JP3055280B2 - Vision device for vibration feeder - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a visual device for a vibration feeder for transferring articles by vibration, and more particularly to a visual device for a vibration feeder capable of correctly recognizing a shape direction of an article to be transferred conveyed by the vibration feeder. .

[0002]

2. Description of the Related Art In a processing factory or an assembly factory, vibrations are applied by means such as a combination of an electromagnet and a leaf spring on a transfer path spirally formed around a bowl, and processed products and parts loaded on the bowl are applied. A vibratory feeder with a spiral transfer path for sequentially transferring the workpieces to a predetermined position, or by applying vibration to the linear transfer path by the same vibration mechanism as described above, to sequentially place the processed products and parts at the predetermined positions. A vibrating feeder called a linear part feeder for transferring is used. In these vibrating feeders, means for aligning the direction of the transferred product in order to orient the processed product or parts, which are the transferred product, in an appropriate direction necessary for the next process during the transfer is used. For example, the following means is used for recognizing and treating the direction of a transferred article in a vibration feeder. The articles to be transferred are aligned in a predetermined direction by a structure provided in the intermediate portion of the transfer mechanism of the vibrating feeder and adapted to the form and dimensions of the articles to be transferred. In a vibratory feeder with a spiral transfer path, for example, a mechanical baffle or an opening is provided to drop objects to be transferred in different directions once into a bowl and then to the transfer path again to adjust the posture. Corrected. A sensor such as a limit switch provided at an intermediate portion of the transfer mechanism of the vibrating feeder recognizes the configuration direction and the like of the transferred product, and drives an electromagnetic plunger or the like to align the transferred product in a predetermined direction, or to gate or tilt. Classification is performed by operating a slider or the like. A plurality of photoelectric elements such as photodiodes provided at an intermediate portion of the transfer mechanism of the vibrating feeder recognize the configuration direction and the like of the transferred product, and drive the electromagnetic plunger or the like to align the transferred product in a predetermined direction, or Classification is performed by operating a gate or an inclined slider.

[0003]

However, according to the recognition means for discriminating the shape or direction of an article to be transferred in a vibrating feeder as described above, the article must be a limited article whose structural form is clearly different depending on the direction. It was difficult to apply. In addition, it is necessary to change the arrangement of sensors such as photoelectric elements and other detecting means in response to the change of the transferred product. Combinations of CCD cameras and image processing technologies have made it possible to recognize articles with complex structures or, conversely, simple external structures. Because there are many opportunities to come in contact with the transferred product,
Even if image processing is performed, there is a problem that recognition means using a camera cannot be realized because it is difficult to correctly determine the recognition of a transferred product.

[0004] That is, for example, as shown in FIG. 3, when a photograph is taken of a state where the article 11 to be transferred is in contact with the transfer path 12 at 13 parts, a shadow picture as shown in FIG. 5 is obtained. In FIG. 5, reference numeral 20 denotes the entire captured video screen;
Indicates a photographed shadow picture. In shadow picture 23,
It is not possible to determine a clear shape in which the transferred article 11 shown in FIG. 3 is separated from the transfer path 12. SUMMARY OF THE INVENTION The present invention provides a vibrating feeder visual apparatus capable of reliably separating and photographing a transferred product from a transfer path of the vibrating feeder in a means for recognizing a transferred product in a vibrating feeder in view of the above-mentioned conventional problems. The purpose (issue) is to do so.

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, a vibration feeder visual device according to the present invention comprises:
A vibration wave information output means for the vibrating feeder, and a video photographing means for the transferred article, wherein the photographing means is operated at a predetermined vibration timing at which the transferred article is slightly floated with respect to the transfer path. Features.

[0006]

According to the present invention, as described above, the vibration wave information output means of the vibration feeder and the means for photographing the image of the transferred article are provided, and the photographing means is made to function at a predetermined vibration timing. Can be photographed in a state where the transfer path and the goods to be transferred are separated, and
The shape of the transferred product can be clearly determined.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An example in which the present invention is applied to a parts feeder which is an applied product of a vibration feeder will be described with reference to the drawings. FIG. 1 shows a schematic configuration of an embodiment for explaining a visual apparatus for a vibration feeder according to the present invention, and details of a part feeder not related to the present invention are omitted from the drawings. In FIG. 1, reference numeral 1 denotes a parts feeder (hereinafter, a vibration feeder is referred to as a parts feeder in the description of this embodiment),
A constant-amplitude vibration is applied by an electromagnet (not shown) which is attached to a and driven by the constant-amplitude controller 9. Therefore, the parts (not shown), which are the articles to be transferred, in the bowl 1b of the parts feeder 1 are subjected to the excitation force in the upward direction and the transfer direction by this vibration, and the outlet 1d of the parts feeder 1 moves on the transfer path 1c. And is fed to, for example, a classifier (not shown) provided at the end of the outlet 1d. Outer wall 1e of transfer path 1c of parts feeder 1
Is provided with a translucent window 2 into which a milky white translucent synthetic resin or the like having a predetermined shape and size is fitted. The translucent window 2 is interposed therebetween, and a lamp 3 as a light source and a photographing means such as a CCD are provided.
A camera (hereinafter referred to as a camera) 4 is provided facing the camera. Therefore, the shape of the transferred article (not shown) on the transfer path 1c of the parts feeder 1 is detected by the camera 4 as an image.

