JP2018130789A - Manipulator and determination method of conveyed article - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance production efficiency by automatizing determination work of a conveyed article.SOLUTION: A manipulator is configured to include: an arm part for moving a conveyed article to an imaging position while re-holding the conveyed article after the held conveyed article is placed on a table and holding of the conveyed article is released; an imaging part for imaging the conveyed article held by the arm part at the imaging position; and a control part for performing determination of the conveyed article on the basis of image data generated by the imaging part.SELECTED DRAWING: Figure 5K

Description

  The present invention relates to a manipulator and a method for determining a conveyed product.

  In recent years, production lines (for example, processing lines and assembly lines) have been automated to improve production efficiency. Patent Document 1 discloses a manipulator that takes out a valve spring, which is an example of a workpiece, from a box and conveys it to the next process.

JP-A-6-328384

  By the way, in the case of the manipulator as described above, for example, the determination of the appropriateness (for example, whether the work is an appropriate work), the type, or the holding state (for example, the vertical relationship) of the transported object held by the manipulator is automatically performed. There is no means to do it automatically. For this reason, the operator has to perform the above-described determination work visually. Such visual determination work may reduce production efficiency.

  An object of the present invention is to realize a structure capable of automating a determination work of a conveyed product and improving production efficiency.

  The invention relating to the manipulator of the present invention includes: an arm unit that moves a held transported object to a shooting position after the held transported object is placed on a table; The imaging part which image | photographs the held conveyed product is provided, and the control part which determines a conveyed product based on the image data which an imaging part produces | generates.

  The invention relating to the method for determining a conveyed product of the present invention is a method for determining a conveyed product that is determined by a manipulator including an arm unit, and the conveyed item held by the arm unit is placed on a table. After that, the holding of the transported object by the arm unit is released, the transported object is moved to the shooting position while the transported object is held again by the arm unit, and the transported object held by the arm unit at the shooting position is photographed by the imaging unit. The transported object is determined based on the image data generated by.

  According to the manipulator of the present invention, it is possible to improve the production efficiency by automating the determination work of the conveyed product.

Perspective view showing only the arm device taken out Diagram showing an example of a workpiece The figure which shows the modification 1 of a workpiece | work The figure which shows the modification 2 of a workpiece | work A perspective view showing an example of a box in which a work is arranged The figure corresponding to the BB cross section of FIG. 3 with the work in the box The figure which shows the manipulator of Embodiment 1 which concerns on this invention in the state which abbreviate | omitted the imaging device and the temporary mounting base Sectional view showing the box tilted The figure which shows the state which the holding arm part moved above the box The figure which shows the state which the holding arm part approached to the internal diameter side of the object workpiece The figure which shows the state which the holding arm hold | maintained the inner peripheral surface of the object workpiece | work. The figure which shows the state which the holding arm part holding the object workpiece | work moved upwards of the inclination direction Sectional drawing which shows the state which the holding arm part holding the target workpiece moved to the axial direction of the target workpiece The figure which shows the state where the object work was temporarily placed on the temporary stand The figure which shows the state after adjusting the position of an object workpiece and a holding arm part The figure which shows the state which hold | maintained the object workpiece temporarily put on the temporary placement stand again The figure which shows the state which moved the object work to the photographing position The figure which shows an example when the position with respect to the imaging | photography range of a target workpiece is improper The flowchart regarding the process in which the manipulator of Embodiment 1 is used, and its previous process Flowchart regarding operation of manipulator of embodiment 1

  Hereinafter, the structure of the manipulator according to the present invention will be described in detail with reference to the drawings. The embodiment described below is an example of a manipulator according to the present invention, and the present invention is not limited to the embodiment.

[1 Embodiment 1]
The manipulator A according to the first embodiment will be described with reference to FIGS. 5A to 8. In the following description, the front-rear direction refers to the front-rear direction with respect to the manipulator A (the direction of the arrow ab in FIGS. 5A and 1). “Front” refers to the direction indicated by arrow a in FIGS. 1 and 5A. “Backward” refers to the direction indicated by the arrow b in FIGS. 1 and 5A.

