JP2010188459A - Production system using part kit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve reliability of formation of a part kit composed of parts required for production. <P>SOLUTION: A production system has a parts storage section for housing a plurality of parts and a robot taking out and collecting a plurality of parts required for production of products from the parts storage section to form a part kit. The production system is provided with: storage means of storing part reference images 51 which are images of respective types of parts photographed in advance and part kit components information 52 which are information of parts to be included in the part kit for respective products; photographing means 6 of photographing the part kit actually formed by the robot; part identification means 42a of comparing the images of the part kit photographed by the photographing means with the part reference images 51 and identifying the types and number of parts actually included in the part kit; and check means 43 of comparing the types and number of parts identified by the part identification means with the part kit components information 52 and checking that required parts are included in the part kit in just proportion. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a production system for producing a product by taking out a plurality of parts required for a product from a part storage unit to form a part kit, and assembling parts contained in the part kit.

  A product such as an electronic device is generally produced by finally assembling a plurality of parts. In the assembly of such products, when a single product is produced in large quantities, a line production system in which work places are separated for each assembly work process is efficient.

  On the other hand, with the recent diversification of market demands, a “multi-mixed mixed cell production system” that assembles various products at a single production site is spreading. In such a production system, it is generally efficient to form a parts kit that collects a set of parts necessary for assembling a product on a parts tray and supply it to workers and robots that perform assembly work. It is used.

  Conventionally, there are many examples in which a part kit is formed by a human. That is, a person collects a set of parts necessary for assembly for each product from a parts storage section such as a parts shelf in which multiple types of parts are stored, and whether there is an error in the type of parts contained in the collected parts kit. After confirming whether the quantity is sufficient or not, it is supplied to workers and robots who perform assembly work.

  There is also an example in which the formation and supply of a component kit is automated by a robot. In this case, there is a method in which the parts are aligned in the parts storage unit and the robot takes them out. In addition, parts are not aligned in the part storage unit, so-called "separate stacking" is performed, and the position and orientation of the part are recognized by image processing using a CCD camera, etc., and the robot operates according to the recognized position and orientation. In some cases, a method of taking out parts is adopted. When taking out parts in bulk, it is generally more time-consuming to form a parts kit with a robot than with a skilled person, but the robot must be operated for 24 hours. It is possible to demonstrate a high work ability. In any case, the production cost can be reduced by using the robot.

  On the other hand, in an assembling operation by a human using the supplied component kit, an operator who performs the assembling operation takes out necessary components from the component kit for each assembling operation process and proceeds with the assembling operation. At this time, it is not possible to completely eliminate mistakes in parts to be used, and errors are likely to occur particularly when many similar parts are used, as is often the case in assembling electronic parts. If there is a mistake in assembly, it may be noticed after the assembly work has been carried out up to the previous work process without recognizing it, and the assembly work may be performed retroactively. For this reason, an assembly error may cause a significant reduction in productivity. Also, even in the case of a production system in which assembly work is performed by a robot, errors such as the robot proceeding to the next work process without performing proper assembly work due to failure to remove parts from the part kit may occur. Can be considered. For this reason, in order to improve the reliability of assembly, it is important to check whether correct parts are used at key points in the work process.

  As methods for inspecting that the assembly work is accurately performed at the key points of the assembly work as described above, methods using image processing are proposed in Patent Documents 1 and 2. In these methods, an image of a product or semi-finished product is taken after the parts are attached, and the attachment is accurately performed based on the coincidence rate between the picked-up image and the captured image when the parts are correctly attached. Judging whether or not.

JP 2005-147974 A JP 2008-170331 A

  When human beings form and supply parts kits, it is impossible to eliminate mistakes in collecting parts and visual inspection of the collected parts. Even when a robot is used to form and supply a component kit, it is difficult to completely eliminate mistakes such as failure to grasp the component. Therefore, in order to improve productivity and product reliability, it is desired to improve the reliability of formation and supply of component kits.

