JP2000103545A - One sheet taking off method of plate and device therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate reexecution at judging error, when the boundary line remains without being separated, in an image photographing the territory of a boundary line separated into a first sheet and a second sheet, by judging it as an error, stopping hanging operation at detecting it and reexecuting it. SOLUTION: Suction pads 7 are brought down on the upper face of a plate P by operating an air cylinder 3, and the plate P is sucked. Turn-up operation of the end faces is executed by operation of the air cylinder 3, the suction pads 7 are minutely elevated, and the boundary territory of a first sheet and a second sheet is photographed by a CCD camera 23 through a control unit 51 and an image processing unit 31. Image data is housed into an image processing file through the CCD camera 23 and the image processing unit 51. An image processing part 41 processes the image data of the image data file and features the boundary line of the image data suitable for detection of the boundary line. A boundary line judging part detects and judges existence of the separating boundary line, and it is transmitted from the image processing unit 31 to the control unit 51.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a device for removing a sheet material.

[0002]

2. Description of the Related Art In general, a top plate of a plurality of stacked plate members is sucked by suction means, and is lifted up by a suspension means to be separated from a second sheet material. The device has been widely put into practical use.

[0003] For example, in a sheet metal processing line, when a plurality of sheets stacked on a pallet are separated one by one by being sucked up and lifted, two sheets may be separated while being overlapped. For this reason, a detector for detecting whether or not the number of separated plate members is one is used in the conventional single-sheet picking device.

[0004] There are two types of conventional detectors of this type.

[0005] On the one hand, like a detector 81 shown in FIG.
The edge of the suspended plate material P is sandwiched from above and below by detection levers 83a and 83b whose ends are rollers, and the distance between the upper and lower detection levers 83a and 83b at that time (that is, the thickness of the separated plate material) is determined. The number of pulses counted by the encoder 85 is compared with predetermined plate thickness data of the target plate material P to determine whether or not the number is one, and the result is determined by the sequencer. Output to

If the detected plate thickness is not one, the sequencer re-adsorbs the plate material or generates an alarm to notify the operator.

On the other hand, a thickness measuring device using, for example, an eddy current type displacement sensor is provided in the middle of an appropriate transport conveyor for transporting the separated plate material, and whether or not the thickness of the plate material is equal to one sheet is determined. Is to be detected.

[0008]

However, such a conventional device has the following various problems.

In other words, the former is to detect the thickness of the plate material P and determine whether or not the detected value is the thickness of one sheet. Accordingly, it is necessary for the operator to specify appropriate thickness data such as codes.

Further, when the plate material is adsorbed and rises to a certain height, the upper and lower detection levers 83a and 83b must sandwich the plate material to perform the detection operation, which wastes time and affects the tact time. .

Further, since there are movable mechanical parts in each part, it is necessary to adjust the mounting of each part including the encoder 85, and the risk of failure cannot be ignored.

Further, for example, when the plate material to be handled is relatively small and light, if the second plate material adhered with oil, for example, falls on the lower surface of the uppermost one, the second plate material May fall to a position displaced from the end surface where the third and lower stacked plate members are aligned. In that case, when two pieces are lifted next time to take one piece, the end face of the top piece is shifted from the end face of the second piece, so only the end face of the top piece is detected and one piece is picked. There is a danger of mistaking it for what it did.

Also, for example, when the second sheet is not separated and rises together with the first sheet and the upper and lower detection levers 83a and 83b sandwich the plate material, and the second sheet attached with oil drops by weight. , The lower detection lever 83b may be damaged.

[0014] On the other hand, in the latter case, if two sheets are taken, the fact will be known later, so that the line is stopped and the re-executing operation for the suction error cannot be performed. It is necessary to return to the predetermined position.

Further, since the eddy current type displacement sensor is affected by the metal material, it is difficult to apply it to a schedule operation in which various plate materials are handled.

Further, since the plate thickness is detected by arranging the plate material above and below at regular intervals, an appropriate arm is required for the arrangement.

