CN104338685B - Feed appliance - Google Patents
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- CN104338685B CN104338685B CN201410375415.7A CN201410375415A CN104338685B CN 104338685 B CN104338685 B CN 104338685B CN 201410375415 A CN201410375415 A CN 201410375415A CN 104338685 B CN104338685 B CN 104338685B
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- 238000012545 processing Methods 0.000 claims abstract description 83
- 238000012360 testing method Methods 0.000 claims abstract description 13
- 238000011144 upstream manufacturing Methods 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 25
- 230000004069 differentiation Effects 0.000 claims description 6
- 230000007717 exclusion Effects 0.000 abstract description 31
- 238000002347 injection Methods 0.000 description 21
- 239000007924 injection Substances 0.000 description 21
- 238000012937 correction Methods 0.000 description 5
- 239000007921 spray Substances 0.000 description 5
- 230000017260 vegetative to reproductive phase transition of meristem Effects 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000007781 pre-processing Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000029142 excretion Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
- B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
- B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/02—Feeding of components
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0291—Speed of the load carrier
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Feeding Of Articles To Conveyors (AREA)
- Control Of Conveyors (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The feed appliance of desired position on the conveying direction that can also make the power from rejected unit or correcting posture unit act on workpiece in the case where the conveying speed of workpiece changes from setting value is provided.Feed appliance of the invention is configured to have: feed appliance main body, has the transport path for conveying workpieces；Rejected unit carries out the exclusion processing that will be excluded from transport path in the workpiece for the exclusion position for being set in transport path；Pose discrimination unit differentiates the posture of transported workpiece in the position than above-mentioned exclusion position upstream side；Output unit is instructed, when the posture as defined in pose discrimination unit is determined as other than posture, to rejected unit output for exclude the instruction of processing；Feed appliance speed detector detects the conveying speed of the workpiece conveyed on transport path；Opportunity control unit, according to the opportunity of the testing result control instruction output unit output order of feed appliance speed detector.
Description
Technical field
The present invention relates to a kind of feed appliance (parts feeder), which can control according to the conveying speed of workpiece
Appearance, the unsuitable workpiece of posture are excluded from transport path or are carried out on transport path the opportunity of correcting posture, energy by system
It enough will be used to carry out to exclude or the power of correcting posture acts appropriately on the unsuitable workpiece of appearance, posture.
Background technique
In the past, usually that electronic component etc. is defeated along transport path as the workpiece of conveying object as feed appliance
The feed appliance of supply destination, Patent Document 1 discloses the posture for differentiating workpiece and inappropriate by posture as defined in being sent to
The feed appliance that the workpiece of (fault) can be excluded from transport path during transportation.More specifically, patent text
Feed appliance disclosed in offering 1 is constituted are as follows: using photographic device to the multiple works conveyed at intervals on transport path
Part is shot and obtains image data, and the posture to differentiate workpiece is handled the image data, by the inappropriate (appearance of posture
Gesture is incorrect) workpiece excluded from transport path using the compressed air sprayed from air ejection device.
Patent document 1: Japanese Unexamined Patent Publication 6-197349 bulletin
Summary of the invention
Problems to be solved by the invention
However, in this feed appliance disclosed in patent document 1, in general, shining Surface scan using laser sensor
The shutter opportunity of camera (area scan camera) is synchronous with shooting area and the location of workpiece, it is therefore desirable to by multiple workpiece every
Specified interval convey, thus in the presence of workpiece per unit time conveying number it is few and to supply destination discharge workpiece row
The low this problem of output capacity.
In order to solve this problem, consider the feed appliance 250 for being set as the structure shown in Fig. 8.It, will be multiple in feed appliance 250
Workpiece 3 is conveyed with the state of close contact along conveying direction, and using face smear camera 202 is continuously shot.
Then, unit 254a is taken into via image to be taken into and shoot obtained image data by Surface scan camera 202, use pretreatment
Unit 254b carries out the pretreatment such as binaryzation to the image data being taken into.Later, using pose discrimination unit 254c according to pre-
Image data that treated differentiates the posture of workpiece.In addition, feed appliance 250 is configured to have rejected unit 5, the rejected unit
5 have the air injection nozzle 50 to defined exclusion position injection compressed air, for detecting workpiece 3 relative to shooting area
In the case that the position detection unit 254d of the position in domain is judged as that workpiece 3 is in the specified position in shooting area, from this
Judge by spraying compressed air from air injection nozzle 50 after the stipulated time.In addition, in order to avoid being present in as row
Except object the side of workpiece 3 workpiece 3 also by injection compressed air, the spray regime of air injection nozzle 50 be reduced into compared with
It is narrow, and the above-mentioned stipulated time is set to set conveying speed conveying workpieces compressed air to workpiece
The time of the conveying direction central injection of 3 sides.
In addition, the conveying speed of workpiece is according to feed appliance master in this feed appliance headed by above-mentioned feed appliance 250
The amplitude of body, angle of throw, driving frequency substantially determine, and manufacture dependent on by different workpieces, same workpiece in reality
The shape of deviation, transport path 10 in technique, transport path 10 surface treatment etc. caused by workpiece 3 and transport path 10
The a variety of causes such as coefficient of friction, humidity, electrostatic, other than these reasons, sometimes due also on transport path 10 multiple works
Reasons, the conveying speeds of workpiece 3 such as part 3 is impinging one another are gradually deviated from setting value, are not to 3 side of workpiece in this case
Conveying direction center but to end spray compressed air so that as exclude object workpiece 3 rotated horizontally on one side
It is excluded from transport path 10 on one side.Therefore, phase as the workpiece 3 and the interference of workpiece 3 adjacent thereto for excluding object
The posture of adjacent workpiece 3 changes, so that the unsuitable workpiece 3 of posture is possible to be transported to supply destination.In order to anti-
Only this is happened, and considers to convey at spaced intervals between workpiece 3, even if so that carrying out as the workpiece 3 for excluding object horizontal
Rotation does not also apply turning moment to adjacent workpiece 3, but in this case, exist as described above per unit time
The conveying number of workpiece 3 reduce and decline this problem to the expulsion efficiency of supply destination discharge workpiece.