  The vertical direction refers to the vertical direction related to the manipulator A (the direction of the arrow ef in FIGS. 1 and 5A). In the following description, the term “upward” simply refers to the direction indicated by the arrow e in FIGS. 1 and 5A. In the case of simply “downward”, it refers to the direction indicated by the arrow f in FIGS. 1 and 5A.

  The front-rear direction and the width direction may be parallel to the horizontal direction or may not be parallel. The vertical direction may be parallel to the vertical direction or may not be parallel.

[1.1 Process where manipulator is used]
The manipulator A of the present embodiment is used in a process of supplying a workpiece to a coiled workpiece automatic assembly apparatus. Specifically, for example, the manipulator A of the present embodiment is used in a process of supplying a valve spring to an automatic valve assembly apparatus incorporated in an internal combustion engine. Hereinafter, a process in which the manipulator A of the present embodiment is used will be briefly described.

[1.2 About workpiece transfer status]
First, the workpiece W (see FIG. 2A) to be transported in the present embodiment is a coiled workpiece such as a valve spring, for example. One end in the axial direction of the workpiece W (the lower end in the case of the present embodiment) is provided with a mark M1 such as a paint (an oblique lattice portion in FIG. 2A). The mark M1 may be other than paint. The mark M1 is preferably attached only to one half of the workpiece W in the axial direction (that is, the upper half or the lower half of FIG. 2A).

  As an example of a method for forming the mark M1, for example, a method of immersing one end portion of the workpiece W in the axial direction in the paint can be cited. However, the method of forming the mark M1 is not limited to the above method. In FIG. 2A, only the mark M1 formed on the outer surface in the radial direction of the workpiece W is shown. A mark may or may not be provided on the inner surface of the workpiece W in the radial direction.

  2B and 2C show Modification 1 and Modification 2 of the workpiece. A workpiece Wa according to the first modification shown in FIG. 2B is a valve spring and has a length dimension in the axial direction larger than that of the workpiece W. One end in the axial direction of the workpiece Wa (in the present embodiment, the lower end) is provided with a mark M2 (an oblique lattice portion in FIG. 2B) made of a paint different in color from the mark M1.

  A workpiece Wb of Modification 2 shown in FIG. 2C is a valve spring and has a length dimension in the axial direction larger than that of the workpiece W and the workpiece Wa. One end in the axial direction of the workpiece Wb (in this embodiment, the lower end) is provided with a mark M3 (oblique lattice portion in FIG. 2C) made of a paint having a color different from that of the marks M1 and M2. . As described above, the workpieces W, Wa, and Wb are identified by the colors of the marks M1, M2, and M3.

  As shown in FIGS. 3 and 4, a workpiece W such as a valve spring (see FIG. 2A) is carried into the assembly plant in a state where the workpiece W is disposed inside the box 4 whose upper side is open. Specifically, the plurality of workpieces W are arranged inside the box 4 in a state of being aligned in the vertical and horizontal directions.

  In the state shown in FIG. 4, the workpiece W as described above is carried on a conveyor (not shown) to a predetermined position (a mounting table 21 of the swiveling device 2 described later).

[1.3 Outline of manipulator]
Hereinafter, an outline of the manipulator A of the present embodiment will be described. The manipulator A according to the present embodiment places the held transported object (specifically, a target work WT described later) on a table (specifically, a temporary mounting table 7 described later), and releases the holding of the transported object. An imaging unit that captures an image of the arm unit (specifically, a holding arm unit 13 to be described later) that moves to the photographing position while re-holding the conveyed item and the conveyed item that is held by the arm unit at the photographing position. A controller (specifically, a first imaging device 8 to be described later), and a controller (specifically, a control device 3 to be described later) for determining the transported object based on image data generated by the imaging unit. .

  In addition, as an example of the above determination, for example, it is possible to determine whether or not the conveyed product is an appropriate workpiece. Specifically, the determination may be a determination as to whether or not the conveyed product is a workpiece. Further, the determination may be a determination regarding the type of the conveyed product. Further, the determination may be a determination related to a holding state of the conveyed product with respect to the arm portion. As the determination regarding the holding state, for example, a determination as to whether or not the vertical relationship of the conveyed product is appropriate can be given.

