JP2012041139A - Stacked component feeder, stacked component feeding system and stacked component picking system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a stacked component feeder which can easily and reliably change the stacked state of components even if many components are stocked by stacking in the component feeder.SOLUTION: The stacked component feeder has a top-opened storage container body, a container bottom which moves in up-and-down directions with respect to the storage container body, a bottom moving means for moving the container bottom to a specified position, and a first bottom position control means for allowing the container bottom to perform a specified action to collapse the component stacked state by inputting a first signal that requests to change the stacked state of components, which is inputted from a three-dimensional posture recognition device that recognizes positions and attitudes of the plurality of stacked components.

Description

  The present invention relates to a piled part picking system that picks up piled parts by a robot, and a piled part supply system or a piled part supply apparatus that supplies parts in a piled state used in the piled part picking system.

  2. Description of the Related Art Conventionally, a picking system that picks up parts randomly stacked in a part container with a robot is known. FIG. 10 shows a configuration diagram of a component picking system in which components stacked in a conventional component container are picked by a robot.

  The component picking system includes a component storage container 910 that stores components 901 in a stacked state, a robot 920, a robot control device 930, a three-dimensional measuring device 940, and a three-dimensional posture recognition device 950.

  First, the component picking system acquires three-dimensional information of a plurality of components 901 placed on the component container 910 in a random manner using the three-dimensional measuring device 940 and outputs the three-dimensional information to the three-dimensional posture recognition device 950. Next, the three-dimensional posture recognition device 950 recognizes the position and posture of the component 901 from the input three-dimensional information, and outputs the position and posture of one component 901 to the robot control device 930. Further, the robot control device 930 performs the picking operation based on the input position and orientation of the one component 901, the predetermined transport destination position and orientation of the component 901, and the constraint conditions for the predetermined route generation. A path of the robot is generated and one part 901 is taken out from the part container 910 by controlling the robot 920.

Patent Document 1 is known as a component supply device for a picking system using a conventional robot.
In Patent Document 1, as shown in FIG. 11, the workpiece supply device 960 includes a container body 961 that is open upward, an inclined member 962, and a vibration device 963. The plurality of workpieces 901 are accommodated in a workpiece supply device 960 in a stacked manner. The container main body 961 and the inclined member 962 are spaced from a predetermined workpiece take-out area and handwork area, and the workpieces 901 stacked by the inclined member 962 are moved to the work take-out area. When picking the workpiece 901, its posture and operation can be controlled without considering other than the workpiece (container main body 961 and inclined member 962), and the workpiece can be taken out without interfering with other than the workpiece (container main body 961 and inclined member 962). The workpiece 901 can be taken out from the area. In addition, by providing the vibration exciter 963 that applies vibration to the inclined member 962, the workpieces 901 that are stacked in a low power consumption can be smoothly moved to the workpiece extraction area.

JP 2010-5722 A

  Even in the parts supply device described in Patent Document 1, when the position / posture of the parts placed in the parts supply apparatus could not be recognized, or when no parts were found at a position where the robot could take out In this case, the piled state of the parts 901 can be changed by the vibration device 963. However, in a state where a large number of components 901 are put in the component supply device 960, the components 901 do not sufficiently vibrate due to vibrations by the vibration device 963, and the piled state may not be changed greatly. In such a case, there is a problem that the picking operation by the robot 920 stops because the part 901 to be taken out cannot be specified.

  On the other hand, if the number of components 901 stocked in the component supply device 960 is reduced so that the piled state of the components 901 can be changed, the number of times the component 901 is supplied to the component supply device 960 increases. Of course, since the part 901 cannot be picked while the part is being supplied, the picking operation by the robot stops every time the part 901 is supplied to the part supply device 960.

  Further, it is conceivable that the piled parts in the parts supply device are stirred by the robot itself or a rod to change the piled state, but there is a problem that the parts 901 may be damaged by these methods.

  Then, in view of the said subject, this invention is providing the pile component supply apparatus, pile component supply system, and pile component picking system which can change the pile state of components easily.

