JP2018001372A - Component supply device and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a component supply device and method which supply a screw or bolt and can hold the screw or bolt stably in a predetermined posture even when a camera is arranged to identify the screw or bolt in order to simplify a structure.SOLUTION: A component supply device includes a holding part 13 which releasably holds an object W such as a screw or bolt in a replenishment part, an operation mechanism 12 which supports so as to change a posture of the holding part 13 and displace the holding part, a camera 23 for imaging the object W, and a control part 24 which controls the holding part 13 and operation of the operation mechanism 12. The control part 24 determines the posture of the object W by identifying a shape of an end surface W2a formed on an opposite side to a shaft part W1 of a head part W2 of the object W or a shape of an end surface W1a on a tip end side opposite to the head part W2 of the shaft part W1 from an image of the object W imaged by the camera 23.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a component supply apparatus and method for supplying screws or bolts.

  Various component supply devices for supplying screws or bolts are known for the purpose of automation of assembly and the like.

  For example, a replenishment unit to which screws or bolts are sequentially replenished, a holding unit that releasably holds the screws or bolts of the replenishment unit, and an operation mechanism that supports the holding unit so as to be capable of posture switching operation and displacement operation. A camera for photographing a screw or a bolt of the replenishment unit; and a control unit for controlling the operation of the holding unit and an operation mechanism, the control unit configured to hold the screw or the bolt in a predetermined posture. A component supply apparatus and method for controlling the operation of the holding unit and the operation mechanism using image information of a screw or a bolt photographed by the camera so as to be held by the camera are known (for example, patents) See reference 1.)

JP 2010-228819 A

  The component supply apparatus and method in the above document only require a camera as a sensor for identifying screws or bolts, so that the configuration becomes simple, but how to use image information captured by this camera. It is unclear whether the screws or bolts are stably held by the holding portion.

  The present invention relates to a component supply apparatus and method for supplying screws or bolts, and a predetermined posture in which the screws or bolts are predetermined even when a camera is provided for screw or bolt identification for the purpose of simplifying the configuration. It is an object of the present invention to provide a component supply apparatus and method that can be stably held by the apparatus.

  The component supply device of the present invention is a component supply device that supplies screws or bolts, a replenishment unit that sequentially replenishes the screws or bolts, a holding unit that releasably retains the screws or bolts of the replenishment unit, An operation mechanism that supports the holding unit so that the posture can be switched and can be displaced; a camera that photographs the screw or bolt of the replenishing unit; and a control unit that controls the operation of the holding unit and the operation mechanism, From the image of the screw or bolt photographed by the camera, the control unit is opposite to the shape of the proximal end face formed on the opposite side of the shaft portion in the head of the screw or bolt or the head portion of the shaft portion. The posture of the screw or bolt is discriminated by identifying the shape of the end face on the tip side, and the discriminated posture is such that the screw or bolt is held by the holding portion in a predetermined posture. information And use, and controls the operation of the holding portion and the actuating mechanism.

  The end face on the base end side or the end face on the distal end side of the screw or bolt is pre-painted with a color different from that of other parts, and the control unit performs an image of the screw or bolt photographed by the camera. The shape of the end face may be identified based on the color difference.

  An illumination device 32 for irradiating light to a screw or bolt is provided, and the controller changes the illumination direction of the illumination device 32 by an actuator and uses the change to extract an edge of the screw or bolt, or illumination control. It is also possible to change the brightness or color of the light emitted from the illumination device 32 by means and extract the edge of the screw or bolt using the change.

  The replenishment unit has a storage box that can be accommodated in a state where screws or bolts are stacked, and a replenishment surface on which the screws or bolts taken out from the storage box are deployed and placed, The shape of the end face on the base end side or the end face on the tip end side of the screw or bolt that is placed on the supply surface and does not overlap with another screw or bolt may be identified.

  The replenishment unit has a storage box that can be stored in a state in which screws or bolts are stacked, and the camera has an end surface on the base end side or a front end side of the screw or bolt stored in the storage box. The shape may be identified.