[1.4 Specific structure of manipulator]
Next, a specific structure of the manipulator A according to the present embodiment will be described with reference to FIGS. 5A to 5K. The manipulator A includes an arm device 1, a turning device 2, a temporary table 7, a first imaging device 8, and a control device 3.

[1.4.1 Arm device]
The arm device 1 moves three-dimensionally and can take out the workpiece W arranged in the internal space of the box 4 from the box 4. Specifically, the arm device 1 includes an articulated arm portion 11, an attachment chuck portion 12, and a holding arm portion 13 that is an example of an arm portion.

  Unless otherwise specified in the following description of the arm device 1, the term “axial direction” refers to the axial direction of the holding arm portion 13 (the direction of the arrow g in FIGS. 1 and 5A). Further, the radial direction refers to a radial direction in a virtual circle centered on the central axis of the holding arm portion 13 (axis passing through the arrow g in FIGS. 1 and 5A). Furthermore, the term “circumferential direction” refers to the circumferential direction in the virtual circle.

  The multi-joint arm portion 11 includes a plurality of (for example, three) arm elements 110 and a joint portion 111 that connects the arm elements 110 to each other.

  The joint portion 111 is driven by a joint drive portion (not shown) to bend (that is, turn) or relatively rotate the arm elements 110 with each other. In this way, the articulated arm unit 11 moves the holding arm unit 13 three-dimensionally. The operation of the joint drive unit is controlled by the control device 3. In addition, the structure of the articulated arm part 11 is not limited to the above-mentioned case, The conventionally well-known various structures are employable.

  The base end portion of the above-described articulated arm portion 11 is fixed to a fixing portion (not shown). On the other hand, a mounting chuck portion 12 to be described later is fixed to the distal end portion of the articulated arm portion 11.

The attachment chuck portion 12 includes a chuck base 121 and an opening / closing mechanism 122.
The proximal end portion (upper end portion in FIGS. 1 and 5A) of the chuck base portion 121 is fixed to the distal end portion of the articulated arm portion 11.

  The opening / closing mechanism 122 is composed of three actuators 122a arranged radially at the tip of the chuck base 121 (the lower end in FIGS. 1 and 5A) while being displaced by 120 ° in the circumferential direction.

  A proximal end portion of a claw portion 131 of the holding arm portion 13 to be described later is fixed to the actuator 122a by a fastening component (for example, a bolt, a combination of a bolt and a nut). When the opening / closing mechanism 122 is driven, the actuator 122a displaces a member fixed to the actuator 122a (in the case of this embodiment, a claw portion 131 described later) in the radial direction.

  The operation of the opening / closing mechanism 122 is controlled by the control device 3. For example, various actuators of a pneumatic type, a hydraulic type, or an electric type can be adopted as the actuator 122a.

  The holding arm portion 13 includes three claw portions 131 arranged in a state shifted by 120 ° in the circumferential direction. The base end portion (upper end portion in FIGS. 1 and 5A) of the claw portion 131 is fixed to the actuator 122a. That is, one claw 131 is fixed to one actuator 122a.

  The holding arm portion 13 is in a state where the claw portions 131 are closest to each other in the radial direction and the circumferential direction (hereinafter referred to as “closed state”) when the opening / closing mechanism 122 is not driven (FIGS. 1, 5A, 5C). 5D, 5H, 5I).

  On the other hand, the holding arm portion 13 is in a state in which the claw portions 131 are most separated from each other in the radial direction and the circumferential direction (hereinafter referred to as “open state”) while the opening / closing mechanism 122 is driven (FIGS. 5E to 5G). And the state shown in FIGS. 5J and 5K). Note that the distance between the claw portions 131 when the holding arm portion 13 is in the open state is appropriately adjusted according to the inner diameter of the workpiece W.

  The arm device 1 includes a position detection unit (not shown), and outputs its own position data detected by the position detection unit to the control device 3 described later. The position data is output by, for example, a control unit (not shown) provided in the arm device 1.

