JP2013094938A - Component supply method, and component supply device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily and efficiently achieve a process of taking out a component and supplying the component to a predetermined device.SOLUTION: This component supply method includes: a first attraction step collectively taking out a plurality of components, by magnetically attracting them from a bulk tray in which a plurality of components are loaded in bulk; a separating step releasing the magnetic attraction, collectively dropping the plurality of components into a frame body on a flat face while the frame body is placed on the flat face to separate them from each other; an identification step imaging the plurality of separated components by a two-dimensional vision sensor, and identifying the component that can be held by a robot hand out of the plurality of components according to the images; a holding step holding the identified component by the robot hand; a return step collectively returning the remaining components out of the plurality of components not held by the robot hand in the holding step, to the bulk tray; and a second attraction step taking out a plurality of components by magnetic attraction again from the bulk tray to which the remaining components are returned.

Description

  The present invention relates to a component supply method and a component supply system.

  Generally, it is difficult for an automatic machine that performs a predetermined operation using a plurality of parts to use a plurality of parts unless the plurality of parts are aligned in a certain direction. A parts feeder is known as an apparatus for aligning and supplying a plurality of parts. The parts feeder separates the multiple overlapping parts by applying vibrations, aligns them with attachments, and then supplies the aligned parts to the automatic machine. Depending on the shape and size of the parts, the parts feeder Clogging of parts and misalignment are likely to occur, and the operating rate of the apparatus is likely to decrease.

  On the other hand, Patent Document 1 describes that a plurality of plate-like workpieces stacked in a transport box are taken out and the work of separating the workpieces one by one is performed step by step. Specifically, in the separation and supply device, a plurality of electromagnets adsorb a plurality of plate-shaped workpieces stacked in a transport box, and each electromagnet is individually turned off to intermittently place the workpieces on the buffer tray. Drop it. Then, the work on the buffer tray is intermittently discharged onto the inclined conveyor unit by the drive mechanism, and the workpiece is conveyed to the recognition stage by the inclined conveyor unit inclined so that the downstream side becomes higher, and one workpiece is placed on the recognition stage. It is determined whether or not it exists. Thereby, according to patent document 1, the plate-shaped workpiece | work piled up by the intermittent fall by each electromagnet, the intermittent discharge | emission by a drive mechanism, and the separation conveyance by the inclination conveyor unit can be isolate | separated separately in steps. Therefore, it is said that the plate-like workpieces can be rearranged smoothly and automatically and supplied to the next process.

  On the other hand, Patent Document 2 describes that individual parts are sequentially taken out by a robot from a plurality of parts stacked in a part container. Specifically, in the parts picking device, a plurality of parts stacked in the parts container are picked up by a video camera, and the picked up images are processed to calculate consistency with the teaching model and pick out the parts. Select the target part. At the same time, the height of the component is estimated from the size of the component at the reference height acquired in advance and the size of the component in the captured image, and the tip of the robot hand is brought close to the estimated height. When the sensor detects contact between the tip of the robot hand and the component, the component is magnetically attracted or vacuum-sucked to the tip by an electromagnet, a suction pad, or a chuck mechanism provided at the tip of the robot hand. Thereby, according to patent document 2, it is supposed that the efficient rose pick-up becomes possible at low cost and at high speed.

JP-A-9-141356 Japanese Patent No. 4565023

  In the technique described in Patent Document 1, since the work is separated step by step in the process of moving the work, the processing content is complicated as a whole and the processing time is long. There is a tendency that the efficiency of processing for supplying to an automatic take-out machine (predetermined apparatus) is lowered.

  In the technique described in Patent Document 2, the three-dimensional positions of individual parts stacked in the parts container are estimated, and the processing contents are complicated as a whole and the processing time is long. There is a tendency that the efficiency of processing for supplying to an automatic take-out machine (predetermined apparatus) is lowered.

  The present invention has been made in view of the above, and an object of the present invention is to obtain a component supply method and a component supply system that can easily and efficiently realize processing for taking out components and supplying them to a predetermined apparatus. .

  In order to solve the above-described problems and achieve the object, a component supply method according to one aspect of the present invention is a method of magnetically attracting a plurality of components from a bulk stacking tray in which a plurality of components are stacked. The first attracting step to be taken out and the magnetic attraction are released, and the plurality of parts are collectively dropped inside the frame on the plane and separated from each other with the frame mounted on the plane. A separation step, a specific step of capturing the plurality of separated components with a two-dimensional vision sensor, and identifying a component that can be gripped by a robot hand among the plurality of components according to the captured image; A gripping step of gripping the parts with the robot hand, a return step of collectively returning the parts that are not gripped in the gripping process among the plurality of parts to the bulk stacking tray, and the remaining parts From retirement has been the bulk tray, again, is characterized in that a second suction step of removing magnetically adsorbing a plurality of components.

  According to the present invention, since a plurality of parts are taken out, dropped and returned in a batch, the process for taking out the parts and supplying them to a predetermined apparatus can be realized easily and efficiently.