  On the other hand, the component supply method of the present invention is a component supply method for supplying screws or bolts, a replenishment unit to which screws or bolts are sequentially replenished, and a holding unit for releasably retaining the screws or bolts of the replenishment unit Component supply comprising: an operation mechanism that supports the holding unit so as to be capable of posture switching operation and displacement operation; a camera that photographs a screw or a bolt of the replenishment unit; and a control unit that controls the operation of the operation mechanism. When making the apparatus determine the position and posture of the screw or bolt, the proximal end surface formed on the opposite side of the shaft portion in the head portion of the screw or bolt or the distal end side opposite to the head portion of the shaft portion A color different from that of the other part is painted in advance on the end surface of the base plate, and the control unit applies an end surface on the base end side or an image of the screw or bolt captured by the camera based on the color difference. Of the end face on the tip side By identifying the shape, the posture of the screw or bolt is determined, and using the determined posture information so that the screw or bolt is held by the holding unit in a predetermined posture, The operation of the holding unit and the operation mechanism is controlled.

  The posture of the screw or bolt can be determined by identifying the shape of the end surface formed on the opposite side of the shaft portion in the head of the screw or bolt from the image of the screw or bolt photographed by the camera. Even when a camera is provided for identifying screws or bolts for the purpose of simplifying the above, it is possible to stably hold the screws or bolts in a predetermined posture.

It is a top view which shows the structure of the components assembly apparatus which mounts the components supply apparatus to which this invention is applied. It is a schematic diagram which shows typically the structure of the work robot mounted in the component assembly apparatus. (A), (B) is the side view and top view of the screw | thread or bolt laid on the upper surface of the tray. It is a block diagram which shows the structure of a control part. (A) and (B) are a side view and a plan view showing an example in which an object is held by a robot hand. It is a side view showing other examples which hold a subject with a robot hand. It is a flowchart which shows the process sequence of the supply operation | work by this components assembly apparatus. It is a perspective view of the target object concerning other embodiments of the present invention. It is a flowchart which shows the procedure of an edge extraction process.

  FIG. 1 is a plan view showing a configuration of a component assembling apparatus equipped with a component supply apparatus to which the present invention is applied, and FIG. 2 is a schematic diagram schematically showing a configuration of a work robot mounted on the component assembling apparatus. FIGS. 3A and 3B are a side view and a plan view of screws or bolts placed on the upper surface of the tray. The parts assembling apparatus shown in these drawings includes a base 2 that is slidably driven on a rail 1, a work robot 3 installed on the base 2, and an object W such as a bolt or a screw that is a kind of part. A storage box 4 in which the object W is stored, a tray 6 in which the object W is developed, a tool space 7 in which various working tools can be used, and a one-dimensional or two-dimensional barcode in which various information is stored. Is provided with a bar code display unit (information storage unit) 8 displayed by printing, monitor display, or the like, and a tag rail (information storage unit) 9 provided in parallel with the rail 1.

  The above-mentioned storage box 4, tray 6, tool space 7, barcode display 8 and tag rail 9 are outside the slide range of the base 2 in plan view and the base 2 slides over the entire movable range on the rail 1 Are installed within a movable range of the work robot 3 in plan view.

  As shown in FIG. 3, the above-described object W is formed in a large diameter at a shaft portion W1 that extends in a straight line and has a screw thread formed on the outer periphery in a spiral shape, and at one end portion of the shaft portion W1. And a head portion W2. The head portion W2 is integrally formed with the shaft portion W2 so as to form a plate shape having a central portion on the shaft center of the shaft portion W2 and having a thickness in the direction of the shaft center.

  By the way, when the object W is a screw, it can be inserted by inserting the tip of a driver, which is a kind of tool, into the end surface W2a, which is the surface formed on the opposite side of the shaft W1 in the head W2. An engagement hole (not shown) such as a plus shape or a minus shape is formed, and the shape of the end face w2a itself is formed in a circular shape or a substantially circular shape.