In addition, existing in previous feed appliance and being not excluded for being identified as the unsuitable workpiece of posture and carry out posture
Correct to handle the feed appliance of the unsuitable workpiece of posture, for example, made and spraying compressed air from below workpiece reversion etc. come
Posture correction.In this feed appliance, when the conveying speed of workpiece deviates from setting value, it is possible to can not be to the phase on workpiece
It hopes position spray compressed air, can not steadily carry out the correction of posture.
It is an object of the invention to efficiently solve this problem, and it is an object of the present invention to provide a kind of conveying speed in workpiece from
Setting value also will can be used to carry out to exclude in the case where changing or the power of correcting posture acts appropriately on workpiece
The feed appliance of desired position on conveying direction.
The solution to the problem
The present invention takes following scheme in view of the above problems.
That is, feed appliance according to the present invention is characterized in that having: feed appliance main body has and is used for conveying workpieces
Transport path；Workpiece processing unit carries out the work workpiece by the workpiece processing site for being set in transport path
Part excludes from transport path or carries out on transport path the processing of correcting posture；Workpiece quality judgement unit, above-mentioned
The upstream side of workpiece processing site carries out the fine or not differentiation processing of workpiece；Output unit is instructed, when above-mentioned workpiece quality differentiates
Unit is determined as when not being the workpiece of defined appearance or posture, exports above-mentioned workpiece processing unit for carrying out above-mentioned place
The instruction of reason；Speed detection unit detects the conveying speed of the transported workpiece on transport path；And opportunity control is single
Member controls the opportunity of above-metioned instruction output unit output above-metioned instruction according to the testing result of above-mentioned speed detection unit.
Here, the quality of workpiece differentiates whether the appearance, the posture that indicate to differentiate workpiece are defined appearance, posture.
By being set as this structure, about the workpiece conveyed on the transport path of feed appliance main body, handled by workpiece single
Member discriminates whether as defined appearance or posture, and detects conveying speed by speed detection unit.Moreover, when workpiece is handled
Unit is determined as when not being the workpiece of defined appearance or posture, is being examined by opportunity control unit according to by speed detection unit
The opportunity that the conveying speed for the workpiece measured is controlled exports the instruction for carrying out above-mentioned processing from instruction output unit.
In this way, output can be controlled according to the conveying speed of transported workpiece in the position than workpiece processing unit upstream side
The opportunity of instruction therefore, also can be by the masterpiece from workpiece processing unit even if the conveying speed of workpiece deviates from setting value
Desired locations for workpiece.Thus, it, also can not be to work in the case where conveying multiple workpiece with the state being in close contact
Posture for the workpiece on the side of the workpiece of exclusion object has an impact and carries out and exclusion, appearance to as the workpiece for excluding object
Gesture corrects related above-mentioned processing.
As specific embodiment, can enumerate with flowering structure: above-mentioned workpiece processing unit has forcing unit, the force list
Member exerts a force at above-mentioned workpiece processing site to above-mentioned workpiece, and the target for acting on the force is preset on above-mentioned workpiece
Position, above-mentioned feed appliance are also equipped with: line scan cameras (line scan camera), have the conveying side with above-mentioned workpiece
To the multiple photographing elements orthogonally arranged, at predetermined intervals to the upper of the camera site by being set on above-mentioned transport path
Workpiece is stated to be shot；And image is taken into unit, be taken into immediately the line scan cameras to from the front end of above-mentioned workpiece to
The image that the whole region of rear end is intermittently shot, wherein pass through the time of above-mentioned camera site in above-mentioned workpiece
Point, which is considered as, completes being taken into until the rear end of the workpiece, and above-mentioned opportunity control unit sets stand-by time, so that at least
During delay time comprising image processing time, above-mentioned stand-by time and mechanicalness passing time passes through above-mentioned workpiece from
Above-mentioned camera site makes to exert a force to act on to set on workpiece with the mobile result of the speed detected by above-mentioned speed detection unit
Fixed above-mentioned target position, wherein above-mentioned image processing time be from above-mentioned image be taken into unit be taken into completion to above-mentioned
The above-mentioned quality of the workpiece quality judgement unit time required until differentiating processing completion, above-mentioned stand-by time is from above-mentioned workpiece
Fine or not judgement unit is determined as not being that the workpiece of defined appearance or posture rises to instruction output unit output above-metioned instruction and is
Time only, above-mentioned mechanicalness passing time are that above-mentioned workpiece processing unit receives above-metioned instruction and rises to being made by above-mentioned processing
Force acts on the time until the workpiece.
It as more specific structure related with opportunity control unit, can enumerate with flowering structure: by above-mentioned image procossing
Time is set as tp seconds, above-mentioned stand-by time is set as to t α seconds, above-mentioned mechanicalness passing time is set as to td seconds, will be by above-mentioned speed
The conveying speed for the workpiece that detection unit detects is set as Vw meter per second, will be from above-mentioned camera site to above-mentioned workpiece processing site
Distance be set as L meters, the distance from the rear end of above-mentioned workpiece to above-mentioned target position be set as Lw meters in the case where, above-mentioned opportunity
Control unit sets above-mentioned stand-by time t α according to the following formula,
T α={ (L-Lw)/Vw }-tp-td.
The structure that conveying speed is calculated to be set as speed detection unit using line scan cameras, is preferably constituted
Are as follows: it is also equipped with shooting number acquiring unit, which obtains above-mentioned line scan cameras to from above-mentioned workpiece
Front end side to rear end side until the shooting number that is shot, above-mentioned speed detection unit is provided the conveying side of above-mentioned workpiece
To the shooting interval of length and above-mentioned line scan cameras, and be provided got by above-mentioned shooting number acquiring unit it is upper
Shooting number is stated, it thus will be the time required to the shooting that obtained according to the shooting interval of the shooting number and above-mentioned line scan cameras
Be considered as the workpiece by the time needed for camera site, according to the time required to the shooting and the conveying direction length of above-mentioned workpiece come
Calculate the conveying speed of the workpiece.
