screw NJ, the speed fallen downward from the extreme higher position of display DP of driver bit is fast in vertical direction for the velocity ratio that fixed part solution body unit 3 makes driver bit drop to the upper surface of display DP.Thus, fixed part solution body unit 3 can make the front end of driver bit promptly move near the top of screw NJ.Further, when being removed screw NJ fixing by driver bit, fixed part solution body unit 3 can make driver bit with remove the speed conformed to and move.

Then, each structure of fixed part break-up system 100 is described in detail.

Fig. 3 is the figure of the summary that elevation measurement unit 1 is described.As shown in Figure 3, elevation measurement unit 1 such as possesses light-emitting device 101 and optical pickup apparatus 102.

This light-emitting device 101 possesses the multiple illuminating part 101-1 ~ 101-n arranged in vertical direction.These multiple illuminating part 101-1 ~ 101-n are configured on differing heights position respectively.In present embodiment, illuminating part 101-1 is positioned on extreme higher position.On the other hand, illuminating part 101-n is positioned in extreme lower position.These illuminating parts 101-1 ~ 101-n penetrates light in the horizontal direction towards optical pickup apparatus 102.

Optical pickup apparatus 102 possesses the light receiver receiving the light penetrated from light-emitting device 101.In present embodiment, optical pickup apparatus 102 possesses the light receiver 102-1 ~ 102-n of the light received respectively from multiple illuminating part 101-1 ~ 101-n.This optical pickup apparatus 102 is according to the thickness (length of vertical direction) measuring display DP with or without the light-receiving based on light receiver 102-1 ~ 102-n.

Such as, when the light carrying out selfluminous device 101 is blocked by the display DP passed through between light-emitting device 101 and optical pickup apparatus 102, what optical pickup apparatus 102 was judged to be that this blocks come thickness (length of vertical direction) that extreme higher position in the Exit positions of the light of self-luminescent part 101-1 ~ 101-n is equivalent to display DP.In present embodiment, optical pickup apparatus 102 will represent that the elevation information of the height of the Exit positions (that is, the setting position of illuminating part) carrying out the light of the illuminating part being in extreme higher position in self-luminescent part 101-1 ~ 101-n blocked as the vertical-direction length representing display DP exports to fixed part detecting unit 2.

Then, be described with reference to the example of Fig. 4 to fixed part detecting unit 2.

Fig. 4 is the figure of the summary that fixed part detecting unit 2 is described.As shown in Figure 4, fixed part detecting unit 2 possesses to keep the state of video camera 201 to make the XZ travel mechanism 202 of this video camera 201 movement in XZ space.This XZ travel mechanism 202 possess support cameras 201 support portion 202a, this support portion 202a is supported for can to the Z travel mechanism 202z of Z-direction movement, being supported for by this Z travel mechanism 202z can to the X travel mechanism 202x of X-direction movement.

By the action of this XZ travel mechanism 202, video camera 201 is moved horizontally along X-direction, taken by the whole region of video camera 201 to the horizontal plane direction of disintegration object and display DP.In addition, in present embodiment, video camera 201 is the linear sensor camera in transverse direction (Y direction) the whole region simultaneously can taking display DP.XZ travel mechanism 202 makes video camera 201 move horizontally along X-direction, to take the whole region at the display DP back side of mounting on conveyer belt 401.Video camera 201 moves by carrying out 1 sub-level along X-direction the whole region taking the display DP back side, display DP can be taken into an image.

And, when utilizing the detection method based on single shot, XZ travel mechanism 202 is according to the information of expression vertical-direction length of the display DP of mounting on conveyer belt 401, be aligned in the mode on the height and position of the vertical-direction length half of display DP with (Z-direction) in the vertical direction upper focus, the video camera 201 to display DP takes is moved.

On the other hand, when utilizing the detection method based on plural number shooting, XZ travel mechanism 202, according to the elevation information of vertical-direction length of display DP representing mounting on conveyer belt 401, makes video camera 201 stage of taking display DP move to focus and is aligned in fiducial cameras position on the extreme higher position of the display DP in vertical direction (Z-direction) and in vertical direction than on the position of fiducial cameras position closer to display DP.This XZ travel mechanism 202 such as using fiducial cameras position as initial position, video camera 201 is moved near the mode of display DP by the prespecified amount of falling (such as 5mm) from this initial camera position with video camera 201 at every turn gradually.

At this, with reference to Fig. 5, the example of the video camera 201 when utilizing the detection method based on single shot based on the action of travel mechanism 202 is described.

Fig. 5 is an example of the section synoptic diagram representing disintegration object involved by present embodiment and display DP.

This display DP such as thickness is 50mm.Therefore, the display DP of mounting extreme higher position is in vertical direction the position separating height and position ZH (Z coordinate value=ZH) from the upper surface (Z coordinate value=ZL) of conveyer belt 401.That is, the height and position that the highest portion of display DP is divided in vertical direction is the position of Z coordinate value=50mm.

Position on the height and position ZM (Z coordinate value=ZM) of the height and position half that XZ travel mechanism 202 video camera 201 is positioned at highest portion that focus aims at display DP is in vertical direction divided.Such as, XZ travel mechanism 202 makes video camera 201 be arranged in video camera 201 focus and is aligned in position on the position of the dignity X-coordinate value=XA being shot of height and position ZM.And, XZ travel mechanism 202 make video camera 201 with focus be aligned in state in the dignity being shot of height and position ZM along X-direction+direction is moved horizontally on the position of X-coordinate value=XB.

On the other hand, with reference to Fig. 6, Fig. 7, the example of the video camera 201 during the detection method utilized based on plural number shooting based on the action of XZ travel mechanism 202 is described.

Fig. 6 represents an example of the section synoptic diagram of disintegration object involved by present embodiment and display DP.

The thickness of this display DP is 50mm.Therefore, the display DP of mounting extreme higher position is in vertical direction the position separating height and position H0=50mm from the upper surface of conveyer belt 401.That is, the height and position that the highest portion of display DP is divided in vertical direction is the position of Z coordinate value=50mm.At this, the height and position that the highest portion of display DP is in vertical direction divided by video camera 201, namely focus is aligned in and the thickness of display DP is called fiducial cameras position as the position on the position of Z coordinate value.

In the vertical direction of this display DP, make video camera 201 interim near conveyer belt 401 by the amount of falling (such as 5mm) of prespecified video camera 201 from fiducial cameras position.That is, the height and position of dignity being shot aimed at of the focus of video camera 201 is with H1, H2, H3 ... H10 changes.

As shown in Figure 6, fixed part detecting unit 2 makes video camera 201 fall 5mm from fiducial cameras position at every turn, is aligned in height and position H1, H2, H3 to make focus ... in the dignity being shot of H10.Focus is made to be aligned in height and position H0, H1, H2, H3 when video camera 201 is positioned at ... time in the dignity being shot of H10, this fixed part detecting unit 2 makes video camera 201 move horizontally along X-direction on each position.Thus, video camera 201 makes focus be aligned in each height and position H0, H1, H2, H3 ... the whole region of dignity being shot to the display DP back side of H10 is taken.

Be described with reference to the example of Fig. 7 to the action of video camera 201.Fig. 7 is the figure of an example of the movement locus of the video camera 201 of the fixed part detecting unit 2 represented involved by present embodiment.In addition, the profile of the display DP shown in Fig. 6 is eliminated in Fig. 7.

Such as, fixed part detecting unit 2 make video camera 201 be located at height and position H0 dignity being shot on the focus of video camera 201 be aligned in position on the position of X-coordinate value=XA.And, fixed part detecting unit 2 make video camera 201 with focus be aligned in state in the dignity being shot of height and position H0 along X-direction+direction moves horizontally.Fixed part detecting unit 2 is making after video camera 201 moves to the position of X-coordinate value=XB, to make video camera 201 fall the prespecified amount of falling (5mm) along Z-direction.That is, the mode that fixed part detecting unit 2 makes video camera 201 be aligned on the position of X-coordinate value=XB with the focus of video camera 201 in the dignity being shot of height and position H1 moves.

And, fixed part detecting unit 2 make video camera 201 keep focus be aligned in state in the dignity being shot of height and position H1 along X-direction-direction moves horizontally.Fixed part detecting unit 2 is making after video camera 201 moves to the position of X-coordinate value=XA, to make video camera 201 fall the prespecified amount of falling (5mm) along Z-direction.That is, the mode that fixed part detecting unit 2 makes video camera 201 be aligned on the position of X-coordinate value=XA with the focus of video camera 201 in the dignity being shot of height and position H2 moves.

So, fixed part detecting unit 2 makes video camera 201 move with zigzag on XZ face.Thus, video camera 201 can photograph multiple and be aligned in the image that the mode on height and positions different respectively in the vertical direction of display DP takes with focus.

In addition, one example of action when so far using linear sensor camera to video camera 201 is illustrated, but the present invention is not limited thereto, such as, can use the area sensor video camera of corresponding wide-angle, the moving direction of video camera 201 is only set to Z-direction.

Then, with reference to Fig. 8, XZ travel mechanism 202 and the example making this XZ travel mechanism 202 carry out the drive control part 204 of action are described.Fig. 8 is the block diagram be described in order to an example of the structure to XZ travel mechanism 202 and drive control part 204.

As shown in Figure 8, XZ travel mechanism 202 is connected with drive control part 204.This drive control part 204 provides power to XZ travel mechanism 202, controls the action of XZ travel mechanism 202.

Drive control part 204 possesses to make respectively X travel mechanism 202x and Z travel mechanism 202z to carry out the motor control part 241x of action and motor control part 241z, drive division 242x and drive division 242z and motor 243x and motor 243z.

Motor control part 241x and motor control part 241z exports the corresponding driving instruction with X travel mechanism 202x and Z travel mechanism 202z actuating quantity separately (displacement) respectively to drive division 242x and drive division 242z.This drive division 242x and drive division 242z, according to the driving instruction of input, distinguishes CD-ROM drive motor 243x and motor 243z.This motor 243x and motor 243z is connected with X travel mechanism 202x and Z travel mechanism 202z respectively, is driven, X travel mechanism 202x and Z travel mechanism 202z is moved respectively to X-direction and Z-direction by drive division 242x and drive division 242z.