FIG. 1 is a diagram illustrating a configuration of a component supply system according to the first embodiment. FIG. 2 is a diagram illustrating the configuration of the magnetic attraction unit, the frame, and the return unit in the first embodiment. FIG. 3 is a sequence diagram illustrating the operation of the component supply system according to the first embodiment. FIG. 4 is a sequence diagram showing the flow of the component identification process in the first embodiment. FIG. 5 is a diagram illustrating the operation of the component supply system according to the first embodiment. FIG. 6 is a diagram illustrating the operation of the component supply system according to the first embodiment. FIG. 7 is a diagram illustrating the operation of the component supply system according to the first embodiment. FIG. 8 is a diagram illustrating a separated state of components in the first embodiment. FIG. 9 is a diagram illustrating an operation of the component supply system according to the first embodiment. FIG. 10 is a diagram illustrating an operation of the component supply system according to the first embodiment. FIG. 11 is a sequence diagram illustrating the operation of the component supply system according to the second embodiment. FIG. 12 is a diagram illustrating an operation of the component supply system according to the second embodiment. FIG. 13 is a sequence diagram illustrating the operation of the component supply system according to the third embodiment. FIG. 14 is a diagram illustrating the operation of the component supply system according to the third embodiment. FIG. 15 is a diagram illustrating the operation of the component supply system according to the third embodiment. FIG. 16 is a sequence diagram illustrating the operation of the component supply system according to the fourth embodiment. FIG. 17 is a diagram illustrating the operation of the component supply system according to the fourth embodiment. FIG. 18 is a diagram illustrating the operation of the component supply system according to the fourth embodiment.

  Embodiments of a component supply method and a component supply system according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
A component supply system 1 according to the first embodiment will be described.

  The component supply system 1 takes out a plurality of components from a bulk stack in which a plurality of components are stacked, separates the extracted components from each other, and grips the separated components with a robot hand so that a predetermined device (FIG. (Not shown). The predetermined device is, for example, an automatic machine that performs a predetermined operation using a plurality of components.

  Specifically, as shown in FIGS. 1 and 2, the component supply system 1 includes a bulk stack tray 10, a magnetic adsorption unit 20, a robot 30, a frame body 40, a return unit 50, a support unit 60, and a control unit 70. Is provided. FIG. 1 is a diagram illustrating a configuration of a component supply system 1. FIG. 2A is a front view showing the configuration of the magnetic adsorption unit 20, the frame body 40, and the return unit 50. FIG. 2B is a side view showing the configuration of the magnetic adsorption unit 20, the frame body 40, and the return unit 50. FIG. 2C is a perspective view showing the configuration of the frame body 40.

  In the bulk stacking tray 10, a plurality of parts are stacked in bulk. Each component is a lightweight, small, and thin component. For example, the minimum width is smaller than the tip size of the suction head 21 of the magnetic suction unit 20 (see FIGS. 2A and 2B). Each component is a leaf spring, for example. Each component is a magnetizable component, and is formed of, for example, a material mainly composed of iron.

  The magnetic adsorption unit 20 magnetically adsorbs a plurality of parts at once. For example, the magnetic attraction unit 20 takes out a plurality of parts at a time by magnetically adsorbing a plurality of parts from the bulk stack 10 located below with the bottom surface of the frame body 40 opened. For example, the magnetic attraction unit 20 holds a plurality of components taken out together as described above, and releases the magnetic attraction while the bottom surface of the frame body 40 is closed, thereby attracting the magnetic attraction. The plurality of parts that have been dropped together are dropped inside the frame 40.

  As illustrated in FIGS. 2A and 2B, the magnetic adsorption unit 20 includes an adsorption head 21, an operation unit 22, a magnet 23, an operation unit 24, and a moving mechanism 25. The operating unit 22 includes, for example, an air cylinder, and moves the suction head 21 up and down using the air cylinder. The operating unit 24 includes, for example, an air cylinder, and moves the magnet 23 up and down using the air cylinder. The magnet 23 has a permanent magnet, for example. For example, the operation unit 22 moves the suction head 21 to the vicinity of the component, and the operation unit 24 moves the magnet 23 to the bottom surface of the internal space 21a of the suction head 21 so that the component is magnetically attracted to the outer bottom surface of the suction head 21. it can. Further, for example, the moving unit 24 moves the magnet 23 so as to move away from the bottom surface of the internal space 21 a of the suction head 21, thereby releasing the magnetic suction on the outer bottom surface of the suction head 21 and dropping the component. it can. The moving mechanism 25 moves the suction head 21, the operating unit 22, the magnet 23, and the operating unit 24 in the horizontal direction.

  2A and 2B and other drawings show a state in which the internal space 21a of the suction head 21 is seen through for convenience of illustration.

  The robot 30 is, for example, a 6-degree-of-freedom multi-joint robot, and includes a plurality of robot arms (not shown), a plurality of joints (not shown), a base (not shown), a flange 32, and a two-dimensional vision sensor. 33 and a robot hand 31. The plurality of robot arms are connected to the base through a plurality of joints. A flange 32 is provided at the tip of the plurality of robot arms. For example, a robot hand 31 or the like is attached to the flange 32 as a working tool. A two-dimensional vision sensor 33 is attached to the flange 32 along with a tool such as the robot hand 31. The robot controller 71 controls the positions and postures of the robot hand 31 and the flange 32. Thereby, the robot 30 performs a predetermined operation on a predetermined object.

  The two-dimensional vision sensor 33 includes an imaging unit 33a and an image processing unit 33b. The imaging unit 33a acquires a two-dimensional image of the object scene. For example, the imaging unit 33a acquires a two-dimensional image of a plurality of components existing inside the frame body 40. The image processing unit 33b performs predetermined image processing on the two-dimensional image acquired by the imaging unit 33a. The image processing unit 33b transmits the two-dimensional image data subjected to the image processing to the control unit 70. Details of image processing contents will be described later.