[1.4.2 About swivel device]
The swivel device 2 can swivel the box 4 in a direction indicated by an arrow hi in FIG. 5A (hereinafter simply referred to as a “turning direction”). Specifically, the turning device 2 includes a mounting table 21 and an air cylinder 22. In addition, in the case of one side in the turning direction, it refers to the direction of the arrow h in FIG. 5A.

The mounting table 21 is a substantially rectangular plate-like member when viewed in the vertical direction.
The lower end portion of the air cylinder 22 is fixed to a fixed portion (not shown). The air cylinder 22 includes a cylinder part 22a and a piston part 22b. The upper end portion of the piston portion 22 b is coupled to the lower surface of the mounting table 21 via a hinge 23.

  When compressed air is supplied to the first cylinder space of the cylinder portion 22a, the piston portion 22b is displaced upward, and the mounting table 21 turns from the state indicated by the two-dot chain line in FIG. 5A to the state indicated by the solid line. In other words, the mounting table 21 is inclined by a predetermined angle θ with respect to a horizontal plane (a surface indicated by a one-dot chain line α in FIG. 5A). The tilting direction of the mounting table 21 in this state (the direction indicated by the alternate long and short dash line β in FIG. 5A) is also referred to as the tilting direction of the box 4 mounted on the mounting table 21.

  In the case of the present embodiment, the box 4 is tilted in a state where the lateral direction of the box 4 (front and back direction in FIG. 5A) is parallel to the turning center axis 5 (see FIG. 5A) of the box 4. However, the aspect which inclines the box 4 is not limited to the case of this embodiment. For example, the box 4 may be tilted in a state where the lateral direction of the box 4 and the turning center axis 5 of the box 4 are not parallel. In this case, the direction perpendicular to the turning center axis 5 and inclined by the predetermined angle θ with respect to the horizontal plane is the inclination direction.

  That is, the mounting table 21 pivots in the direction of arrow h in FIG. 5A with the rear end of the mounting table 21 (in other words, the turning center axis 5) as a fulcrum (turning center) as the piston portion 22b is displaced in the vertical direction. To do. Accordingly, the upper opening of the box 4 placed on the upper surface of the placing table 21 faces obliquely rearward and upward.

  The swivel device 2 outputs data indicating that the box 4 is placed on the upper surface of the placement table 21 (hereinafter referred to as “box placement data”) to the control device 3 described later. The box placement data is output by, for example, a control unit (not shown) provided in the turning device 2.

  The temporary table 7 has a horizontal upper surface and is provided within the movement range of the arm device 1. The temporary table 7 can be provided at an arbitrary position. For example, a part of the imaging mounting table 81 on which a first imaging device 8 described later is mounted may be used as the temporary mounting table 7.

  The first image pickup device 8 is an example of an image pickup unit, and is fixed to a shooting table 81. The first imaging device 8 is preferably provided around the temporary table 7. The first imaging device 8 photographs the workpiece W (target workpiece WT described later) held by the holding arm unit 13 at the imaging position. Such a shooting operation of the first imaging device 8 is controlled by an imaging control unit 34 of the control device 3 to be described later. The first imaging device 8 outputs the generated image data to the control device 3 described later.

[1.4.3 Control device]
The control device 3 includes, for example, an input terminal, an output terminal, a microcomputer, a program memory, and a main memory (not shown). The microcomputer controls the operations of the arm device 1 and the turning device 2 by reading the program from the program memory and executing the program using the main memory. The function of the control device 3 may be realized as a logic circuit such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit), or as a program.

  The control device 3 includes an inclination control unit 31, a work selection unit 33, an arm control unit 32, and an imaging control unit 34 as functional blocks. Each functional block 31, 33, 32, 34 is realized by, for example, a microcomputer that executes a program. The function of each functional block 31, 32, 33, 34 will be described later.

[1.5 Manipulator operation]
Hereinafter, the operation of the manipulator A of the present embodiment will be described.

  First, in step S1 of FIG. 7, the operator places the box 4 (see FIG. 4) containing the workpiece W on a transport conveyor (not shown). This operation is performed manually by the operator. In the following, a case will be described in which the workpiece to be assembled in the next assembly step is the workpiece W shown in FIG. 2A.