Then, with reference to Fig. 9, an example of the structure of fixed part detecting unit 2 is described.Fig. 9 is the block diagram of an example of the structure representing fixed part detecting unit 2.

As shown in Figure 9, fixed part detecting unit 2 possesses XZ travel mechanism 202, operating portion 203, drive control part 204, locating guide 205, location travel mechanism 206, drive control part 207, display part 209 and information treatment part 210.

Further, fixed part detecting unit 2 possesses video camera 201.This video camera 201 possesses lens 201a, CCD 201b and A/D converter section 201c.Video camera 201 scioptics 201a makes incident optical image image on the photoelectric conversion surface (imaging surface) of CCD 201b.Data signal is converted to by A/D converter section 201c by the optical image of this CCD 201b opto-electronic conversion.This data signal is exported as the view data photographed by video camera 201 by this A/D converter section 201c.

Operating portion 203 accepts the operation undertaken by user, exports the operation signal representing the content of operation received to information treatment part 210.This operating portion 203 such as can utilize keyboard and contact panel etc.

Drive control part 204 makes video camera 201 move by making XZ travel mechanism 202 carry out action.

Locating guide 205 be by conveyer belt 401 on display DP pressing transport and move it the parts on the position of corresponding positioning datum position P.This locating guide 205 such as possesses the X guiding piece 205x to X-direction movement and the Y guiding piece 205y to Y direction movement.

Locating guide 205 remains and can move to prespecified direction by location travel mechanism 206.

In addition, locating guide 205 and location travel mechanism 206 are such as the structure shown in Figure 10.In Figure 10, supporting guide part 208 abuts fixing mode with one of display DP jiao and arranges on the P of positioning datum position.In addition, being not limited thereto, as long as the side surface of display is abutted with support guide member 208 and fixed by locating guide 205, can be a jiao of the display DP state inconsistent with positioning datum position P.

Drive control part 207 controls to location travel mechanism 206 one jiao and positioning datum position P positioned in alignment making display DP.This drive control part 207 makes X guiding piece 205x move along X-direction towards positioning datum position P, and Y guiding piece 205y is moved along Y direction towards positioning datum position P.This drive control part 207 such as makes X guiding piece 205x and Y guiding piece 205y move, until one of display DP jiao and positioning datum position P aligned position.Pressed the display DP transported abut with support guide member 208 by X guiding piece 205x and Y guiding piece 205y and stop.Thus, locate on the P of positioning datum position for one jiao of display DP.

Display part 209 shows the icon representing the screw NJ detected by information treatment part 210 in the photographed images photographed by video camera 201.In addition, be not limited to the icon representing screw NJ, display part 209 can also show the higher part (image-region of such as toroidal) of the possibility of screw NJ with icon.In addition, display part 209 can be the contact panel formed with operating portion 203 one.

Get back to Fig. 9, information treatment part 210 is described in detail.

Information treatment part 210 possesses control part 211, recording unit 212, graphical analysis portion 213, position detection part 214 and receiving and transmitting part 215.

Control part 211 according to the program be recorded in recording unit 212, centralized Control fixed part detecting unit 2.

Recording unit 212 carries out record to the various information utilized in the action of fixed part detecting unit 2.

At this, with reference to Figure 11, the process based on graphical analysis portion 213 is described in detail.Figure 11 is the reference diagram in order to illustrate based on the process in graphical analysis portion 213.

Graphical analysis portion 213 is according to the image photographed by video camera 201, and the nose shape detected as the screw NJ exposed on the surface of display DP carrys out prespecified shape.The fixed part district Li of toroidal is such as detected in this graphical analysis portion 213 by geometry character pattern coupling.In addition, i is to identify the numeral that each screw NJ gives.

(a) of Figure 11 is the example of the part representing the photographed images comprising the fixed part district L1 ~ L3 detected by this graphical analysis portion 213.Be illustrated in one of the image of this fixed part district L1 (b) of Figure 11.

Graphical analysis portion 213 calculates the average brightness value of each pixel by each this fixed part district L1 ~ L3.The average brightness value that calculates as threshold value, is carried out binarization process to the image in fixed part district by graphical analysis portion 213.Such as, be illustrated in one of the image after the binarization process of the brightness value of fixed part district L1 and this fixed part district L1 (c) of Figure 11.

As shown in (c) of Figure 11, with regard to the brightness value of fixed part district L1, compared with round-shaped entirety, the brightness value of central cross shape is lower.This is because the screw hole part of cross shape is with concave depressions.Therefore, the image-region of the screw porose area of cross shape can detect in graphical analysis portion 213 by performing binarization process.That is, can clearly show through the image of binarization process the concaveconvex shape formed at the head of screw NJ by graphical analysis portion 213.

Graphical analysis portion 213 by binarization process using brightness value lower than the image-region of the threshold value as average brightness value as screw porose area Ni{i=1,2,3 ... detect, and the information representing the screw porose area Ni detected is exported to position detection part 214.Be illustrated in one of the screw porose area Ni detected by this graphical analysis portion 213 (d) of Figure 11.

Position detection part 214, according to the information representing the screw porose area Ni detected, calculates the coordinate of the central point Mi of screw porose area Ni, the positional information (Xi, Yi) of the position of this screw porose area Ni detected as expression is obtained.This central point Mi is to represent positioning datum position P as the XY coordinate value of initial point (0,0,0).Position detection part 214 exports acquired positional information (Xi, Yi) to receiving and transmitting part 215.Namely, position detection part 214 is according to passing through the image of graphical analysis portion 213 through binarization process, detect the concaveconvex shape formed at the head of screw NJ, the characteristic point of the screw NJ represented by this concaveconvex shape and central point Mi are obtained as the positional information (Xi, Yi) of the position representing screw NJ.

Receiving and transmitting part 215 connects into and can communicate with fixed part solution body unit 3, and it can send to fixed part solution body unit 3 positional information (Xi, Yi) inputted.

At this, with reference to Figure 12, the position relationship of lens 201a and subject is described.Figure 12 is the figure of the position relationship that lens 201a and subject are described.

As shown in figure 12, lens 201a gathering makes shot object image imaging on the photoelectric conversion surface (imaging surface) of CCD 201b from the light of subject incidence.As shown in the figure, subject distance is called by from dignity being shot to the distance of lens 201a.The distance of the imaging surface from lens 201a to CCD 201b is called lens distance.When being present in the shooting of the state in this dignity being shot with subject, focus is aligned in dignity being shot.The position of lens 201a is now called focal position.In addition, the relation of lens distance and subject distance is prescribed in advance according to the characteristic etc. of lens 201a.

Further, control part 211, according to the analysis result in graphical analysis portion 213, judges whether the positional information relevant to same screw hole has been recorded in recording unit 212.When being judged to be recorded, delete the information detected.If illustrate, control part 211 reference record portion 212 determines whether to there is two-dimensional coordinate value (Xi, Yi) consistent in error range.When there is two-dimensional coordinate value (Xi, Yi) consistent in error range, control part 211 is judged to be recorded in recording unit 212 for the information of same screw hole.

In addition, two-dimensional coordinate value (Xi consistent in error range, Yi) refer to, when to all two-dimensional coordinate value (Xi detected, Yi), when X-coordinate value and Y-coordinate value compare respectively, the difference of this X-coordinate value is in prespecified scope (error range) and the situation of the difference of Y-coordinate value in prespecified scope (error range).

Receiving and transmitting part 215 connects into and can communicate with elevation measurement unit 1 and fixed part solution body unit 3, it receives the elevation information obtained by elevation measurement unit 1, and the positional information (Xi, Yi) obtained by position detection part 214 is sent to fixed part solution body unit 3.

Then, with reference to Figure 13 ~ 18, fixed part solution body unit 3 is described in detail.

Figure 13 is the figure of the summary that fixed part solution body unit 3 is described.As shown in figure 13, fixed part solution body unit 3 possesses and makes fixing releasing appliance 301 by hold mode in the XYZ travel mechanism 302 of XYZ space movement and the mechanism in rotary moving 303 that makes fixing releasing appliance 301 rotate centered by the rotating shaft parallel with Z axis.This XYZ travel mechanism 302 possess fixing releasing appliance 301 and mechanism in rotary moving 303 are supported support portion 302a, this support portion 302a is supported for can to the Z travel mechanism 302z of Z-direction movement, being supported for by this Z travel mechanism 302z can to the X travel mechanism 302x of X-direction movement; And be supported for by this X travel mechanism 302x can to the Y travel mechanism 302y of Y direction movement.This Z travel mechanism 302z possesses the linear measuring instrument 302b of the amount of movement of the Z-direction of the fixing releasing appliance 301 of metering.This linear measuring instrument 302b exports information and the Z-direction mobile message of the amount of movement representing the fixing releasing appliance 301 measured.In addition, about other structures of XYZ travel mechanism 302, same title is added to each component part of the travel mechanism with the 26S Proteasome Structure and Function identical with above-mentioned XZ travel mechanism 202, and detailed.

Fixing releasing appliance 301 is such as the driver bit engaged with the screw hole of fixed part and screw NJ.In this description, fixing releasing appliance 301 is recited as driver bit 301.The front end of this driver bit 301 can be made up of permanent magnet, and it can keep by magnetic force the screw NJ that is made up of Armco magnetic irons such as iron.

Collection box 320 is possessed near this fixing releasing appliance 301.This collection box 320 can be to be fixed on the collection box on Z travel mechanism 302z movably.

Further, fixed part solution body unit 3 possesses air mechanism 308.This air mechanism 308 possesses pressing controlling organization 308a, air regulator 308b and air Injection portion 308c.This air Injection portion 308c is connected with air regulator 308b by pipeline, and it injects air to this air regulator 308b.Pressing controlling organization 308a is injected into the air after adjustment by air regulator 308b, and it is by injecting the pressure of air with the downside pressing driver bit 301 of certain pressure to Z-direction.

In present embodiment, air Injection portion 308c injects the pressure of 0.6MPa to air regulator 308b.This air regulator 308b adjusts the pressure injecting air, and exports the air of 0.04MPa to pressing controlling organization 308a.Thus, when driver bit 301 moves to the position with the screw heads come of screw NJ, press the certain pressure of controlling organization 308a by the air from air regulator 308b injection by driver bit 301 by being pressed in the head of screw of screw NJ.Thus, rotate driver bit 301 by under the state that closely engages with the head of screw of screw NJ in the front end of driver bit 301, improve the accuracy of knockout screw NJ.