  Further, as described above, in Patent Documents 1 and 2, it is inspected that the assembling work is accurately performed based on the image of the assembled product at the key of the assembling work. In this case, when the product is imaged from a certain direction, for example, it is difficult to confirm a part attached to a position opposite to the imaged side of the product or a position covered by another part. Therefore, it is difficult to accurately determine the parts attached to the product.

  Accordingly, an object of the present invention is to provide a production system capable of improving the reliability of forming a component kit in which components necessary for production are collected in order to solve the above problems. Another object of the present invention is to provide a production system capable of easily and surely confirming that a correct part is used in an operation process of assembling from a part kit.

  In order to achieve the above-mentioned object, the production system of the present invention forms a component kit by collecting and collecting a component storage unit storing a plurality of components and a plurality of components necessary for producing a product from the component storage unit. In a production system in which a robot is arranged, a component reference image that is an image of each type of component imaged in advance, and a component kit component information that is information on a component to be included in a component kit for each product Storage means, first imaging means for imaging a part kit actually formed by the robot, an image of the component kit imaged by the first imaging means, and a component reference image stored in the storage means First component specifying means for extracting the partial image corresponding to the component reference image in the image of the component kit and identifying the type and number of components actually included in the component kit The type and number of the parts specified by the first part specifying means are compared with the parts kit component information stored in the storage means, and it is confirmed that the necessary parts are included in the parts kit without excess or deficiency. And a first confirmation means for confirming.

  According to this configuration, it is possible to confirm that the component kit is accurately formed by the first confirmation means. Accordingly, it is possible to confirm with higher accuracy than confirmation of a parts kit by human eyes.

  The first imaging means is preferably mounted on a robot. As a result, it is possible to shoot with the parts kit arranged at various positions and to check whether or not the parts are accurately collected, thereby increasing the flexibility of the production system.

  In the production system of the present invention, an assembly work unit in which a part kit that has been confirmed by the first confirmation means that there is no excess or shortage of parts is supplied by a robot and an assembly operation of the parts included in the part kit is performed. Is further provided, and the storage means stores assembly order information, which is information on the parts to be used in each assembly work process of the parts included in the parts kit, and is included in the parts kit arranged in the assembly work section. A second imaging unit for imaging a component to be imaged, a component kit image captured by the second imaging unit and a component reference image stored in the storage unit, and comparing the component reference in the image of the component kit A second part specifying means for extracting a partial image corresponding to the image and specifying the type and number of parts actually included in the part kit, and used in the assembly work process at the start of the assembly work process; The type and number of parts specified by the second part specifying means based on the image of the part kit picked up by the second image pickup means after the parts are picked up, and the parts used in the assembly work process are picked up. Comparing the type and number of parts included in the previous part kit, the difference specifying means for specifying the parts used in the assembly work process, and the parts specified by the difference specifying means are stored in the storage means. It is also possible to further comprise a second confirming means for confirming that the parts are to be used in the assembly work process in the assembly order information. According to this, it is possible to quickly confirm that the parts used in the assembling work process are correct, and to avoid using the wrong parts and performing the assembling work retroactively. At this time, in the present invention, the component is specified based on an image captured in a state where the components are not assembled. For this reason, the part is not hidden behind other parts as in the case of imaging the assembled product or the semi-finished product, and the part can be easily determined and the reliability of the determination can be improved.

  First imaging means for imaging the component kit to confirm that the components are accurately collected at the time of forming the component kit, and first imaging the component kit to identify the component used in the assembly operation process As the second imaging means, the same imaging means can be used. Thereby, the number of necessary image pickup means can be reduced and the equipment cost can be reduced.

  According to the present invention, it is possible to confirm that the component kit is accurately formed by the first confirmation means, thereby improving the reliability of the formation of the component kit in which components necessary for production are collected. be able to. Further, if the second confirmation means is provided, it is possible to easily and surely confirm that the correct component is used in the work process of assembling from the component kit.