In particular, shortening to share the data used in speed detection unit and workpiece quality judgement unit from opening
Begin to have shot the time until setting stand-by time t α by line scan cameras, it is expected that being set as with flowering structure: being also equipped with pre-
Processing unit, the pretreatment unit will be taken into the image data that unit is taken by above-mentioned image by shooting sequence and engage, and come
The composograph data for substantially whole single workpiece occur are generated, above-mentioned shooting number acquiring unit is according to the composograph number
According to pixel number and above-mentioned shooting number obtained by the pixel number of image data accessed by primary above-mentioned shooting, on
It states workpiece quality judgement unit and carries out above-mentioned fine or not differentiation processing according to above-mentioned composograph data.
The effect of invention
The present invention from the description above is capable of providing following feed appliance: the feed appliance can be according to the conveying speed of workpiece
The opportunity of instruction of the degree control output for carrying out processing related with the exclusion of workpiece, correcting posture, even if the conveying of workpiece
Speed changes the phase that can also make the force from rejected unit or correcting posture unit act on workpiece from setting value
Hope position.
Detailed description of the invention
Fig. 1 is the side view for indicating feed appliance involved in an embodiment of the invention.
Fig. 2 is the top view for the measuring unit for indicating that the feed appliance has.
Fig. 3 is the explanatory diagram of the opportunity control processing for illustrating to be carried out by the feed appliance.
Fig. 4 is the timing diagram for illustrating the movement of the feed appliance.
Fig. 5 is the side view for indicating variation of the invention.
Fig. 6 is the side view for indicating variation of the invention.
Fig. 7 is the side view for indicating variation of the invention.
Fig. 8 is the side view for indicating the feed appliance for the problem of solving previous feed appliance.
Description of symbols
1: feed appliance main body；2: line scan cameras；3: workpiece；3a: the front end of workpiece；3b: the rear end of workpiece；5: workpiece
Processing unit (rejected unit)；7: speed detection unit (feed appliance speed detector)；10: transport path；40: image takes
Enter unit；41: pretreatment unit；41c: composograph data generating unit (composograph data generating section)；42a: shooting time
Number acquiring unit (shooting number acquisition unit)；44: workpiece quality judgement unit (pose discrimination unit)；45: instruction output unit；
46: opportunity control unit；50: forcing unit (air injection nozzle)；100: feed appliance；P1: camera site；P2: workpiece processing
Position (excludes position)；Pw: target position.
Specific embodiment
Hereinafter, being explained with reference to an embodiment of the invention.
As shown in Figure 1, the feed appliance 100 as an embodiment of the invention is the conveying along feed appliance main body 1
The feed appliance of multiple workpiece 3 of the path 10 to supply destination (not shown) using relatively high speed conveying as conveying object, work
Part 3 is conveyed to the right with the state of close contact from the left side in Fig. 1.
Feed appliance main body 1 is configured to include above-mentioned transport path 10 and driving unit 11, makes to convey using driving unit 11
Path 10 vibrates, thus multiple workpiece 3 of the conveying on transport path 10.Its longitudinal direction of workpiece 3 or short side direction with
The conveying direction of workpiece 3 is conveyed in parallel.
In the top for camera site (shooting point) P1 being set on transport path 10, line scan camera 2 is set.It should
Line scan cameras 2 orthogonally forms a line multiple with the conveying direction (extending direction of transport path 10) with workpiece 3
The photographing element of high sensitivity shoots the workpiece 3 conveyed on transport path 10.Bat about line scan cameras 2
Range (shooting area) is taken the photograph, in the case where the longitudinal direction of workpiece 3 is parallel with conveying direction, the coverage (shooting area)
Be set to range that a part of the longitudinal direction on the conveying direction of workpiece 3 to workpiece 3 shot, with workpiece 3
The orthogonal direction of conveying direction on range that the short side direction of workpiece 3 is integrally shot, workpiece 3 short side direction with
In the case that conveying direction is parallel, which is set on the conveying direction of workpiece 3 to workpiece 3
Range that a part of short side direction is shot, on the direction orthogonal with the conveying direction of workpiece 3 to the long side side of workpiece 3
The range shot to entirety.
The position of this line scan cameras 2 is set for taking in the opportunity for excluding the unsuitable workpiece 3 of posture
It is critically important, in order to which line scan cameras 2 is accurately set to desired position, Fig. 2 institute is provided on transport path 10
Measuring unit (line scan cameras measuring appliance) 10a shown.Measuring unit 10a has been attached along the conveying direction with workpiece 3
The first scale 10ab that orthogonal direction extends and the second scale indicated as binary point every fixed range
10ac makes the first scale 10ab be directed at aftermentioned exclusion position (excretion point) P2, what is got by line scan cameras 2
The the second scale 10ac extended near exclusion position P2 to the lower section of line scan cameras 2 is confirmed in image data, thus, it is possible to
It is enough that camera site P1 is being set at the position of desired distance with exclusion position P2.
Image data that line scan cameras 2 as shown in Figure 1 is got with multiple photographing elements are configured with mesh-shape and
By one, 3 entirety of workpiece is small compared to pixel number as the Surface scan camera of coverage and data volume is few.Line scan cameras 2
It is acted in such a way that fixed intervals are continuously shot before reaching camera site P1 from workpiece 3, towards downstream
The workpiece 3 of side conveying by camera site P1 during repeatedly shot, obtain and occur front end 3a from the workpiece 3 respectively
(the workpiece end of conveyance direction downstream side, referring to Fig. 3) to rear end 3b (workpiece end of conveying direction upstream side, referring to Fig. 3)
The workpiece 3 different location multiple images data.The image data got it is every once shot when all transmitted
To aftermentioned control device (controller) 4.