In addition, support portion 302a is provided with laser displacement gauge 309.This laser displacement gauge 309 has towards the below injection laser of Z-direction and receives the structure of the laser from object reflection.Laser displacement gauge 309 exports the information relevant with the laser of reception to the laser of injection.In addition, an example of the elevation measurement mechanism of the mensuration height and position of laser displacement gauge 309 involved by present embodiment.This elevation measurement mechanism is the structure of the information of the coordinate value obtaining the Z-direction representing measuring object upper surface.In addition, measuring means involved in the present invention is not limited thereto, and can be other structures.

The action of fixed part solution body unit 3 is briefly described.As shown in the figure, this fixed part solution body unit 3 makes driver bit 301 decline towards the downside of Z-direction from the top of the display DP by the back side of display DP state upward and move it near screw NJ.Afterwards, fixed part solution body unit 3 makes driver bit 301 slowly while screw, and driver bit 301 is rotated to the direction of unclamping screw NJ.Now, can not make driver bit rotate but with stop state close.And, when driver bit 301 arrives the position with the screw heads come of screw NJ, by the pressure of air injected from air regulator 308b, press controlling organization 308a by the front end of driver bit 301 by being pressed on the head of screw of screw NJ.Therefore, the output pressure value from air regulator 308b changes.And when detecting by driver bit 301 knockout screw NJ, the Z travel mechanism 302z of XYZ travel mechanism 302 pulls on driver bit 301 to the upside of Z-direction.

In addition, magnetic force can be with in its front end of driver bit 301, and now, driver bit 301 is sling to the upside of Z-direction to keep the state of screw NJ by magnetic force.Then, fixed part solution body unit 3 makes driver bit 301 move to the top of collection box 320, is contained in collection box 320 by the screw NJ of dismounting.But, the present invention is not limited thereto, the screw NJ of dismounting can not be reclaimed but keep disassembly status in the screw hole be installed with.

Then, with reference to Figure 14, an example of the structure of fixed part solution body unit 3 is described.Figure 14 is the block diagram of an example of the structure representing fixed part solution body unit 3.

As shown in figure 14, fixed part solution body unit 3 possesses fixing releasing appliance 301, XYZ travel mechanism 302, mechanism in rotary moving 303, drive control part 304, locating guide 305, positioning drive mechanisms 306, drive control part 307, air mechanism 308, laser displacement gauge 309 and information treatment part 310.

Drive control part 304 is the action of control XYZ travel mechanism 302 and controls the control part of the action of mechanism 303 in rotary moving.This drive control part 304 such as has structure as shown in figure 15.Figure 15 is the figure of the example representing drive control part 304.

As shown in figure 15, XYZ travel mechanism 302 is connected with drive control part 304.This drive control part 304 provides power to XYZ travel mechanism 302, controls the action of XYZ travel mechanism 302.

Drive control part 304 possesses to make X travel mechanism 302x, Y travel mechanism 302y and Z travel mechanism 302z carry out motor control part 341x, motor control part 341y and the motor control part 341z of action respectively; Drive division 342x, drive division 342y and drive division 342z; And motor 343x, motor 343y and motor 343z.

Motor control part 341x, motor control part 341y and motor control part 341z export the corresponding driving instruction with X travel mechanism 302x, Y travel mechanism 302y and Z travel mechanism 302z actuating quantity separately (displacement) respectively to drive division 342x, drive division 342y and drive division 342z.This drive division 342x, drive division 342y, drive division 342z are according to inputted driving instruction CD-ROM drive motor 343x, motor 343y and motor 343z respectively.This motor 343x, motor 343y and motor 343z are connected with X travel mechanism 302x, Y travel mechanism 302y and Z travel mechanism 302z respectively, by drive division 342x, drive division 342y, drive division 342z and being driven, X travel mechanism 302x, Y travel mechanism 302y and Z travel mechanism 302z is moved respectively to X-direction, Y direction, Z-direction.

Further, drive control part 304 possesses motor control part 341c, the drive division 342c, the motor 343c and encoder 344c that make mechanism 303 in rotary moving action.Motor control part 341c exports the driving instruction corresponding to the rotation amount of mechanism 303 in rotary moving to drive division 342c.This drive division 342c carrys out CD-ROM drive motor 343c according to inputted driving instruction.The rotating shaft of motor 343c is provided with the encoder 344c detecting the rotation amount that driver bit 301 rotates.Encoder 344c detects revolution (anglec of rotation) and the rotating speed of the rotation amount representing motor 343c, and exports the information representing this rotation amount to motor control part 341c.The power that mechanism 303 in rotary moving transmits from motor 343c to driver bit 301 rotates to make driver bit 301.

The rotary driving force of motor control part 341c represented by the driving instruction outputting to drive division 342c and the rotation amount inputted from encoder 344c, calculate the rotating torques of driver bit 301.Further, motor control part 341c judges that whether the rotating torques calculated is as more than prespecified threshold value.When this rotating torques is more than threshold value, motor control part 341c is judged to be in the front end of driver bit 301 state chimeric with screw hole.Further, when rotating torques change into more than threshold value be less than threshold value time, motor control part 341c detect unclamp already terminating of the screw NJ of driver bit 301.

Information treatment part 310 possesses control part 311, recording unit 312 and receiving and transmitting part 313.

Control part 311 according to the program be recorded in recording unit 312, centralized Control fixed part solution body unit 3.Further, this control part 311 possesses detection unit 311a.

Recording unit 312 carries out record to the various information utilized in the action of fixed part solution body unit 3.

Receiving and transmitting part 313 connects into and can communicate with fixed part detecting unit 2, and it can receive the positional information (Xi, Yi) sent from fixed part detecting unit 2.

Then, control part 311 is described in more detail.This control part 311 is according to the positional information (Xi received from fixed part detecting unit 2, Yi), the position of screw NJ driver bit 301 being moved to detected by fixed part detecting unit 2, removes based on screw NJ by this driver bit 301 fixing.

Detection unit 311a judges whether driver bit 301 has removed fixing based on screw NJ.This detection unit 311a can utilize any one in decision method (1) ~ (3) shown below.

(1) such as, driver bit 301 is made to be pressed into the output pressure of the air regulator 308b of the air mechanism 308 on screw NJ according to carrying out comfortable releasing based on during screw NJ fixing, when being made driver bit 301 pressure be pressed on screw NJ change by air mechanism 308, detection unit 311a judges that driver bit 301 has removed fixing based on screw NJ.Such as, when output pressure value change from air regulator 308b (, when not being steady state value) or the output pressure of air regulator 308b lower than prespecified threshold value time, it is fixing that this detection unit 311a judges that driver bit 301 has been removed based on screw NJ.

Figure 16 is represented when being removed by driver bit 301 based on the chart from an example of the output pressure of air regulator 308b during screw NJ fixing.In this chart, transverse axis represents the elapsed time [unit: sec], the longitudinal axis represents output pressure [unit: MPa] from air regulator 308b.The moment t101 that transverse axis represents is the moment of the front end of driver bit 301 and the screw heads come of screw NJ, and for starting the moment of unclamping screw NJ.The moment t102 that transverse axis represents is that driver bit 301 completes the fixing moment of removing based on screw NJ, and is the moment of unclamping end of screw NJ.The moment t103 that transverse axis represents is the moment through prespecified time T1 from moment t102.

As shown in figure 16, from moment t101 to moment t102, driver bit 301 is by pressing controlling organization 308a with certain pressure by being pressed on the head of screw of screw NJ.Therefore, from air regulator 308b output pressure value from remove time played based on screw NJ fixing releasing till almost keep constant.In addition, firm by certain pressure by driver bit 301 by the head of screw being pressed in screw NJ after, because the head of screw of driver bit 301 with screw NJ closely engages, so the output pressure value of air regulator 308b temporarily increases.And when being removed based on screw NJ fixing by driver bit 301, pressing controlling organization 308a becomes does not make driver bit 301 by the state be pressed on the head of screw of screw NJ.Therefore, from air regulator 308b output pressure value former force value and slightly lower than former force value force value between change.Therefore, as shown in figure 16, from moment t102 to t103, there is trickle variation in the output pressure value of air regulator 308b.This represents that screw NJ extracts or idle running while embedding wherein from screw hole.The screw NJ extracted from screw hole to be pressed from the pressure of air regulator 308b, therefore gets back in screw hole by the driver bit 301 that rotates.Thus, the output pressure of air regulator 308b can decline instantaneously, and therefore the output pressure of air regulator 308b is extracted from screw hole because of screw NJ or situation about embedding wherein is repeatedly carried out and trickle variation occurs.

Therefore, such as when the output pressure value change from air regulator 308b state (namely, the situation of steady state value) or more than state duration T1 lower than prespecified threshold value of the output pressure of air regulator 308b time, it is fixing that detection unit 311a can judge that driver bit 301 has been removed based on screw NJ.

(2) such as, when according to removing the linear measuring instrument 302b detected based on the movement making driver bit 301 to the Z travel mechanism 302z of the XYZ travel mechanism 302 of vertical direction (Z-direction) movement during screw NJ fixing, detect that Z travel mechanism 302z is when the downside making driver bit 301 to Z-direction is moved and moved to the upside of Z-direction based on the fixing of screw NJ along with releasing after close screw NJ, when the mobile variable quantity of the time per unit of the Z-direction of driver bit 301 reduces, detection unit 311a judges that driver bit 301 has removed fixing based on screw NJ.

Figure 17 is represented when being removed the chart based on an example of the output of linear measuring instrument 302b during screw NJ fixing by driver bit 301.The output [unit: mm] that in this chart, transverse axis represents the elapsed time [unit: sec], the longitudinal axis represents linear measuring instrument 302b.In the same manner as above-mentioned moment t101 ~ t103, moment t201 ~ t203 that transverse axis represents is as follows respectively: the moment of unclamping end of moment t201 to be moment, the moment t202 starting to unclamp screw NJ be screw NJ, moment t203 are the moment through prespecified time T2 from moment t202.