Further, by sharing the former and the latter, for example,
An eddy current displacement sensor may be attached to the upper and lower levers of the detector, and this sensor may be positioned above and below the plate while keeping a certain interval without contacting the plate. The effect of the metal material remains unchanged, and when the plate material is adsorbed and rises to a certain height, the sensor mounted on the lever must be positioned above and below the plate material to perform the detection operation, which wastes time. And still affect the tact time.

The present invention solves the above-mentioned problem of the prior art, and when the uppermost one is adsorbed on the upper surface and slightly lifted, it is determined whether or not the uppermost one is separated from the second one by an extra time. Of the sheet material that can be confirmed without being applied and without contacting the sheet material, and when the sheet is not separated from the second sheet, the sheet can be once lowered and re-lifted.
It is an object of the present invention to provide a sheet taking method and an apparatus therefor.

[0019]

According to the present invention, in order to achieve the above object, an image of an area of a boundary line where a first sheet and a second sheet are separated at the start of a lifting operation;
If the boundaries remain in the captured image without separation,
It comprises the steps of detecting the error and determining an error, and stopping the lifting operation and re-executing the lifting operation when the error is determined.

As described above, when the boundary line to be separated remains in the image without being separated and is determined to be an error, the lifting operation is performed again. When the boundary line is not determined to be an error, the tact time is completely affected. In addition, since the detection operation is performed in a non-contact manner, maintenance such as adjustment and component replacement is free, and re-execution at the time of error determination can be easily performed.

Further, according to the present invention, at the start of the lifting operation, an image of an area of a boundary line between the first and second sheets is taken, and the boundary line remains in the taken image without being separated. Detecting whether or not the boundary line is not detected, determining that the separation is normal, while detecting the boundary line, determining that it is abnormal, and, when determining an abnormality, stopping and re-executing the lifting operation. Consists of

As described above, the image is used to detect whether or not the boundary line to be separated remains without being separated, and when it is determined that the boundary line is abnormal, the lifting operation is re-executed. Has no effect on the tact time,
Further, since the detection operation is performed in a non-contact manner, maintenance such as adjustment and component replacement is free, and re-execution at the time of abnormality determination can be easily performed.

Further, the present invention provides an image pickup means for picking up an image of a boundary line area where a first sheet and a second sheet are separated during lifting, and whether or not the boundary line remains in the picked-up image without being separated. And control means for stopping and re-executing the lifting operation when the image processing means detects the boundary line.

As described above, the image picked up by the image pickup means includes:
The image processing means detects whether the boundary line to be separated remains without being separated, and when the boundary line is detected, the control means re-executes the lifting operation. Has no effect on the time,
Since the detection operation is performed in a non-contact manner, maintenance such as adjustment and component replacement is free, and re-execution at the time of boundary detection can be easily performed.

[0025]

Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic configuration diagram showing an embodiment of a sheet material removing apparatus according to an embodiment of the present invention.
The upper surface of the sheet is adsorbed and separated from the second sheet by a lifting operation, and includes the apparatus main body 1 and a controller 21.

The apparatus main body 1 is mounted on a support frame 5 supported on a main body frame (not shown) via an air cylinder 3.
The required number of suction pads 7, 7,... Are attached in a predetermined arrangement, and these suction pads 7, 7,.
The air cylinder 3 is moved up and down integrally by the operation of the air cylinder 3.

With the suction pads 7, 7,... In contact with the upper surface of the plate material P, when a suction valve 9 (see FIG. 2) for transmitting the operation of an appropriate suction pump to the suction pads 7, 7,. The upper surface of the plate material P is adsorbed.

When the suction pads 7, 7,... Are lifted by the operation of the air cylinder 3, the suction pads 7, 7,... Are operated by an appropriate positioning motor 11 (see FIG. 2). After the sheet material P is supplied to the sheet material, the sheet material is positioned again on the lamination region of the sheet material.

The control device 21 includes a CCD camera 23 for picking up an image of a boundary line area where the first and second sheets are separated during the lifting, and whether or not the boundary line remains in the picked-up image without being separated. The image processing unit 31 includes a control unit 51 that stops the lifting operation and restarts the lifting operation when the image processing unit 31 detects the boundary line.