  In step S <b> 2 of FIG. 7, the boxes 4 on the transport conveyor are transported to the upper surface of the mounting table 21 of the turning device 2 in the manipulator A.

  In step S <b> 3 of FIG. 7, the manipulator A takes out the workpiece W from the box 4. And the manipulator A supplies the workpiece | work W to the following process (for example, assembly | attachment process).

  Hereinafter, the operation of the manipulator A when taking out the workpiece W from the box 4 and transporting it to the next process will be described with reference to FIG. FIG. 8 is a flowchart regarding a specific operation of the manipulator A in step S3 of FIG.

  The operation of the manipulator A described below is controlled by the control device 3. Specifically, the operation of the turning device 2 is controlled by the inclination control unit 31. The operation of the arm device 1 is controlled by the arm control unit 32. The process of selecting a target work WT in S307 of FIG. 8 described later is controlled by the work selection unit 33. Further, the shooting operation of the first imaging device 8 is controlled by the shooting control unit 34.

  When the box 4 is transported to the upper surface of the mounting table 21 in S301 of FIG. 8, the swivel device 2 uses the data indicating that the box 4 is mounted on the upper surface of the mounting table 21 (hereinafter referred to as “box mounting data”). Is output to the control device 3 (specifically, the tilt control unit 31). Note that the method by which the control device 3 acquires the box placement data is not limited to the above case. The control device 3 may acquire the box placement data by some method.

  Next, in S302 of FIG. 8, when the control device 3 receives the box placement data, the control device 3 performs control to operate the turning device 2. When the turning device 2 operates, the mounting table 21 turns from the state indicated by the two-dot chain line in FIG. 5A to the state indicated by the solid line. The box 4 turns together with the mounting table 21 to be in the state shown in FIGS. 5A and 5B.

  In the state shown in FIGS. 5A and 5B, the box 4 is inclined in the counterclockwise direction of FIG. 5A by a predetermined angle θ (see FIG. 5A) with respect to the horizontal plane (the plane including the one-dot chain line arrow α in FIG. 5A). ing.

  In the state shown in FIGS. 5A and 5B, the workpiece W in the box 4 has moved downward in the inclination direction of the box 4 (the direction indicated by the one-dot chain line β in FIG. 5A). In this state, between the workpiece W in the box 4 that is disposed on the uppermost side in the tilt direction and the inner surface of the first side wall 41 that is disposed on the upper side in the tilt direction among the side walls of the box 4. A space 42 is formed.

A length dimension L ₁ (see FIG. 5B) regarding the inclination direction of the space 42 is an overlapping portion (that is, entangled) between the horizontal workpiece row WS and another workpiece W arranged on the lower side in the inclination direction of the target workpiece WT. (L ₁ <L ₂ ) which is larger than the length dimension L ₂ (see FIG. 5B) in the inclination direction of the portion.

  Of the workpieces W in the box 4, a row of workpieces W formed of a plurality of workpieces W arranged in the horizontal direction of the box 4 (front and back direction in FIG. 5A) is a horizontal workpiece row WS. On the other hand, among the workpieces W in the box 4, a column of workpieces W composed of a plurality of workpieces W arranged in the vertical direction of the box 4 (in the present embodiment, coincides with the tilt direction) is a vertical workpiece column. WL.

  Next, in S <b> 303 of FIG. 8, the turning device 2 outputs data relating to the completion of the box turning operation (hereinafter referred to as “turning completion data”) to the control device 3.

  Next, in S304 of FIG. 8, when the control device 3 receives the turning completion data, the control device 3 (specifically, the arm control unit 32) performs control to operate the arm device 1. The operation of the arm device 1 described below includes the joint drive unit (not shown) in which the control device 3 (that is, the arm control unit 32) is provided in the joint unit 111, and the opening / closing mechanism 122 of the attachment chuck unit 12. This is done by controlling.

Next, in S305 of FIG. 8, when the arm device 1 is operated, the articulated arm portion 11 moves the holding arm portion 13 to above the box 4 (see FIG. 5C). Incidentally, in the state shown in FIG. 5C, the holding arm 13 (e.g., the holding arm lower end of 13) the distance H ₁ concerning vertical direction and a box 4 (e.g., the upper end of the box 4) may be a constant.