As shown in figure 17, from moment t201 to moment t202, driver bit 301 moves to the upside of Z-direction.In addition, driver bit 301 can be sling to upside by Z travel mechanism 302z, and the action can also sling to the top of Z-direction rotatably with screw NJ links and is lifted.And, when carving t202 when reached, become the state that driver bit 301 is lifted the length corresponding with the nominal length of screw NJ (underhead length).The example during screw NJ using nominal length to be 22mm shown in Figure 17.As shown in figure 17, till moment t202 to t203, there is trickle variation in the output valve of linear measuring instrument 302b.This represents that screw NJ extracts or idle running while embedding wherein from screw hole.

Therefore, such as, when the output valve according to linear measuring instrument 302b, at driver bit 301 in the Z-axis direction from the state of downside upwards side movement, when the mobile change quantitative change of the time per unit of driver bit 301 stable time, (time that the mobile variable quantity of time per unit reduces) continued prespecified time more than T2, it is fixing that detection unit 311a can judge that driver bit 301 has been removed based on screw NJ.In addition, be not limited to above-mentioned method, when number of times when the output valve that detection unit 311a involved in the present invention can work as the time per unit being judged to be linear measuring instrument 302b is more than prespecified number of times than the number of times that output valve before reduces or more than the threshold value that the variable quantity of output valve of the time per unit being judged to be linear measuring instrument 302b is prespecified is more than prespecified number of times, judge that driver bit 301 has removed fixing based on screw NJ.In addition, the threshold value of this number of times is the setting value determining whether elapsed time T2.

(3) such as, when the output according to laser displacement gauge 309, when the height and position of the head of screw of screw NJ changes to the upside of Z-direction before and after process of disintegrating, detection unit 311a judges that driver bit 301 has removed fixing based on screw NJ.

If illustrate, detection unit 311a, according to the output of laser displacement gauge 309, calculates the height and position of the head of screw of screw NJ.

At this, with reference to Figure 18, an example of laser displacement gauge 309 is described.Figure 18 is the profile of the example representing this laser displacement gauge 309.

As shown in figure 18, laser displacement gauge 309 comprises irradiation portion 309a, light receiver 309b, interface 309c and laser displacement control part 309d.

Irradiation portion 309a such as according to the positional information (Xi, Yi) of horizontal direction position representing the screw NJ detected by fixed part detecting unit 2, to this position irradiating and detecting light.As detection light, irradiation portion 309a such as irradiates the laser of prespecified frequency.

Light receiver 309b is positioned at laser from irradiation portion 309a by measuring on position incident after object reflection.As shown in figure 18, this light receiver 309b receives the laser reflected from the head of screw NJ.

Laser displacement control part 309d controls the irradiation of laser for irradiation portion 309a.Further, the output of the laser of laser displacement control part 309d received by light receiver 309b, calculates and after being reflected by screw NJ, incides the optical path length of the laser light receiver 309b from irradiation portion 309a, and export to interface 309c.

Interface 309c is transfused to the positional information (Xi, Yi) of the horizontal direction position representing screw NJ from receiving and transmitting part 313, and exports to laser displacement control part 309d.Further, interface 309c is transfused to from laser displacement control part 309d and represents from irradiation portion 309a incide the information of the optical path length of the laser light receiver 309b after being reflected by screw NJ, and exports to detection unit 311a.

Such as, represent that the positional information (Xi, Yi) of the horizontal direction position of screw NJ is input to laser displacement gauge 309 by interface 309c from receiving and transmitting part 313.The positional information (Xi, Yi) that interface 309c inputs to laser displacement control part 309d.And laser displacement control part 309d controls irradiation portion 309a in the mode of irradiating laser to the position represented by this positional information (Xi, Yi).This irradiation portion 309a irradiates laser.If describe in detail, laser displacement gauge 309, according to positional information (Xi, Yi), moves to the position of irradiation portion 309a to the position irradiation laser represented by positional information (Xi, Yi) by XYZ travel mechanism 302.

The laser penetrated from irradiation portion 309a incides light receiver 309b after the reflection of the position of the screw NJ represented by positional information (Xi, Yi).Light receiver 309b receives the laser reflected from the head of screw NJ, and to the output of laser displacement control part 309d Output of laser.Laser displacement control part 309d, according to the output of the laser received by light receiver 309b, calculates and after being reflected by screw NJ, incides the optical path length of the laser light receiver 309b from irradiation portion 309a, and export to interface 309c.Interface 309c exports to detection unit 311a and represents from irradiation portion 309a incide the information of the optical path length of the laser light receiver 309b after being reflected by screw NJ.

Detection unit 311a, according to representing from irradiation portion 309a to by the information inciding the optical path length of the laser light receiver 309b after screw NJ reflection, obtains the coordinate value (Zi) of the vertical direction position of the described fixed part represented in three dimensions.

In present embodiment, laser displacement gauge 309 obtains the coordinate value (Zi) of screw NJ before and after process of disintegrating.

In addition, the present invention is not limited thereto, detection unit 311a can use the elevation measurement mechanism utilizing technology shown below, obtains the positional information of the vertical direction of the screw NJ represented with Z coordinate value (Zi).Such as, can use solid figure time the light cross-section method or space encoding method etc. that use.If simple declaration, light cross-section method is under the state by video camera shooting measuring object, from the oblique irradiation laser slit light of determination object, and the position that pickup light touches, thus method for measuring is carried out to the 3D shape of determination object.By utilizing this light cross-section method, the 3D shape of screw NJ can be measured according to the 3D shape of determination object, and the screw hole center of screw NJ head can be measured more accurately.Further, space encoding method be using projecting apparatus etc. as light source, the light of prespecified pattern is projected to determination object, and the determination object of the light projecting pattern is taken, and the method for binarization process is carried out to the image photographed.According to this image through binarization process, utilize principle of triangulation to calculate the distance with determination object.By utilizing this space encoding method, even if inclined on display DP or the complex structure of screw NJ periphery and when being difficult to be taken by video camera, also can obtain Z coordinate value (Zi) at screw NJ.

The height and position of the screw porose area Ni that detection unit 311a calculates according to the output based on laser displacement gauge 309, the height and position (Zi) of the screw NJ before treatment that disintegrates and the height and position (Zi) of the screw NJ after processing that disintegrates are compared, judges whether the height and position of the head of screw of screw NJ changes before and after the dismounting process of screw NJ.When compared with the height and position (Zi) of the screw NJ before treatment that disintegrates, disintegrate the height and position (Zi) of the screw NJ after process for more than prespecified threshold value and when the upside of Z-direction, detection unit 311a is judged to be that screw NJ is disassembled by dismounting process.In addition, this threshold value can be specify according to the nominal length of screw NJ, and, also can be that stage is set with multiple value.When stage is set with multiple value, when compared with the height and position (Zi) of the screw NJ before treatment that disintegrates, the height and position (Zi) of the screw NJ disintegrated after processing is more than at least arbitrary threshold value and when the upside of Z-direction, detection unit 311a can be judged to be that screw NJ is disassembled by dismounting process.Or, can also select in multiple threshold value according to the prespecified threshold value of the diameter of head of screw, when compared with the height and position (Zi) of the screw NJ before treatment that disintegrates, the height and position (Zi) of the screw NJ disintegrated after processing is more than the threshold value selected and when the upside of Z-direction, detection unit 311a can be judged to be that screw NJ is disassembled by dismounting process.

In addition, the positional information (Zi) of the height and position of the Z-direction (vertical direction) of the screw NJ that the height and position (Zi) disintegrating screw NJ before treatment can be detected by fixed part detecting unit 2 for expression.

Then, with reference to Figure 19, an example of the handling process that the fixed part detecting unit 2 by utilizing in based on the detection method of single shot carries out is described.Figure 19 is the flow chart in order to be described an example of the handling process of being undertaken by fixed part detecting unit 2.

In addition, in present embodiment, the display DP being transported to fixed part detecting unit 2 measures its thickness (length of vertical direction) by elevation measurement unit 1 in side at its upstream.And elevation measurement unit 1 exports measurement result and elevation information to fixed part detecting unit 2.

Such as, disintegration object and display DP on the conveyer belt 401 of the upstream side of elevation measurement unit 1 with show ventricumbent mode load time, control supply unit 4 by central control unit 5 and display DP be transported on the position of elevation measurement unit 1.And elevation measurement unit 1 is determined at the thickness (length of vertical direction) of the display DP passed through between light-emitting device 101 and optical pickup apparatus 102, and exports measurement result and elevation information to fixed part detecting unit 2.

Then, if display DP is transported to the position of fixed part detecting unit 2, then control part 211 indicates drive control part 207 to carry out the localization process of display DP.This drive control part 207 makes location travel mechanism 206 carry out action, and carries out controlling in order to be made one of display DP jiao to be positioned on the P of positioning datum position by locating guide 205.Thus, the X guiding piece 205x of locating guide 205 and Y guiding piece 205y presses towards positioning datum position P and transports display DP.Such as, when being judged to be that one jiao of display DP is located on the P of positioning datum position, drive control part 207 terminates the action to location travel mechanism 206.

(step ST101)

Further, if control part 211 receives elevation information by receiving and transmitting part 215 from elevation measurement unit 1, then this elevation information is exported to drive control part 204.If drive control part 204 inputs elevation information from control part 211, then control XZ travel mechanism 202, moves in the mode making video camera 201 be aligned on the height and position of thickness (length of the vertical direction) half represented by elevation information with the focus of video camera 201.Such as, when the thickness of display DP is 50mm, the focus that XZ travel mechanism 202 makes video camera 201 be positioned at video camera 201 is aligned in and separates the XY plane of the height and position ZM of height 25mm from the upper surface of conveyer belt 401.In addition, XZ travel mechanism 202 makes video camera 201 be positioned on the homeposition (position with reference to the X=XA that Fig. 5 illustrates) of display DP end side.

(step ST102)

And, under being positioned at making video camera 201 state that focus is aligned in as the position in the XY plane of height and position ZM, drive control part 204 control XZ travel mechanism 202 with make video camera 201 along X-axis+direction moves horizontally.Under being positioned at making video camera 201 state that focus is aligned in the XY plane of height and position ZM, XZ travel mechanism 202 makes video camera 201 take while X-direction is moved horizontally to the other end (X=XB) from one end (X=XA) of display DP.Thus, video camera 201 is aligned in the whole face of the state in the XY plane of height and position ZM to display DP with focus and takes, and obtains photographed images D101.