  On the other hand, when the object W is a bolt, the head W2 has a regular polygonal shape (basically a regular hexagonal shape), and a wrench such as a hexagonal wrench is fitted to the end surface W2a. There may be an engagement hole (not shown) that can be inserted.

  Further, the entire end surface W2a of the object W is flat in this example and has a color (for example, red, blue, etc.) that is different from the color of other parts (basically, a metal color such as silver). It is colored (painted). In other words, the end surface W2a is a colored surface. The reason for performing such coloring will be described later.

  Next, based on FIG.1 and FIG.2, each part of the said component assembly apparatus is demonstrated.

  The base 2 has a linear motion block (not shown) that is slidably engaged with a rail 1 such as a linear motion guide. The base 2 is slide-driven by a base-side actuator 11 (see FIG. 4) such as a linear motor or a motor that rotationally drives a feed roller.

  The work robot 3 includes a manipulator (actuating mechanism) 12 and a robot hand (holding unit) 13 supported by the manipulator 12 so that the posture can be switched and the displacement can be performed.

  In the illustrated example, the manipulator 12 is an articulated robot having 6 degrees of freedom, and includes a base portion 14 fixedly installed on the base 2, six arm portions 16A, 16B, 16C, 16D, 16E, and 16F, It has two joint parts 17A, 17B, 17C, 17D, 17E, and 17F.

  The arm portion (first arm portion) 16A is supported by the joint portion (first joint portion) 17A so as to be rotatable about its own axis with respect to the base portion 14. The arm part (second arm part) 16B is supported by the joint part (second joint part) 17B so as to be rotatable up and down with respect to the first arm part 16A. The arm part (third arm part) 16C is supported by a joint part (third joint part) 17C so as to be vertically rotatable with respect to the second arm part 16B.

  The arm portion (fourth arm portion) 16D is supported by the joint portion (fourth joint portion) 17D so as to be rotatable about its own axis with respect to the third arm portion 16C. The arm part (fifth arm part) 16E is supported by a joint part (fifth joint part) 17E so as to be rotatable up and down with respect to the fourth arm part 16D. The arm part (sixth arm part) 16F is supported by a joint part (sixth joint part) 17F so as to be rotatable about its own axis with respect to the fifth arm part 16E.

  Actuators (manipulator side actuators) 18A, 18B, 18C, 18D, 18E, and 18F are provided in the joint portions 17A, 17B, 17C, 17D, 17E, and 17F (see FIG. 4). The arm parts 16A, 16B, 16C, 16D, 16E, and 16F are rotationally driven in the above-described predetermined directions by these manipulator side actuators 18A, 18B, 18C, 18D, 18E, and 18F. 12 is operated for displacement and posture change is performed.

  The robot hand 13 includes a fixed portion 19 that is fixedly installed at the distal end portion (specifically, the sixth arm portion 16F) of the manipulator 12, and a pair of sandwiching portions 21 and 21 supported by the fixed portion 19. have. The sandwiching portions 21 and 21 are formed in a prismatic shape protruding on the opposite side of the sixth arm portion 16F with the fixing portion 19 interposed therebetween.

  Then, the pair of holding parts 21 and 21 are operated in the direction in which they are separated and approached by an actuator (robot hand side actuator) 22 (see FIG. 4), thereby holding the object W or the tool described above.・ Release the hold.

  The fixing unit 19 is provided with a camera 23 that captures the tip of the clamping units 21 and 21 in the protruding direction. The image from the camera 23 is used to identify the position and orientation of the object W and the tool. However, details will be described later.

  The robot hand 13 is not limited to the structure for holding the object W or the tool by picking (clamping) as described above, and uses a multi-joint end effector to hold the object W or the tool. The grip may be released.

  The accommodation box 4 is accommodated in a state where a large number (a plurality of) objects W are stacked, and the upper side is opened so that it can be taken out.

