JP2016117124A - Assembly device, robot hand position correcting method, and robot hand position correction program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an assembly device capable of performing a position correction in a movement space of a robot hand, a robot hand position correction method, and a robot hand position correction program.SOLUTION: An assembly device comprises: a first imaging element mounted on the hand part of a robot hand; a projector for projecting a reference pattern on said first imaging element; and a correction part for performing the position correction of said robot hand on the basis of the information of said reference pattern in the image information obtained from said first imaging element.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an assembling apparatus, a robot hand position correcting method, and a robot hand position correcting program.

  In order to respond to the declining labor force and the return to domestic production, assembly demand for robots is increasing. Positioning accuracy is required for assembly work. Therefore, a technique for detecting the position of the tip of the robot hand using a laser beam or the like and correcting the position of the robot hand has been disclosed (for example, see Patent Document 1).

Japanese National Patent Publication No. 11-502776

  However, with the above technique, it is difficult to perform position correction in a wide movement space of the robot hand.

  The present invention has been made in view of the above problems, and an object thereof is to provide an assembling apparatus, a robot hand position correcting method, and a robot hand position correcting program that can perform position correction in the movement space of the robot hand.

  In one aspect, the assembling apparatus includes a first image sensor provided in a hand portion of a robot hand, a projector that projects a reference pattern on the first image sensor, and an image information obtained from the first image sensor. A correction unit that corrects the position of the robot hand based on the reference pattern information.

  Position correction can be performed in the movement space of the robot hand.

It is a figure showing the relationship between a command value and an actual measurement value. (A) And (b) is an example of position shift. (A) And (b) is a figure which illustrates position correction. 1 is a schematic view of an assembling apparatus according to a first embodiment. It is a figure which illustrates a board | substrate and mounting components. It is a figure illustrated about the coordinate system of an assembly apparatus. (A) is a figure showing the arrangement | positioning relationship between a projector and an image pick-up element, (b) is a figure which illustrates the projector coordinate system Pprj, (c) is the picked-up image of an image pick-up element in case a projector does not irradiate a pattern. (D) is a figure which illustrates a picked-up image in case an intersection is located in the sensor surface of an image pick-up element. (A)-(c) is a figure for demonstrating the detection of the said intersection in a captured image. (A)-(d) is a figure explaining the response | compatibility to the focus depth change of a projector. (A) is a figure for demonstrating the calculation procedure of the projection matrix for converting the robot coordinate system Prbt into the projector coordinate system Pprj, (b) is a figure which illustrates the master work used for calculation of a projection matrix. . (A)-(c) is a figure for demonstrating the function of a reference image pick-up element. It is a flowchart showing an example of the process which an assembly apparatus performs. (A) And (b) is a figure which illustrates the detail of step S2. (A)-(d) is a figure which illustrates the detail of step S6. (A)-(d) is a figure which illustrates the preparation procedure of a correction table. (A) is an example of the flowchart showing the detail of step S7, (b) is a figure which illustrates a correction table area | region. It is a figure which illustrates the relationship between target position CP1 corresponding to command value, and actual position LP1 of robot hand 20. It is a block diagram for demonstrating the hardware constitutions of a controller.

  Prior to the description of the embodiment, the absolute position accuracy of the robot hand will be described. The absolute position accuracy is the accuracy of the actual position of the robot hand with respect to a command value that specifies the position of the robot hand.

  FIG. 1 is a diagram illustrating a relationship between a command value and an actual measurement value. As illustrated in FIG. 1, a command value for moving the robot hand at intervals of 10 mm is input. If the robot hand moves according to the command value, an error may occur. In particular, in the case of a multi-joint (multi-axis) robot having two or more joints, an error of about 1 to 3 mm may occur in an actual measurement value as illustrated in FIG. In such a case, it is difficult to apply an articulated robot to the insertion of a connector on a board that requires an accuracy of about 0.1 mm.

  When a component is inserted into a board, the following processing is often performed. First, the installation position of the substrate (amount of deviation at the time of installation) is obtained from the image processing mark on the substrate. Next, the target position of the robot hand is calculated from the amount of deviation between the component insertion position coordinates registered in advance and the board installation position, and the insertion operation is performed.