In addition, line scan cameras 2 be that typically in the case where camera shooting object fixed to conveying speed is shot or
Although person's conveying speed is not fixed but is obtained using encoder etc. synchronous between the speed or position that image object
It is used in the case where being shot afterwards, due to conveying the work as camera shooting object by the vibration of transport path 10
The conveying speed of part 3 is difficult to generally be difficult in stable feed appliance, but in the present embodiment by capturing workpiece 3
Front end 3a and rear end 3b is eliminated as the inconvenient for use of conveying speed line scan cameras 2 caused by uneven.In this regard, below
It is illustrated.
Control device 4 shown in FIG. 1 is by having the common microcomputer list of CPU (not shown), memory, interface etc.
Member is constituted, and stores program appropriate in memory, and CPU gradually reads the program, and with peripheral hardware resource collaboration and rise
Unit 40, pretreatment unit 41, pose discrimination unit 44, speed computing unit 42, instruction output unit are taken into as image
45 and opportunity control unit 46 effect.
When being shot every time, image is taken into unit 40, and the image data got by line scan cameras 2 is instant
It is taken into control device 4.Pretreatment unit 41 has as the binary conversion treatment portion 41a of binary conversion treatment unit, as end
The end test section 41b of detection unit and composograph data generating section 41c as composograph data generating unit, when
When being taken into unit 40 via image and being taken into image data, binary conversion treatment portion 41a carries out two for each image data immediately
It is pre-processed as defined in value processing etc..In addition, end test section 41b differentiates work by image procossing appropriate in image data
The front end 3a and rear end 3b of part 3 (referring to Fig. 3).For example, removing workpiece 3 in the part for workpiece 3 occur and appearance in image data
The differences such as tone between the part (specifically transport path 10) at position in addition, moreover, because by workpiece 3 along conveying
There is also a little gaps between workpiece 3 in the case that direction conveys in intimate contact, therefore before taking workpiece 3
In the image data for holding 3a or rear end 3b, there is color concentration not on the entire direction orthogonal with the conveying direction of workpiece 3
Same part.Before the workpiece 3 that end test section 41b occurs in detection image data according to difference of this color concentration etc.
Hold 3a and rear end 3b (image discriminating).Alternatively, also may be constructed are as follows: end test section 41b is differentiated in image data in work
Thus the R shape in the corner of part 3 detects front end 3a and rear end 3b.Also, composograph data generating section 41c is suitable according to shooting
Sequence will be engaged from the image data for the front end 3a of workpiece 3 occur to the image data for the rear end 3b of the workpiece 3 occur, as
There is the two-dimensional image data of a substantially whole workpiece 3 and generates composograph data.
Pose discrimination unit 44 as workpiece quality judgement unit carries out differentiation work according to this composograph data
The pose discrimination processing that processing is differentiated as quality of the posture (image discriminating) of part 3.For example, being deposited in advance in above-mentioned memory
The image data for storing up posture workpiece 3 appropriate, by pattern match by composograph data and image stored in memory
Data are compared, and thus differentiate the posture of workpiece 3.In addition, as the posture in addition to prescribed form, such as surface can be enumerated
It is inverted with the back side or in the front-back direction towards opposite posture.In this way, image is taken into unit 40, pretreatment unit 41 and appearance
Gesture judgement unit 44 constitutes the feed appliance of the invention image processing apparatus 8 for differentiating the posture of workpiece 3.Present embodiment is as above
It is described be like that in image data detect workpiece 3 front end 3a and rear end 3b structure, therefore even if workpiece 3 conveying speed
It changes, it also can will be from the image data for the front end 3a of workpiece 3 occur to there is the rear end 3b of the workpiece 3 by shooting sequence
Image data engaged to obtain occurring the composograph data of a substantially whole workpiece 3, for the above reasons, energy
The line scan cameras 2 using being often used without in previous feed appliance is reached to differentiate the posture of workpiece 3.
Speed computing unit 42 carries out calculating workpiece 3 using the composograph data for being used in pose discrimination in this way
The speed calculation processing of conveying speed, specifically, (1) calculates the conveying speed Vw (m/s) of workpiece 3 according to the following formula.
Vw=Lw1/SA ... (1)
Here, S is the shooting interval (sec) of sweep speed, that is, line scan cameras 2 of line scan cameras 2, A sweeps for line
It retouches camera 2 the substantially whole of single workpiece 3 is carried out shooting required shooting number from the front end side of workpiece 3 to rear end side
(secondary), Lw1 are the conveying direction length (m) of workpiece 3.Speed computing unit 42 is by the shooting interval S as line scan cameras 2
It is considered as workpiece 3 by the time needed for the P1 of camera site, according to needed for the shooting the time required to shooting with the product of shooting number A
The conveying direction length Lw1 of time and workpiece 3 calculates the conveying speed of workpiece 3.About the conveying direction length Lw1 of workpiece 3,
The conveying direction length of workpiece 3 in kind is preset.In addition, long via the conveying direction that input unit 48 inputs workpiece 3
Spend the shooting interval S of Lw1, line scan cameras 2.In addition, speed computing unit 42 has as shooting number acquiring unit
Shoot number acquisition unit 42a, shooting number acquisition unit 42a according to by once shooting obtained image data pixel number with
The pixel number of composograph data shoots number A to calculate.
In this way, image is taken into the conveying that unit 40, pretreatment unit 41 and speed computing unit 42 constitute detection workpiece 3
The feed appliance of the invention speed detector 7 of speed.By the feed appliance calculated workpiece 3 of speed detector 7
Conveying speed is additionally shown in Fig. 1 institute other than the opportunity control for being used in the workpiece 3 described below for excluding fault
In the display unit 47 shown.Judge that workpiece 3 is alternatively, it is also possible to which the conveying speed of workpiece 3 calculated in this way to be used as
Conveyed, be in the data of stopping.