The CCD camera 23 is attached to the support frame 5 of the apparatus main body 1 so as to be adjustable in angle (the attached state is not shown), and moves up and down integrally with the suction pads 7, 7,. Are positioned so that

The CCD camera 23 picks up an image of the first plate material P sucked on the suction pads 7, 7,... At a timing slightly lifted by the air cylinder 3 and substantially. ing.

As shown in FIG. 2, the image processing unit 31
Are a CPU (central processing unit) 33, a ROM / RAM (storage device) 35 and an I / O (input / output device) 37,
An image data file 39 for storing image data captured and transferred by the CD camera 23, and an image data file 3
9, an image processing unit 41 for converting the image data into image data characterized by a boundary line, a converted image data file 43 for storing the converted image data, and a boundary line determination unit 4
5 is provided.

The image processing section 41 utilizes a phase-only correlation method. In other words, the phase-only correlation method stores information on the shading of the image, that is, the shape and contour of the image that constitutes the image, out of the spectrum of the amplitude and phase obtained by Fourier transforming the image. Against
Note that the amplitude does not include such information,
In the correlation calculation process, amplitude information is removed, and only phase information is used. As a result, the autocorrelation of the phase only correlation method becomes a delta function as compared with the normal correlation, and the performance of identifying the contour, that is, the boundary line is greatly improved.

The boundary line determination unit 45 detects the boundary line between the first image and the second image which remains without being separated in the converted image data of the converted image data file 43 and detects it. It is determined whether there is an error, or it is detected whether or not the boundary line between the first and second images remains in the converted image data without separation. If no boundary line is detected, normal separation is performed. And, on the other hand, when a boundary line is detected, it is determined that an abnormality has occurred.

The control unit 51 includes a CPU (central processing unit) 53, a ROM / RAM (storage device) 55, and an I / O
In addition to the O (input / output device) 57, a positioning control unit 59 for operating the positioning motor 11, an elevation control unit 61 for operating the air cylinder 3, an adsorption control unit 63 for opening and closing the suction valve 9, and an image processing unit 31 and an image control unit 65 for controlling the CCD camera 23, and a re-execution control unit 6
7 and a counter 69, a display control unit 71 and a display 73, and further includes a sequencer unit of a single-sheet pick-up device.

In response to the start of the lifting operation by the air cylinder 3, the image control unit 65 slightly removes the first plate material P sucked on the suction pads 7, 7,. The strobe signal for starting operation is generated toward the image processing unit 31 at substantially the timing of lifting, and the strobe signal causes the CCD camera 23 to execute an imaging operation via the image processing unit 31. At the same time, the image processing unit 31 is configured to detect and determine the presence or absence of a boundary line.

When a boundary line is not detected, a normal separation signal is transmitted. When a boundary line is detected, an abnormal (not separated) signal is transmitted from the image processing unit 31 to the control unit 51. ing.

The re-execution control unit 67 includes the image processing unit 3
When an abnormal (non-separated) signal is transmitted from 1, it works on the lifting / lowering control unit 61 and the image control unit 65 to lower the suspended plate material P once and lift it again, and at a predetermined lifting timing, capture an image and detect a boundary line. Is performed repeatedly by the counter 69 a preset number of times until the first sheet is separated.

When the re-execution operation is repeated a set number of times of the counter 69, if the first sheet P is still not properly separated, the display control section 71 displays a warning on the display 73 and displays the control unit. 51 stops the operation of the single sheet take-up device.

Next, the operation of the above embodiment will be described.
This will be described with reference to the flowcharts shown in FIGS.

In the initial state, the support frame 5 is positioned at a predetermined position just above the plurality of stacked plate members at a predetermined height in which the suction pads 7, 7,... Are separated upward from the upper surface of the plate members. I have.

First, the operator operates an appropriate input device to set the number of re-executions K in the counter 69 (step S1).

From this position, the elevation control section 61 operates the air cylinder 3 downward to lower the suction pads 7, 7,... Until they come into contact with the upper surface of the plate P (step S).
2).

Next, the suction control section 63 opens the suction valve 9 to cause the suction pads 7, 7,... To be suctioned on the upper surface of the plate P (step S3).

In this state, the air cylinder (not shown) is operated to turn the end face (step S4).

Next, the elevating control unit 61 controls the air cylinder 3
Are slightly moved upward to slightly raise the suction pads 7, 7,... (Step S5).