  For example, a case where a connector is inserted at a position of x = 100 mm and y = 100 mm from the upper left of the board will be described. As illustrated in FIG. 2A, since the connector includes a plurality of terminals, accuracy within ± 0.1 mm is often required. In this case, if an error of 1 to 3 mm occurs, the connector may not be inserted. For example, as illustrated in FIG. 2B, when a positional shift of 1 to 2 mm occurs in the x-axis direction and the y-axis direction, the connector cannot be inserted into the board.

  In order to solve this problem, as illustrated in FIG. 3A, the position of the hand portion 102 of the robot hand may be detected and corrected using the displacement sensor 101. However, in this case, there arises a problem that the tip position of the hand unit 102 cannot be detected outside the measurement range of the displacement sensor 101. That is, it is difficult to correct the position in the entire moving space of the robot hand.

  Next, as illustrated in FIG. 3B, a case where the camera 103 for image processing is mounted on the hand unit 102 and the position of the hand unit 102 is corrected by image processing is conceivable. However, in this case, since the hand unit 102 is moved to the work position after the camera 103 confirms the position of the hand unit 102, an error may occur during the movement.

  Next, as illustrated in FIG. 3A, a case where the position of the hand unit 102 is calculated by processing an image obtained from the camera 104 installed outside can be considered. However, the camera 104 is installed at a position away from the measurement target so as not to overlap the movable region of the hand unit 102. In this case, the measurement resolution of the camera 104 is lowered.

  As described above, it is difficult to correct the position of the robot hand. Therefore, in the following embodiments, an assembly apparatus, a robot hand position correction method, and a robot hand position correction program that can perform position correction in the movement space of the robot hand will be described.

  FIG. 4 is a schematic diagram of the assembling apparatus 100 according to the first embodiment. As illustrated in FIG. 4, the assembling apparatus 100 includes a work table 10, a robot hand 20, a robot controller 30, a projector 40, cameras 50a and 50b, a controller 60, and the like.

  On the work table 10, a substrate 11 to be assembled, a tray 12 for storing or supplying components mounted on the substrate 11, a reference image sensor 13 for providing a reference position or a reference for vibration suppression, and the like are arranged. The reference imaging device 13 is, for example, a CCD (Charge Coupled Device) camera.

  The robot hand 20 is a robot having one or more joints, for example, a vertical articulated (multi-axis) robot. For example, the robot hand 20 takes out a mounted component from the tray 12 and performs an assembly operation such as attachment to the substrate 11. An imaging element 22 is disposed in the vicinity of the tip of the hand portion 21 of the robot hand 20. The image sensor 22 is, for example, a CCD camera, and is disposed facing the projector 40 so that the sensor surface is parallel to an irradiation surface (focus surface) of the projector 40 described later. The robot controller 30 controls the operation of the robot hand 20. For example, the robot controller 30 instructs the robot hand 20 to perform operations such as gripping and inserting the mounted component in accordance with instructions of a program stored in the robot controller 30. This instruction includes a command value for designating the position of the robot hand 20.

  The projector 40 is disposed on the ceiling part of the assembling apparatus 100. The projector 40 faces the lower work table 10 and performs projection by irradiating the substrate 11, the reference image sensor 13, and the image sensor 22. The cameras 50 a and 50 b are cameras for recognizing the installation position of the substrate 11 on the work table 10. The controller 60 controls the operation of each part of the assembly apparatus 100. Further, the controller 60 performs processing according to the detection result of each part of the assembly apparatus 100.

  FIG. 5 is a diagram illustrating the substrate 11 and the mounting component 14. As illustrated in FIG. 5, the board 11 is a printed circuit board for a server, for example, and includes a socket 15 for a DIMM memory. Hereinafter, as an example, an operation in which the assembly apparatus 100 inserts the mounting component 14 into the socket 15 will be described. The image processing marks A and B in FIG. 5 will be described later.