(step ST103)

Graphical analysis portion 213 carries out the pattern match of prespecified toroidal for this photographed images D101, detects the fixed part district Li{i=1,2,3 of all toroidals that photographed images D101 comprises ....In addition, the intrinsic identification number i{i=1,2,3 of fixed part district Li that will go out in order to recognition detection of graphical analysis portion 213 ... distribute to each fixed part district Li.

(step ST104)

And graphical analysis portion 213 calculates the average brightness value of the pixel in this fixed part district Li.The average brightness value that calculates as threshold value, is carried out binarization process to the image comprising fixed part district Li by this graphical analysis portion 213.

Then, the view data after the binarization process of 213 pairs, graphical analysis portion such as carries out the pattern match of prespecified cross shape, detects the screw porose area Ni of cross shape.

(step ST105)

When the image-region of screw porose area Ni of cross shape being detected, graphical analysis portion 213 obtains the positional information (Xi, Yi) of the central point Mi of the cross shape representing the screw porose area Ni detected.And this positional information (Xi, Yi) is recorded in recording unit 212 by graphical analysis portion 213.

This graphical analysis portion 213 is to all fixed part district Li{i=2,3 detected from photographed images D101 ... perform step ST104 and step ST105.When obtaining positional information (Xi, Yi) { i=2,3 ... time, graphical analysis portion 213 is by acquired positional information (Xi, Yi) { i=2,3 ... be recorded in recording unit 212.

(step ST106)

Further, the information of the image-region representing screw porose area Ni and the fixed part district Li detected is outputted to control part 211 as testing result by graphical analysis portion 213.This control part 211, according to inputted information, shows the information of the information of the image-region representing the screw porose area Ni detected and the image-region of expression fixed part district Li in display part 209.Such as, control part 211 overlapping display on the photographed images D101 photographed by video camera 201 represents the icon of screw porose area Ni and the fixed part district Li detected.

(step ST107)

Then, control part 211 determines whether to cancel by operating portion 203 input the instruction screw porose area Ni detected by graphical analysis portion 213 by user and fixed part district Li being set as the image-region of screw hole.

Such as, when not inputting the instruction that the image-region of cancellation as screw hole sets, the screw porose area Ni be presented in display part 209 and fixed part district Li is determined the image-region as screw hole by control part 211.And about screw porose area Ni and the fixed part district Li of the display of the overlap of icon in display part 209, the aim of the image-region process as screw hole is presented in display part 209 by control part 211.

(step ST108)

On the other hand, when specifying screw porose area Ni or fixed part district Li to input the instruction cancelled and setting as the image-region of screw hole, control part 211 will, represent in display part 209 in the middle of the icon detected, for the screw porose area Ni and the fixed part district Li that are cancelled instruction by operating portion 203 input, remove the appointment as screw hole image.

In addition, in present embodiment, the screw porose area Ni detected and fixed part district Li as long as no being transfused to the instruction cancelled and setting as the image-region of screw hole, then sets as the image-region of screw hole by control part 211.When inputting cancellation instruction, the screw porose area Ni specified and fixed part district Li gets rid of by control part 211 from the image-region of screw hole.

But, the present invention is not limited thereto, also can in step ST107, decided in the screw porose area Ni that detects and fixed part district Li as the region that the image-region of screw hole sets by operating portion 203 by user.

Now, the screw porose area Ni specified by user and fixed part district Li sets as the image-region of screw hole by control part 211, overlapping display icon on the screw porose area Ni that the photographed images being shown in the display DP in display part 209 sets as the image-region of screw hole and fixed part district Li.

(step ST109)

Then, control part 211 determines whether to input by operating portion 203 instruction that the image-region as screw hole newly adds by user.

(step ST110)

At this, represent in the middle of the icon detected in display part 209, control part 211 adds the screw porose area Ni of instruction for being have input by operating portion 203, add the appointment as the image-region of screw hole.

(step ST111)

Further, control part 211 to be exported to fixed part solution body unit 3 by receiving and transmitting part 215 and to specify with the image-region as screw hole and positional information (Xi, Yi) that additional each screw hole is relevant.

Then, with reference to Figure 20, an example of the handling process that the fixed part detecting unit 2 that can utilize in the detection method of taking based on plural number carries out is described.Figure 20 is the flow chart in order to be described an example of the handling process of being undertaken by fixed part detecting unit 2.

In addition, the display DP being transported to the fixed part detecting unit 2 that can utilize in the detection method of taking based on plural number measures the thickness (length of vertical direction) of display DP in side at its upstream by elevation measurement unit 1.And elevation measurement unit 1 exports measurement result and elevation information to fixed part detecting unit 2.

Such as, disintegration object and display DP on the conveyer belt 401 of the upstream side of elevation measurement unit 1 with show ventricumbent mode load time, control supply unit 4 by central control unit 5 and display DP be transported on the position of elevation measurement unit 1.And elevation measurement unit 1 is determined at the thickness (length of vertical direction) of the display DP passed through between light-emitting device 101 and optical pickup apparatus 102, and exports measurement result and elevation information to fixed part detecting unit 2.

Then, if display DP is transported to the position of fixed part detecting unit 2, then control part 211 indicates drive control part 207 to carry out the localization process of display DP.This drive control part 207 makes location travel mechanism 206 carry out action, and carries out controlling in order to be made one of display DP jiao to be positioned on the P of positioning datum position by locating guide 205.Thus, the X guiding piece 205x of locating guide 205 and Y guiding piece 205y presses towards positioning datum position P and transports display DP.Such as, when being judged to be that one jiao of display DP is located on the P of positioning datum position, drive control part 207 terminates the action to location travel mechanism 206.

[step ST201]

Further, if control part 211 receives elevation information by receiving and transmitting part 215 from elevation measurement unit 1, then this elevation information is exported to drive control part 204.If drive control part 204 inputs elevation information from control part 211, then control XZ travel mechanism 202, moves in the mode making video camera 201 be aligned in the dignity being shot of the height and position represented by elevation information with the focus of video camera 201.Such as, when the thickness (length of vertical direction) of display DP is for 50mm, the focus that XZ travel mechanism 202 makes video camera 201 be positioned at video camera 201 is aligned in and separates the dignity being shot of the height and position H0 (fiducial cameras position) of height 50mm from the upper surface of conveyer belt 401.In addition, XZ travel mechanism 202 makes video camera 201 be positioned on the homeposition (position with reference to the X=XA that Fig. 7 illustrates) of display DP end side.

(step ST202)

And, under being positioned at making video camera 201 state that focus is aligned in the dignity being shot of height and position H0, drive control part 204 control XZ travel mechanism 202, with make video camera 201 along X-axis+direction moves horizontally.Thus, under being positioned at making video camera 201 state that focus is aligned in the dignity being shot of height and position H0, XZ travel mechanism 202 makes video camera 201 be moved horizontally to the other end (X=XB) from one end (X=XA) of display DP.Thus, video camera 201 is aligned in the whole face of the state in the dignity being shot of height and position H0 to display DP with focus and takes, and obtains photographed images D201.

(step ST203)

Graphical analysis portion 213 carries out the pattern match of prespecified toroidal for this photographed images D201, detects the fixed part district Li{i=1,2,3 of all toroidals that photographed images D201 comprises ....In addition, the intrinsic identification number i{i=1,2,3 of fixed part district Li that will go out in order to recognition detection of graphical analysis portion 213 ... distribute to each fixed part district Li.

(step ST204)

And graphical analysis portion 213 calculates the average brightness value of the pixel in this fixed part district Li.The average brightness value that calculates as threshold value, is carried out binarization process to the image comprising fixed part district Li by this graphical analysis portion 213.

Then, the view data after the binarization process of 213 pairs, graphical analysis portion such as carries out the pattern match of prespecified cross shape, detects the screw porose area Ni of cross shape.

(step ST205)

And graphical analysis portion 213 determines whether the image-region of the screw porose area Ni being detected cross shape.That is, graphical analysis portion 213 determines whether to be detected screw hole.

(step ST206)

When the image-region 1 of the screw porose area Ni of cross shape is not also detected, photographed images D201 gets rid of from detection data in graphical analysis portion 213.Further, graphical analysis portion 213 transfers to the process of step ST210.

(step ST207)

When the image-region of the screw porose area Ni of cross shape is at least detected 1, graphical analysis portion 213 obtains the positional information (Xi, Yi) of the central point Mi of the cross shape representing the screw porose area Ni detected.

(step ST208)

Then, control part 211 is checked the positional information obtained by graphical analysis portion 213 and the positional information be recorded in recording unit 212, determines whether and records complete information (whether being in other words, new information).That is, control part 211 determines whether the positional information that there is multiple screw hole detected.When the positional information (Xi, Yi) obtained by graphical analysis portion 213 in step ST207 is when having recorded complete information, control part 211 transfers to the process of step ST206.

(step ST209)

When the positional information (Xi, Yi) obtained by graphical analysis portion 213 in step ST207 for new information time, this positional information (Xi, Yi) is recorded in recording unit 212 by control part 211.

This control part 211 and graphical analysis portion 213 are to all fixed part district Li{i=2,3 detected from photographed images D201 ... perform the process of step ST204 to step ST208.When achieving positional information (Xi, Yi) { i=2,3 ... time, graphical analysis portion 213 is by acquired positional information (Xi, Yi) { i=2,3 ... be recorded in recording unit 212.

And the height and position that graphical analysis portion 213 is aimed at according to the focus of video camera 201, calculates the Z coordinate value (Zi) of the positional information (Xi, Yi) of the central point Mi of the cross shape representing screw hole district Ni.In present embodiment, the photographed images D201 achieving this positional information (Xi, Yi) is aligned in focus the image that the mode on the upper space (comprising the dignity being shot in the horizontal plane direction that the highest portion in the vertical direction of the display DP of mounting is divided) of display DP takes.That is, the focus of the video camera 201 when taking photographed images D201 is aligned in and separates the dignity being shot of 50mm from conveyer belt 401 top vertically.Therefore, graphical analysis portion 213 is calculated as Z coordinate value (Zi)=50mm.

Graphical analysis portion 213 is by Z coordinate value (the Zi)=50mm calculated and the positional information (Xi being judged to be new information in step ST208, Yi) combine, calculate the D coordinates value (Xi of the central point Mi of the cross shape of screw porose area Ni, Yi, and write in recording unit 212 Zi).