At that timing, the control unit 5
1 transmits a strobe signal for starting operation to the image processing unit 31 (step S6).

The image processing unit 31 transmits a strobe signal to the CCD camera 23, and thereby the CCD camera 23
Is 1 at the timing when the suction pads 7, 7,.
The boundary area between the first and second sheets is imaged (step S
7).

The image data obtained by imaging is transferred from the CCD camera 23 to the image processing unit 31 and stored in the image data file 39.

Therefore, first, the image processing section 41 processes the image data of the image data file 39 by using the phase-only correlation method or the like, and characterizes the boundary of the image data so as to be suitable for the detection of the boundary (step). S8).

The image data converted by the boundary line characterization process is stored in the converted image data file 43.

Next, the boundary line determination section 45 detects whether or not the boundary line separating the first and second images remains in the image data of the converted image data file 43 without being separated. A determination is made (step S9).

If a boundary is detected, it is determined to be abnormal, and an abnormal (not separated) signal is transmitted from the image processing unit 31 to the control unit 51 (step S10). It is determined that the separation is performed, and a normal separation signal is transmitted from the image processing unit 31 to the control unit 51 (step S20).

When an abnormal (not separated) signal is transmitted, the control unit 51 increments the counter 69 (step S11) and determines whether or not the count value has reached the set number of re-executions K. (Step S12)
If not, the elevation control unit 61 operates the air cylinder 3 downward to lower the suction pads 7, 7, ... (Step S13). In this case, a series of operations is performed again from the turning operation of the end face.

Then, the re-execution is repeated to
When the count value reaches the set number of re-executions K, the display control unit 71 displays a warning on the display 73, and the control unit 51 stops the operation of the single-sheet pick-up device (step S14). Abnormal termination.

On the other hand, when the normal separation signal is transmitted, the control unit 51 raises the suction pads 7, 7,... To a predetermined height by the elevation control section 61 operating the air cylinder 3 upward (step S21).

Subsequently, after the positioning control section 59 operates the positioning motor 11 to carry out the plate material P, the support frame 5 is returned to a predetermined position (step S22).

The above operation is repeated until the predetermined number of sheets have been taken out (step S23). When the predetermined number of sheets have been taken out, the process ends normally.

Therefore, if a boundary line separating the first and second sheets remains without being separated, it can be detected and determined to be an error. After the operation is stopped and the suction pads 7, 7, ... are once lowered, the suction pads 7, 7, ... are slightly raised again, imaged by the CCD camera 23, and the image data is processed by the image processing unit 31. The operation for determining the presence or absence of a boundary line can be repeatedly executed.

In the above embodiment, the image processing unit 31 is configured to characterize a boundary by image processing using the phase-only correlation method, and to detect and determine the presence or absence of the boundary. It is not limited to this,
Characterize the boundaries with other appropriate image processing techniques,
Then, the presence or absence of a boundary line may be detected and determined.

Further, in the above embodiment, since the CCD camera 23 is mounted on the support frame 5 of the apparatus main body 1 so that the angle can be adjusted, if there is a cutout or the like in the portion to be imaged on the plate material, the direction of the CCD camera 23 is changed. By adjusting the angle, malfunction can be prevented, but the present invention is not limited to this, and it is possible to adopt an appropriate mounting form according to the application.

[0062]

As described above, according to the present invention, at the start of the lifting operation, the step of imaging the area of the boundary line where the first and second sheets are separated, and the step of separating the boundary line into the captured image In the case where it remains without being detected, it is configured to include a step of detecting it and determining an error, and a step of stopping and re-executing the lifting operation when the error is determined,
If the boundary line to be separated remains in the image without being separated and is determined to be an error, the lifting operation is performed again, and if it is not determined to be an error, the tact time is not affected at all and the detection is performed. Since the operation is performed in a non-contact manner, maintenance-free operation such as adjustment and component replacement can be realized, and furthermore, there is an effect that re-execution at the time of error determination can be easily performed, and also the following effects are obtained. .