When posture judging unit 44 is judged as posture inappropriate (fault), 45 pairs of output unit are instructed to be used as figure
The rejected unit 5 of workpiece processing unit shown in 1 exports the instruction for carrying out exclusion processing (exclusion movement), exclusion processing
(exclusion movement) will be in the workpiece 3 on the exclusion position P2 as workpiece processing site for being set in transport path 10 from conveying
It is excluded on path 10.Rejected unit 5 has to being set in the conveyance direction downstream side for more leaning on workpiece 3 than above-mentioned camera site P1
The air injection nozzle 50 as forcing unit for excluding position P2 injection compressed air of position, is sprayed by spraying from the air
The compressed air that mouth 50 ejects exerts a force to workpiece 3 and excludes workpiece 3 from transport path 10.Air injection nozzle 50 is entered
As above-metioned instruction electrical instruction and spray compressed air.The target position for acting on the force has been preset on workpiece 3
Pw (referring to Fig. 3) is set, in the present embodiment, the conveying direction center of workpiece 3 side opposite with rejected unit 5 is set
For target position Pw.By making force act on target position Pw, it is able to suppress the conduct when excluding from transport path 10
The workpiece 3 for excluding object moves while rotating horizontally.In addition, in the present invention exclusion processing in include make workpiece 3 from
The processing of workpiece receiving unit in 10 lower section of transport path etc. is fallen on transport path 10, workpiece 3 is assigned to from exclusion position
Set the equal processing etc. of any one transport path 10 of P2 branch.
Opportunity control unit 46 is according to the conveying speed control instruction output by the calculated workpiece 3 of speed computing unit 42
Unit 45 exports the opportunity of electrical instruction to injection nozzle 50.Specifically, according to the following formula (2), calculating from by pose discrimination
The fault that unit 44 is determined as plays the stand-by time t α until exporting above-mentioned electrical instruction by instruction output unit 45
(sec) (referring to Fig. 4), electrical instruction is exported to air injection nozzle 50 according to stand-by time t α control instruction output unit 45
Opportunity, thus in the case where the conveying speed of workpiece 3 changes from setting value also can make force act on above-mentioned mesh
Cursor position Pw.
T α={ (L-Lw2)/Vw }-tp-td ... (2)
Here, Vw is the conveying speed (m/s) (referring to Fig. 3) of the workpiece 3 conveyed on transport path 10, L is from shooting
For position P1 to the distance (m) (referring to Fig. 3) for excluding position P2, Lw2 is the distance from the rear end 3b to target position Pw of workpiece 3
(m) (referring to Fig. 3), tp be from above-mentioned image be taken into unit 40 be taken into complete sentence to the posture of above-mentioned pose discrimination unit 44
Not Wan Cheng until needed for image processing time (sec) (referring to Fig. 4).It is being configured to pretreatment, pose discrimination processing and speed
In the case that time needed for spending calculation processing is fixed always, image processing time tp becomes fixed value or setting value.It is another
Aspect is being configured to and the increase and decrease of the pixel number of composograph data as caused by the variation of conveying speed correspondingly image procossing
In the case that time tp changes, the counting of image processing time tp is carried out in control device 4.Td is that rejected unit 5 connects
Receive the mechanicalness passing time needed for above-mentioned electrical instruction rises until making force act on workpiece 3 by exclusion processing
It (sec) is the parameter setting carried out for each rejected unit 5 (referring to Fig. 4).Via input unit 48 input above-mentioned distance L,
Passing time td etc..In addition, in the present embodiment, being found out using above-mentioned measuring unit from camera site P1 to exclusion position
The distance L of P2, but can also be found out according to (existing object closes わ せ) in kind.
Illustrate the movement of the feed appliance 100 of structure as described above referring to timing diagram shown in Fig. 4.In addition, hereinafter, note
It has carried in the movement being excluded after the unsuitable workpiece 3 of posture is shot by line scan cameras 2 until unit 5 excludes.
When moment t01 shoots the workpiece 3 conveyed on transport path 10, the image data thus got is via figure
It is taken into immediately (transmission) as being taken into unit 40, binary conversion treatment portion 41a carries out the pretreatment such as binaryzation to the image data.Separately
Outside, test section 41b in end detects the front end 3a and rear end 3b of workpiece 3, detects and goes to work in the image data that moment t01 is got
The front end 3a of part 3.Also successively shot at a prescribed interval after the shooting of moment t01, every time shooting when all immediately into
Row image data being taken into and pre-processing.Then, when in through image data accessed by the shooting of moment t02 by end
When test section 41b identifies the rear end 3b of workpiece 3, start to generate composite diagram in moment t03, composograph data generating section 41c
As data, and the pose discrimination carried out by pose discrimination unit 44 is carried out according to the composograph data and is handled and by speed
The speed calculation processing that computing unit 42 carries out.In addition, using hardware (such as FPGA (field-programmable gate
Array: field programmable gate array)) processing of progress until moment t03, moment t03 later processing is to pass through execution
Program stored in memory is carried out with software mode.Later, opportunity control unit 46 calculates stand-by time t α, opportunity control
46 control instruction output unit 45 of unit processed makes t05 output at the time of have passed through stand-by time t α from moment t04 be powered
Instruction.Then, compressed air thus is sprayed from the air injection nozzle 50 of rejected unit 5, is have passed through transmitting from moment t05
T06 at the time of time td, the force practical function based on air is in workpiece 3.Moreover, it is assumed that carrying out pose discrimination, treated
The posture of workpiece 3 is appropriate and in the case where being determined as prescribed form by pose discrimination processing, without be used for by the workpiece 3 from
The processing (output of electrical instruction and the injection from air injection nozzle 50) excluded on transport path 10.In addition, in this theory
It illustrates to act in order to facilitate understanding and using a workpiece 3 in bright, still, actually workpiece 3 is connected with the state of close contact
Continuous ground is conveyed, thus shoot, the processing until being taken into, pre-process of image data continuously carries out always, another aspect, when
Carving the later processing (intermitten) of t03 is carried out once after the image data for getting a workpiece 3 every time.
In this way, the unsuitable workpiece 3 of posture is excluded, only posture workpiece 3 appropriate is provided to supply destination.