(step ST210)

Further, control part 211 compares by the thickness (length of vertical direction) of the amount of falling and the value fallen number of times multiplying and obtain and display DP.

(step ST211)

This control part 211 judges the amount of falling and falls number of times multiplying and whether the value that obtains is less than the thickness (length of vertical direction) of display DP.That is, control part 211 determines whether the shooting of the display DP that the height and position stage that the focus of video camera 201 will be terminated to aim at changes.

(step ST212)

In present embodiment, the amount of falling at every turn fallen is 5mm.Further, the thickness (length of vertical direction) of display DP is 50mm.In the stage photographing photographed images D201, the amount of falling=0, fall number of times=0, thickness (length of the vertical direction) 50mm of the therefore amount of falling × fall number of times=0 < display DP.

Now, by the amount of falling with fall number of times multiplying and the value that obtains is less than the thickness (length of vertical direction) of display DP, therefore control part 211 indicates drive control part 204 video camera 201 to be reduced the prespecified amount of falling (such as 5mm).

And drive control part 204 control XZ travel mechanism 202 reduces 5mm to make video camera 201.The height and position of video camera 201 is reduced 5mm by this XZ travel mechanism 202.

Then, get back to step ST202, under being positioned at making video camera 201 state that focus is aligned on the position of the height and position H1 of 45mm, drive control part 204 control XZ travel mechanism 202 moves horizontally along a direction of X-axis to make video camera 201.XZ travel mechanism 202 is being positioned under the state that focus is aligned on the position of the height and position H1 of 45mm, make video camera 201 from one end of display DP along X-axis-direction is moved horizontally to the other end.Thus, the whole face of the display DP that video camera 201 focusing is aligned on being shot of the height and position H1 of 45mm is taken, and obtains photographed images D202.

In addition, in present embodiment, fixed part detecting unit 2 repeats step ST202 ~ 212, in the scope of 50mm ~ 0mm, the height and position of the dignity being shot of the focus of video camera 201 being aimed at carries out stage by 5mm scale and changes, and obtains photographed images D201 ~ D211.

On the other hand, when by the amount of falling and fall number of times multiplying and the value that obtains is more than the thickness (length of vertical direction) of display DP time, control part 211 is judged to be the shooting terminating display DP focal position stage changed.

(step ST213)

Further, control part 211 exports the D coordinates value (Xi, Yi, Zi) relevant with each screw hole by receiving and transmitting part 215 to fixed part solution body unit 3.

Then, with reference to Figure 21 ~ 23, an example of the handling process of being undertaken by fixed part solution body unit 3 is described.Figure 21 is the figure in order to be described an example of the handling process of being undertaken by fixed part solution body unit 3.Further, Figure 22,23 is the synoptic diagrams be described in order to the action of the front end to the driver bit 301 by the movement of fixed part solution body unit 3.In addition, Tu22Zhong, is described the XZ coordinate value in objective table space, omits the explanation to Y-coordinate value.In Figure 23, the XY coordinate value in objective table space is described, omits the explanation to Z coordinate value.

If obtain end based on the positional information of fixed part detecting unit 2, then control supply unit 4 by central control unit 5, display DP is transported on the position of fixed part solution body unit 3.And the control part 311 of fixed part solution body unit 3 indicates drive control part 307 to carry out the localization process of display DP.In addition, the localization process of being undertaken by drive control part 307 is identical with the above-mentioned process undertaken by drive control part 207, therefore detailed.

Positional information (Xi, the Yi) { i=2,3 that control part 311 will receive from fixed part detecting unit 2 ... and represent that the information of shape of screw hole is recorded in recording unit 312.This control part 311 is from recording unit 312 successively load position information (Xi, Yi) { i=2,3 ..., instruction drive control part 304 makes the front end of driver bit 301 move on this position represented by positional information (Xi, Yi).

(step ST301)

First, drive control part 304 in order to the height and position of the position represented by the information of locating (Xi, Yi), and makes laser displacement gauge 309 move to the position represented by positional information (Xi, Yi).Screw NJ represented by laser displacement gauge 309 location information (Xi, Yi) irradiates laser, measures the height and position (Zi) of this screw NJ, and export to detection unit 311a according to the reverberation of the head of screw from screw NJ.

(step ST302)

Then, drive control part 304 makes the X travel mechanism 302x of XYZ travel mechanism 302 and Y travel mechanism 302y carry out action, move on the orthogonal position of the rotary middle spindle of position represented by positional information (Xi, Yi) and driver bit 301 to make driver bit 301.Thus, the front end of driver bit 301 is positioned on the position P1 shown in (a) of Figure 22.In addition, Z coordinate value is now defined as in advance fully away from the position of display DP.

(step ST303)

Then, drive control part 304 is such as using the elevation information that obtained by elevation measurement unit 1 positional information (Zi=ZH) as screw hole, XYZ travel mechanism 302 is made to carry out action, with the position making driver bit 301 drop to positional information (Zi=ZH).That is, drive control part 304 drives the Z travel mechanism 302z of XYZ travel mechanism 302 to decline to make driver bit 301, is positioned on the position of Z coordinate value=ZH to make the front end of driver bit 301.In addition, drive control part 304 carries out controlling to make this driver bit 301 move to P2 with the 1st speed along Z-direction from position P1.

(step ST304)

Thus, its rotary middle spindle of driver bit 301 is positioned on the position orthogonal with XY coordinate value (Xi, Yi), and its front end is positioned on the position of Z coordinate value (ZH).That is, the front end of driver bit 301 is positioned on the position P2 (in other words, the thickness position of display DP) shown in (a) of Figure 22.When this drive control part 304 can work as in-position, the front end P2 of driver bit 301, the action of driver bit 301 is temporarily stopped.

(step ST305)

And drive control part 304 makes mechanism 303 in rotary moving carry out action to make driver bit 301 to direction (such as anticlockwise) low speed rotation of unclamping screw NJ.Thus, driver bit 301 low speed rotation centered by the rotating shaft parallel with Z axis.In addition, the present invention is not limited thereto, while driver bit 301 low speed rotation can be made, perform step ST303,304 process.

(step ST306)

Then, drive control part 304 makes XYZ travel mechanism 302 carry out action to decline to make driver bit 301 low speed.In addition, the speed making driver bit 301 decline is the 1st slow-footed 2nd speed than making driver bit 301 move to P2 from position P1 along Z-direction.That is, drive control part 304 is while whether judgement has risen to more than threshold rotating value in order to the torque making driver bit 301 rotate by mechanism 303 in rotary moving, the amount of movement of adjustment driver bit 301.When this rotating torques is more than threshold value, motor control part 341c is judged to be in the front end of driver bit 301 state chimeric with screw hole, and exports to motor control part 341z the instruction that instruction stops the movement of the Z-direction of driver bit 301.In addition, the front end of the driver bit 301 when the front end of driver bit 301 is chimeric with screw hole is positioned at the position P3 shown in (a) of Figure 22.

That is, XYZ travel mechanism 302 makes fixing releasing appliance 301 move to P2 with the 1st speed along Z-direction from position P1, makes driver bit 301 move to P3 with 2nd speed more slow-footed than the 1st along Z-direction from position P2.

At this, in pressing controlling organization 308a, be injected with the air adjusted by air regulator 308b.Therefore, when driver bit 301 arrives the position with the screw heads come of screw NJ, pressing controlling organization 308a passes through the pressure of the air injected from air regulator 308b, by the front end of driver bit 301 by being pressed on the head of screw of screw NJ.Therefore, when the pressure pressing controlling organization 308a pressing screw NJ changes, motor control part 341c can be judged to be in the front end of driver bit 301 state chimeric with screw hole, and exports to motor control part 341z the instruction that instruction stops the movement of the Z-direction of driver bit 301.

(step ST307)

Further, when the state that the front end being judged to be in driver bit 301 is chimeric with the screw hole of screw NJ, motor control part 341c exports the driving instruction of the rotating speed improving driver bit 301 to drive division 342c.Thus, the rotating speed of driver bit 301 is improved, and driver bit 301 can unclamp screw NJ.

So, if screw NJ is released, then screw NJ can be lifted to the upside of Z-direction.

Further, unclamp in the disintegration process of described screw at driver bit 301, drive control part 304 carries out controlling to make the rotary middle spindle of driver bit 301 move to the position different from the rotary middle spindle of screw NJ.Figure 23 is illustrated in by one of this motion track.

At the time point that driver bit 301 abuts with the head of screw of screw NJ, the rotary middle spindle of driver bit 301 is consistent with the rotary middle spindle of screw NJ.Afterwards, driver bit 301 rotates to the direction of unclamping screw NJ.With this, as shown in figure 23, drive control part 304 makes the rotary middle spindle of driver bit 301 such as move in the mode describing 180 ° of circular arcs.

Thus, possibility that the screw NJ unclamped topples over improves, therefore, it is possible to reliably knockout screw NJ.

In addition, the present invention is not limited thereto, drive control part 304 also can make the rotary middle spindle of driver bit 301 be moved straightly on the position different from the rotary middle spindle of screw NJ.

(step ST308)

Detection unit 311a uses any one in above-mentioned decision method (1) ~ (3) fixing to judge whether driver bit 301 has been removed based on screw NJ.

(step ST309)

When detection unit 311a judges that driver bit 301 has been removed based on screw NJ fixing, motor control part 341c exports the driving instruction that the rotation of driver bit 301 is stopped to drive division 342c.Thus, the rotation of driver bit 301 can stop.Further, sling in the upside of driver bit 301 to Z-direction by motor control part 341z.Driver bit 301 is such as sling the front end of driver bit 301 is positioned at the position of the position P4 shown in (b) of Figure 22 by this motor control part 341z.

(step ST310)

And detection unit 311a determines whether to remove the fixing of all screw NJ detected by fixed part detecting unit 2.Such as the process of step ST302, this detection unit 311a can judge whether driver bit 301 has moved on the position of all screw NJ detected by fixed part detecting unit 2, when being judged to carry out making driver bit 301 move to the process of the step ST302 of the position of all screw NJ, be judged to remove the fixing of all screw NJ.Further, detection unit 311a can also be the information being judged to remove fixing screw NJ with reference to representing, determines whether to remove the fixing of all screw NJ detected by fixed part detecting unit 2.In addition, when detection unit 311a is judged to remove fixing, using result of determination as representing that through removing the screw NJ processed be the information being judged to remove fixing screw NJ, in write recording unit 312.