It is a block diagram of the production process management system in the production system of one embodiment of the present invention. It is a perspective view for demonstrating the component kit formation part of the production system to which the production process management system of FIG. 1 is attached. It is a perspective view which shows the taking-out method of the components by the robot from the component storage part in the component kit formation part of FIG. It is a figure which shows another taking-out method of components at the time of using a double arm type | mold vertical articulated robot. It is a figure which shows the detail of an example component kit. It is a figure which shows the example of the components reference | standard image of the component of a component kit, and the captured image of a component kit. It is a perspective view for demonstrating the assembly operation part of the production system to which the production process management system of FIG. 1 is attached. FIG. 8 is a perspective view illustrating a state in which a component kit is supplied to the assembly work unit of FIG. 7. It is a figure which shows the picked-up image of the component kit in an assembly operation part. FIG. 10 is a diagram showing a modification in which an imaging unit is mounted on a robot in the component kit forming unit of FIG. 2. FIG. 8 is a diagram showing a modification in which an imaging unit is mounted on a robot in the component kit forming unit of FIG. 2 and the assembly work unit of FIG.

  Embodiments of the present invention will be described below with reference to the drawings. The present embodiment relates to a production system in which a part kit is formed by collecting a plurality of parts, and parts included in the part kit are assembled by an assembly work unit to manufacture a predetermined product.

  FIG. 1 shows a characteristic component in the present invention for confirming whether or not a component kit is correctly formed in the production system of this embodiment and whether or not an appropriate component is used for assembly. FIG. As shown in FIG. 1, such a component communicates with a robot controller or the like that controls equipment such as a robot included in a production system as needed, and performs overall control to control the entire production. It can be incorporated into the production process management system 40 to be monitored. Alternatively, such a configuration unit may be incorporated in the robot control device, thereby simplifying the configuration of the production system when there is no higher-level control device such as a production process management system. can do.

  FIG. 2 is a perspective view showing a component kit forming part for forming the component kit 5 of the production system according to the embodiment of the present invention. As shown in the figure, the production system is provided with a component storage unit 1 for storing a large number of components. In other words, at least one component container 3 storing a plurality of components 2 of the same type is arranged in the component storage unit 1 for each type of at least two types of components 2. In the example shown in the figure, the component storage unit 1 is configured as a plurality of stages of shelves, and each of the stages stores component containers 3 for several types of components 2.

  In front of the component storage unit 1, a robot 4 is arranged for taking out the component 2 from the component storage unit 1 to form a component kit 5 and supplying it to an assembly work unit described later. In the figure, a single-arm vertical articulated robot is shown as the robot 4. However, the robot 4 may be a double-armed vertical multi-joint type, horizontal multi-joint type, parallel link type, or the like. It may be a form having a moving mechanism of the type.

  Within the movable range of the robot 4, a support base 9a for placing the component kit 5 being formed is disposed. Note that the support base 9a may be omitted, and the component kit 5 being formed may be disposed in a predetermined region on the floor surface.

  The component kit 5 is a component tray 11 on which a plurality of components 2 taken out from the component storage unit 1 are placed. The component kit 5 is completed when all the components 2 necessary for a predetermined product are placed on the component tray 11. In the production system of the present embodiment, a component kit 5 may be formed for a plurality of products, and therefore the types and number of the components 2 included are different from each other. Only one such component kit 5 is shown.

  An imaging unit (first imaging unit) 6 is supported around the support table 9a by a support member 9b at a position where the component kit 5 arranged on the support table 9a can be imaged from above. As the image pickup means 6, any device that can pick up an image of an object can be used. For example, a CCD camera can be preferably used.