As described above, the feed appliance 100 of present embodiment is configured to have: feed appliance main body 1 has for conveying work
The transport path 10 of part 3；As the rejected unit 5 of workpiece processing unit, to the conduct work by being set in transport path 10
The workpiece 3 of the exclusion position P2 of part processing position carries out the exclusion for excluding the workpiece 3 from transport path 10 processing；As workpiece
The pose discrimination unit 44 of 3 fine or not judgement unit carries out the pose discrimination of workpiece 3 in the upstream side of above-mentioned exclusion position P2
Processing is as fine or not differentiation processing；Output unit 45 is instructed, is determined as being except defined when above-mentioned pose discrimination unit 44
When incorrect posture other than posture, above-mentioned rejected unit 5 is exported as the instruction for carrying out above-mentioned exclusion processing
Electrical instruction；As the feed appliance speed detector 7 of speed detection unit, detect transported on transport path 10
The conveying speed of workpiece 3；And opportunity control unit 46, according to the feed appliance testing result of speed detector 7, control
Above-metioned instruction output unit 45 exports the opportunity of above-mentioned electrical instruction.
By being set as this structure, about the workpiece 3 conveyed on the transport path 10 of feed appliance main body, by rejected unit
5 differentiate its posture, and calculate its conveying speed by feed appliance speed detector 7.Moreover, when rejected unit 5 is determined as
When fault, in the conveying by opportunity control unit 46 according to the workpiece 3 detected by feed appliance speed detector 7
The opportunity that speed is controlled, from the output of instruction output unit 45 for exclude the electrical instruction of processing.In this way, than row
Except the position of 5 upstream side of unit can be controlled according to the conveying speed of transported workpiece 3 output electrical instruction when
Therefore force from rejected unit 5 even if the conveying speed of workpiece 3 deviates from setting value, can also be acted on workpiece by machine
3 desired locations.Thus, it, also can not be to as exclusion in the case where conveying multiple workpiece 3 with the state of close contact
The posture of the workpiece 3 on the side of the workpiece 3 of object has an impact and carries out exclusion processing to as the workpiece 3 for excluding object.
Specifically, above-mentioned rejected unit 5 has the air injection nozzle 50 as forcing unit, the air injection nozzle
50 exert a force at above-mentioned exclusion position P2 to workpiece 3, and the target position for acting on the force is preset on above-mentioned workpiece
Pw, above-mentioned feed appliance 100 are also equipped with: line scan cameras 2, are orthogonally arranged with the conveying direction with above-mentioned workpiece 3
Multiple photographing elements, at predetermined intervals to the above-mentioned workpiece 3 of camera site P1 by being set on above-mentioned transport path 10 into
Row shooting；And image is taken into unit 40, is taken into the line scan cameras 2 immediately to the front end 3a to rear end 3b from workpiece 3
The image that is intermittently shot of region, wherein above-mentioned opportunity control unit 46 sets stand-by time t α, so that extremely
It less include the delay of image processing time tp (sec), above-mentioned stand-by time t α (sec) and mechanicalness passing time td (sec)
Workpiece 3 is from above-mentioned camera site P1 with mobile with the calculated speed of speed detector 7 by feed appliance during time passes through
Result make force act on the target position Pw set on workpiece 3, wherein above-mentioned image processing time tp (sec) be
It is considered as the feelings being taken into until above-mentioned workpiece 3 completes the rear end 3b of the workpiece 3 by the time point of above-mentioned camera site P1
Under condition from above-mentioned image be taken into unit 40 be taken into complete to above-mentioned pose discrimination unit 44 pose discrimination processing complete be
Only required time, above-mentioned stand-by time t α (sec) are supreme from above-mentioned pose discrimination unit 44 is determined as fault
The time until instruction output unit 45 exports above-mentioned electrical instruction is stated, above-mentioned mechanicalness passing time td (sec) is above-mentioned row
Except unit 5 receives time of the above-mentioned electrical instruction until making force act on the workpiece 3 by above-mentioned exclusion processing, because
This is able to carry out the reply appropriate in view of delay element.
More specifically, Vw will be set as with the conveying speed of the calculated workpiece 3 of speed detector 7 by feed appliance
(m/s), L (m) will be set as from above-mentioned camera site P1 to the distance of above-mentioned exclusion position P2, will be from the rear end of workpiece 3 to above-mentioned
In the case that the distance of target position Pw is set as Lw2 (m), above-mentioned opportunity control unit 46 is according to the following formula come when setting above-mentioned standby
Between t α the deviation of the conveying speed of each workpiece 3 can be instantaneously therefore coped with by simple calculations.
T α={ (L-Lw2)/Vw }-tp-td
It constitutes are as follows: be also equipped with the shooting number acquisition unit 42a as shooting number acquiring unit, the shooting number acquisition unit
42a obtains above-mentioned line scan cameras 2 to the shooting number shot until the front end side to rear end side of above-mentioned workpiece 3,
Feed appliance speed detector 7 is provided between the shooting of conveying direction length and above-mentioned line scan cameras 2 of above-mentioned workpiece 3
Every, and it is provided the shooting number got by above-mentioned shooting number acquisition unit 42a, it thus will be according to the shooting number and upper
When being considered as the workpiece 3 by needed for the P1 of camera site the time required to stating the shooting that the shooting interval of line scan cameras 2 obtains
Between, according to the conveying speed Vw for calculating the workpiece 3 the time required to the shooting with the conveying direction length of above-mentioned workpiece 3, therefore,
It does not need that the device for detecting the conveying speed of workpiece 3 is in addition arranged, is set as being able to detect the structure of conveying speed, and energy
It is enough to inhibit thus caused cost increase.
It especially constitutes are as follows: be also equipped with pretreatment unit 41, which will be by above-mentioned image by shooting sequence
The image data that unit 40 is taken into is taken into be engaged, to generate the composograph data for substantially whole single workpiece 3 occur,
Above-mentioned shooting number acquisition unit 42a is according to the pixel number of the composograph data and by accessed by primary above-mentioned shooting
The pixel number of image data obtains above-mentioned shooting number, on above-mentioned pose discrimination unit 44 differentiates according to composograph data
The posture of workpiece 3 is stated, therefore, shares the data used in feed appliance speed detector 7 and pose discrimination unit 44, energy
The enough time shortened since being shot line scan cameras 2 until setting stand-by time t α.