On the other hand, when all screw NJ being judged to be detected by fixed part detecting unit 2 fixing not by all solutions except time, get back to the process of step ST301, repeat the process of step ST301 ~ 310.

In addition, when get back to step ST301,302 time, be not judged to be removed on the position of fixing screw NJ in the middle of the screw NJ that drive control part 304 makes laser displacement gauge 309 and driver bit 301 move to be detected by fixed part detecting unit 2.

(step ST311)

On the other hand, when judging to have removed all screw NJ detected by fixed part detecting unit 2 fixing, detection unit 311a makes driver bit 301 get back to original position and end process.

In addition, at this, when the step of prespecified execution calibration, control part 311 performs calibration.

At this, with reference to Figure 24, an example of the calibration involved by present embodiment is described.Figure 24 is the figure of an example of the calibration test section 330 illustrated involved by present embodiment.In addition, (a) of Figure 24 observes the synoptic diagram of calibration test section 330 from top (Z-direction+side).Further, (b) of Figure 24 observes the synoptic diagram of the calibration test section 330 when being cut off with imaginary line I-I ' by the calibration test section 330 shown in (a) of Figure 24 from side surface side (Y direction+side).This calibration test section 330 for being arranged on the structure on fixed part solution body unit 3, such as, as shown in (a), (b) of Figure 24, for being provided with the recess structure of the difference of height of the stepped change of height and position.In illustrated example, Centromedian height and position H11 is minimum, and the height and position H22 in outside is the highest.In addition, height and position is the coordinate value of Z-direction.

In illustrated example, spirally with difference of height on calibration test section 330, but the present invention is not limited thereto, can be with mutually level difference of height on concentric circles.

Further, calibration test section 330 involved in the present invention is not limited to this structure, can be the protuberance structure that Centromedian height and position height and position that is the highest, outside is minimum.

Under the state that this calibration test section 330 such as gets back to initial position at driver bit 301, on the position that the laser being arranged at laser displacement gauge 309 irradiates towards the downside of Z-direction.Such as, calibrate the position H11 that in test section 330, height and position is minimum to be arranged on the position of coordinate value=0 of Z axis.

After the releasing process terminating all screw NJ, when driver bit 301 gets back to prespecified initial position, the height and position of control part 311 to the calibration test section 330 after the disintegration height and position before treatment of calibration test section 330 and the disintegration process that determined by laser displacement gauge 309 is compared, when two height and positions are inconsistent, judge that the initial position of driver bit 301 departs from.In addition, calibrating test section 330 is arranged at should on the position of initial position.

If illustrate, control part 311, before the disintegration process of screw NJ, measures the height and position of calibration test section 330 in initial position in advance.And metric results writes in recording unit 312 by control part 311.Afterwards, after the disintegration process terminating all screw NJ, when driver bit 301 gets back to initial position, control part 311, according to the optical path length laser of laser displacement gauge 309 being irradiated to the light calibrating test section 330 back reflection, detects the height and position in the correct detection portion 330 of illuminated laser.

Suppose prespecifiedly to have: at initial position, detect coordinate value=0 of Z axis according to the laser being irradiated to calibration test section 330.When driver bit 301 turns back to initial position, if according to coordinate value=0 of the Z axis that the laser being irradiated to calibration test section 330 calculates, then the detection unit 311a of control part 311 judges that the initial position of driver bit 301 does not depart from, and is judged to be the position correction without the need to carrying out driver bit 301.When being false in coordinate value=0 of Z axis, the detection unit 311a of control part 311 judges that the initial position of driver bit 301 departs from, and is judged to be the position correction needing to carry out driver bit 301.

When being judged to be the position correction needing to carry out driver bit 301, control part 311 makes driver bit 301 move on the position of coordinate value=0 of Z axis.Thus, the position of adjusting screw cutter head 301 is departed from.

Thus, the initial position that recoverable occurs because of repeated breaking-up process depart from and the initial point in XYZ coordinate space residing for display DP departs from the position of XYZ space origin when being controlled by control part 311 pairs of laser displacement gauges 309 and driver bit 301.Therefore, it is possible to improve the disintegration accuracy of screw NJ.

As mentioned above, fixed part break-up system involved according to an embodiment of the present invention, can judge whether to remove based on screw NJ fixing while, that removes based on screw NJ is fixing.Thereby, it is possible to reliably remove based on screw NJ fixing while disintegration object is disintegrated, therefore, it is possible to effectively disintegrate.Further, fixing based on screw NJ can reliably be removed.In addition, can not occur to wait operation based on the fixing of identical screw NJ, therefore, it is possible to shorten removal time owing to fully not removing again to remove based on the fixing of screw NJ.In addition, when being judged to remove based on screw NJ fixing, promptly can carrying out the releasing of next screw NJ, therefore can not cause time waste, can removal time be shortened.

Further, the situation that can prevent from again performing the releasing having removed fixing screw NJ and the fixing situation again removed based on same screw NJ due to the fixing releasing fully do not carried out based on screw NJ, thus shorten removal time.

Further, in above-mentioned, the structure with fixed part break-up system 100 elevation measurement unit 1, fixed part detecting unit 2 and fixed part solution body unit 3 being possessed respectively 1 is illustrated for example.But, the present invention is not limited thereto, these unit can be possessed respectively side by side multiple.

And, in step ST103 shown in above-mentioned Figure 19 etc., at detection fixed part district Li{i=1,2,3 ... time, the shape similar to screw NJ can also be got rid of and the image (hereinafter referred to as similar image) of easy error detection by graphical analysis portion 213.In addition, similar image is defined as similar with screw NJ in advance but is not the image of screw NJ.

As this similar image, such as the prespecified terminal hole had on the back side being arranged at display DP, action button, through mesh processing passage or " 0 (digital zero) " or " O, Q (English alphabet) " etc.

The image-region with similar characteristics of image such as can detect by pattern match from each photographed images in graphical analysis portion 213, from fixed part district Li{i=1,2,3 ... detected object in intercept the image of easy error detection.Thereby, it is possible to reduce the possibility of the image beyond error detection screw NJ, and improve the detection accuracy of screw NJ image.

As mentioned above, this graphical analysis portion 213 can in advance from fixed part district Li{i=1,2,3 ... detected object region get rid of, also can detection fixed part district Li{i=1,2,3 ... the fixed part district Li{i=1,2,3 of similar image will be judged to be afterwards ... be judged to be it is not the image of screw NJ.

If be specifically described the latter, graphical analysis portion 213 is at detection fixed part district Li{i=1,2,3 ... after, from this fixed part district Li{i=1,2,3 ... in determine whether the fixed part district Li{i=1,2,3 with the similar images match of similar screw NJ ....Graphical analysis portion 213 will have the fixed part district Li{i=1,2,3 of the feature characteristic of correspondence of similar image with this ... be judged to be and similar images match, by this fixed part district Li{i=1,2,3 ... be judged to be it is not the image of screw NJ.And the fixed part district Li{i=1,2,3 being judged to be the image not being screw NJ is got rid of in graphical analysis portion 213 from the detected object of positional information ....

Further, the invention is not restricted to above-mentioned embodiment.

Such as, in present embodiment, with regard to fixed part detecting unit 2, with reference to being illustrated the punctual embodiment being changed the Z-direction position of video camera 201 by XZ travel mechanism 202 in the focus of video camera 201.But the present invention is not limited thereto, fixed part detecting unit 2 can possess AF function, utilize this AF function to adjust focal position.

In addition, as mentioned above, the video camera 201 involved by present embodiment, but to the present invention is not limited thereto for example is illustrated with the video camera of linear transducer mode, can also be region video camera.Below, the situation that video camera 201 is region video camera 2010 is described.

With reference to Figure 25, the example replacing video camera 201 to possess the fixed part detecting unit 2-2 of region video camera 2010 is described.

Figure 25 is the figure of the summary that fixed part detecting unit 2-2 is described.As shown in figure 25, fixed part detecting unit 2-2 possesses the XYZ travel mechanism 2020 making the movement in XYZ space of this region video camera 2010 under the state of retaining zone video camera 2010.This XYZ travel mechanism 2020 possess supporting zone video camera 2010 support portion 2020a, this support portion 2020a is supported for can to the Z travel mechanism 2020z of Z-direction movement, being supported for by this Z travel mechanism 2020z can to the X travel mechanism 2020x of X-direction movement and be supported for by this X travel mechanism 2020x can to the Y travel mechanism 2020y of Y direction movement.In addition, same title, for having the structure of the function identical with XYZ travel mechanism 302, is therefore added by XYZ travel mechanism 2020, and detailed.Further, in the same manner as fixed part detecting unit 2, fixed part detecting unit 2-2 possesses operating portion 203, drive control part 204, locating guide 205, location travel mechanism 206, drive control part 207, display part 209 and information treatment part 210.Describe in detail and will omit.

Further, region video camera 2010 is such as equipped with the high-frequency florescent lamp 2030 illuminating the region taken by region video camera 2010.

The whole region segmentation at the display DP back side is such as become multiple region to take by region video camera 2010.Its Segmentation Number (comprising ameristic situation) is prescribed in advance according to the size of disintegration object or the performance of charge-coupled image sensor (CCD:Charge Coupled Device Image Sensor) that is equipped on region video camera 2010.In addition, exist the less situation of display DP, the corresponding wide-angle lens of region video camera 2010 situation and need not carry out splitting the situation in the whole region of display DP of just can taking for 1 time.Now, the whole region of display DP is taken as 1 image by region video camera 2010.That is, Segmentation Number=1.

At this, with reference to Figure 26, an example of the image at the display DP back side taken by region video camera 2010 is described.Figure 26 is the figure of the example representing the multiple segmentation images taken by region video camera 2010.In addition, as shown in figure 26, when being confined to the position in XY plane and being described, namely, as the coordinate information being benchmark with positioning datum position P only use X, Y-coordinate value and do not use Z coordinate value time, be sometimes expressed as the coordinate value (0,0) of positioning datum position P.