  Next, the process of forming the component kit 5 will be described. First, the component tray 11 is prepared on the support base 9a. As will be described later, the robot 4 supplies a component kit 5 including the component tray 11 to the assembly work unit, where the components on the component tray 11 are used for assembly by an operator or an assembly robot. Therefore, for example, the component tray 11 can be prepared by returning the component tray 11 that has been emptied after being assembled onto the support base 9a by the robot 4. Alternatively, the component tray 11 may be prepared by a conveyor belt system different from the robot 4. Further, instead of the component tray 11, a predetermined component 2 such as a product housing is first taken out from the component storage unit 1, or is conveyed by a conveyor belt or the like and prepared on the support base 9a. Other parts 2 may be placed.

  Next, an operation command is output to the robot controller so as to take out the component 2 necessary for the component kit 5 from the component storage unit 1. For this purpose, the production process management system 40 stores in advance the component kit component information 52, which is information of the component 2 necessary for the component kit 5 corresponding to each product, in the storage means 41, and this component kit configuration. A command can be output based on the component information 52.

  For example, as shown in FIG. 3, each component container 3 is configured to be able to slide out from the shelf of the component storage unit 1. As a result, the robot 4 can pull out the component container 3 for the component 2 to be extracted, and can grasp and extract the component 2 from above the component container 3. Alternatively, as shown in FIG. 4, the robot 4 is configured as a double-armed vertical articulated robot having two arms 4a and 4b, and the component container 3 is pulled out by one arm 4a and the other arm 4b. Then, the part 2 may be taken out from the part container 3.

  The parts 2 can be arranged so as to be arranged at predetermined positions in the parts container 3, whereby the robot 2 can easily take out the parts 2 by performing a predetermined operation. . Alternatively, the parts 2 may be randomly arranged in the parts container 3, that is, so-called “separated”. In this case, the position and orientation of the component 2 are recognized by image processing of the captured image by the imaging means attached to the robot 4 or its periphery, and the robot 4 is operated according to the recognized position and orientation to perform the component 2. Can be taken out.

  Next, the robot 4 places the removed component 2 on the component tray 11. The position where the component 2 on the component tray 11 is placed can be set in advance for each component 2 of the component kit 5, for example, and the robot 4 can be operated based on the setting information. Alternatively, each component 2 may be arranged at an appropriate position based on image processing using an imaging unit.

  In this way, the component kit 5 is completed by repeating the operation of taking the component 2 from the component storage unit 1 and placing it on the component tray 11. FIG. 5 shows an example of the component kit 5 completed in this way. In the example shown in FIG. 5, the component kit 5 has three types of components 2 a, 2 b, and 2 c placed on the component tray 11. It has become a thing.

  When the component kit 5 is completed in this way, the component kit 5 is next imaged by the imaging unit 6 and is included in the component kit 5 by the component identification unit (first component identification unit) 42a based on the captured image. The component 2 is identified. For this purpose, the component reference image 51 for each component 2 is stored in the storage unit 41 in advance. For example, as shown in FIG. 6A, the component reference image 51 may be a contour image of each component 2 viewed from directly above (in FIG. 6A, the components 2a, 2b, and 2c Corresponding reference part images 51a, 51b, 51c are shown). The component reference image 51 may be acquired by placing each component 2 on the component tray 11 and picking up the image by the image pickup means 6, or picking up and acquiring the image by another image pickup means, or based on the design information. May be produced.

  Next, image parts 8a, 8b, which coincide with the reference part image 51 corresponding to each part 2 in the captured image of the component kit 5 by the imaging unit 6 as shown in FIG. By extracting 8c, the component 2 included in the component kit 5 is specified. When the component 2 is specified, a reliable determination can be made by using the degree of matching between the reference component image 51 and the contour shape of the captured image portion corresponding to the reference component image 51 as an index. When the similarity of the shape is high, the determination may be made not only by the contour shape but also by including the characteristic shape portion and color in the component 2. Further, the image may be taken from an oblique direction rather than directly above, so that the shape of the side surface of each component 2 can be used for discrimination.