  In order to solve the above-described problems, a component supply device according to the present invention is a component supply device that stores a plurality of stacked components, the storage container body having an upper opening, and a vertical direction with respect to the storage container body. Stacked state of components input from a container bottom portion movable in a direction, a bottom moving means for causing the container bottom portion to perform a predetermined operation, and a three-dimensional posture recognition device for recognizing positions and postures of the plurality of stacked components A first bottom position control means for controlling the bottom moving means and causing the container bottom to perform a predetermined operation of breaking up the piled state of the parts in response to the input of a first signal requesting the change of Features.

  Furthermore, the component supply device according to the present invention is configured to receive the second signal input from the component state notification means for notifying the piled state of components in the predetermined vertical direction region of the container body in the vertical direction region. A second bottom position control means for controlling the bottom moving means so as to move the bottom of the container so that the uppermost part of the stack is present is provided.

  In addition, the component storage system according to the present invention includes the component supply device and a three-dimensional measuring instrument that is provided with a measurement unit above the opening of the storage container body and acquires three-dimensional information of the plurality of stacked components. And a three-dimensional posture recognition device that recognizes the position / posture of one component from the three-dimensional information of the plurality of stacked components, and the three-dimensional posture recognition device When the posture cannot be recognized, the first signal is output to the component supply device.

  Still further, the component picking system according to the present invention controls the robot based on the component housing system, the robot for picking the component, and the position / posture of the one component received from the three-dimensional posture recognition device. A check function for checking whether the position / posture of the one component can be picked by the robot in which the position / posture of the one part is stored in advance. When there is no one part that can be picked by the robot, the first signal is output to the part supply device.

  According to the present invention, even if a large number of parts are stocked in a piled state in the parts supply device, the piled state of the parts can be reliably changed.

Schematic configuration diagram of piled parts picking system Block diagram showing the connection relationship of the piled parts picking system The figure which illustrated the predetermined field which can be measured with three-dimensional measuring instrument 40 The figure which illustrated the predetermined field where the uppermost layer of pile components should be located Schematic diagram of the upper part of the component supply unit Flow chart of the piled parts picking system The figure showing the state of the components supply apparatus 10 after lowering the container bottom 12 The figure showing the state of the parts supply device 10 after the parts are put in The figure which showed the state which raised the container bottom part 12 and destroyed the pile components 1 Configuration diagram of conventional parts picking system Diagram of workpiece supply apparatus described in Patent Document 1

  As an embodiment according to the present invention, a stacked component picking system will be described with reference to the drawings. In addition, the pile component supply apparatus and pile component supply system which concern on this invention are a part of pile component picking system.

  FIG. 1 is a schematic configuration diagram of a stacked component picking system. FIG. 2 is a block diagram showing the connection relationship of the piled component picking system. The stacked component picking system includes a component supply device 10, a robot 20, a robot control device 30, a three-dimensional measuring device 40, and a three-dimensional posture recognition device 50. In addition, the some components 1 are accommodated in the component supply apparatus 10 in the piled-up state.

  The robot 20 is a vertical articulated robot provided with picking means for picking the component 1. Usually, the robot 20 is a robot having six degrees of freedom, but is not limited to this. Since it is sufficient that the piled parts 1 have a degree of freedom to be picked, a robot having more degrees of freedom may be used, and the invention is not limited to a vertical articulated robot. Since the robot itself is not the main part of the present invention, further explanation is omitted.

  The robot control device 30 is connected to the robot 20 and the three-dimensional posture recognition device 50. The robot control device 30 receives the position and orientation of the selected one component 1 in the component supply device 10 recognized by the three-dimensional recognition device 50, and the position and orientation of the one component 1, predetermined conditions, and a predetermined condition are determined in advance. A picking path is generated from the determined position and orientation of the transport destination of the component 1, and the robot 20 is controlled based on the path. Since the robot control device 30 itself is not a main part of the present invention, further explanation is omitted.