  The robot 30 can be a general-purpose industrial robot. That is, the robot 30 can perform the operation for the component supply system 1 during the idle time while performing the operation for the other system. Thereby, the increase in the cost for constructing the component supply system 1 can be suppressed.

  As shown in FIG. 2C, the frame body 40 is a substantially rectangular tube-shaped member with an upper surface 40a and a bottom surface 40b opened. In addition to the four side surface portions 40c-1 to 40c-4, the frame body 40 has, for example, four plate-like portions 40d-1 to 40d-4 that extend outward from the upper ends of the side surface portions 40c-1 to 40c-4. You may have. The frame body 40 is placed on the surface of the shutter 51 of the return unit 50 and supported by the support portion 60.

  The return unit 50 returns the parts present on the surface of the shutter 51 to the bulk tray 10. For example, the return unit 50 closes the bottom surface of the frame body 40 with the shutter 51 to form a plane on which the components should be dropped inside the frame body 40, and a plurality of components fall inside the frame body 40 on the plane. Then, by opening the bottom surface of the frame body 40 (= the surface of the shutter 51), the parts existing inside the frame body 40 are returned to the bulk stack tray 10.

  As shown in FIGS. 2A and 2B, the return unit 50 includes a shutter 51 and an operation unit 52. The operation unit 52 is located on the side of the frame body 40 in a front view (see FIG. 2A), and supports the shutter 51 from the side of the frame body 40. The operating unit 52 moves the shutter 51 in a direction along the bottom surface 40 b of the frame body 40. The shutter 51 closes the bottom surface 40b of the frame body 40 when the operating portion 52 is in the insertion position (see FIG. 10A), and opens the bottom surface 40b of the frame body 40 when moved to the retracted position by the operating portion 52. (See FIG. 10B).

  The support part 60 supports the frame body 40. For example, the support portion 60 holds one plate-like portion 40d-1 to 40d-4 from the side of the frame body 40 in a side view (see FIG. 2B). Accordingly, the support unit 60 supports the frame body 40 so that the frame body 40 is placed on the shutter 51 when the shutter 51 is in the insertion position.

  The control unit 70 generally controls each unit in the component supply system 1. The control unit 70 includes a robot controller 71 and a sequencer (PLC: programmable logic controller) 72. The robot controller 71 controls the robot 30 according to the robot program and transmits / receives predetermined control signals to / from the sequencer (PLC) 72. The sequencer (PLC) 72 controls the magnetic attraction unit 20 and the return unit 50 according to a control signal received from the robot controller 71, for example.

  For example, the control unit 70 first controls the return unit 50 so that the shutter 51 of the return unit 50 opens the bottom surface 40 b of the frame body 40. The control unit 70 controls the magnetic attraction unit 20 so that the magnetic attraction unit 20 magnetically picks up and removes a plurality of parts from the bulk stacking tray in the first period.

  The control unit 70 controls the return unit 50 so that the shutter 51 of the return unit 50 closes the bottom surface 40b of the frame body 40 in the second period. The second period is a period following the first period. The control unit 70 controls the magnetic attraction unit 20 so as to release the magnetic attraction by the magnetic attraction unit 20 in the second period. Thus, a plurality of components are collectively dropped into a space surrounded by the shutter 51 and the frame body 40 in a state where the frame body 40 is placed on the surface of the shutter 51 and separated from each other.

  In the third period, the control unit 70 captures a plurality of separated components with the two-dimensional vision sensor 33, and identifies a component that can be gripped by the robot hand among the plurality of components according to the captured image. Next, the robot 30 is controlled. The third period is a period following the second period.

  In the fourth period, the control unit 70 controls the robot 30 so that the specified component is gripped by the robot hand 31 and supplied to a predetermined device (for example, an automatic machine). The fourth period is a period following the third period.

  In the fifth period, the control unit 70 controls the return unit 50 so that the return unit 50 collectively returns to the bulk stack 10 the parts remaining without being gripped by the robot hand 31 among the plurality of parts. To do. The fifth period is a period following the fourth period.

  In the sixth period, the control unit 70 controls the magnetic attraction unit 20 so that the magnetic attraction unit 20 picks up a plurality of parts by magnetic attraction again from the bulk stack 10 to which the parts have been returned. The sixth period is a period following the fifth period.

  Next, the operation of the component supply system 1 will be described with reference to FIG. FIG. 3 is a sequence diagram showing the operation of the component supply system 1.

  In step S <b> 1, the robot controller 71 transmits a take-out command for instructing to take out a component to the sequencer 72.

  When the sequencer 72 receives the take-out command, the sequencer 72 controls the processing in steps S2 to S5 to be performed.

  In step S2, the sequencer 72 controls the return unit 50, moves the shutter 51 to the retracted position, and opens the bottom surface 40b of the frame body 40 (see FIG. 5A).

  In step S3, the sequencer 72 controls the magnetic attraction unit 20 to lower the attraction head 21 until the attraction head 21 passes through the inside of the frame body 40 and is positioned in the vicinity of the components in the bulk stack tray 10 (FIG. 5 (b)).