  At this time, in the example shown in FIG. 6A, as the reference component images 51a, 51b, 51c, images obtained by viewing the components 2a, 2b, 2c from one side are used. Accordingly, when each component 2 is placed on the component tray 11 by the robot 4 in order to appropriately perform the determination by the component specifying means 42a, it corresponds to the image registered as the reference component image 51 when viewed from above. A predetermined posture is obtained so that an image to be obtained is obtained. Alternatively, for each component 2, reference component images in a plurality of postures that are stable while being placed on the component tray 11 are registered, and each component 2 is placed on the component tray 11 in any posture. Each component 2 may be specified even when the device is in the middle or when it falls down during conveyance.

  Next, the confirmation means (first confirmation means) 43 confirms whether or not the type and number of the parts 2 identified by the part identification means 42a match the component kit component information 52 stored in the storage means 41. judge. Thereby, it can be determined whether or not the component kit 5 is accurately formed. In the example shown in FIG. 6, the component reference images 51 a, 51 b corresponding to the components 2 a, 2 b, 2 c designated as constituting the component kit 5 are the image portions 8 a, 8 b, 8 c in the captured image by the imaging means 6. , 51c, it is determined that the component kit 5 is accurately formed.

  If it is determined that the component kit 5 is not accurately formed, the robot 4 may replace or replenish the component 2 and / or issue an alarm. By issuing an alarm, the worker can redo the formation of the parts kit 5 as appropriate. Furthermore, the parts storage part 1 is short of the parts 2 or the parts container 3 contains parts 2 that do not correspond to them. You can also check if there are any inconveniences in the production system.

  As described above, finally, the component kit 5 in which the components 2 are reliably and accurately collected is formed, and then the component kit 5 is supplied to the assembly working unit. FIG. 7 is a perspective view schematically showing an example of the assembly work unit. In the figure, a part of the configuration of the component kit forming portion such as the support base 9a for forming the component kit 5 is not shown.

  In the example shown in FIG. 7, the assembly work table 13 is disposed within the movable range of the robot 4, and the operator 12 performs the assembly work of the components 2 included in the component kit 5 on the assembly work table 13. ing. An imaging unit (second imaging unit) 15 is attached to the assembly work table 13 via the support member 14 so that the assembly work table 13 can be imaged. The imaging unit 15 may be a CCD camera, for example, as with the imaging unit 6. The assembly work table 13 may be omitted, and the assembly work may be performed in a predetermined area on the floor surface.

  The robot 4 grips and carries the completed component kit 5 on the support base 9 a and places it on a predetermined position set in the imaging range by the imaging means 15 on the assembly work table 13. When the component kit 5 is thus placed on the assembly work table 13, the component kit 5 is imaged by the imaging means 15. In the same manner as described above, the component 2 included in the initial component kit 5 is specified by the component specifying means (second component specifying means) 42 b by comparison with the component reference image 51. That is, in the present embodiment, the image shown in FIG. 9A is captured by the imaging means 15 in the initial stage before the assembly work, and the partial images 16a, 16b, and 16c in this image are the components 2a, 2b, and 2c. Therefore, these parts 2a, 2b, and 2c are specified as being included in the initial part kit 5 because they correspond to the part reference images 51a, 51b, and 51c (see FIG. 6A).

  Next, the worker 12 takes out the necessary parts 2 for each assembly work process from the parts kit 5 and performs product assembly work. At this time, the imaging of the component kit 5 is performed by the imaging unit 15 every time each assembly operation process is performed. FIG. 9B shows an example of a captured image after the start of the first assembly work process. From this image, it is determined by the component specifying means 42b that the partial images 17b and 17c match the component reference images 51b and 51c, so that the components 2b and 2c are left in the component kit 5. Identified as being.

  Next, the difference between the parts 2a, 2b, and 2c included in the parts kit 5 at an initial stage and the parts 2b and 2c included in the parts kit 5 after the start of the first assembly work process is the part 2a. Is specified by the difference specifying means 44. Thus, the part 2a specified by the difference specifying means 44 can be determined to have been used in the first assembly work process.