  The tray 6 is disposed adjacent to and close to the storage box 4, and the flat upper surface of the tray 6 is in a state where the object W is not overlapped with another object W (the unfolded state). It becomes the replenishment surface 6a to be mounted.

  The work robot 3 holds the object W on the replenishment surface 6a of the tray 6 or the object W in the storage box 4, and performs a supply operation of supplying the held object W to a workpiece (not shown). Incidentally, the work robot 3 may perform the replenishment operation of the object W into the storage box 4 and the replenishment operation of the object W to the replenishment surface 6a, or other dedicated replenishment robot (not shown). (Not shown). That is, the storage box 4 and the tray 6 (more specifically, the supply surface 6a) serve as a supply unit to which the object W is supplied.

  The tool space 7 is provided with a driver that performs a work of tightening a screw that is the object W, a wrench, a spanner, and the like that perform a work of tightening a bolt. The work robot 3 uses these tools to perform an assembly operation of assembling other parts to the workpiece using the supplied object. In addition, you may perform this assembly operation only by the function of the work robot 3 itself, without using a tool.

  The bar code display unit 8 displays various one-dimensional or two-dimensional bar codes by printing, monitor display, or the like. This bar code stores information on the object W to be replenished to the storage box 4 and the replenishment surface 6a as a replenishing section, information on the contents and position of assembly work using the object W, and the like. 23, the barcode is photographed, and the information stored in the barcode is extracted from the photographed image.

  The tag rail 9 is parallel to the rail 1, and a plurality of IC tags 9a capable of writing and reading various information are provided therein. Information read / written on the IC tag 9a is position information, work information, and the like.

  When the base 2 is slid to a position close to (close to) one IC tag 9a, the information of the IC tag 9a can be read from the base 2 side, and the IC tag 9a can be read from the base 2 side. It is also possible to write information.

  For example, the position information stored in the adjacent IC tag 9a is read from the side of the base 2 slid to a predetermined position, and the position of the base 2 on the rail 1 at that time is acquired. It is possible to receive work contents at the location from the IC tag 9a. On the other hand, after the predetermined work is completed, the work content may be written and managed in the adjacent IC tag 9a from the base 2 side.

  In the component assembling apparatus as described above, the control unit 24 (see FIG. 4) performs the slide operation of the base 2 and the joint portions 17A, 17B, 17C, and the manipulator 12 based on various information acquired by the camera 23 and the like. The rotation operation of 17D, 17E, and 17F and the holding / holding release operation of the robot hand 31 are controlled, thereby performing replenishment work, supply work, assembly work, and the like.

  Next, the configuration of the control unit 24 and the contents of the control will be described with reference to FIGS.

  FIG. 4 is a block diagram illustrating the configuration of the control unit. The control unit 24 is constituted by a microcomputer in which a RAM and a CPU are unitized, and a storage unit 24a such as a ROM for storing various information is provided therein, and the control unit 24 is stored in the storage unit 24a. Information is used for various controls, and information acquired by means described later is stored in the storage unit 24a.

  On the input side of the control unit 24, a slide position detection sensor (slide position detection means) 26 for detecting the slide position of the base 2 on the rail 1, and a rotation position detection sensor for detecting the rotation position of each joint part. (Rotation position detecting means) 27A, 27B, 27C, 27D, 27E, 27F and the above-described camera 23 are connected. As described above, when the IC tag 9a is used for acquiring the position information of the base 2, the slide position detection sensor 26 can be omitted. Further, the rotation position detection sensors 27A, 27B, 27C, 27D, 27E, and 27F can detect the relative position and posture of the robot hand 13 with respect to the base 2.

  The rotational position detection sensors 27A, 27B, 27C, 27D, 27E, and 27F are potentiometers and the like provided individually at the joint portions 17A, 17B, 17C, 17D, 17E, and 17F, and the camera 23 is as described above. It may be provided at the front end of the work robot 3, or may be installed so as to photograph the supply surface 6a constituting the above-described supply unit or the storage box 4 from directly above, or both. It may be provided.