  The three-dimensional measuring instrument 40 measures a predetermined area in the component supply apparatus 10 three-dimensionally. FIG. 3 is a diagram illustrating a predetermined area that can be measured by the three-dimensional measuring instrument 40. The three-dimensional information is data indicating whether or not an object exists in each coordinate of a predetermined orthogonal coordinate system (X axis, Y axis, Z axis), and the Z axis is positive in the vertical direction. In the example of FIG. 3, the predetermined area A is a dotted diagonal line area with the uppermost opening of the component supply apparatus 10 as a reference. If the part 1 exists in the predetermined area A, the three-dimensional information of the outer shape of the part 1 can be acquired. The three-dimensional measuring instrument 40 can be a three-dimensional measuring instrument using a stereo camera, a three-dimensional measuring instrument using laser light, or the like.

  Further, the three-dimensional measuring instrument 40 determines from the three-dimensional information of the predetermined area A whether the uppermost layer of the component 1 stacked in the predetermined area B exists. For example, as shown in FIG. 4, the predetermined area B is an area above the uppermost surface of the opening of the container body, and is defined as an area below the uppermost surface of the predetermined area A. Whether or not the uppermost layer of the components 1 stacked in the predetermined area B exists is determined by taking out the three-dimensional information having the largest Z-axis value from the three-dimensional information of the predetermined area A, and extracting the Z-axis of the three-dimensional information. Is within the upper and lower limits of the Z axis of the predetermined region B, it can be determined that the uppermost layer of the components 1 in the piled state exists in the predetermined region B. Of course, you may confirm that the uppermost layer of the piled-up state of the components 1 exists in the predetermined area | region by another method. When the uppermost layer of the component 1 in the stacked state does not exist in the predetermined region B, the second signal which is a request signal for changing the stacked state is output to the device control unit 18. Further, when outputting the second signal, the three-dimensional information having the largest Z-axis value from the three-dimensional information of the predetermined region A is also output to the apparatus control unit 18. In addition, the three-dimensional information of the predetermined area A is not the three-dimensional information having the largest Z-axis value, but information indicating whether or not a part is present on the uppermost surface and the lowermost surface of the predetermined area B is output (ON and OFF). A value may be output).

  In addition, in order to determine that the uppermost layer of the components 1 is piled up in the predetermined region B, the presence or absence of the components on each surface is detected on the uppermost surface and the lowermost surface of the predetermined region B instead of the three-dimensional measuring instrument 40. A possible sensor may be provided. For example, the sensor arranges a transmissive photoelectric sensor at intervals smaller than the component size so that the detection light coincides with each surface. By doing in this way, the presence or absence of the component in each surface can be judged because the component 1 blocks the detection light. If a part is not detected on the uppermost surface and a part is detected on the lowermost surface, it can be determined that the uppermost layer in a stacked state exists in the predetermined area B. Note that a laser sensor may be used as the sensor, or a line sensor or the like in which detection beams are previously arranged in a line shape may be used. That is, any sensor can be used as long as the presence / absence of a component in the predetermined region can be determined.

  The three-dimensional posture recognition device 50 obtains the position and posture of the component 1 existing in the predetermined region B from the three-dimensional information of the predetermined region A acquired by the three-dimensional measuring device 40. The method for obtaining the three-dimensional position and orientation of the component 1 includes, for example, three-dimensional information (measurement results composed of measured three-dimensional measurement point groups) and 3D-CAD data (converted to point group data). However, it is possible to use a known method such as a method in which 3D-CAD data is aligned with a position / posture considered to be substantially coincident and a point corresponding to each point is obtained to obtain a three-dimensional position / posture. Of course, other methods can be used as long as the position / posture of an object having a predetermined shape can be recognized from the three-dimensional information of the predetermined area. If the position / orientation of the component 1 cannot be recognized, a first signal that is a request signal for changing the piled state is output to the device control unit 18.

  Further, the three-dimensional posture recognition device 50 determines whether the recognized position / posture of the component 1 is included in a predetermined pickable area and posture. The pickable area and posture are registered in advance in the three-dimensional posture recognition device 50 by the operator. If the recognized position / orientation of the component 1 is not included in the predetermined pickable area and orientation, a first signal that is a request signal for changing the piled state is output to the device control unit 18. .

  The reasons why picking is impossible here are when the robot moves beyond the movable range, when it is not in a posture that can be taken by the robot, or when it interferes with the component supply device 10 or other devices.