  Next, the confirmation means (second confirmation means) 45 determines whether or not the part 2 identified as being used in the first assembly work process is a part to be used in the first assembly work process. Is done. For this purpose, in the storage means 41, information on the parts 2 to be used in each assembly work process is stored in advance as assembly order information 53, and the confirmation means 45 refers to it.

  Then, after the next assembly operation process, the remaining parts 2 of the component kit 5 are identified again, and the used parts 2 are compared by comparison with the remaining parts 2 of the component kit 5 identified after the previous assembly operation process. Is identified. In this way, it is possible to determine whether or not the used part 2 is correct for each assembly work process.

  In order to check the parts 2 used for each assembly work process, for example, the worker 12 operates a predetermined switch or the like every time the assembly work process is executed, and such an operation is performed. Sometimes you can check. Alternatively, the component kit 5 may be imaged constantly or at predetermined time intervals by the imaging unit 15, and the component 2 remaining in the component kit 5 may be confirmed when a change occurs in the captured image.

  At this time, regarding the components of the initial component kit 5, in the above description, the information specified by the component specifying unit 42 b based on the image captured by the imaging unit 15 when the component kit 5 is placed on the work table 13. It was described as being used. However, the components of the initial component kit 5 are specified based on the component kit component information 52 stored in advance in the storage unit 41, and the initial component kit 5 imaging and the specific processing of the components 2 included therein are performed. It may be omitted.

  When it is determined that the part 2 is not correct in each assembling process, an alarm can be issued to prompt the user to correct the assembling work, so that the operator 12 can start the work immediately. it can. As a result, it is possible to prevent mistakes from recognizing a mistake after further proceeding with the assembly work process, and to prevent the assembly work from being retroactively, thereby suppressing a decrease in productivity.

  At this time, in this embodiment, the component 2 is specified based on an image captured in a state where each component 2 is placed on the component tray 11. Therefore, the part 2 is not hidden behind other parts 2 as in the case of imaging an assembled semi-finished product. As a result, the part 2 can be easily determined and the reliability of the determination can be improved. be able to.

  The above-described embodiments are examples of the present invention, and various modifications are possible within the scope of the present invention defined in the claims. For example, the assembly work may be performed by a robot for assembly work different from the robot 4 instead of the worker 12. In this case, if it is determined by the confirmation means 45 that there is an error in the used part 2, the assembly robot may perform the assembly operation again. Adjustments such as redoing assembly work may be made.

  The confirmation of the component 2 remaining in the component kit 5 does not necessarily have to be performed for every assembly operation process, and may be performed only during a predetermined assembly operation process. For example, the confirmation may be performed at the time of an assembly work process using parts that are likely to be mistaken, or when the assembly work process is half completed.

  As shown in FIG. 10, the imaging of the component kit 5 at the component kit forming unit may be performed by the imaging unit 7 attached to the wrist 10 of the robot 4. Thereby, even if the component kit 5 is arranged at various positions during formation, the robot 4 can arrange the imaging means 7 above the component kit 5 to appropriately image the component kit 5, and the production system Increased flexibility. As a result, the work efficiency can be improved by arranging the parts kit 5 at a position convenient for collecting the parts 2. In addition, when a dual-arm robot 4 as shown in FIG. 4 is used, imaging is performed by an imaging means attached to the other arm 4b while the component kit 5 is held at an arbitrary position by one arm 4a. It can be carried out. As a result, imaging of the component kit 5 can be performed at an arbitrary position, and the components included in the component kit 5 can be confirmed while avoiding the necessity of moving the component kit 5 for imaging. It is possible to shorten the required time and improve the working efficiency. In addition, it is also possible to form a component kit 5 for each product at different positions, and use a common imaging means 7 for the component kit 5 for each product. It becomes.

