JP3084887B2 - Parts supply device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component supply device,
More specifically, the separation of components is achieved while transporting a large number of components put into the component storage unit through the component transport path, and the state of the component in a predetermined area on the component transport path is detected based on the captured image. The present invention relates to a component supply device that controls a component removal operation of an industrial robot based on a detection result.

[0002]

2. Description of the Related Art Conventionally, in a component supply apparatus mainly including a bowl feeder, instead of providing a mechanical component alignment mechanism to align components, a component transport provided around a bowl for storing components is provided. An image of a predetermined area of the truck is detected by an image detection device such as a CCD camera, and the type and position of the component are identified based on the detected image, and an industrial robot or the like is operated based on the identification result. There has been proposed a configuration in which the above component is supplied to a desired position. However, the component transport truck is configured so that overlapping components and the like can be returned to the bowl again (see Japanese Patent Application Laid-Open No. 60-118479).

[0003] With such a configuration, since the image on the component transport truck is captured by the image detection device, the type of the component can be accurately identified, and the desired component can be taken out by the industrial robot. In addition, tooling for each part is not required, and various types of parts can be easily dealt with.

[0004]

In the case of employing the component supply apparatus having the above-described structure, it is only necessary to detect an image in a predetermined area of the component transport track, and the detected image is a reflection image. In addition to the disadvantage that the contrast is not clear and the component identification accuracy is reduced, the reflected light is taken into the image detection device even when illuminated by an illumination device from above the component transport track. There is an inconvenience that the state of the reflected light changes depending on the surface state caused by the material or the like, and the component identification accuracy greatly changes. In addition, since the accuracy of component identification is reduced due to the influence of ambient disturbance light, it is necessary to take measures such as providing a light shielding curtain. Therefore, the types of applicable parts are greatly limited. Furthermore, since the illumination device and the image detection device are disposed above the component transport truck, there is a disadvantage that interference with an industrial robot that takes out components is likely to occur. If you try to resolve this inconvenience,
The illumination device and the image detection device must be arranged at extremely high positions, and the support of these devices becomes unstable. In order to prevent the support from becoming unstable, it is necessary to strengthen the support. This leads to an increase in cost.

In order to solve such inconveniences, the present inventors formed an opening at a predetermined position of a component transport truck, provided a light-transmitting plate at the opening, and provided a light-transmitting plate. Illumination devices are arranged above and below, respectively, and an image detection device such as a CCD camera is provided at a predetermined position where reflected light caused by the lower illumination device and transmitted light caused by the upper illumination device can be captured. I considered a component supply device with the arrangement.

In the component supply device having this configuration, only the upper illumination device is turned on, a silhouette image is captured by the image detection device, and binarization processing is performed. On the contrary, only the lower illumination device is turned on, the reflection image is captured by the image detection device, and the image is subjected to the binarization process. For an unachievable part, an image mainly showing the surface state of the part can be obtained. Therefore, highly accurate identification of parts can be achieved based only on the silhouette image or on the basis of the silhouette image and the reflection image.

Further, as the lighting device used for the component supply device considered by the present inventors, for example, a ring-shaped fluorescent lamp is adopted as a lower lighting device, and an EL (electro luminescence) is used as an upper lighting device. ) A surface light emitter such as a light emitter is adopted so that the surface light emitter functions as a background when capturing a reflection image, and the surface light emitter is turned on only when a silhouette image is captured and only when a reflection image is captured. The ring-shaped fluorescent lamp is turned on. Here, while capturing a silhouette image, it is relatively less affected by variations in ambient light intensity, while capturing a reflected image is greatly affected by variations in ambient light intensity. Although an illumination device having a relatively low illuminance can be employed, a lower illumination device having an illuminance sufficiently higher than ambient light must be employed. Therefore, as described above, a fluorescent lamp is employed as the lower illumination device. Of course, there is no inconvenience even if a fluorescent lamp is adopted as the upper lighting device.

However, the surface luminous body and the ring-shaped fluorescent lamp are turned on only for a period necessary to capture the corresponding image, and the silhouette image and the reflection image of the component on the transparent plate are detected. As a result, the silhouette image obtained by binarizing a large number of parts of the same type at a relatively short time interval was relatively constant with respect to the silhouette image, while the relatively short time interval was obtained with respect to the reflection image. Thus, the reflection images obtained by binarizing a large number of parts of the same type vary considerably, and there is a disadvantage that the parts cannot be identified with high accuracy.

Further, every time the layout of a production line or the like is changed, the bowl feeder, the illuminating device, the image detecting section, etc. must be moved and the position between these sections needs to be adjusted, because of the inconvenience that the noise of the bowl feeder impairs the surrounding environment. However, there is also a disadvantage that a great deal of labor is required.

[0010]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and in particular, in the case where a reflected image is detected, the effects of ambient light are sufficiently eliminated to achieve accurate component identification, and as a result, accurate component identification is achieved. It is an object of the present invention to provide a component supply device capable of achieving a stable component supply.