  In step S4, the sequencer 72 controls the magnetic attraction unit 20 to lower the magnet 23 to the bottom surface of the internal space 21a of the attraction head 21 (see FIG. 5B). Thereby, a plurality of components in the bulk stacking tray 10 can be collectively magnetically attracted.

  In step S <b> 5, the sequencer 72 controls the magnetic attraction unit 20 to maintain the state where the magnet 23 is in contact with the bottom surface of the internal space 21 a of the attraction head 21, while the attraction head 21 passes inside the frame body 40. The suction head 21 is raised until it is positioned above the sill frame 40 (see FIG. 6A). Thereby, a plurality of parts can be taken out from the bulk stacking tray 10 at once. When the raising of the suction head 21 is completed, the sequencer 72 transmits a removal completion notification to the robot controller 71.

  In step 6, if the robot controller 71 has not received the removal completion notification, it is determined that the removal of the component has not been completed (No in step S6), the process proceeds to step S6, and the removal completion notification is received. Then, it is determined that the removal of the component has been completed (Yes in step S6), and the process proceeds to step S7.

  In step S <b> 7, the robot controller 71 transmits a drop command for instructing to drop the component to the sequencer 72.

  When the sequencer 72 receives the drop command, the sequencer 72 controls the processing in steps S8 to S11 to be performed.

  In step S8, the sequencer 72 controls the return unit 50, moves the shutter 51 to the insertion position, and closes the bottom surface 40b of the frame body 40 (see FIG. 6A). As a result, the frame body 40 is placed on the surface of the shutter 51.

  In step S9, the sequencer 72 raises the magnet 23 away from the bottom surface of the internal space 21a of the suction head 21 (see FIG. 6B).

  In step S <b> 10, the magnetic adsorption on the outer bottom surface of the adsorption head 21 is released, and a plurality of magnetically adsorbed components are collectively dropped onto the area inside the frame body 40 on the surface of the shutter 51. At this time, a plurality of parts can be separated from each other by a drop impact. Further, since the side surface portions 40 c-1 to 40 c-4 of the frame body 40 surround the inside of the frame body 40, it is possible to suppress the separated components from jumping out of the frame body 40. For example, when the predetermined time has elapsed, the sequencer 72 prepares to send a drop completion notification to the robot controller 71, assuming that the component has been dropped.

  In step S <b> 11, the sequencer 72 controls the magnetic adsorption unit 20 to move the adsorption head 21, the operating unit 22, the magnet 23, and the operating unit 24 from the upper side of the frame body 40 by the moving mechanism 25. The sequencer 72 transmits a drop completion notification to the robot controller 71 when the evacuation operation is completed.

  In step S12, if the robot controller 71 has not received the drop completion notification, the robot controller 71 determines that the component has not been dropped (No in step S12), proceeds to step S12, and receives the drop completion notification. Then, it is determined that the component has been dropped (Yes in step S12), and the process proceeds to step S13.

  In step S13, the robot controller 71 controls the robot 30 and moves the two-dimensional vision sensor 33 to a position where an area inside the frame 40 can be imaged (see FIG. 7). The imaging unit 33a (see FIG. 1) of the two-dimensional vision sensor 33 images a plurality of parts separated from each other inside the frame body 40 (see FIGS. 8A to 8C). That is, the imaging unit 33a acquires a two-dimensional image of a plurality of components separated from each other inside the frame body 40, and passes it to the image processing unit 33b.

  In step S <b> 14, the robot controller 71 controls the robot 30 to perform a component specifying process for specifying a component that can be gripped by the robot hand 31 among a plurality of components in accordance with the captured image. That is, the image processing unit 33b of the two-dimensional vision sensor 33 performs predetermined image processing on the two-dimensional image acquired by the imaging unit 33a. The image processing unit 33b transmits the two-dimensional image data subjected to the image processing to the control unit 70. The robot controller 71 uses the two-dimensional image data to identify a component that can be gripped by the robot hand 31 among a plurality of components. Details of the component identification process will be described later.

  In step S15, the robot controller 71 controls the robot 30 to grip the component specified in step S14 with the robot hand 31 (see FIG. 9A), and the component gripped with the robot hand 31 is a predetermined device. (For example, an automatic machine) (see FIG. 9B).

  If there are a plurality of parts specified in step S14, the robot controller 71 controls the robot 30 to sequentially hold the plurality of parts specified in step S14 with the robot hand 31 and supply them to a predetermined device. .

  In step S <b> 16, the robot controller 71 transmits a return command for instructing to return the component to the sequencer 72.

  When the sequencer 72 receives the return command, the sequencer 72 performs control so that the processes of steps S17 to S19 are performed.

  In step S17, the sequencer 72 controls the return unit 50 to move the shutter 51 from the insertion position (see FIG. 10A) to the retracted position (see FIG. 10B).

  In step S18, the bottom surface 40b of the frame body 40 is opened by retracting the shutter 51, and a plurality of parts remaining on the surface of the shutter 51 without being gripped in step S15 are collectively dropped onto the bulk stack 10 ( (Refer FIG.10 (b)). Thereby, a plurality of parts remaining on the surface of the shutter 51 can be collectively returned into the bulk stacking tray 10. For example, the sequencer 72 prepares to transmit a return completion notification to the robot controller 71 on the assumption that the return of the parts has been completed when a predetermined time has elapsed.