  Further, as shown in FIG. 11B, the imaging means 30 attached to the robot 4 may also be used for imaging the component kit 5 in the assembly work unit. Furthermore, as shown in FIG. 11A, a common imaging means 30 attached to the robot 4 may be used for imaging at the component kit forming unit and for imaging at the assembly work unit. Thereby, it is not necessary to provide a plurality of imaging means, and the cost of the equipment can be reduced.

  As shown in FIG. 11, when the imaging unit 30 is attached to the robot 4, the robot 2 uses the captured image of the imaging unit 30 to remove the component 2 necessary for the next assembly work process from the component tray 11. The operator 12 may be shown which part 2 is necessary for the next assembly work process by taking it out and placing it sideways. As a result, it is possible to prevent the operator 12 from using the wrong part, and to reduce the burden of the operator 12 on taking out the part and to concentrate on the assembly work. It is done.

  In the above-described embodiment, the configuration in which the formation of the component kit 5 and the assembly operation of the components included in the component kit 5 are performed at different locations has been described. However, the component kit 5 is formed by the assembly operation unit. It may be. That is, for example, each component 2 taken out from the component storage unit 1 by the robot 4 may be placed on the component tray 11 placed on the assembly work table 13 in FIG. Also in this case, the common imaging means 15 can be used for the confirmation at the time of forming the component kit 5 and the confirmation of the used parts at the time of assembly work, and the equipment cost can be reduced.

  In the above-described embodiment, the example in which the single robot 4 performs the formation of the component kit 5 and the supply of the formed component kit 5 to the assembly work unit has been described. However, the supply of the component kit 5 to the assembly working unit may be performed using another robot or another mechanism such as a conveyor belt.

DESCRIPTION OF SYMBOLS 1 Parts storage part 4 Robot 6, 7, 15, 30 Imaging means 40 Production process management system

Claims (4)

In a production system in which a component storage unit in which a plurality of components are stored, and a robot that takes out and collects a plurality of components necessary to produce each product from the component storage unit to form a component kit,
Storage means for storing a component reference image that is an image of each type of component imaged in advance and a component kit component information that is information of a component to be included in the component kit for each product;
First imaging means for imaging a component kit actually formed by the robot;
The image of the component kit captured by the first imaging unit is compared with the component reference image stored in the storage unit, and a partial image corresponding to the component reference image is extracted from the image of the component kit A first component specifying means for specifying the type and number of components actually included in the component kit;
The type and number of parts specified by the first part specifying means are compared with the part kit component information stored in the storage means, and the necessary parts are included in the parts kit without excess or deficiency. A first confirmation means for confirming that
Production system with.   The production system according to claim 1, wherein the first imaging unit is mounted on the robot. The assembly kit is further provided with the assembly kit in which the assembly kit in which the component kit that has been confirmed by the first confirmation means to be confirmed that there is no excess or deficiency of the component is supplied by the robot,
The storage means stores assembly order information, which is information on parts to be used in each assembly work process of the parts included in the parts kit,
A second imaging means for imaging a component included in the component kit disposed in the assembly work unit;
The image of the component kit captured by the second imaging unit is compared with the component reference image stored in the storage unit, and a partial image corresponding to the component reference image is extracted from the image of the component kit A second component specifying means for specifying the type and number of components actually included in the component kit;
The component specified by the second component specifying unit based on the image of the component kit imaged by the second imaging unit after the component used in the assembly operation step is taken out at the start of the assembly operation step The difference specification that identifies the part used in the assembly work process by comparing the type and number of parts with the type and number of parts contained in the part kit before the part used in the assembly work process is taken out Means,
Second confirmation means for confirming that the part identified by the difference identification means matches the part to be used in the assembly operation step in the assembly order information stored in the storage means;
The production system according to claim 1, further comprising:   The production system according to claim 3, wherein the same imaging unit is used as the first imaging unit and the second imaging unit.

Images