That is, since the thickness of the plate is not detected and it is not determined whether or not the detected value is the thickness of one sheet, an appropriate code is set according to the thickness of the target plate. There is no need for the operator to specify sheet thickness data such as

Further, when the plate material is sucked and rises to a certain height, the detecting operation is not performed by the lever sandwiching the plate material, so that the detecting operation is not performed during the single-sheet picking operation.
Does not affect tact time.

Since there are no complicated movable mechanical parts, the adjustment is simple and the reliability is high.

Further, since the determination can be made only by slightly lifting from the sucked state, for example, when the second plate material adhered with oil falls, even if the second plate material is small and light, The end face of the plate material does not deviate from the aligned end face of the third or less stacked plate material,
Even if it is relatively heavy, it will not damage the parts at all.

Further, when two (or three or more) sheets are taken, the re-executing operation can be performed immediately. For example, when it is found later that two sheets have been taken, There is no need for a line stop or for the operator to return the plate to position.

Further, according to the present invention, at the start of the lifting operation, the image of the boundary line area where the first and second sheets are separated is captured, and the boundary line remains in the captured image without being separated. Detecting whether or not the boundary line is not detected, determining that the separation is normal, while detecting the boundary line, determining that it is abnormal, and, when determining an abnormality, stopping and re-executing the lifting operation. It is determined that the separation is normal by detecting from the image whether or not the boundary line to be separated remains without being separated, and re-executing the lifting operation when it is determined to be abnormal. In this case, the tact time is not affected at all, and the detection operation is performed in a non-contact manner, so that maintenance-free operation such as adjustment and component replacement can be realized. Can do That effect there is, also, there is also an effect, such as the following.

That is, since the thickness of the plate is not detected and it is not determined whether or not the detected value is the thickness of one sheet, an appropriate code is set according to the thickness of the target plate. There is no need for the operator to specify sheet thickness data such as

Further, since the lever does not sandwich the plate material and performs the detecting operation when the plate material is lifted by a certain height by adsorbing the plate material, the detecting operation does not enter during the single-sheet picking operation.
Does not affect tact time.

Further, since there are no complicated movable mechanical parts, adjustment is simple and reliability is high.

Further, since the determination can be made only by slightly lifting from the sucked state, for example, when the second plate material adhered by oil falls, even if the second plate material is small and light, The end face of the plate material does not deviate from the aligned end face of the third or less stacked plate material,
Even if it is relatively heavy, it will not damage the parts at all.

Further, when two (or three or more) sheets are picked up, a re-execution operation can be performed immediately. For example, when it is found later that two sheets have been picked up, There is no need for a line stop or for the operator to return the plate to position.

Further, according to the present invention, there is provided an image pickup means for picking up an image of an area of a boundary line between a first sheet and a second sheet during lifting, and whether or not the boundary line remains in the picked-up image without being separated. And a control unit for stopping and re-executing the lifting operation when the image processing unit detects the boundary line, so that the boundary image is separated into an image captured by the imaging unit. The image processing means detects whether or not the line remains without being separated, and when the boundary line is detected, the control means re-executes the lifting operation. When the boundary line is not detected, the tact time is completely affected. In addition, since the detection operation is performed in a non-contact manner, maintenance-free operation such as adjustment and component replacement can be realized, and further, there is an effect that re-execution at the time of boundary line detection can be easily performed. Further, an effect as follows.

That is, since the thickness of the plate is not detected and it is not determined whether or not the detected value is the thickness of one sheet, an appropriate code is set according to the thickness of the target plate. There is no need for the operator to specify sheet thickness data such as

Further, when the plate material is attracted and rises to a certain height, the lever does not pinch the plate material to perform the detection operation.
Does not affect tact time.

Further, since there are no complicated movable mechanism parts, the adjustment is simple and the reliability is high.

Further, since the determination can be made only by slightly lifting from the sucked state, for example, when the second plate material adhered by oil falls, even if the second The end face of the plate material does not deviate from the aligned end face of the third or less stacked plate material,
Even if it is relatively heavy, it will not damage the parts at all.

Further, when two (or three or more) sheets are picked up, the re-execution operation can be performed immediately. For example, when it is found later that two sheets have been picked up, There is no need for a line stop or for the operator to return the plate to position.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram illustrating an embodiment of a single sheet material removing apparatus.