  In step S <b> 19, the sequencer 72 controls the magnetic attraction unit 20 to move the adsorption head 21, the operating unit 22, the magnet 23, and the operating unit 24 so as to return to the upper side of the frame body 40 by the moving mechanism 25. . When the return movement operation is completed, the sequencer 72 transmits a return completion notification to the robot controller 71.

  In step S20, if the robot controller 71 has not received the return completion notification, the robot controller 71 determines that the return of the component has not been completed (No in step S20), proceeds to step S20, and receives the return completion notification. Then, it is determined that the parts have been returned (Yes in step S20), and the process proceeds to step S1.

  And the process after step S1 is performed again. At this time, since the shutter 51 has already been moved to the retracted position in step S17, the sequencer 72 can skip the process of step S2 (shutter retracted).

  Next, details of the component identification processing will be described with reference to FIG. FIG. 4 is a sequence diagram showing the flow of the component identification process (step S14).

  In step S31, the image processing unit 33b of the two-dimensional vision sensor 33 performs edge detection on the two-dimensional image acquired by the imaging unit 33a. A known method can be used as the edge detection method. For example, the edge strength is calculated by calculating the gradient by first derivative, the local direction of the edge is predicted from the direction of the gradient, and the method of searching for the location where the gradient in the direction is locally maximum is used. May be. Or you may use the method of searching for the zero crossing by the secondary differential expression computed from the image of object.

  In step S32, the image processing unit 33b of the two-dimensional vision sensor 33 performs pattern matching using the result of edge detection. In other words, the image processing unit 33b compares the shape data of parts registered in advance with the edge detected pattern and calculates the degree of coincidence between them. And the image of the some components contained in the two-dimensional image of the area | region inside the frame 40 is recognized. The image processing unit 33 b generates two-dimensional image data in which the recognition result is included in the two-dimensional image of the region inside the frame body 40 and transmits the two-dimensional image data to the robot controller 71.

  In step S33, the robot controller 71 uses the two-dimensional image data to select a part to be determined from unselected parts among a plurality of parts inside the frame body 40.

  In step S34, the robot controller 71 recognizes an annular area surrounding the part to be determined in the captured two-dimensional image where the surface of the shutter 51 is exposed. As a result of the recognition processing, the robot controller 71 recognizes the determination target. It is determined whether there is an annular region for the part.

  For example, when the part to be determined is the part WK1 and the captured two-dimensional image is the image shown in FIG. 8A, the part WK1 does not overlap the part WK3 but overlaps the part WK2. For this reason, it is determined that there is no annular region for the part WK1.

  For example, when the part to be determined is the part WK1, and the captured two-dimensional image is the image shown in FIG. 8B, the part WK1 does not overlap any of the part WK2 and the part WK3. For this reason, it is determined that the annular region RR1 for the part WK1 exists.

  For example, when the part to be determined is the part WK1, and the captured two-dimensional image is the image shown in FIG. 8C, the part WK1 does not overlap any of the part WK2 and the part WK3. For this reason, it is determined that the annular region RR2 for the component WK1 exists.

  If there is an annular region for the determination target part (Yes in step S34), the robot controller 71 advances the process to step S35. If there is no annular region for the determination target part (No in step S34), the robot controller 71 performs the process. Proceed to step S37.

  In step S35, the robot controller 71 determines whether or not the minimum value of the width across the annular region from the inside to the outside is larger than the threshold value Wth. The threshold value Wth is a threshold value corresponding to the tip widths W31a and W31b (see FIG. 1) of the robot hand 31, and, for example, a margin considering the minimum operation control width of the robot hand 31 to the tip widths W31a and W31b of the robot hand 31. It is the value which added.

  For example, when the part to be determined is the part WK1, and the captured two-dimensional image is the image shown in FIG. 8B, it is determined that the minimum width W1 of the annular region RR1 with respect to the part WK1 is equal to or less than the threshold value Wth. The

  For example, when the part to be determined is the part WK1, and the captured two-dimensional image is the image shown in FIG. 8C, it is determined that the minimum width W2 of the annular region RR2 with respect to the part WK1 is larger than the threshold value Wth. .

  If the minimum width of the annular area is larger than the threshold value Wth (Yes in step S35), the robot controller 71 advances the process to step S36. If the minimum width of the annular area is equal to or less than the threshold value Wth (No in step S35), the robot controller 71 performs the process. Advances to step S37.

  In step S <b> 36, the robot controller 71 specifies the part to be determined as a part that can be gripped by the robot hand 31.

  In step S <b> 37, the robot controller 71 determines whether or not the processing in steps S <b> 33 to S <b> 36 has been performed on all of the plurality of components inside the frame body 40. If the robot controller 71 has performed the processing of step S33 to step S36 for all the components (Yes in step S37), the processing is terminated. If there is an unselected component (No in step S37), the processing is performed. Proceed to step S33.

  As described above, in the first embodiment, after a plurality of parts are magnetically attracted and taken out from the bulk stacking tray 10 in which a plurality of parts are stacked, the magnetic attraction is released, and the shutter 51 With the frame 40 placed on the surface, a plurality of components are collectively dropped inside the frame 40 on the surface of the shutter 51 and separated from each other. Then, a plurality of separated parts are imaged by the two-dimensional vision sensor 33, a part that can be gripped by the robot hand 31 among the plurality of parts is identified according to the captured image, and the identified part is identified by the robot hand. Grip at 31 and supply to a predetermined device. Further, of the plurality of parts, the parts that are not gripped by the robot hand 31 and remain on the surface of the shutter 51 are collectively returned to the bulk stacking tray 10, and the remaining parts are returned from the bulk stacking tray 10 again. , Take out a plurality of parts by magnetic adsorption. That is, since a plurality of parts are taken out, dropped and returned in a batch, the process for taking out the parts and supplying them to a predetermined apparatus can be easily and efficiently repeated.