  FIG. 5 is a schematic configuration diagram of the upper part of the component supply apparatus. As shown in FIGS. 1 and 5, the component supply apparatus 10 includes a container main body 11, a container bottom portion 12, a bottom moving means 13, a component recovery chute 15, a component recovery conveyor 16, and a component input unit (not shown). 17 and an apparatus control unit 18.

  The container body 11 has an open top surface and is provided with a container bottom 12 and a bottom moving means 13. The container bottom 12 is provided so as to be freely movable in the vertical direction with respect to the container main body 11. That is, the capacity of the storage container can be changed by moving the container bottom 12 up and down. Note that the container bottom 12 may be moved further upward than the upper surface of the opening of the container body 11.

  The container bottom part 12 is connected to a moving part 13 a of a bottom part moving means 13 fixed to the container main body 11. Thereby, the container bottom part 12 will move with the moving part 13a of the bottom part moving means 13. FIG.

  The bottom moving means 13 is connected to the device control unit 18, and the position of the moving unit 13 a is controlled by the device control unit 18. The bottom moving means 13 can utilize a linear actuator using a motor. Here, the linear motion actuator is, for example, a combination of a slide guide mechanism and a ball screw mechanism, and a ball screw is rotated by rotation of a motor to linearly move the slider. In addition, as long as the bottom part moving means 13 can move a moving part relatively to an up-down direction with respect to the container main body 11, what kind of mechanism and actuator may be used. Further, the bottom moving means 13 may be provided on the inner side surface of the container main body 11 as shown in FIG. 1 or may be attached so as to be positioned on the lower surface of the container bottom 12 at the lower part of the container main body 11. .

  The component collection chute 15 is provided on the outer peripheral surface of the container main body 11. The component 1 that has fallen from the container main body 11 is guided to the component collection conveyor 16. The parts collection conveyor 16 conveys the parts guided by the parts collection chute 15 to a parts input means 17 (not shown). Note that the component collection conveyor 16 in FIG. 5 describes only the component collection conveyor in the vicinity of the component supply apparatus 10. That is, the component 1 is conveyed to the component loading means 17 by another component collection conveyor 16 (not shown). Instead of using the component collection conveyor 16, the component 1 may be guided to the component collection box by the component collection chute 15, and the component 1 collected in the component collection box may be manually returned to the component input unit 17.

  The component input unit 17 is a unit that is controlled by the device control unit 18 and additionally inputs a new component 1 to the component supply device 1. For example, a parts feeder, a conveyor, or the like that can be controlled for operation / stop by the device control unit 18 can be used.

  The device control unit 18 is connected to the bottom moving unit 13, the component loading unit 17, the three-dimensional measuring device 40, and the three-dimensional posture recognition device 50. Further, the device control unit 18 includes an input / output means 18a, a first bottom position control means 18b, and a second bottom position control means 18c. The description regarding each means will be described in detail in the operation description.

Next, the operation of the stacked component picking system will be described using the operation flowchart of the stacked component picking system in FIG.
In S <b> 10, the three-dimensional measuring device 40 performs three-dimensional measurement and acquires three-dimensional information of the predetermined area A of the component supply apparatus 10. In S11, the three-dimensional measuring device 40 determines whether or not the uppermost part 1 of the parts 1 stacked in the predetermined area B exists, and if not, notifies that the part 1 does not exist in the predetermined area B. The second signal to be output is output to the apparatus control unit 18 and the process proceeds to S20. If it exists, the process proceeds to S12.

  In S12, the three-dimensional recognition device 50 receives the three-dimensional information of the predetermined area A from the three-dimensional measuring device 40, and calculates the position and orientation of the component 1 existing in the predetermined area B. In S13, it is determined whether or not the three-dimensional recognition device 50 has recognized the position and orientation of the component 1, and if not, a first signal that is a request signal for changing the piled state of the component 1 is sent to the device control unit. 18 and proceeds to S40. If it is recognized, the process proceeds to S14.