In the vicinity of the translucent window 2 of the parts feeder 1, a sensor section 5a of a laser displacement gauge 5 is provided as vibration wave information output means of the parts feeder (vibration feeder) facing the outer wall 1e of the transfer path. In addition, an appropriate sensor is provided according to conditions such as a transferred object detection sensor 6, for example, a sensor that is not captured by the camera 4. The vibration wave information of the parts feeder obtained by the laser displacement meter 5 and the information on the presence of the transferred object obtained by the sensor 6 are input to the camera control device 7, and the functional operation of the camera control device 7 is controlled to control the camera 4. The user releases the shutter and operates signal transmission to the image processing device 8. Each image element of the camera 4 is scanned in both the vertical and horizontal directions by a scanning signal having an aspect ratio of 1: 1 from the camera control device 7, and the obtained image signal is operated by the camera control device 7 to become a predetermined serial digital signal, thereby performing image processing. Input to the device 8. Image processing device 8
In the above, the input image signal is compared with image information recorded in advance in the storage device of the image processing device 8, and based on the result, a measure corresponding to the condition of the device incorporating the visual device for the vibration feeder is determined. Mechanism to execute (not shown)
Output a predetermined signal.

The state of contact between the transferred article and the transport path corresponding to the type of the transferred article which vibrates with the vibration of the vibration feeder will be described with reference to FIG. FIG. 2 shows the percentage of the number of contacts in which the transferred object is in contact with the transfer path corresponding to the vibration timing (vibration transfer angle) of the vibration feeder when the transferred object vibrates with the vibration of the vibration feeder. The following experimental example is shown. In FIG. 2, the horizontal axis shows the vibration timing of the vibration feeder as the vibration phase angle when one cycle of vibration is regarded as 360 degrees, and the vertical axis shows that at each phase angle, the article to be transferred is located on the transfer path. The number of contacts is shown as a percentage. That is, a curve W1 is an example of data measured at a predetermined location of a vibration feeder that vibrates a part with an amplitude of 5 mm, and a curve W2 is an example of data of another part.

Next, the operation of the present invention in the above configuration will be described in more detail. In FIG. 1, when the parts feeder 1 operates by driving the constant amplitude controller 9,
The articles to be transferred (not shown) in the bowl 1b at the center of the feeder 1 are sequentially transferred on the transfer path 1c of the parts feeder 1 toward the outlet 1d with the vibration of the parts feeder 1. On the other hand, a laser displacement meter 5 which is a vibration wave information output means of a parts feeder (vibration feeder) detects a vibration waveform of the parts feeder 1. In advance, in the camera control device 7 corresponding to the condition of the transferred object, the photographing timing at which the camera 4 functions according to the vibration waveform of the parts feeder 1 detected by the laser displacement meter 5 is determined. As shown in FIG. 2, for example, in the transferred article W1, the probability that the timing at which the vibration phase angle is approximately 220 degrees is in contact with the transfer path 1c is low, and the vibration frequency of the vibration feeder 1 is generally high. Therefore,
At the time of photographing, the timing of photographing is controlled so that the transferred article W1 is always slightly floated from the transfer path by the camera 4 so that an image of a state where it is not in contact with the transfer path 1c can be obtained. it can. In the transferred article W2, the probability that the timing at which the vibration phase angle is approximately 185 degrees is in contact with the transfer path 1c is low, and the vibration frequency of the vibration feeder 1 is generally high. Therefore, in this case, the transferred object W2 is also slightly lifted from the transfer path, and
Thus, it is possible to obtain an image of a situation in which the camera is not in contact with the transfer path 1c. Therefore, in the transferred product W1, the vibration waveform of the parts feeder 1 measured by the laser displacement meter 5 has a phase angle of 220 degrees, and in the transferred product W2, the vibration waveform of the parts feeder 1 measured by the laser displacement meter 5 has a phase angle of 220 degrees. At the timing at which the angle becomes 185 degrees, and also at the appropriate preset timing corresponding to the shape and weight of the other transferred products, the transferred product detection sensor 6 detects the presence of the transferred product (not shown). Upon detection, the camera control device 7 causes the shutter of the camera 4 to function. Therefore, the camera 4 can obtain an image in which the article to be transferred and the background which is the transfer path are separated as shown in FIG. FIG.
In the figure, reference numeral 20 denotes the entire screen, reference numeral 21 denotes an image of an article to be transferred, and reference numeral 22 denotes an image of a background which is a transfer path.