As shown in figure 26, it is 9 cut zone that the whole back side of display DP is such as supposed to Ground Split as region to be captured, and the segmentation image D1 ~ D9 obtained by taking these cut zone respectively represents.In addition, with regard to segmentation image D1 ~ D9, with positioning datum position P for initial point (0,0), by the position at the whole back side of stage coordinate XY coordinate value prespecified display DP spatially.Such as, splitting image D1 is the region represented by positioning datum position P (0,0), other 3 points (xa, 0), (0, ya), (xa, ya).Further, the Segmentation Number of this segmentation image is prescribed in advance by the size of display DP or the performance of region video camera 2010.The resolution ratio of region video camera 2010 is such as 60 ~ 80 μm.

Fixed part district Li and screw porose area Ni, according to the segmentation image photographed by this region video camera 2010, detects in graphical analysis portion 213, calculates the positional information of the position representing screw hole according to this testing result.

So, when segmentation shooting is carried out at the back side by region video camera 2010 couples of display DP, on the position of the height and position half that the highest portion that focus can be made to be aligned in comprise display DP in the region of shooting is divided.

In addition, can the program in order to realize the operation of being undertaken by fixed part break-up system 100 be recorded in computer-readable recording medium, computer system be read in and performs the program be recorded in this recording medium to carry out performing process.In addition, in this said " computer system " can be the system comprising the hardware such as operating system (OS:Operating System) or ancillary equipment.

Further, when utilizing WWW system, " computer system " also comprises homepage provides environment (or display environment).Further, " computer-readable recording medium " refers to the tape decks such as floppy disk, photomagneto disk, ROM, flash memory etc. can write the portable medium such as nonvolatile memory, CD-ROM, the hard disk be built in computer system.

In addition, " computer readable recording medium storing program for performing " comprises the recording medium that program is kept certain hour by volatile memory (such as dynamic RAM (DRAM:Dynamic Random Access Memory)) by becoming the inside computer system of server or client during the communication line such as network or the telephone line transmission program such as internet etc.

Further, above-mentioned program can be transmitted to other computer systems from the computer system this program be stored in tape deck etc. by transmission medium or by the transmission wave in transmission medium.At this, " transmission medium " of transmission procedure refers to that the communication lines (order wire) etc. such as the networks such as internet (communication network) or telephone line have the medium of the function of transmission information.

Further, said procedure can for the program in order to realize a part of aforementioned function.In addition, can also be can by carrying out combining the program realizing aforementioned function, so-called differential file (difference program) with record program in computer systems, which.

Symbol description

1-elevation measurement unit, 2-fixed part detecting unit, 3-fixed part solution body unit, 4-supply unit, 5-central control unit, 100-fixed part break-up system, 101-light-emitting device, 101-1 ~ 101-n-illuminating part, 102-optical pickup apparatus, 102-1 ~ 102-n-light receiver, 201-video camera, 202-XZ travel mechanism, 203-operating portion, 204-drive control part, 205-locating guide, 206-locates travel mechanism, 207-drive control part, 209-display part, 210-information treatment part, 211-control part, 212-recording unit, 213-graphical analysis portion, 214-position detection part, 215-receiving and transmitting part, 301-fixes releasing appliance, 302-XYZ travel mechanism, 303-mechanism in rotary moving, 304-drive control part, 305-locating guide, 306-positioning drive mechanisms, 307-drive control part, 308-air mechanism, 308a-presses controlling organization, 308b-air regulator, 308c-air Injection portion, 309-laser displacement gauge, 310-information treatment part, 311-control part, 311a-detection unit, 312-recording unit, 313-receiving and transmitting part.

Claims (12)

1. a fixed part break-up system, is characterized in that, possesses:

Fixed part detecting unit, according to the photographed images at least partially photographing disintegration object, detect the fixed part that described disintegration object is fixed, and obtain the positional information representing this position of the described fixed part detected in described disintegration object; And

Fixed part solution body unit, according to the described positional information detected by described fixed part detecting unit, use and move on the position of described fixed part with the fixing fixing releasing appliance removed based on described fixed part, fixing based on described fixed part is removed by described fixing releasing appliance, and judge whether described fixing releasing appliance has removed fixing based on described fixed part

When rotate remove based on the screw as described fixed part fixing as the driver bit of described fixing releasing appliance time, unclamping in the disintegration process of described screw by described driver bit, the screw unclamped is done by making the rotary middle spindle of described driver bit move to different positions from the position consistent from the rotary middle spindle of described screw by described fixed part solution body unit.

2. fixed part break-up system according to claim 1, is characterized in that,

When judging that described fixing releasing appliance has been removed based on described fixed part fixing, described fixed part solution body unit makes described fixing releasing appliance move in the described fixed part detected by described fixed part detecting unit not also to be judged to have removed on the position of fixing described fixed part.

3. fixed part break-up system according to claim 1 and 2, is characterized in that,

When according to making described fixing releasing appliance be pressed into the pressure of the air mechanism on described fixed part based on during described fixed part fixing removing, when the pressure that described air mechanism presses described fixed part changes, described fixed part solution body unit judges that described fixing releasing appliance has removed fixing based on described fixed part.

4. fixed part break-up system according to claim 1 and 2, is characterized in that,

When according to making described fixing releasing appliance to the amount of movement of the travel mechanism of the rotating shaft direction movement of described fixing releasing appliance based on during described fixed part fixing removing, when the mobile variable quantity of the time per unit of described amount of movement reduces, described fixed part solution body unit judges that described fixing releasing appliance has removed fixing based on described fixed part.

5. fixed part break-up system according to claim 1 and 2, is characterized in that,

Described fixed part break-up system also possesses the elevation measurement mechanism of the height measuring described fixed part,

Described fixed part solution body unit is according to the information representing the height and position of described fixed part before treatment on the rotating shaft direction of described fixing releasing appliance that disintegrate, judging whether the height of the described fixed part determined by described elevation measurement mechanism is changed before and after the disintegration process of described fixed part, judging that described fixing releasing appliance has been removed based on being judged to be the fixing of the described fixed part that the height of described fixed part before and after process of disintegrating changes.

6. fixed part break-up system according to claim 5, is characterized in that,

When after process of disintegrating, described fixing releasing appliance gets back to prespecified initial position, described fixed part solution body unit is to being provided with in the structure of the different difference of height of height and position, the height and position of the described calibration test section after the disintegration height and position before treatment being arranged at the calibration test section on the position of corresponding described initial position and the disintegration process determined by described elevation measurement mechanism is compared, when described height and position is inconsistent, judge that the initial position of described fixing releasing appliance departs from.

7. fixed part break-up system according to claim 1 and 2, is characterized in that,

Described fixed part break-up system also possesses the elevation measurement unit to measuring with the length of the described disintegration object prespecified ventricumbent mode loaded on the rotating shaft direction of described fixing releasing appliance,

Described fixed part detecting unit is according to the elevation information of the axial length of the described rotation of expression determined by described elevation measurement unit, and according to be aligned in focus described disintegration object described rotation axial length half height and position on mode described disintegration object is taken and the photographed images obtained, detect the described fixed part that described disintegration object is fixed, and calculate the positional information representing this position of the described fixed part detected in described disintegration object.

8. fixed part break-up system according to claim 3, is characterized in that,

Described fixed part break-up system also possesses the elevation measurement unit to measuring with the length of the described disintegration object prespecified ventricumbent mode loaded on the rotating shaft direction of described fixing releasing appliance,

Described fixed part detecting unit is according to the elevation information of the axial length of the described rotation of expression determined by described elevation measurement unit, and according to be aligned in focus described disintegration object described rotation axial length half height and position on mode described disintegration object is taken and the photographed images obtained, detect the described fixed part that described disintegration object is fixed, and calculate the positional information representing this position of the described fixed part detected in described disintegration object.

9. fixed part break-up system according to claim 4, is characterized in that,

Described fixed part break-up system also possesses the elevation measurement unit to measuring with the length of the described disintegration object prespecified ventricumbent mode loaded on the rotating shaft direction of described fixing releasing appliance,

Described fixed part detecting unit is according to the elevation information of the axial length of the described rotation of expression determined by described elevation measurement unit, and according to be aligned in focus described disintegration object described rotation axial length half height and position on mode described disintegration object is taken and the photographed images obtained, detect the described fixed part that described disintegration object is fixed, and calculate the positional information representing this position of the described fixed part detected in described disintegration object.

10. fixed part break-up system according to claim 5, is characterized in that,

Described fixed part break-up system also possesses the elevation measurement unit to measuring with the length of the described disintegration object prespecified ventricumbent mode loaded on the rotating shaft direction of described fixing releasing appliance,

Described fixed part detecting unit is according to the elevation information of the axial length of the described rotation of expression determined by described elevation measurement unit, and according to be aligned in focus described disintegration object described rotation axial length half height and position on mode described disintegration object is taken and the photographed images obtained, detect the described fixed part that described disintegration object is fixed, and calculate the positional information representing this position of the described fixed part detected in described disintegration object.

11. fixed part break-up systems according to claim 6, is characterized in that,

Described fixed part break-up system also possesses the elevation measurement unit to measuring with the length of the described disintegration object prespecified ventricumbent mode loaded on the rotating shaft direction of described fixing releasing appliance,

Described fixed part detecting unit is according to the elevation information of the axial length of the described rotation of expression determined by described elevation measurement unit, and according to be aligned in focus described disintegration object described rotation axial length half height and position on mode described disintegration object is taken and the photographed images obtained, detect the described fixed part that described disintegration object is fixed, and calculate the positional information representing this position of the described fixed part detected in described disintegration object.

12. 1 kinds of fixed part disassembling methods, is characterized in that possessing following steps:

According to the photographed images at least partially photographing disintegration object, detect the fixed part that described disintegration object is fixed, and obtain the positional information representing this position of the described fixed part detected in described disintegration object;

According to the described positional information detected by described fixed part detecting step, use the fixing fixing releasing appliance removed based on described fixed part and move on the position of described fixed part;

Fixing based on described fixed part is removed by described fixing releasing appliance;

When rotate remove based on the screw as described fixed part fixing as the driver bit of described fixing releasing appliance time, unclamping in the disintegration process of described screw by described driver bit, moving to different positions by making the rotary middle spindle of described driver bit from the position consistent from the rotary middle spindle of described screw and the screw unclamped is done; And

Judge whether described fixing releasing appliance has removed fixing based on described fixed part.