It this concludes the description of an embodiment of the invention, but the specific structure in each portion is not limited to above-mentioned reality
Apply mode.
Such as in the present embodiment, exclude from transport path 10 to being identified as the unsuitable workpiece 3 of posture
Exclusion processing, but also can be set to using flowering structure: as shown in figure 5, correcting posture list is arranged as workpiece processing unit
Member 6 is to replace rejected unit 5, to being identified as the unsuitable work of posture at the correction position P3 being set on transport path 10
The posture of part 3 is corrected.Correcting posture unit 6 has air injection nozzle 60, and the air injection nozzle 60 is via being set to
Compressed air is sprayed to workpiece 3 in hole (not shown) on the correcting posture position P3 of transport path 10, from air injection nozzle 60
Compressed air is sprayed, makes the reversion of workpiece 3 for being located at correction position P3 or rotation, thus posture correction.As long as in addition, can rectify
Then correcting posture unit 6 is not limited to the structure to the posture of positive workpiece.Correcting posture unit 6 is configured to work as from instruction output unit
45 output electrical instruction when from air injection nozzle 60 spray compressed air, opportunity control unit 46 according to feed appliance image at
Reason device 8 and feed appliance control the opportunity of output electrical instruction with the testing result of speed detector 7.
In addition, in the present embodiment, feed appliance image processing apparatus 8 is used to differentiate the posture of workpiece 3
, but it is also possible in order to the workpiece 3 such as silk-screen character in the shape for checking workpiece 3 or color, workpiece 3 appearance and use.
In this case feed appliance is configured to the pose discrimination unit for replacing differentiating the posture of workpiece 3 with image processing apparatus
44 and suitably have check workpiece 3 appearance unit.
In addition, as shown in fig. 6, control device 154 is also configured to have drive control unit 43, the drive control list
Member 43 carries out the control of driving unit 11 according to the conveying speed by the calculated workpiece 3 of speed computing unit 42.Driving control
The conveying speed of calculated workpiece 3 is compared by unit 43 processed with setting value, the amplitude and frequency to driving unit 11 into
Row adjustment, thus carries out feedback control to the conveying speed of workpiece 3.If it is the feed appliance 151 with this structure, even if then
The conveying speed of workpiece 3, which changes, can also be adjusted to setting value, and the conveying speed of workpiece can be made to stablize.
Also, in the present embodiment, above-mentioned shooting number acquiring unit 42a is in the shooting time for being applied to above-mentioned formula (1)
The pixel number of composograph data has been used in the calculating of number A, but also can replace the pixel number of composograph data and make
With the multiple images until from the image data for the front end 3a of workpiece 3 occur to the image data for the rear end 3b of the workpiece 3 occur
The aggregate value of pixel number in data.Alternatively, it is also possible to be in order to obtain shooting number A and carried out to by line scan cameras 2
The structure that the number of shooting is directly counted.Specifically, as shown in fig. 7, being also possible to flowering structure: control device 161
It is configured to have counter unit 162, which counts the shooting number of above-mentioned line scan cameras 2,
Above-mentioned shooting number acquiring unit 142a obtains and detects above-mentioned work according to the testing result of above-mentioned end detection unit 41a
The count value of the corresponding above-mentioned counter unit 162 of the image data of the front end 3a of part 3 and with the rear end that detects the workpiece 3
The count value of the corresponding above-mentioned counter unit 162 of the image data of 3b, above-mentioned shooting number is obtained according to these count values
A.Feed appliance 160 with this structure can also play effect identical with above-mentioned feed appliance 100.
Also, in the present embodiment, it is configured to that multiple workpiece 3 are defeated in transport path 3 with the state of close contact
The structure sent, but be also possible to convey the structure of multiple workpiece 3 at intervals.In addition, as line scan cameras 2
The camera that photographing element forms a line has been used, but also can be used and take the photograph in the range of can play effect of the invention
Element lines up the camera of two column or more.
In addition, in the present embodiment, used line scan cameras 2 to shoot workpiece 3, but can also take and
Instead of using face smear camera.Using line scan cameras 2, work is shot using line scan cameras 2
Part 3, thus, it is possible to grasp the workpiece 3 with a distance from exclusion position P2, but in the case where using face smear camera, preferably
Be constitute are as follows: in addition the position detection unit detected to workpiece 3 relative to the position of coverage is set, the position is used
It sets detection unit to detect position of the workpiece 3 in coverage, thus grasps workpiece 3 with a distance from exclusion position P2.
Moreover, in the case of such a construction, preferably constituting are as follows: according to the position of the workpiece 3 detected by position detection unit with
And the feed appliance testing result of speed detector 7, control instruction output unit 45 export the opportunity of electrical instruction.
In addition, in the present embodiment, feed appliance speed detector 7 has been used as speed detection unit, but
Being can also the instead previous speed detector such as operating speed sensor.
Other structures can also carry out various modifications without departing from the scope of spirit of the present invention.
Claims (5)
1. a kind of feed appliance, which is characterized in that have:
Feed appliance main body has for the transport path by vibrating transportation workpiece；
Workpiece processing unit carries out above-mentioned workpiece the above-mentioned workpiece by the workpiece processing site for being set in transport path
The processing of correcting posture is excluded or carried out on transport path from transport path；
Workpiece quality judgement unit carries out the fine or not differentiation processing of above-mentioned workpiece in the upstream side of above-mentioned workpiece processing site；
Instruct output unit, when above-mentioned workpiece quality judgement unit be determined as be not defined appearance or posture workpiece
When, the instruction for carrying out above-mentioned processing is exported to above-mentioned workpiece processing unit；
Speed detection unit detects the conveying speed of the transported above-mentioned workpiece on transport path；And
Opportunity control unit, according to the testing result of above-mentioned speed detection unit, consideration correspondingly becomes with above-mentioned conveying speed
The delay element of change come control above-metioned instruction output unit output above-metioned instruction opportunity.