  FIG. 6 is a diagram illustrating the coordinate system of the assembling apparatus 100. As an example, it is assumed that the operating range of the robot hand 20 on the work surface on the substrate 11 is 500 mm × 500 mm. As illustrated in FIG. 6, the assembling apparatus 100 includes a projector coordinate system Pprj of the projector 40, a robot coordinate system Prbt of the robot hand 20, and a hand coordinate system Phnd of the hand unit 21. All coordinate systems used in this system are converted to projector coordinates. The method is described below. In the assembling apparatus 100, the robot coordinate system Prbt and the hand coordinate system Phnd are converted into the projector coordinate system Pprj using, for example, a projection matrix. These projection matrices are preferably acquired before work by the robot hand 20. A specific method for calculating the projection matrix will be described later. When the robot hand 20 moves the hand unit 21 before each operation, the position of the image sensor 22 is represented by the robot coordinate system Prbt. In each operation, the position of the image sensor 22 is represented by the hand coordinate system Phnd.

  In addition, the substrate 11 is installed on the work table 10. When the substrate 11 is installed, the actual position of the substrate 11 may deviate from the target position. Therefore, the assembling apparatus 100 calculates a projection matrix for converting the coordinate system on the substrate 11 into the projector coordinate system Pprj using the camera coordinate system Pcam1 of the camera 50a and the camera coordinate system Pcam2 of the camera 50b. This projection matrix is acquired from when the substrate 11 is placed on the work table 10 to when the robot hand 20 performs work. A specific method for calculating the projection matrix will be described later.

  First, a projection matrix calculation method for converting the robot coordinate system Prbt to the projector coordinate system Pprj will be described. FIG. 7A is a diagram illustrating an arrangement relationship between the projector 40 and the imaging element 22. The robot controller 30 has a hand unit so that the sensor surface of the image sensor 22 coincides with the irradiation surface (focus surface) at the focal depth of the projector 40 and faces the projector 40 within the irradiation range of the projector 40 at the start of work. 21 is controlled. The depth of focus setting method will be described later.

  FIG. 7B is a diagram illustrating a projector coordinate system Pprj. As an example, it is assumed that the resolution of the projector 40 is 640 pixels × 480 pixels. Further, it is assumed that the irradiation range on the irradiation surface is 800 mm × 600 mm. In this case, in the irradiation surface, the X axis is 800 mm / 640 pixels = 1.25 mm / pixel, and the Y axis is 640 mm / 480 pixels = 1.25 m / pixel.

  FIG. 7C is a diagram illustrating a captured image of the image sensor 22 when the projector 40 does not irradiate a pattern. As illustrated in FIG. 7C, a grid-like pixel boundary appears in the captured image. For example, the projector 40 emits an intersection pattern (reference pattern) including a line parallel to the X axis and a line parallel to the Y axis, and designates an intersection of the patterns on the irradiation surface.

  FIG. 7D is a diagram illustrating a captured image when the intersection point is located on the sensor surface of the image sensor 22. As illustrated in FIG. 7D, each line is recognized as a thick line. If the position of the robot hand 20 matches the command value to the robot hand 20, the intersection point is located at a point corresponding to the command value in the captured image of the image sensor 22. If the position of the robot hand 20 is deviated from the command value, the intersection point is deviated from the point corresponding to the specified value in the captured image. By correcting this deviation amount, the position of the robot hand 20 can be corrected with high accuracy.

  FIG. 8A to FIG. 8C are diagrams for explaining the detection of the intersection point in the captured image. FIG. 8A is a diagram illustrating an imaging result of the imaging element 22. A thick line represents a line extending in the Y-axis direction. For example, the line can be detected from a histogram of luminance in the X-axis direction and the Y-axis direction illustrated in FIGS. 8B and 8C by projection processing or the like. An intersection can be detected by detecting lines in the X-axis direction and the Y-axis direction.

  FIGS. 9A to 9D are diagrams for explaining the response of the projector 40 to the change in the focal depth. FIG. 9A shows a pixel boundary of the projector 40. The interval between the lattice-like thin lines corresponds to the size (pitch size) of one pixel. When the image sensor 22 is shifted to the work table 10 side from the irradiated surface, the pitch dimension is widened as illustrated in FIG. 9B. From the above, as illustrated in FIG. 9C, the pitch dimension changes according to the focal depth of the projector 40. FIG. 9D illustrates the imaging result of the imaging element 22.