  To the output side of the control unit 24, the base side actuator 11, the manipulator side actuators 18A, 18B, 18C, 18D, 18E, and 18F and the robot hand side actuator 22 are connected.

  In addition, an IC tag information reading / writing unit (information reading unit, information writing unit) 28 and a communication unit 29 are connected to the control unit 24 so that input / output is possible. The IC tag information reading / writing means 28 reads information from the IC tag 9a described above and writes information to the IC tag 9a. The communication means 29 is used when exchanging information between the component assembling apparatus and the outside.

  Then, the control unit 24 recognizes the object W itself and recognizes the position and orientation of the recognized object based on the image from the camera 23. More specifically, the end face W2a of the object W is colored and is more conspicuous than the other parts, and the object W or its end face W2a is identified from the photographed image from the camera 23 using this color difference or the like. By doing so, the object W itself is recognized.

  Further, the shape and size of the end face W2a are recognized from the captured image of the end face W2a by using boundary information and color information (including information on the difference in color from other parts) of the end face W2a. The position and orientation of the object W are recognized from the recognized shape and size. At this time, the relative position and orientation with respect to the camera 23 are identified by using affine transformation or the like. If the relative position and orientation from the camera 23 can be recognized in this way, the position and orientation of the object W in the global coordinate system can be acquired from the position and orientation of the camera 23 in the global coordinate system. become.

  For example, identification of the relative position and orientation of the object W with respect to the camera 23 will be described with reference to FIG. 3 as an example. After identifying the object W itself, the camera 23 is moved in the X-axis direction and the Y-axis direction. Then, when the end face W2a and the lens center of the camera 23 coincide with each other in plan view and the object W is photographed from directly above, an image as shown in FIG.

  In this case, the shape of the end surface W2a is distorted in an elliptical shape compared to the circular shape when the end surface W2a is viewed from the front, and the inclination θ of the object W with respect to the horizontal plane (supply surface 6a) is calculated from the degree of the distortion. This makes it possible to detect the posture of the object W. Further, the distance of the object W from the camera 23 can be identified from the size of the end face W2a, and thereby the position of the object W can also be identified.

  The center of the camera 23 and the center of the end face W2a do not necessarily coincide with each other, and the relative position of the object W relative to the camera 23 is determined based on the degree and magnitude of the distortion of the end face W2a acquired from the captured image. The posture can be identified, and the end face W2a is colored as described above, and the difference in color from other parts can be used. Therefore, the identification can be performed more accurately and quickly.

  In addition, since it is only necessary to be able to detect distortion and size, the camera 23 does not need to be in stereo view, and a monocular one is sufficient, whether the camera 23 is fixed in position or is displaced. either will do. In this example, a movable camera 23 is provided on the working robot 3 side, and a fixed camera 23 directed downward is provided directly above the replenishment section (more specifically, the replenishment surface 6a).

  Incidentally, in order to realize the above-described identification, the shape and size of the end face W2a when the end face W2 is photographed from a predetermined distance in front view are held for each type of the object W at the time of the identification. There is a need. This information may be stored in advance in the storage unit 24a, acquired from the barcode displayed on the barcode display unit 8 by the camera 23, or by the IC tag information reading / writing unit 28. It may be acquired from the IC tag 9 a or may be acquired from the outside by the communication means 29. Further, information regarding the type of the object W to be recognized is also acquired at a predetermined timing by the same means.

  If the position and orientation of the object W can be acquired in this way, the position and orientation of the robot hand 13 are controlled by the base 2 or the manipulator 12, and the target is obtained by switching the robot hand 13 from the holding release state to the holding state. The object W can be held in a predetermined posture.