2. feed appliance according to claim 1, which is characterized in that
Above-mentioned workpiece processing unit has forcing unit, which applies at above-mentioned workpiece processing site to above-mentioned workpiece
Power,
The target position for acting on the force is preset on above-mentioned workpiece,
Above-mentioned feed appliance is also equipped with:
Line scan cameras has the multiple photographing elements orthogonally arranged with the conveying direction of above-mentioned workpiece, between regulation
It is shot every to the above-mentioned workpiece by the camera site being set on above-mentioned transport path；And
Image is taken into unit, is taken into the line scan cameras immediately to the region from the front end of above-mentioned workpiece to rear end intermittently
The image shot,
Wherein, above-mentioned delay element is the delay including at least image processing time, stand-by time and mechanicalness passing time
Time, above-mentioned opportunity control unit set above-mentioned stand-by time so that during by above-mentioned delay time above-mentioned workpiece from
Above-mentioned camera site makes to exert a force to act on to set on workpiece with the mobile result of the speed detected by above-mentioned speed detection unit
Fixed above-mentioned target position, wherein be considered as in above-mentioned workpiece by the time point of above-mentioned camera site and complete the workpiece
Being taken into until rear end, above-mentioned image processing time be from above-mentioned image be taken into unit be taken into completion to above-mentioned workpiece quality
The above-mentioned quality of the judgement unit time required until differentiating processing completion, above-mentioned stand-by time is differentiated from above-mentioned workpiece quality
Unit is determined as not being that the workpiece of defined appearance or posture plays the time until exporting above-metioned instruction to instruction output unit,
Above-mentioned mechanicalness passing time is that above-mentioned workpiece processing unit receives above-metioned instruction and serves to by above-mentioned processing and makes force
Time until the workpiece.
3. feed appliance according to claim 2, which is characterized in that
Above-mentioned image processing time is set as tp seconds, above-mentioned stand-by time is set as to t α seconds, by above-mentioned mechanicalness passing time
Be set as td seconds, the conveying speed of the workpiece detected by above-mentioned speed detection unit be set as to Vw meter per second, will be from above-mentioned shooting position
The distance for setting above-mentioned workpiece processing site is set as L meters, will be set as from the rear end of above-mentioned workpiece to the distance of above-mentioned target position
In the case where Lw meters, above-mentioned opportunity control unit sets above-mentioned stand-by time t α according to the following formula,
T α={ (L-Lw)/Vw }-tp-td.
4. according to feed appliance described in claim 2 or 3, which is characterized in that
It is also equipped with shooting number acquiring unit, which obtains above-mentioned line scan cameras to from above-mentioned workpiece
Front end side to rear end side until the shooting number that is shot,
Above-mentioned speed detection unit is provided the conveying direction length of above-mentioned workpiece and the shooting interval of above-mentioned line scan cameras,
And it is provided the above-mentioned shooting number got by above-mentioned shooting number acquiring unit, it thus will be according to the shooting number and upper
It is considered as the workpiece by time needed for camera site, root the time required to stating the shooting that the shooting interval of line scan cameras obtains
According to the conveying speed for calculating the workpiece the time required to the shooting with the conveying direction length of above-mentioned workpiece.
5. feed appliance according to claim 4, which is characterized in that
It is also equipped with pretreatment unit, which will be taken into the image data that unit is taken by above-mentioned image by shooting sequence
It is engaged, generates the composograph data for substantially whole single workpiece occur,
Above-mentioned shooting number acquiring unit is according to the pixel number of the composograph data and by acquired in primary above-mentioned shooting
To the pixel number of image data obtain above-mentioned shooting number,
Above-mentioned workpiece quality judgement unit carries out above-mentioned fine or not differentiation processing according to above-mentioned composograph data.
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| CN201910451772.XA CN110228693B (en) | 2013-07-31 | 2014-07-31 | Feeding device |
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| JP2013159971A JP6260133B2 (en) | 2013-07-31 | 2013-07-31 | Parts feeder |
| JP2013-159971 | 2013-07-31 |
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| CN201910451772.XA Division CN110228693B (en) | 2013-07-31 | 2014-07-31 | Feeding device |
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| CN104338685B true CN104338685B (en) | 2019-06-21 |
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| KR (1) | KR102196116B1 (en) |
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| JP6782537B2 (en) * | 2015-10-29 | 2020-11-11 | シンフォニアテクノロジー株式会社 | Air injection mechanism and parts feeder |
| JP6796919B2 (en) * | 2015-10-29 | 2020-12-09 | シンフォニアテクノロジー株式会社 | Air injection mechanism and parts feeder |
| WO2017131211A1 (en) | 2016-01-29 | 2017-08-03 | 芝浦メカトロニクス株式会社 | Tablet printing device and tablet manufacturing method |
| CN107176433B (en) * | 2016-03-09 | 2020-07-17 | 顺丰科技有限公司 | Article transfer assist system |
| CN114148703A (en) * | 2020-09-08 | 2022-03-08 | 爱来音科技有限公司 | Workpiece attitude control device, workpiece supply system provided with same, and workpiece attitude control method |
| CN113695242B (en) * | 2021-07-15 | 2024-03-19 | 德铧恩特工业自动化技术(上海)有限公司 | Method and system for sorting defective workpieces of cutting machine |
| CN115086522B (en) * | 2022-06-10 | 2023-05-26 | 福州大学 | Bar-shaped metal surface image acquisition method |
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Also Published As
| Publication number | Publication date |
|---|---|
| TWI620701B (en) | 2018-04-11 |
| TW201522184A (en) | 2015-06-16 |
| KR20150015379A (en) | 2015-02-10 |
| CN104338685A (en) | 2015-02-11 |
| KR102196116B1 (en) | 2020-12-30 |
| CN110228693A (en) | 2019-09-13 |
| CN110228693B (en) | 2022-01-11 |
| JP2015030567A (en) | 2015-02-16 |
| JP6260133B2 (en) | 2018-01-17 |
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