  For example, it is assumed that the specifications of the image sensor are size: 1/2, number of effective pixels: 768 × 494, and pixel size: 8.4 μm × 9.8 μm. In this case, if the pitch size obtained by image processing is 119 pixels × 102 pixels, (8.9 × 119, 9.8 × 102) = (999.6 μm, 999.6 μm). By using such a correspondence relationship, the position in the captured image of the image sensor 22 and the actual position of the robot hand 20 can be made to correspond even if the depth of focus changes.

  FIG. 10A is a diagram for describing a procedure for calculating a projection matrix for converting the robot coordinate system Prbt to the projector coordinate system Pprj. As illustrated in FIG. 10A, the robot controller 30 moves the hand unit 21 to positions x (Xr axis) = 0 mm and y (Yr axis) = 500 mm in the robot coordinate system Prbt on the work table 10. . At this time, the hand unit 21 is adjusted so that the sensor surface of the image sensor 22 coincides with the irradiation surface at the focal depth of the projector 40 and faces the projector 40, and the projection image of the projector 40 is irradiated to the image sensor 22. Set as follows.

  Next, the controller 60 calculates the position of the hand unit 21 in the projector coordinate system Pprj (Xp axis, Yp axis) in this case using the image sensor 22 and registers it as the position P1. Next, the robot controller 30 moves the hand unit 21 to positions x (Xr axis) = 0 mm and y (Yr axis) = 0 mm in the robot coordinate system Prbt. In this case, the controller 60 calculates the position of the hand unit 21 in the projector coordinate system Pprj (Xp axis, Yp axis) using the image sensor 22 and registers it as the position P2. Next, the robot controller 30 moves the hand unit 21 to positions x (Xr axis) = 500 mm and y (Yr axis) = 0 mm in the robot coordinate system Prbt. In this case, the controller 60 calculates the position of the hand unit 21 in the projector coordinate system Pprj (Xp axis, Yp axis) using the image sensor 22 and registers it as the position P3. The controller 60 calculates a projection matrix (rotation angle = θ) for converting the robot coordinate system Prbt to the projector coordinate system Pprj using the positions P1 to P3.

  Next, a projection matrix for converting the hand coordinate system Phnd to the projector coordinate system Pprj will be described. FIG. 10B is a diagram illustrating a master work 70 used for calculating the projection matrix. As illustrated in FIG. 10B, an image sensor 71 is mounted at a predetermined position of the master work 70. For example, the image sensor 71 is mounted at the center of the master work 70. The position of the image sensor 71 is guaranteed by a prior position measurement.

  The robot controller 30 causes the hand unit 21 to grip the master work 70 and move it to an arbitrary position on the irradiation surface of the projector 40. The controller 60 causes the projector 40 to project an intersection pattern on the image sensor 22 of the hand unit 21 and the image sensor 71 of the master work 70, and calculates the center positions of the image sensor 22 and the master work 70. Next, the robot controller 30 rotates the hand unit 21 by 90 degrees, obtains the rotation center from the captured image of the image sensor 71, and performs the rotation center correction. Thereby, the controller 60 calculates a projection matrix for converting the hand coordinate system Phnd into the projector coordinate system Pprj.

  FIG. 11A is a diagram for explaining the function of the reference image sensor 13. As illustrated in FIG. 11A, the reference image sensor 13 is disposed in the irradiation range of the projector 40. Therefore, the image sensor 22 and the reference image sensor 13 are arranged in the irradiation range of the projector 40. Since the projector 40 and the image sensor 22 are separated from each other, the vibration of the projector 40 is emphasized and the vibration in the captured image is increased. This vibration also appears in the captured image of the reference image sensor 13. Therefore, the vibration information of the projector 40 can be obtained from the vibration of the lattice at the pixel boundary in the captured image of the reference image sensor 13 illustrated in FIG. By removing (cancelling) this vibration component from the captured image of the image sensor 22 illustrated in FIG. 11C, the influence of the vibration of the projector 40 can be suppressed.