[0011]

According to a first aspect of the present invention, there is provided a component supply apparatus for moving a component in a predetermined direction on a component transport path and transmitting light to a predetermined position on the component transport path. Component separation and transport device including a region having a, light source located above and below the region having translucency,
Image detecting means for detecting a silhouette image based on light from one light source and a reflected image based on light from the other light source, and a non-translucent material surrounding at least the parts separating and conveying device, the other light source and the image detecting means And a door means that can be opened and closed at a predetermined position corresponding to a light-transmitting region of the casing.

According to the second aspect of the present invention, the light source located above the translucent area also serves as the door means. According to a third aspect of the present invention, the component supply device further includes an industrial robot that takes out a component located in the translucent area to the outside of the casing, and turns on at least one of the light sources to detect the component. Control means for opening and closing the door means in synchronization with a process of detecting an image to be processed and a component removal process by the industrial robot based on the detected image.

[0013]

According to the first aspect of the present invention, the component is moved in a predetermined direction on the component transport path of the component separating and transporting apparatus, and the component that has reached the translucent area of the component transport path is used as one of the illumination devices. Illuminated by the above, a silhouette image can be obtained by the image detecting means. Conversely, if illumination is performed by the other illumination device, a reflected image can be obtained by the image detection unit. Of these cases, the case where illumination by the other illumination device is performed is susceptible to the influence of ambient light and the like because of obtaining a reflected image. Since it is surrounded by a casing made of a non-translucent material, it is possible to eliminate the influence of ambient light and the like by closing the door means, and to improve the quality of the reflected image obtained by the image detecting means. And variations in the reflected image can be eliminated. Therefore, it is not necessary to use a device having a high illuminance, for example, a fluorescent lamp, as the other lighting device, and it is possible to significantly increase the degree of freedom in selecting the other lighting device. As a result, it is possible to arbitrarily select, as the other illuminating device, which needs to repeat blinking, one having a small change in illuminance depending on the ambient temperature, one having high responsiveness of blinking, and the like, and thus remarkably increase the component identification accuracy. .

After the silhouette image or the reflection image is obtained by the image detecting means as described above, and the type of the component is identified based on the obtained image, the door means is opened to allow the industrial inside of the casing to be opened. It is only necessary to allow the intrusion of the robot or the like, and the components located in the translucent area can be taken out. According to the component supply device of the second aspect, since the light source located above the translucent region also serves as the door means, the configuration can be simplified as a whole. In this case, it is necessary to open the door means when parts are taken out by an industrial robot or the like. In this case, there is no need for image detection by the image detection means, so that the operation of the parts supply device is not required. Does not cause any inconvenience above.

According to the third aspect of the present invention, the component supply device further includes an industrial robot that takes out the component located in the translucent area to the outside of the casing, and turns on at least one of the light sources. Since it further has control means for opening and closing the door means in synchronization with the processing for detecting the corresponding image by the image detection means and the part removal processing by the industrial robot based on the detected image, the silhouette image The opening / closing operation of the door means for optimizing the detection, the detection of the reflection image, and the component take-out can be achieved by the control means, and the smooth and reliable supply of the parts can be achieved.

[0016]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. FIG. 1 is a transparent perspective view showing an embodiment of the component supply apparatus of the present invention, and FIG. 2 is a schematic longitudinal sectional view showing a case where a bowl feeder 2 is housed inside a casing 1 made of a non-translucent material. , Bowl 2a of bowl feeder 2
The light sources 3a and 3b are arranged above and below a light-transmitting plate 2c that covers an opening formed at a predetermined position of the component transport track 2b arranged so as to surround the light source 3a.
The half mirror 4a is arranged between the light-transmitting plate 2c and the light source 3b, and the half mirror 4a
Further, an image detecting unit 4 including a CCD camera and the like for detecting an image of a region including the translucent plate 2c via the reflecting mirror 4b is arranged. The casing 1 is
An opening 1a is provided directly above the translucent plate 2c, and a door member 1b is provided which can reciprocate between a position where the opening 1a is closed and a position where the opening 1a is opened. Reference numeral 5 denotes a control unit, which is an image for controlling component identification processing based on an image obtained by the image detection unit 4, generation of an industrial robot control signal based on the component identification result, and operation of the light sources 3a and 3b and the door member 1b. A detection control signal is generated. Further, an industrial robot 6 for taking out components while maintaining a predetermined relative position with respect to the component supply device is arranged.