  In S14, the three-dimensional recognition device 50 determines whether or not the recognized position and orientation of the component 1 can be picked by the robot 20, and if it is determined that picking is not possible, a request signal for changing the stacking state of the components 1 is received. A first signal is output to the apparatus control unit 18 and the process proceeds to S40. If it is determined that picking is possible, the process proceeds to S15.

  In S15, the robot control device 30 receives the position and orientation of one component 1 in the component supply device 10 recognized by the three-dimensional recognition device 50, and the position and orientation of the one component 1 and predetermined conditions are determined. A picking route is generated from a predetermined position and orientation of the conveyance destination of the component 1, the robot 20 is controlled based on the route, and the robot 1 performs the removal / conveyance operation of the component 1. Next, in S16, the robot control device 30 determines whether or not to continue the picking operation of the component 1 based on a predetermined condition, and if so, returns to S10, otherwise ends the picking operation. Note that the operator registers the picking conditions for the component 1 in advance in the robot control device 30. For example, if it is registered that 10 parts are conveyed to a predetermined position, the picking operation of the parts will be continued 10 times.

  Next, the case where the three-dimensional measuring instrument 40 outputs the second signal to the apparatus control unit 18 at S11 will be described. In such a case, in S20, the device control unit 18 receives the second signal at the input / output means 18a. Upon receiving the second signal, the apparatus control unit 18 determines whether or not the container bottom 12 has reached the upper limit position of the movable range, and if it has reached the upper limit position, the process proceeds to S30 and has reached the upper limit position. If not, the process proceeds to S21. Whether or not the container bottom portion 12 has reached the upper limit position of the movable range can be determined by providing, for example, a sensor that senses when the container bottom portion 11 moves to the upper limit position of the container bottom portion 12. Further, the position of the moving portion 13a of the bottom moving means 13 may be grasped by an encoder or the like to determine whether or not the upper limit position of the container bottom portion 12 has been reached.

  In S21, the apparatus control unit 18 controls the bottom moving unit 13 by the second bottom position control unit 18c by using the three-dimensional information having the largest Z-axis value received together with the second signal, and moves the container bottom 12 Move. The second bottom position control means 18c calculates the amount of movement of the container bottom 12 from the Z-axis value of the three-dimensional information and the Z-axis value of the upper surface of the opening of the container body 11, and uses the amount of movement to The container bottom 12 is moved by controlling the moving means 13 so that the uppermost layer of the stacked components 1 is positioned in the predetermined region B. For example, when it is determined from the three-dimensional information having the largest Z-axis value received together with the second signal that the uppermost layer of the stacked components 1 is located at a position higher than the predetermined region B, the container bottom 12 moves downward. When it is determined that the uppermost layer of the piled parts 1 is at a position lower than the predetermined region B, the container bottom 12 moves up. When the process of S20 is completed, the process returns to S10, and the three-dimensional measurement is started again.

  When receiving the second signal and the presence / absence signal of the components on the uppermost surface and the lowermost surface of the predetermined region B, the container bottom 12 may be moved in a predetermined direction by a predetermined movement amount. For example, in the case of the second signal and a signal indicating that there is a part on the uppermost surface of the predetermined area B, the container bottom 12 is moved downward by a predetermined movement amount. When the second signal and the signal indicating that there is no part on the lowermost surface of the predetermined area B, the container bottom 12 is moved up by a predetermined movement amount. Here, the predetermined movement amount may be, for example, that the movement amount when descending is half the size of the predetermined region B in the Z direction, and the movement amount when ascending is a movement amount smaller than the size of the component 1. This is because if the amount of movement is larger than the size of the part 1 when ascending, the piled part 1 may be easily collapsed from the container body 11, and there is no fear of collapse when descending. This is because the upper layer can be positioned.

  Next, the case where it is determined in S20 that the container bottom 12 has reached the upper limit position of the movable range will be described. In such a case, in S30, the apparatus control unit 18 controls the bottom moving unit 13 to lower the container bottom 12. For example, the lowering operation may be set so as to lower to a predetermined position, or the lowering operation may be performed by a predetermined movement amount. FIG. 7 is a diagram illustrating a state of the component supply apparatus 10 after the container bottom 12 is lowered. For example, the predetermined position is usually the lower limit position of the container bottom 12. However, it can be set at an arbitrary position in consideration of the strength of the component 1 and the like. Note that the position to be lowered and the amount of movement are set in advance in the apparatus control unit 18 by the operator.