  Next, in S <b> 306 of FIG. 8, the work W disposed inside the box 4 is photographed from above the box 4 by the second imaging device 6 such as a camera fixed to the mounting chuck portion 12. The image data photographed by the second imaging device 6 is output to the control device 3.

  Next, in S307 of FIG. 8, when the control device 3 receives the image data from the second imaging device 6, the control device 3 (specifically, the workpiece selection unit 33), based on the image data, the conveyed product A target work WT, which is an example of is selected. The target workpiece WT is a workpiece W in which a space 42 exists on the upper side in the tilt direction among the plurality of workpieces W in the box 4. In the case of the present embodiment, one of the workpieces W constituting the horizontal workpiece row WS arranged on the uppermost side in the tilt direction is selected as the target workpiece WT.

  Next, when the target workpiece WT is selected in S308 of FIG. 8, the claw portion 131 in the holding arm portion 13 enters the inner diameter side of the target workpiece WT from above (see FIG. 5D). In this state, the holding arm portion 13 is in a closed state.

  Next, in S309 in FIG. 8, the claw portions 131 in the holding arm portion 13 are operated so as to be separated in the radial direction and the circumferential direction, and the holding arm portion 13 is in an open state (see FIG. 5E). As a result, the claw portion 131 of the holding arm portion 13 comes into contact with the target workpiece WT from the inner diameter side of the target workpiece WT, and the target workpiece WT is held by the holding arm portion 13 (see FIG. 5E).

Next, in S310 of FIG. 8, the holding arm 13 is moved upward (arrow beta ₁ in the direction of FIG. 5E) in the inclination direction. As the holding arm unit 13 moves, the target work WT held by the holding arm unit 13 also moves upward in the tilt direction.

  In other words, the target work WT moves to the space 42 side as the holding arm portion 13 moves (see FIG. 5F). As a result, the overlap (that is, entanglement) in the axial direction of the target work WT with another work W arranged on the lower side in the tilt direction of the target work WT is eliminated.

Next, in S <b> 311 of FIG. 8, the holding arm unit 13 moves to one side in the axial direction of the holding arm unit 13 (the direction indicated by the arrow g <b> ₁ in FIG. 5F). As a result, the holding arm portion 13 moves from the internal space of the box 4 to the external space, and the target work WT is taken out from the box 4 (see FIG. 5G). In the state after the target work WT is taken out from the box 4, the space 42 is enlarged only by a portion of the internal space of the box 4 where the target work WT is arranged.

  Next, in S <b> 312 of FIG. 8, after the holding arm unit 13 moves above the temporary placement table 7, the target work WT is temporarily placed on the temporary placement table 7. In this state, the holding arm unit 13 temporarily releases the holding of the target work WT (see FIG. 5H).

  Next, in S313 of FIG. 8, the position adjustment of the holding arm unit 13 and the target work WT is performed. In the position adjustment, for example, the positions of the target work WT and the holding arm unit 13 in the axial direction (vertical direction in FIG. 5H) of the target work WT are made appropriate (see FIG. 5I). The reason for temporarily placing and re-holding the target workpiece WT as described above will be described later.

  Next, in S314 of FIG. 8, the target work WT is again held by the holding arm unit 13 (see FIG. 5J). In the state shown in FIG. 5J, the positional relationship between the holding arm unit 13 and the target work WT is different from the state before the target work WT is temporarily placed on the temporary placement table 7 (the state shown in FIG. 5G).

  Next, in S315 of FIG. 8, the holding arm unit 13 moves to the photographing position. And the 1st imaging device 8 image | photographs the object workpiece | work WT hold | maintained at the holding | maintenance arm part 13 in the said imaging | photography position. Thereafter, the first imaging device 8 outputs the generated image data to the control device 3. The operation of the first imaging device 8 is controlled by the imaging control unit 34 of the control device 3.

Note that a predetermined shooting range is set in the first imaging device 8. In this embodiment, the range in the longitudinal direction (vertical direction in FIG. 5K) in the imaging range is between chain lines L ₁ and the two-dot chain line L ₂ two-dot in FIG. 5K. On the other hand, the range in the horizontal direction (front and back direction in FIG. 5K) in the imaging range is set larger than the outer diameter dimension of the target work WT.