  In the first embodiment, the shutter 51 closes the bottom surface of the frame body 40 when dropping a plurality of taken-out components all at once, and the remaining components are returned to the bulk stacking tray 10 all at once. Then, the shutter 51 opens the bottom surface of the frame body 40. Thereby, the structure for returning a some component collectively to the bulk stacking tray 10 is easily realizable.

  In the first embodiment, a part that can be gripped by the robot hand 31 among a plurality of parts is specified according to an image captured by the two-dimensional vision sensor 33. As a result, it is possible to realize an inexpensive system with a high processing speed as compared with a picking system using a three-dimensional vision sensor.

  Further, in the first embodiment, the robot hand 31 can be gripped while reducing the amount of calculation by edge detection or the like without estimating the three-dimensional position of the part according to the image captured by the two-dimensional vision sensor 33. The part is specified. Thereby, compared with the case where the three-dimensional position of a component is estimated, the processing content can be simplified, and an inexpensive and high-speed processing system can be realized.

  Further, in the first embodiment, when there are no parts that can be gripped by the robot hand 31 from the parts taken out by one magnetic adsorption, the parts are collected in the bulk stacking tray 10 and the magnetic adsorption operation is performed again. It is possible to efficiently supply parts from the parts in the bulk tray 10.

  The image processing unit 33b may be provided outside the two-dimensional vision sensor 33.

Embodiment 2. FIG.
A component supply system 1 according to the second embodiment will be described. Below, it demonstrates focusing on a different part from Embodiment 1. FIG.

  In the first embodiment, the bottom surface of the frame body 40 is moved by moving the shutter 51 to the retracted position along the bottom surface 40b of the frame body 40 from the state where the shutter 51 of the return unit 50 blocks the bottom surface 40b of the frame body 40. 40b is opened.

  In the second embodiment, the table 151 of the return unit 150 closes the bottom surface 40b of the frame body 40 and rotates so that the front end 151a of the table 151 is lower than the bottom surface 40b of the frame body 40. The bottom surface 40b of 40 is opened.

  Specifically, the component supply system 1 according to the second embodiment includes a return unit 150 and a moving mechanism 180. As shown in FIG. 12A, the return unit 150 includes a table 151, a rotation shaft 152, and a rotation mechanism 153. The rotation mechanism 153 rotates the table 151 about the rotation shaft 152. For example, the rotation mechanism 153 rotates so that the front end 151a of the table 151 is lower than the bottom surface 40b of the frame body 40, or the front end 151a of the table 151 returns to the same height as the bottom surface 40b of the frame body 40. Or turn like this. The moving mechanism 180 moves the bulk tray 10 in the horizontal direction.

  Further, as shown in FIG. 11, the operation of the component supply system 1 is different from that of the first embodiment in the following points.

  When the sequencer 72 receives the return instruction, the sequencer 72 performs control so that the processes of steps S41 to S19 are performed.

  In step S <b> 41, the sequencer 72 controls the moving mechanism 180 to move the bulk stacking tray 10 to the front end 151 a side of the table 151. That is, when viewed from above, the bulk stacking tray 10 is moved to a position where the vicinity of the tip 151a of the table 151 slightly overlaps the bulk stacking tray 10 (see FIG. 12A).

  In step S42, the sequencer 72 controls the return unit 150 to rotate the table 151 by the rotation mechanism 153 so that the tip 151a of the table 151 is lower than the bottom surface 40b of the frame body 40 (FIG. 12B). reference).

  In step S43, the bottom surface 40b of the frame body 40 is opened, and the surface of the table 151 becomes an inclined surface that becomes lower toward the bulk stacking tray 10, and therefore remains on the surface of the table 151 along the inclined surface. The plurality of parts that have fallen are collectively dropped onto the bulk tray 10.

  As described above, in the second embodiment, the table 151 closes the bottom surface of the frame body 40 when dropping the plurality of taken-out parts at once, and the remaining parts are returned to the bulk stacking tray 10 all at once. In doing so, the table 151 opens the bottom surface of the frame body 40 and forms an inclined surface that decreases toward the bulk stacking tray 10. Thereby, the structure for returning a some component collectively to the bulk stacking tray 10 is easily realizable.

Embodiment 3 FIG.
A component supply system 1 according to the third embodiment will be described. Below, it demonstrates focusing on a different part from Embodiment 1. FIG.

  In the first embodiment, the shutter 51 of the return unit 50 opens the bottom surface 40b of the frame body 40 to return the parts.

  In the third embodiment, the belt conveyor 251 of the return unit 250 moves the belt 252 to return the parts.

  Specifically, the component supply system 1 according to the third embodiment includes a return unit 250, a moving mechanism 180, and a moving mechanism 290. The return unit 250 includes a belt conveyor 251 as illustrated in FIG. The belt conveyor 251 includes a belt 252 and conveying rollers 253 and 254. The transport rollers 253 and 254 rotate to move the belt 252. The moving mechanism 180 moves the bulk tray 10 in the horizontal direction. The moving mechanism 290 moves the frame body 40 in the vertical direction via the support unit 60.