  Next, an example of processing executed by the assembly apparatus 100 will be described. FIG. 12 is a flowchart illustrating an example of processing executed by the assembling apparatus 100. As illustrated in FIG. 12, first, the operator sets the substrate 11 and the tray 12 on the work table 10, and presses a start button or the like (step S1). Next, the robot controller 30 calculates the installation position of the substrate 11 using the captured images of the cameras 50a and 50b, and converts it into the projector coordinate system Pprj (step S2).

  FIG. 13A and FIG. 13B are diagrams illustrating the details of step S2. As illustrated in FIG. 13A, the robot controller 30 retracts the robot hand 20 from the irradiation range of the projector 40. Next, the robot controller 30 causes the projector 40 to irradiate the image processing marks on the imaging ranges of the cameras 50 a and 50 b on the substrate 11.

  FIG. 13B shows the image processing marks A and B irradiated by the projector 40. The image processing marks A and B have, for example, a cross shape having a width, and are irradiated, for example, near the corners of the substrate 11 that are diagonal to each other. The camera 50a images the image processing mark A. The camera 50b captures the image processing mark B. The robot controller 30 compares the coordinates of the image processing mark A in the projector coordinate system Pprj with the coordinates of the image processing mark A in the camera coordinate system Pcam1. Further, the robot controller 30 compares the coordinates of the image processing mark B in the projector coordinate system Pprj with the coordinates of the image processing mark B in the camera coordinate system Pcam2. Thereby, the robot controller 30 calculates a projection matrix for converting the camera coordinate systems Pcam1 and Pcam2 of the cameras 50a and 50b into the projector coordinate system Pprj of the projector 40.

  Next, the robot controller 30 calculates the installation position of the substrate 11 from the image of the substrate 11 captured by the camera 50a and the image of the substrate 11 captured by the camera 50b, and uses the projection matrix to project the projector coordinate system Pprj. Convert to As a result, the position on the substrate 11 can be converted into the projector coordinate system Pprj. Note that the sensor center of the reference image sensor 13 can be used as the reference coordinate (origin) of the installation position of the substrate 11.

  Referring to FIG. 12 again, after execution of step S2, the robot controller 30 causes the robot hand 20 to grip the mounted component 14 from the tray 12 (step S3). Next, the robot controller 30 uses the mounting position data (command value) of the mounting component 14 stored in a database or the like and the installation position of the substrate 11 calculated in step S2 to determine the insertion position of the mounting component 14. The robot hand 20 is controlled so that the mounted component moves to the sky (step S4). In step S4, since the position of the robot hand 20 has not been corrected, an error may be included in the position of the robot hand 20. After execution of step S4, the control subject of the robot hand 20 is switched from the robot controller 30 to the controller 60 (step S5).

  Next, the controller 60 confirms the current position of the robot hand 20 by capturing the intersection pattern projected by the projector 40 with the image sensor 22 (step S6). FIG. 14A to FIG. 14D are diagrams illustrating details of step S6. The details of step S6 will be described below with reference to FIGS. 14 (a) to 14 (d).

  FIG. 14A to FIG. 14D are diagrams illustrating a procedure for projecting a crossing pattern onto the image sensor 22. First, as illustrated in FIGS. 14A to 14C, the controller 60 gradually moves a line pattern extending in the X-axis direction in the Y-axis direction. For example, the controller 60 repeats moving the Y-axis coordinate of the line pattern from 0 pixel to 480 pixels. When the controller 60 detects the line pattern as an imaging result of the image sensor 22, the controller 60 obtains the Y-axis coordinate (projector coordinate system Pprj) of the line pattern at the time of detection. The controller 60 performs the same process for the line pattern extending in the Y-axis direction, and obtains the X-axis coordinate (projector coordinate system Pprj) of the line pattern. The controller 60 may perform the detection of these two line patterns independently, or may perform them simultaneously.

  Assume that the intersection of the two line patterns obtained is (X, Y) = (40 pixels, 450 pixels) in the projector coordinate system Pprj. In this case, the intersection point is a position (50 mm, 37.5 mm) from the nearest corner in the irradiation range of the irradiation surface. If the position of the robot hand 20 deviates from the command value to the robot hand 20, the intersection point in the captured image deviates from the position corresponding to the specified value. By correcting this deviation amount, the position of the robot hand 20 can be corrected with high accuracy.