  FIGS. 5A and 5B are a side view and a plan view showing an example in which an object is held by a robot hand. In the example shown in the figure, in the example shown in the figure, the object W is positioned between the pair of holding parts 21 and 21 in a plan view, and each holding part 21 and 21 is an axis of the object W in a side view. The robot hand 13 is held and operated (the holding units 21 and 21 are moved close to each other) in a posture along the portion W1 (more specifically, a posture having the same axis), and both sides of the head W2 are held and held. Let Then, the base 2 is slid to a predetermined position, and the work robot 3 performs the supply work and assembly work of the object W.

  By the way, the holding release of the object W of the robot hand 13 is performed by operating the pair of clamping parts 21 and 21 in a direction away from each other.

  FIG. 6 is a side view showing another example in which an object is held by a robot hand. In FIG. 5, the pair of sandwiching portions 21, 21 is held in a posture along the shaft portion W <b> 1 of the subject W in a side view, but in the example illustrated in FIG. 6, in the example illustrated in FIG. The peripheral surface of the shaft portion W1 of the object W is held in such a posture that 21 intersects with the shaft portion W1 of the object W in a side view (more specifically, orthogonal).

  Thus, the object W can be held by the robot hand 13 in various predetermined postures.

  The target object W to be held by the robot hand 13 may be the target object W existing on the replenishing surface 6a or the target object W existing in the storage box 4. However, this is determined in advance.

  By the way, when picking the stacked object W (specifically, the object W in the storage box 4) with the robot hand 13, the objects W are wrapped in plan view and the surrounding color Since the ratio of the area where no is exposed is also high, the color difference between the end face W2a of the object W and other parts is more effectively utilized.

  FIG. 7 is a flowchart showing a processing procedure of supply work by the component assembling apparatus. In the supply operation (part supply method) of the object W, the control unit 24 starts the process from step S101. In step S101, the necessity of supplying the object is confirmed via the camera 23, the IC tag information reading / writing means 28, the communication means 29, and the like. If the supply is unnecessary, the process returns to step S101. If supply is necessary, the process proceeds to step S102.

  In step S102, the inside of the storage box 4 or the replenishment surface 6a (replenishment part) is imaged, and the process proceeds to step S103. In step S103, it is confirmed whether or not the object W can be identified from the image of the replenishment unit photographed in step S102, and if it can be identified, the process proceeds to step S104. In step S104, the camera 23 is displaced toward the identified object W, the posture is changed so that the shooting direction faces the object W, and the process proceeds to step S105.

  In step S105, the identified object W is photographed by the camera 23 whose position and orientation have been changed as described above, and the process proceeds to step S106. In step S106, it is determined from the image taken in step S105 whether or not the camera 23 is in a good position and posture with respect to the object W. If good, the process proceeds to step S107, but not good. The process returns to step S104. Incidentally, the good posture and position are, for example, as described above with reference to FIG. 3, and are based on whether or not the position and posture of the object W are easily identified accurately. In step S6 → step S104 → step S105 → step S106 →..., The camera 23 is changed to a better position and posture.

  In step S107, the position and orientation of the object W are recognized from the image taken by the camera 23 having a good position and orientation, and the process proceeds to step S108. In step S108, the object W is held based on the recognized position and orientation information, and the process proceeds to step S109. In step S109, the held object W is supplied to a predetermined assembly location, and the process returns to step S101.

  In step 103, if the object W has not been identified, the process proceeds to step S110. In step S110, the replenishment operation of the object W to the replenishment unit is executed by itself or an instruction is given via the communication unit 29, and the process returns to step S101.

  In the example shown in FIG. 7, the example using the movable camera 23 has been described. However, in the case where the fixed camera 23 is used, when the object W is identified in step S103, the step 105 or step is performed. The process proceeds to S107. Even in the case of the movable camera 23, the process in step S106 may be omitted, and the process may proceed from step S105 to step S107.

  According to the configuration as described above, it is possible to easily recognize the position and posture of the countermeasure W using the monocular camera 23, and the end face W2a serving as the reference is colored in a conspicuous color in advance, Since the identification accuracy is high, work efficiency is also improved.