  Further, as shown in FIG. 13, the operation of the component supply system 1 is different from that of the first embodiment in the following points.

  When the sequencer 72 receives the return instruction, the sequencer 72 performs control so that the processes in steps S51 to S19 are performed.

  In step S <b> 51, the sequencer 72 controls the moving mechanism 180 to move the bulk stacking tray 10 to the downstream side of the belt conveyor 251. That is, when viewed from above, the bulk stacking tray 10 is moved to a position where the vicinity of the conveying roller 253 of the belt conveyor 251 slightly overlaps the bulk stacking tray 10 (see FIG. 14A).

  In step S <b> 52, the sequencer 72 controls the moving mechanism 290 to raise the frame body 40 away from the belt 252. As a result, the frame body 40 is removed from the belt 252 (see FIG. 14B).

  In step S53, the sequencer 72 controls the return unit 250 to operate the belt conveyor 251. That is, the belt 252 is moved by the transport rollers 253 and 254 (see FIG. 15).

  In step S54, since the upper belt 252 moves toward the bulk stacking tray 10, a plurality of parts remaining on the surface of the belt 252 are collectively dropped onto the bulk stacking tray 10.

  As described above, in the third embodiment, the belt 252 blocks the bottom surface 40b of the frame body 40 in a state where the belt conveyor 251 is stopped when the plurality of taken-out components are dropped at once, and the remaining components are removed. The belt conveyor 251 operates when the bulk stack tray 10 is returned to the bulk stack tray 10 and the upper belt 252 moves toward the bulk stack tray 10. Thereby, the structure for returning a some component collectively to the bulk stacking tray 10 is easily realizable.

Embodiment 4 FIG.
A component supply system 1 according to the fourth embodiment will be described. Below, it demonstrates focusing on a different part from Embodiment 1. FIG.

  In the first embodiment, the shutter 51 of the return unit 50 opens the bottom surface 40b of the frame body 40 to return the parts.

  In the fourth embodiment, the actuator 351 of the return unit 350 moves the tip 352 to return the part.

  Specifically, the component supply system 1 according to the fourth embodiment includes a return unit 350, a moving mechanism 180, and a moving mechanism 290. The return unit 350 has an actuator 351 and a table 354 as shown in FIG. The actuator 351 has a tip 352 and a main body 353. The actuator 351 is disposed on the extended surface of the surface of the table 354. The actuator 351 moves the tip 352 along the surface of the table 354. The moving mechanism 180 moves the bulk tray 10 in the horizontal direction. The moving mechanism 290 moves the frame body 40 in the vertical direction via the support unit 60.

  Further, as shown in FIG. 16, the operation of the component supply system 1 is different from that of the first embodiment in the following points.

  When the sequencer 72 receives the return instruction, the sequencer 72 performs control so that the processes of steps S61 to S19 are performed.

  In step S <b> 61, the sequencer 72 controls the moving mechanism 180 to move the bulk stacking tray 10 toward the front end 354 a side of the table 354. That is, when viewed from above, the bulk stacking tray 10 is moved to a position where the vicinity of the tip 354a of the table 354 slightly overlaps the bulk stacking tray 10 (see FIG. 17A).

  In step S <b> 62, the sequencer 72 controls the moving mechanism 290 to raise the frame body 40 away from the table 354. As a result, the frame 40 is removed from the table 354 (see FIG. 17B).

  In step S63, the sequencer 72 controls the return unit 350 to operate the actuator 351. That is, the tip 352 is moved from the retracted position to the tip 354a side of the table 354 (see FIG. 18).

  In step S64, since the parts remaining on the surface of the table 354 are pushed out toward the bulk stacking tray 10, a plurality of parts remaining on the surface of the table 354 are collectively dropped onto the bulk stacking tray 10.

  As described above, in the fourth embodiment, the table 354 blocks the bottom surface 40b of the frame body 40 with the distal end portion 352 of the actuator 351 retracted when the plurality of taken-out components are collectively dropped, and the remaining parts are left. When all the parts are returned to the bulk stacking tray 10, the tip 352 of the actuator 351 moves on the surface of the table 354 toward the bulk stacking tray 10. Thereby, the structure for returning a some component collectively to the bulk stacking tray 10 is easily realizable.

  As described above, the component supply method and component supply system according to the present invention are useful for supplying lightweight, small, and thin components.

DESCRIPTION OF SYMBOLS 1 Component supply system 10 Bulk tray 20 Magnetic adsorption unit 21 Adsorption head 22 Operating part 23 Magnet 24 Operating part 25 Moving mechanism 30 Robot 31 Robot hand 32 Flange 33 Two-dimensional vision sensor 33a Image pick-up part 33b Image processing part 40 Frame 40a Upper surface 40b Bottom surface 40c-1 to 40c-4 Side surface portion 40d-1 to 40d-4 Plate-like portion 50 Return unit 51 Shutter 52 Operating portion 60 Supporting portion 70 Control portion 71 Robot controller 72 Sequencer (PLC)
150 Return Unit 151 Table 152 Rotation Shaft 153 Rotation Mechanism 180 Movement Mechanism 250 Return Unit 251 Belt Conveyor 252 Belt 253, 254 Conveying Roller 290 Movement Mechanism 350 Return Unit 351 Actuator 352 Tip 353 Main Body 354 Table