  Referring to FIG. 12 again, after executing step S6, controller 60 performs a lens distortion correction process of projector 40 using the correction table (step S7). FIG. 15A to FIG. 16B are diagrams illustrating details of step S7. FIG. 15A to FIG. 15D are diagrams illustrating a procedure for creating a correction table.

  First, as illustrated in FIG. 15A, the lattice pattern is irradiated from the projector 40 to the three-dimensional measuring device 80. The three-dimensional measuring device 80 has a high measurement accuracy of ± 0.001 μm, for example. FIG. 15B is a diagram illustrating the relationship between the three-dimensional measuring device 80 and the irradiation pattern. The lattice pattern in FIG. 15B is a pattern on the irradiation surface in the depth of focus of the projector 40. An image sensor 81 is fixed to the three-dimensional measuring device 80. FIG. 15B is an enlarged view of the vicinity of the image sensor 81.

  The image sensor 81 is moved at a constant interval (for example, 5 mm) on the irradiation surface of the projector 40. The position of the image sensor 81 can be measured by the same procedure as in step S6. By making the measurement value (Preal) of the three-dimensional measuring device 80 and the measurement value (Plens) of the image sensor 81 as one set, a correction table as illustrated in FIG. 15D can be created.

  FIG. 16A is an example of a flowchart showing details of step S7. As illustrated in FIG. 16A, the controller 60 sets the current position calculated in step S6 as Pnow (step S21). Next, as illustrated in FIG. 16B, the controller 60 reads the correction table Plens and Preal from the lower left coordinates of the correction table region including Pnow, and obtains the correction amount Poffset = Plens-Preal (step). S22). Next, the controller 60 obtains a correction position Pnow ′ of Pnow using the correction amount Poffset (step S23). The correction position Pnow ′ is Pnow-Poffset.

  Referring to FIG. 12 again, it is determined whether or not the current position confirmed in step S6 is the target position (position corresponding to the command value) (step S8). Details of step S8 will be described below. FIG. 17 is a diagram illustrating the relationship between the target position CP1 corresponding to the command value and the actual position (intersection point of the intersection pattern) LP1 of the robot hand 20. The target position CP1 is assumed to be the center (camera center) of the captured image of the image sensor 22. It is assumed that the specifications of the image sensor 22 are size: 1/2, effective pixel number: 768 × 494, and pixel size: 8.4 μm × 9.8 μm. In this case, it is assumed that the position LP1 is (400 pixels, 270 pixels) in the coordinates of the image sensor 22. Since the coordinates of the target position CP1 are (768/2 pixels, 494/2 pixels), the vector A from the position LP1 to the target position CP1 is (16 pixels, 23 pixels) = (16 × 8.4 μm, 23 × 9.8 μm) = (134.4 μm, 225.4 μm). In step S6, it may be determined whether or not the scalar quantity of the vector A is less than the threshold value.

  Referring to FIG. 12 again, if it is determined “No” in step S8, the controller 60 moves the robot hand 20 by the difference between the target position and the current position (the vector A) (step S9). In the above example, the correction destination position of the robot hand 20 is (37.5 mm + 0.1344 mm, 50 + 0.2254 m) = (37.6344 mm, 50.2254 mm). The robot hand 20 is moved to this position. Thereafter, the process is executed again from step S6.

  If “Yes” is determined in step S8, the control subject of the robot hand 20 is switched from the controller 60 to the robot controller 30 (step S10). Next, the robot controller 30 lowers the robot hand 20 and causes the hand part 21 to insert the mounting component 14 into the socket of the substrate 11 (step S11). Next, the robot controller 30 causes the hand unit 21 to release the mounted component 14 and raise the robot hand 20 (step S12). Thereafter, the flowchart of FIG. 12 ends.