  Next, a different part from the above-mentioned form is demonstrated about other embodiment of this invention based on FIG.

  FIG. 8 is a perspective view of an object according to another embodiment of the present invention. In the above embodiment, the end face W2a formed on the head W2 of the object W is image-recognized by the monocular camera 23. However, in this embodiment, it is opposite to the head W2 in the shaft portion W1 of the object W. The flat end surface W1a formed on the side (front end side) is image-recognized by the camera 23, and the object W itself is recognized and the position and orientation of the object W are recognized in the same manner. At this time, the end face W1a on the distal end side is colored in the same manner as the end face W2a on the proximal end side to improve the accuracy of image recognition.

  Note that either one of the two end faces W1a and W2a may be colored as an identification target, or both may be colored as an identification target. In this case, whether the end faces W1a and W2a are the distal end side or the proximal end. It is necessary to mount an algorithm capable of recognizing whether it is the side or not. Specifically, it is possible to discriminate from a large difference or a difference in shape.

  Next, based on FIG. 1, FIG. 2, FIG. 4 and FIG. 9, a different part from the above-mentioned form is demonstrated about other embodiment of this invention.

  As indicated by phantom lines in FIG. 1, an illumination device 32 may be provided that illuminates one or both of the storage box 4 and the supply surface 6a (in the illustrated example, the supply surface 6a) constituting the supply unit. The illumination device 32 can change the brightness (intensity) and can change the color (light color) by using a plurality of types of LEDs.

  Corresponding to the installation of the illumination device 32, the output side of the control unit 24 has an illumination control means 33 that controls the brightness and coloration of the illumination device 32 and the attitude of the illumination device 32 to switch the light. An illuminating device actuator 34 that changes the irradiation direction is connected.

  Then, when recognizing the object W in step S103, step S107, etc., the control unit 24 performs edge extraction processing of the object W using the illumination device 32 and the like, and uses the extracted edge information. The accuracy of recognition of the object W itself using the end faces W1a and W2a and recognition of the position and orientation of the object W is improved.

  FIG. 9 is a flowchart showing the procedure of edge extraction processing. When starting the edge extraction process, the control unit 24 proceeds to step S201. In step S201, the edge of the object W is detected from the difference between the color of the periphery of the object W (specifically, the replenishment surface 6a and the inner peripheral surface of the storage box) and the color of the object W. The process proceeds to step S202.

  In step S202, the illuminating device actuator 34 switches the posture of the illuminating device 32, thereby changing the light irradiation direction from the illuminating device 32 to the object W, and utilizing the change in shadow and reflected light at this time. Then, the edge of the object W is detected, and the process proceeds to step S203.

  In step S203, the illumination control means 33 changes the intensity (brightness / darkness) of the light emitted from the illumination device 32, and uses the change in the boundary between the object W and the other parts at this time, for example. W edge detection is performed, and the process proceeds to step S204.

  In step S204, the color of light emitted from the illumination device 32 is changed by the illumination control means 33, and an edge detection of the object W is performed using a change in the boundary between the object W and the other part at this time. And go to step S205.

  In step S205, each edge detection result that has occurred so far is weighted and comprehensively evaluated, and the process proceeds to step S206. In this comprehensive evaluation, for example, the detected value in step S201, the detected value in step S202, the detected value in step S203, and the detected value in step S204 are weighted, and the detected value is set. You may add up.

  In step S206, based on the comprehensive evaluation in step S205, the edge (outer shape) of the object W is extracted, and the edge extraction process is terminated.

  Such an edge extraction process makes it possible to accurately detect the object W itself and detect the posture and position of the object W using the end faces W1a and W2a.

  In addition, since the change of the brightness of the illuminating device 32 and the change of the irradiation direction both use a shadow as a main element of edge detection, these are one process (specifically, in step S202). The processing may be performed together as a single detection value instead of the separate detection values as described above.