Claims (11)

A first suction step in which a plurality of parts are magnetically picked up from a bulk stacking tray in which a plurality of parts are stacked;
A separation step of releasing the magnetic adsorption and dropping the plurality of parts together inside the frame in the plane in a state where the frame is placed on the plane and separating them from each other;
A specific step of capturing the plurality of separated parts with a two-dimensional vision sensor and identifying a part that can be gripped by a robot hand among the plurality of parts according to the captured image;
A gripping step of gripping the identified part with the robot hand;
A return step of collectively returning the parts left ungripped in the gripping step among the plurality of parts to the bulk stacking tray,
A second suction step in which a plurality of parts are again magnetically picked up from the bulk stack in which the remaining parts are returned; and
A component supply method comprising: The plane is an upper surface of a shutter that moves in a direction along the bottom surface of the frame,
In the separation step, the identification step, and the gripping step, the shutter closes the bottom surface of the frame body,
2. The component supply method according to claim 1, wherein, in the returning step, the shutter moves so as to open a bottom surface of the frame body in a state in which the bulk stacking tray is positioned below the frame body. . The plane is the upper surface of the table that rotates so that the tip is lower than the bottom surface of the frame,
In the separation step, the identification step, and the gripping step, the table blocks the bottom surface of the frame body,
2. The component according to claim 1, wherein in the returning step, the table is rotated so as to open a bottom surface of the frame body in a state in which the bulk stacking tray is positioned on the front end side of the table. Supply method. The plane is an upper surface of a belt of a belt conveyor in which the belt moves in a direction along the bottom surface of the frame,
In the separation step, the identification step, and the gripping step, the belt closes the bottom surface of the frame body with the belt conveyor stopped.
In the returning step, the belt conveyor moves the belt after the frame on the belt is removed in a state where the bulk stack is located on the downstream side of the belt conveyor. Item 2. A method of supplying parts according to Item 1. On the plane, an actuator that moves the tip along the plane is arranged,
In the separation step, the identification step, and the gripping step, the actuator retracts the tip from the frame,
In the returning step, the actuator pushes out the remaining parts from the retracted position after the frame on the plane is removed in a state where the bulk stack is located on one end side of the plane. The component supply method according to claim 1, wherein the tip portion is moved to the position. The specific process includes
A recognition step of recognizing an annular region surrounding the component in the imaged image in which the plane is exposed;
A determination step of determining whether or not a minimum value of a width across the recognized annular region from the inside to the outside is larger than a threshold value according to a tip width of the robot hand;
A component specifying step of specifying the component determined to be greater than the threshold as the component that can be gripped by the robot hand;
The component supply method according to any one of claims 1 to 5, wherein: A bulk tray containing a plurality of parts;
A magnetic adsorption unit that magnetically adsorbs multiple components;
A frame placed on a plane;
A robot having a two-dimensional vision sensor that images an area inside the frame on the plane, and a robot hand that grips and takes out components existing inside the frame;
A return unit for returning the parts present on the plane to the bulk tray;
A controller for controlling the magnetic adsorption unit, the robot, and the return unit;
With
In the first period, the control unit causes the magnetic adsorption unit to magnetically pick up a plurality of parts from the bulk stack and collects the parts in a lump, and in the second period following the first period, the magnetic adsorption unit The magnetic attraction by the unit is released, and the plurality of parts are collectively dropped to the inside of the frame in the plane and separated from each other in a state where the frame is placed on the plane, and the second In a third period following the period, a plurality of the separated parts are imaged by the two-dimensional vision sensor, and a part that can be gripped by the robot hand is specified among the plurality of parts according to the captured image In the fourth period following the third period, the specified part is gripped by the robot hand, and in the fifth period following the fourth period, the part among the plurality of parts is The return unit collectively returns the parts remaining without being gripped by the bot hand to the bulk stack, and the bulk stack in which the remaining parts are returned in the sixth period following the fifth period. The component supply system, wherein the magnetic adsorption unit is again controlled to magnetically pick up and remove a plurality of components from the tray. The return unit includes a shutter that moves in a direction along the bottom surface of the frame,
The shutter closes a bottom surface of the frame body in the second period, the third period, and the fourth period, and in the fifth period, the bulk trays of the frame body The component supply system according to claim 7, wherein the component supply system moves so as to open a bottom surface of the frame body in a state of being positioned below. The return unit includes a table that rotates so that the tip is lower than the bottom surface of the frame,
The table closes a bottom surface of the frame body in the second period, the third period, and the fourth period, and in the fifth period, the bulk stacker The component supply system according to claim 7, wherein the table is rotated so as to open a bottom surface of the frame body in a state where the table is located on a distal end side. The return unit includes a belt conveyor in which a belt moves in a direction along the bottom surface of the frame,
The belt conveyor is stopped in the second period, the third period, and the fourth period, and the belt closes the bottom surface of the frame, and in the fifth period, The component supply system according to claim 7, wherein the belt is moved after the frame body on the belt is removed in a state where the bulk stacking tray is located on the downstream side of the belt conveyor. The return unit includes an actuator that moves the tip along the plane,
The actuator retracts the tip from the frame body in the second period, the third period, and the fourth period, and in the fifth period, the loose stacking tray is The tip portion is moved so as to push out the remaining parts from the retracted position after the frame on the plane is removed in a state of being located on one end side of the plane. The component supply system according to 7.

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