  Next, in S <b> 31, the apparatus control unit 18 activates the component loading unit 17 and loads the component 1 into the container main body 11. For example, when a conveyor is used, the parts 1 may be inserted by setting the time interval for the conveyor to operate by using a timer, so that the parts 1 placed on the conveyor can be inserted for the time interval set by the timer. I can do it. FIG. 8 is a diagram illustrating the state of the component supply apparatus 10 after the components are input. When the process of S31 is completed, the process returns to S10, and the three-dimensional measurement is started again.

  Next, a case where the three-dimensional recognition device 50 has recognized the position and orientation of the component 1 in S13 will be described. In S40, the apparatus control unit 18 receives the first signal by the input / output means 18a. Upon receiving the first signal, the apparatus control unit 18 controls the bottom moving unit 13 by the first bottom position control unit 18c to move the container bottom 12 based on a preset operation. The operation set here is to move upward by a movement amount sufficiently larger than the size of the component 1, for example. This is for breaking the piled parts 1 and dropping a part of the piled parts 1 out of the container main body 11. Note that the movement amount is set in the device control unit 18 after confirming whether or not the component 1 actually piled up collapses while the operator considers the shape and size of the component 1. FIG. 9 is a view showing a state in which the container bottom 12 is raised to collapse the piled component 1. The component 1 dropped to the outside of the container main body 11 is guided to the component recovery conveyor 16 by the component recovery chute 15 and conveyed to the component input means 17 by the component recovery conveyor 16. When the process of S40 is completed, the process returns to S10, and the three-dimensional measurement is started again.

  The set operation may be an operation for raising the container bottom 12 to a predetermined position. Furthermore, the operation is not limited to a simple ascending operation, but may be a setting for operating the acceleration at a value larger than the gravitational acceleration, an operation setting for repeating the vertical movement, or the like. The content of the operation is not particularly limited as long as it is an effective operation that can change the stacked state of the components 1. Note that not only the ascending operation but also the descending operation may be performed. This is because it is possible to change the piled state by descending.

  Next, in S14, when the position and orientation of the component 1 that can be recognized by the three-dimensional recognition device 50 is determined to be unpickable by the robot 20, the process proceeds to S40. Since S40 has already been described in detail above, further description is omitted.

  It is not necessary to output the three-dimensional information from the three-dimensional measuring instrument 40 to the device control unit 18. In such a case, the second bottom position control means 18c of the device control unit 18 is provided with an initial set flag storage unit. The second bottom position control means 18c initializes the initial set flag to OFF when the power of the component supply apparatus 10 is turned on, and turns on and holds the flag when receiving the second signal. Further, when the second bottom position control means 18c receives the second signal with the initial set flag being OFF, the second bottom position control means 18c moves the container bottom 12 to the lower limit position. Further, when the second bottom position control means 18c receives the second signal with the initial set flag being ON, it raises the container bottom 12 by a preset amount of movement.

  The movement amount to be set is set to a movement amount smaller than the size of the component 1 so that the piled component 1 does not collapse by one movement. For example, when the part is a rectangular parallelepiped, if the smallest dimension among the vertical, horizontal, and height dimensions is Sm, the movement amount should be Sm / 2.

  In this way, in the normal operation, the component supply device 10 only reduces the component 1 in the robot picking operation, so the uppermost layer of the stacked component 1 does not become higher than the uppermost surface of the predetermined region B. The uppermost layer of the piled parts can always be positioned in a predetermined area simply by raising. Furthermore, if the bottom of the container is moved to the lower limit position in the initial state where the state of the piled parts 1 is unknown, and if the uppermost layer of the piled parts 1 does not exist in the predetermined area, only a predetermined moving amount is obtained as in the normal operation. This is because the uppermost layer of the piled parts 1 is always located in a predetermined region due to a plurality of ascent movements.