  According to the present embodiment, the reference pattern is projected from the projector 40 onto the image sensor 22 of the hand unit 21. Since the irradiation range of the projector 40 is wide, the reference pattern can be projected onto a wide movement space of the robot hand 20. Further, the position of the robot hand 20 is corrected based on the position information of the reference pattern in the image information obtained from the image sensor 22 and the position information of the coordinate system of the projector 40. In this case, the position of the robot hand 20 can be corrected with high accuracy. The reference pattern is not limited to a line pattern such as a cross line, and may be various patterns.

  Moreover, the influence of the vibration of the projector 40 can be suppressed by canceling the vibration in the captured image of the image sensor 22 using the vibration obtained from the captured image of the reference image sensor 13. Moreover, the installation position of the board | substrate 11 can be acquired by projecting a pattern from the projector 40 on the board | substrate 11, and obtaining the information of the said pattern in the image information obtained from camera 50a, 50b. When the focal length of the reference pattern of the projector 40 is not wide, it is preferable to arrange the hand unit 21 in the vicinity of the substrate 11 (within a predetermined distance) when performing position correction.

(Other examples)
FIG. 18 is a block diagram for explaining the hardware configuration of the controller 60. As illustrated in FIG. 18, the controller 60 includes a CPU 201, a RAM 202, a storage device 203, an interface 204, and the like. Each of these devices is connected by a bus or the like. A CPU (Central Processing Unit) 201 is a central processing unit. The CPU 201 includes one or more cores. A RAM (Random Access Memory) 202 is a volatile memory that temporarily stores programs executed by the CPU 201, data processed by the CPU 201, and the like. The storage device 203 is a nonvolatile storage device. As the storage device 203, for example, a ROM (Read Only Memory), a solid state drive (SSD) such as a flash memory, a hard disk driven by a hard disk drive, or the like can be used. When the CPU 201 executes the robot hand position correction program stored in the storage device 203, the function of the controller 60 is realized. The robot controller 30 may have the same configuration as the controller 60. Alternatively, the controller 60 and the robot controller 30 may be hardware such as a dedicated circuit.

  In each of the above examples, the image sensor 22 functions as an example of a first image sensor provided in the hand unit. The projector 40 functions as an example of a projector that projects a reference pattern onto the first image sensor. The controller 60 functions as an example of a correction unit that corrects the position of the robot hand based on the reference pattern information in the image information obtained from the first image sensor. The reference image sensor 13 functions as an example of a second image sensor arranged in the irradiation range of the projector. The cameras 50a and 50b function as an example of a third image sensor that images the work target of the robot hand.

  Although the embodiments of the present invention have been described in detail above, the present invention is not limited to such specific embodiments, and various modifications and changes can be made within the scope of the gist of the present invention described in the claims. It can be changed.

DESCRIPTION OF SYMBOLS 10 Worktable 11 Board | substrate 12 Tray 13 Reference image sensor 20 Robot hand 21 Hand part 22 Image sensor 30 Robot controller 40 Projector 50a, 50b Camera 60 Controller 100 Assembly apparatus

Claims (5)

A first image sensor provided in a hand portion of the robot hand;
A projector that projects a reference pattern onto the first image sensor;
An assembling apparatus comprising: a correcting unit that corrects the position of the robot hand based on the information of the reference pattern in the image information obtained from the first image sensor. A second imaging device disposed in an irradiation range of the projector;
2. The assembly according to claim 1, wherein the correction unit suppresses an influence of vibration of the projector in an image obtained from the first image sensor using an image obtained from the second image sensor. apparatus. A third imaging device for imaging the work target of the robot hand;
The projector projects a pattern onto an imaging range of the third imaging element in the work target;
The assembly apparatus according to claim 1, wherein the correction unit acquires an installation position of the work target based on information on the pattern in image information obtained from the third image sensor. Project a reference pattern onto the image sensor provided in the hand part of the robot hand using a projector,
A robot hand position correcting method, wherein the position of the robot hand is corrected based on information of the reference pattern in image information obtained from the image sensor. On the computer,
A process of projecting a reference pattern using a projector onto an image sensor provided in the hand portion of the robot hand;
A robot hand position correction program that executes a process of correcting the position of the robot hand based on information of the reference pattern in the image information obtained from the image sensor.

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