  In the case of the present embodiment, in the state shown in FIG. 5K, when the position of the target work WT with respect to the holding arm unit 13 is appropriate, one half of the target work WT in the axial direction of the target work WT (see FIG. The lower half of 5K) falls within the shooting range. On the other hand, the other half of the target workpiece WT in the axial direction of the target workpiece WT (the upper half of FIG. 5K) does not fall within the imaging range.

  Hereinafter, the reason why the target work WT is temporarily placed on the temporary placement table 7 in S313 of FIG. 8 and the reason for adjusting the position of the holding arm unit 13 and the target work WT in S314 of FIG. 8 will be described.

In S315 of FIG. 8 described above, if the position of the target work WT with respect to the holding arm unit 13 is inappropriate, when the holding arm unit 13 moves to the shooting position, the position of the target work WT with respect to the shooting range is inappropriate. (See FIG. 6). That is, in the state shown in FIG. 6, the portion of the target work WT marked with the mark M1 is located below the lower limit position (two-dot chain line L _{2 in} FIG. 6) of the imaging range.

  In the state shown in FIG. 6, the image data generated by the first imaging device 8 photographing the target workpiece WT does not include information regarding the mark M1. Therefore, if a determination (in other words, identification) is performed by the control device 3 described later based on such inappropriate image data, the result becomes inappropriate.

  Therefore, the processing of S313 and S314 in FIG. 8 is performed so that the position of the target work WT with respect to the shooting range becomes appropriate when the holding arm unit 13 moves to the shooting position.

  The reason why the position of the target work WT with respect to the holding arm unit 13 becomes inappropriate is, for example, in the state where the holding arm unit 13 is moved above the box 4 (see FIG. 5C) in S305 of FIG. The distance in the up-and-down direction between each workpiece | work W in 4 and the holding | maintenance arm part 13 is mentioned.

  In the state shown in FIG. 5C, the reason why the distances in the vertical direction between the workpieces W in the box 4 and the holding arm portions 13 are different is, for example, plastic deformation at the bottom of the box 4 or entanglement between the workpieces W. It is done.

  Next, in S <b> 316 of FIG. 8, the control device 3 determines the target work WT based on the image data of the first imaging device 8. Specifically, in the case of the present embodiment, it is determined whether or not the target work WT is an appropriate work as a work to be assembled in the next process.

  Hereinafter, an example of the determination method will be briefly described. First, the control device 3 reads the color information of the mark attached to the workpiece to be assembled in the next process from the information regarding the workpiece stored in the control device 3. In the case of the present embodiment, since the workpiece to be assembled in the next process is the workpiece W shown in FIG. 2A, the color information of the mark has the same color as the mark M1 of the workpiece W.

  Next, it is determined whether or not there are more portions of the same color as the color information than the predetermined threshold in the image data. And when the said color part is more than a predetermined threshold value, it determines with the kind of object workpiece | work WT being correct.

  On the other hand, when the color portion in the image data is smaller than the predetermined threshold, it is determined that the type of the target work WT is incorrect. The predetermined threshold is appropriately set in consideration of the relationship between the photographing range and the size of the mark attached to the workpiece. The above determination may be performed based on the presence or absence of a portion having the same color as the color information in the image data. As described above, according to the present embodiment, for example, the works W, Wa, and Wb shown in FIGS. 2A to 2C are based on the colors of the marks M1, M2, and M3 attached to the works W, Wa, and Wb. Can be identified.

  In the case of the present embodiment, the target work WT is provided with a mark M1 only at one end (in the case of the present embodiment, the lower end) in the axial direction of the target work WT. For such a target workpiece WT, the first imaging device 8 captures only one half of the target workpiece WT in the axial direction. For this reason, when the said color part is more than a predetermined threshold value, it is possible to determine that the type of the target workpiece WT is correct and to determine the orientation of the target workpiece WT in the vertical direction.