  By operating as described above, the stacked state can be changed so that the component supply apparatus 10 can recognize the position and orientation of the stacked components 1. Therefore, the stop time of the picking operation of the robot can be shortened.

  Further, even if the positions of the component supply device 10 and the three-dimensional measuring instrument 40 are relatively fixed, the uppermost layer of the stacked components 1 is always kept in the three-dimensional measuring instrument 40 by moving the container bottom 12 up and down. It can be located in the measurement range. Furthermore, since the number of components 1 that can be accommodated in the component supply device 10 can be increased, the number of times that the components are inserted into the component supply device 10 can be reduced, and the stop time of the picking operation of the robot can be shortened.

  Furthermore, by setting the predetermined region B at a position higher than the upper surface of the opening of the storage container body 11, it is not necessary to consider the interference between the picking means of the robot and the storage container body 11, and the path calculation of the robot can be reduced. In addition, since the operating range of the robot can be reduced, the cost can be reduced by downsizing the robot.

DESCRIPTION OF SYMBOLS 1 Parts 10 Parts supply apparatus 20 Robot 30 Robot control apparatus 40 Three-dimensional measuring device 50 Three-dimensional attitude recognition apparatus

Claims (8)

A component supply device that accommodates a plurality of stacked components,
A container body whose top is open;
A container bottom that is movable in the vertical direction with respect to the container main body;
Bottom moving means for causing the container bottom to perform a predetermined operation;
The container is controlled by controlling the bottom moving means by the input of a first signal for requesting a change of the piled state of the parts inputted from the three-dimensional posture recognition device for recognizing the positions and postures of the piled parts. Provided with a first bottom position control means for causing the bottom part to perform a predetermined operation of breaking the piled state of the parts;
A component supply device characterized by the above.   The component supply apparatus according to claim 1, further comprising a component collection chute that collects a component released to the outside of the container body by the first bottom position control unit at a predetermined position. In response to the input of the second signal input from the component status notifying means for notifying the stacking status of the components in the predetermined vertical direction region of the container body, the top layer component in the vertical direction is present in the vertical region. Comprising second bottom position control means for controlling the bottom moving means to move the bottom of the container;
The component supply apparatus according to claim 1, wherein: As the component status notification means, a measuring unit is provided above the opening of the container, and the three-dimensional information of the stacked components is obtained. Presence / absence of components in the uppermost stacked layer in the vertical area A three-dimensional measuring instrument to judge
4. The component supply apparatus according to claim 3, wherein the second signal is input from the three-dimensional measuring instrument when a component in the uppermost layer of the stack is not detected within the predetermined vertical direction region. As the component status notification means, a presence / absence detection sensor for detecting the presence / absence of a component in the predetermined vertical direction region is provided in the storage container body,
4. The component supply device according to claim 3, wherein the second signal is input from the presence / absence detection sensor when a component in the uppermost layer of the stack is not detected within the predetermined vertical direction region. The component supply device according to claim 4,
A three-dimensional posture recognition device for recognizing the position and posture of one component from the three-dimensional information of the plurality of stacked components acquired by the three-dimensional measuring instrument,
Outputting the first signal to the component supply device when the three-dimensional posture recognition device cannot recognize the position / posture of one component;
A parts storage system characterized by The component supply device according to claim 3 or 5,
A measuring unit is provided above the opening of the container body, and a three-dimensional measuring instrument for acquiring three-dimensional information of the plurality of stacked components,
A three-dimensional posture recognition device that recognizes the position / posture of one component from the three-dimensional information of the plurality of stacked components,
Outputting the first signal to the component supply device when the three-dimensional posture recognition device cannot recognize the position / posture of one component;
A parts storage system characterized by The component housing system according to claim 6 or 7,
A robot for picking the parts;
A robot control device that controls the robot based on the position / posture of the one part received from the three-dimensional posture recognition device;
The three-dimensional posture recognition apparatus has a check function for checking whether the position / posture of the one component is pre-stored and can be picked by the robot, and can be picked by the robot. If one component does not exist, outputting the first signal to the component supply device;
Parts picking system featuring.

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