The camera control device 7 transmits the obtained image signal to the image processing device 8 as a predetermined serial digital signal. That is, when the image is captured as a shadow picture as shown in FIG.
Is transmitted as a signal. The image processing device 8 which has received the image signal compares the image information recorded in advance in the storage device of the image processing device 8 and ignores the signal corresponding to the image 22. The state of the transferred article, such as the direction of the transferred article, is determined. The image processing device 8 sends a signal to an elimination mechanism (not shown) to reject the transferred product if the direction of the transferred product is not correct, for example, if the direction of the transferred product is not correct. (Not shown) and transferred to the next process equipment, for example,
Supply to automatic assembly machines.

In the above description, the basic configuration and the basic embodiment in the embodiment of the present invention have been described. For example, it has been described that a sensor for detecting a transferred article is provided. In the first stage of image processing, the relationship between the side of the video screen and the transferred product is determined. If the transferred product does not cover the side of the screen, the image signal is used for the subsequent image processing. You may do it.
Although the laser displacement meter which does not need to be directly coupled to the vibration feeder (parts feeder) to detect the vibration phase of the vibration feeder (parts feeder) has been described, other non-contact sensors may be used. An appropriate vibration sensor such as an accelerometer may be mounted at an appropriate location on the vibration feeder, and the driving waveform may be used depending on the driving condition of the vibration feeder, and the output waveform of the constant amplitude controller may be used in the above embodiment. Is also good. In the above embodiment, the case where the contour shape of the transferred product is determined has been described.
If you want to capture not only shadow pictures but also other detailed images,
Conditions such as the relationship between the lamp of the light source and the camera and the material of the window may be appropriately set in accordance with the necessary conditions, and the image signal may be represented by a more coded signal than the above. Also, although the camera has been described as functioning by operating the shutter, a strobe may be used as a light source for illumination, and the strobe may function at an appropriate timing in accordance with the illumination conditions of the environment. In addition, C
Although a CD camera has been described, other photographing means may be used as long as the objective conditions are met. If there is not enough room to arrange the camera, or if a local image is required, an image transmission device may be used. What is necessary is just to provide an appropriate image photographing means at the tip using an optical fiber.

In the above description of the embodiment, the present invention is applied to the parts feeder, and the rejection mechanism provided in the transfer path of the parts feeder is operated by the detection signal according to the present invention. Can be applied to any type of vibrating feeder, such as a vibrating feeder other than driven by an electromagnet, or a linear feeder. The operation of various mechanical devices, such as the provided correction function and the classification function outside the transfer path, can be operated. Further, although the description has been given as a separate device such as a camera control device and an image processing device, the functional devices described in the embodiments of the present invention may be appropriately integrated or separated. It goes without saying that the function of the camera control device and the form of signals used internally are changed in accordance with the device adopted as the photographing means.

[0014]

According to the present invention, as described above, the timing of photographing by the camera is controlled so that the article to be transferred can always be photographed while slightly floating from the transfer path. The article to be separated can be identified separately from the environment (background). Therefore,
There is an excellent effect that the situation such as the posture of the article to be transferred can be determined and a treatment corresponding to the situation can be executed accurately.

[Brief description of the drawings]

FIG. 1 is a connection diagram including a perspective view of a parts feeder for explaining a configuration of an embodiment in which a visual device for a vibration feeder according to the present invention is applied to a parts feeder.

FIG. 2 is a characteristic diagram showing a percentage of the number of contacts between a transferred article and a transfer path corresponding to a vibration phase angle of a vibration feeder.

FIG. 3 is a side view illustrating a state of contact between a transferred article and a transfer path in a vibration feeder.

FIG. 4 is an isolated shadow drawing of the transferred article and the transfer path in the posture of FIG. 3 photographed by the vibrating feeder visual device according to the present invention.

5 is an example of a shadow picture in the situation shown in FIG. 3 in which the article to be transferred and the transfer path are in contact with each other.

[Explanation of symbols]

 1: Parts feeder (vibration feeder) 1c: Transfer path 4: Camera (photographing means) 5: Laser displacement meter (vibration wave information output means) 7: Camera control device 8: Image processing device

Claims (1)

(57) [Claims] 1. An apparatus for recognizing an article to be transferred on a vibration feeder for transferring an article to be transferred by vibration, comprising: means for outputting vibration wave information of the vibration feeder; A visual device for a vibration feeder, characterized in that a photographing means for a transferred article is provided, and the photographing means is made to function at a predetermined vibration timing when an article to be transferred slightly floats from a transfer path.