  Further, only some of the elements (for example, one element) among the change in brightness of the illumination device 32, the change in the irradiation direction, the change in the color of the light, and the color difference from the surrounding color of the object W are included. The edge extraction process may be performed using only the above.

  Further, the illumination device 32 may be attached to the robot hand 13 as shown in FIG. In this case, the lighting device actuator 34 is not necessary, and the configuration can be easily simplified even when the lighting device 32 is provided.

4 Storage box 6a Supply surface 12 Manipulator (actuation mechanism)
13 Robot hand (holding part)
23 Camera 24 Control Unit 32 Illumination Device 33 Illumination Control Unit 34 Illumination Device Actuator W Object (Screw, Bolt)
W1a end face (end face on the tip side)
W2a end face (end face on the base end side)

Claims (6)

A component supply device for supplying screws or bolts,
A replenishment section in which screws or bolts are replenished sequentially;
A holding part for releasably holding the screw or bolt of the replenishing part;
An operation mechanism for supporting the holding portion so that the posture can be switched and the displacement can be operated;
A camera for photographing the screw or bolt of the replenishment unit;
A control unit for controlling the operation of the holding unit and the operation mechanism,
The control unit
From the image of the screw or bolt photographed by the camera, the shape of the proximal end surface formed on the opposite side of the shaft portion in the head portion of the screw or bolt or the tip side opposite to the head portion of the shaft portion By identifying the shape of the end face, determine the posture of the screw or bolt,
The component that controls the operation of the holding unit and the operating mechanism using the determined posture information so that the screw or the bolt is held by the holding unit in a predetermined posture determined in advance. Feeding device. The end face on the base end side or the end face on the tip end side of the screw or bolt is pre-painted with a color different from other parts,
The component supply device according to claim 1, wherein the control unit identifies the shape of the end surface based on the color difference with respect to an image of a screw or a bolt photographed by a camera. A lighting device that irradiates light to screws or bolts,
The control unit
The illumination direction of the lighting device is changed by the actuator and the edge of the screw or bolt is extracted using the change, or the light control unit changes the brightness or color of the light emitted from the lighting device by the lighting control means. The component supply apparatus according to claim 1, wherein the screw or bolt edge extraction is performed. The replenishment unit has a storage box that can be accommodated in a state where screws or bolts are stacked, and a replenishment surface on which the screws or bolts taken out from the storage box are deployed and placed,
4. The camera according to claim 1, wherein the camera identifies a shape of an end surface on the proximal end side or an end surface on the distal end side of a screw or bolt that is placed on the supply surface and does not overlap with another screw or bolt. The component supply apparatus described. The replenishment unit has a storage box that can be stored in a state where screws or bolts are stacked,
The component supply device according to any one of claims 1 to 3, wherein the camera identifies a shape of an end surface on the proximal end side or an end surface on a distal end side of a screw or a bolt accommodated in the accommodation box. A component supply method for supplying screws or bolts,
A replenishing portion to which screws or bolts are replenished sequentially; a holding portion for releasably holding the screws or bolts of the replenishing portion; an operating mechanism for supporting the holding portion so as to allow posture switching operation and displacement operation; and the replenishment When letting a component supply device provided with a camera that captures a screw or bolt of a part and a control unit that controls the operation of the operating mechanism determine the position and orientation of the screw or bolt,
Preliminarily paint a different color from the other parts on the end face on the base end side formed on the opposite side of the shaft part in the head of the screw or bolt or the end face on the tip side opposite to the head part of the shaft part,
The control unit
By identifying the shape of the end face on the proximal end side or the end face on the distal end side based on the difference in color with respect to the image of the screw or bolt photographed by the camera, the posture of the screw or bolt is determined. Discriminate,
The operation of the holding unit and the operating mechanism is controlled using the determined posture information so that the screw or bolt is held by the holding unit in a predetermined posture determined in advance. Or a component supply method for supplying bolts.

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