FIG. 2 is a block diagram of a control device.

FIG. 3 is a flowchart showing the operation of the apparatus shown in FIGS. 1 and 2;

FIG. 4 is a flowchart showing the operation of the apparatus shown in FIGS. 1 and 2;

FIG. 5 is a schematic explanatory view showing an example of a conventional detector for a single-sheet pick-up device.

[Explanation of symbols]

 Reference Signs List 1 apparatus main body 3 air cylinder 5 support frame 7 suction pad 9 suction valve 11 positioning motor 21 controller 23 CCD camera 31 image processing unit 33 CPU (central processing unit) 35 ROM / RAM (storage device) 37 I / O (input) Output device) 39 Image data file 41 Image processing unit 43 Converted image data file 45 Boundary line determination unit 51 Control unit 53 CPU (central processing unit) 55 ROM / RAM (storage device) 57 I / O (input / output device) 59 Positioning Control unit 61 Elevation control unit 63 Suction control unit 65 Image control unit 67 Re-execution control unit 69 Counter 71 Display control unit 73 Display 81 Detector 83a Detection lever 83b Detection lever 85 Encoder

Claims (13)

[Claims] 1. A method for picking up a sheet material in which a top sheet of a plurality of stacked sheet materials is suction-absorbed and separated from a second sheet material by a lifting operation. Capturing an area of a boundary line that is separated from the second image and a second sheet; detecting, when the boundary line remains in the captured image without being separated, detecting it as an error; A step of stopping the lifting operation and re-executing the lifting operation when the determination is made, characterized by comprising: 2. A method for picking up a sheet material in which a top sheet of a plurality of stacked sheet materials is suction-absorbed and separated from a second sheet material by a lifting operation. Imaging a region of a boundary line to be separated from the second image, and detecting whether or not the boundary line remains without being separated in the captured image, and determining normal separation when the boundary line is not detected. A method of determining a single sheet material, comprising: a step of determining an abnormality when a boundary line is detected, and a step of stopping and restarting the lifting operation when the abnormality is determined. 3. The method according to claim 1, wherein in the imaging step, an image is taken at a timing when the first sheet material is lifted slightly and substantially. . 4. The method according to claim 2, wherein the determining step detects the presence or absence of a boundary line by image processing using a phase-only correlation method. 5. The re-execution step, wherein the operation of lowering the first sheet material and lifting it again is performed continuously for a predetermined number of times until the first sheet is separated. 3. The method according to claim 1 or 2, wherein the sheet material is taken as one sheet. 6. A one-sheet picking apparatus for a plate material which is lifted by a suspending means and separated from a second sheet material in a state where the uppermost one of a plurality of stacked plate materials is sucked on the upper surface by a suction means. An image pickup means for picking up an area of a boundary line where the first and second sheets are separated during lifting, and an image processing means for detecting whether or not the boundary line remains in the picked-up image without being separated And a control means for suspending and re-executing the lifting operation when the image processing means detects a boundary line. 7. The apparatus according to claim 6, wherein the imaging means is positioned so as to move integrally with the suction means in accordance with the operation of the suspension means. 8. The image pickup device according to claim 6, wherein the image pickup means picks up an image of the first plate material sucked on the upper surface by the suction means at a timing slightly and substantially suspended by the suspension means. A single sheet material picking device. 9. The apparatus according to claim 6, wherein said imaging means is a CCD camera. 10. The plate material according to claim 6, wherein the image processing means detects the presence or absence of a boundary by performing image processing on the captured image using a phase-only correlation method.
Sheet taking device. 11. The control unit generates a command signal for causing the imaging unit to execute an imaging operation via the image processing unit in synchronization with the start of the lifting operation by the suspension unit. An apparatus for removing one piece of plate material according to claim 6. 12. The plate material according to claim 6, wherein said control means generates a command signal for causing said image processing means to execute a detecting operation in conjunction with the start of the lifting operation by said suspending means. Single sheet picking device. 13. The control unit according to claim 1, wherein the operation of lowering and lifting the first sheet material once again is repeated a predetermined number of times until the first sheet is separated. Item 7. A one-sheet picking apparatus for a plate material according to Item 6.