  If it is determined in S316 of FIG. 8 that the target work WT is appropriate, the target work WT is supplied to the next process (for example, an assembling process) in S317. If it is determined in step S316 in FIG. 8 that the target work WT is inappropriate, the target work WT is not supplied to the next process (for example, the assembly process). In this case, for example, the reporting unit (not shown) notifies the worker that the target work WT is inappropriate, and the target workpiece WT determined to be inappropriate may be moved to a predetermined location. .

[1.5 Addendum]
In the case of the above-described embodiment, the space 42 is formed by tilting the box 4 by the swivel device 2. However, the present invention is not limited to this, and for example, the space 42 may be formed when the workpiece W is biased in the box 4 due to the vibration in the lateral direction during conveyance.

  Further, the actuator for turning the mounting table 21 of the turning device 2 is not limited to the air cylinder 22 described above. The actuator that rotates the mounting table 21 may be, for example, a hydraulic actuator or a solenoid actuator. The actuator for turning the mounting table 21 may be a rotary actuator or the like.

  The structure of the arm apparatus 1 is not limited to the case of this embodiment. For example, the shape or number of the claw portions 131 of the holding arm portion 13 may be different from that in the present embodiment.

  The target workpiece is not limited to the coiled workpiece (for example, a valve spring) of the present embodiment. Examples of the target workpiece include not only a shaft shape and a cylindrical shape, but also various shapes of workpieces that can be held by an arm portion. In this case, the above-described turning device 2 may be provided as appropriate in consideration of the shape of the workpiece.

[1.6 Functions and Effects of Embodiment 1]
According to the present embodiment, as described above, the work for determining the workpiece W held by the holding arm unit 13 can be automated, so that the production efficiency can be improved.

  In particular, in the present embodiment, after the target work WT is temporarily placed on the temporary placement table 7 in S312 of FIG. 8, the position of the holding arm portion 13 and the target work WT is adjusted in S313 of FIG. Yes. With this configuration, the position of the target work WT with respect to the holding arm unit 13 is optimized, and the target work WT held by the holding arm unit 13 at the shooting position appropriately enters the shooting range of the first imaging device 8. ing. As a result, as compared with the case where the operations of S312 and S313 of FIG. The problem that occurs when the operations of S312 and S313 in FIG. 8 are not performed is as described above with reference to FIG.

  The manipulator and the method for determining a conveyed product of the present invention can be applied to production lines for various workpieces.

A Manipulator 1 Arm device 13 Holding arm portion 131 Claw portion 2 Turning device 7 Temporary table 8 First imaging device 3 Control device 31 Tilt control portion 32 Arm control portion 33 Work selection portion 34 Shooting control portion 4 Box 42 Space W Work M1 Mark WT target work

Claims (6)

An arm part that moves to the photographing position while holding the conveyed object again after placing the conveyed object held on a table and releasing the holding of the conveyed object;
An imaging unit for imaging the transported object held by the arm unit at the imaging position;
A control unit that determines the transported object based on image data generated by the imaging unit,
manipulator. The transported object has a mark on a half portion in a predetermined direction of the transported object,
The imaging unit photographs the half of the transported object,
The manipulator according to claim 1, wherein the control unit determines whether or not the conveyed product is an appropriate work based on information on the mark in the image data. The control unit selects a work having a space in a predetermined direction with respect to itself as a transported object from a plurality of coil-shaped works arranged in a box,
3. The arm according to claim 1, wherein the arm unit moves to the space side while holding the transported object and then moves to an external space of the box before the transported object is placed on the table. The manipulator according to item 1.   The manipulator according to claim 3, further comprising a tilting device that tilts the box at a predetermined angle with respect to a horizontal plane.   The manipulator according to claim 4, wherein the predetermined direction is an upper side in an inclination direction of the box. A method for determining a conveyed object for determining a conveyed object conveyed by a manipulator including an arm part,
After placing the transported object held by the arm unit on a table, the holding of the transported object by the arm unit is released,
Move to the shooting position while holding the transported object again by the arm part,
Photographing the transported object held by the arm unit at the photographing position by the imaging unit,
Determining the transported object based on image data generated by the imaging unit;
Method for judging the transported item.

Images