As for the light sources 3a and 3b, both may be fluorescent lamps, but only one of the light sources or both light sources are electroluminescent (hereinafter abbreviated as EL) surface luminous bodies, LEDs and the like. You may. The door member 1
As for b, as shown in FIG.
3C, it may be reciprocally supported in a predetermined direction and may be connected to a reciprocating drive source 1d. However, as shown in FIG. 3B, it is rotatably supported by a support shaft 1e. It may be connected to a driving source 1f for rotation, and is not limited to the above configuration as long as it can reciprocate between the opening closing position and the opening opening position. In FIG. 1, a rodless cylinder 1g in which a guide member and a drive source are integrated is employed. The light source 3a disposed above the translucent plate 2c can also reciprocate between a position directly facing the opening 1a and a position not directly facing the opening 1a in conjunction with the door member 1b or independently. Is configured. Further, although not shown, a door member for putting components into the bowl 2a of the bowl feeder 2 is provided at a predetermined position of the casing 1.

The operation of the component supply device having the above configuration is as follows. If the door member (not shown) is opened to supply the components to the bowl 2a of the bowl feeder 2, and a control signal is supplied from the control unit 5 to the bowl feeder 2 to indicate that the components should be conveyed, the components in the bowl 2a Can be sent out to the component transport truck 2b, and the components can be separated from each other while being moved on the component transport track 2b in a predetermined direction. When the bowl feeder 2 is operated for a predetermined time, the parts reach the transparent plate 2c. Therefore, the control unit 5 outputs a control signal to the light source 3a to instruct the light source 3a to be turned on. Since a control signal for instructing the image detection unit 4 to capture an image is supplied to the image detection unit 3a at a stable timing, the silhouette image can be detected by the image detection unit 4.

The detected silhouette image is supplied to the control unit 5, and the control unit 5 performs a feature value extraction process and the like to identify the type, orientation, position, and the like of the component. As a result of this identification, if identification with sufficient accuracy has been achieved, a control signal for instructing that the door member 1b should be opened should be output without instructing to turn on the light source 3b, and parts should be taken out. Since the control signal (including the operation command signal) is output, the industrial robot 6 can take out the component.

Conversely, if sufficient accuracy cannot be attained depending on the silhouette image, for example, if the front and back shapes are different, it is instructed to turn off the light source 3a and turn on the light source 3b. A control signal is output to the image detecting unit 4 at the timing when the light source 3b is stabilized, and a control signal for instructing the image detecting unit 4 to capture an image can be detected by the image detecting unit 4.

The detected reflection image is supplied to the control unit 5,
The control unit 5 performs a feature value extraction process or the like to identify the front and back of the component. Thereafter, a control signal instructing that the door member 1b should be opened is output, and a control signal instructing that the component should be taken out is output, so that the industrial robot 6 can take out the component. it can.

As apparent from the above description, when detecting a silhouette image or a reflection image, since the opening 1a is closed by the door member 1b, disturbance light such as ambient light can be eliminated, and a stable image can be obtained. Detection can be achieved. Further, since the influence of disturbance light is eliminated, the illuminance required for the light sources 3a and 3b does not need to be so strong, and a clear silhouette image can be obtained even when an EL surface illuminant having an illuminance much lower than that of a fluorescent lamp is employed. , A reflected image can be obtained.

Further, since the bowl feeder 2 which emits a loud noise is accommodated in the casing 1, and the opening 1a is opened only during the period when the bowl feeder 2 stops operating, the bowl 1 leaks out of the casing 1. The level of noise generated can be greatly reduced. Further, since the relative positions of the respective components housed in the casing 1 are accurately set, the relative positions do not change even when the position of the component supply device is changed.
As a result, it is possible to easily deal with the movement and rearrangement of the component supply device.

[0024]

[Embodiment 2] Fig. 4 is a schematic longitudinal sectional view showing another embodiment of the component supply apparatus of the present invention. The difference from the above embodiment is that a light source including an EL surface illuminator on the lower surface of a door member 1b is provided. 3
The only difference is that a is provided integrally. Therefore, in the case of this embodiment, the mechanism for moving the door member 1b and the light source 3a can be simplified due to the integration of the door member 1b and the light source 3a. Can be achieved.

FIG. 5 is a perspective view showing a modification, in which the light sources 3a and 3b, the half mirror 4a, the door member 1b and the image detecting section 4 are omitted. In this modified example, a suction portion 7a is provided at a predetermined position of the component transport truck 2b, and a suction line 7d having a filter 7c interposed between the suction portion 7a and an ejector 7b that generates a negative pressure when compressed air is supplied.
In communication. If the driving sources 1d and 1f for driving the door member 1b are operated by the compressed air, the supply source of the compressed air to the ejector 7b can be shared, and the configuration can be suppressed from being complicated.

Therefore, the coating on the surface of the bowl feeder 2 is peeled off, and the dirt, dust, etc. on the surface of the
And the like, and thus the dirt on the upper surface of the translucent plate 2c, the image capturing unit of the image detecting unit 4, the half mirror 4a, etc. is greatly reduced, and the detection by the image detecting unit 4 is performed. A decrease in image quality can be significantly suppressed.

The present invention is not limited to the above embodiment. For example, the light source 3a to be located above the translucent plate 2c can be arranged above the casing 1. In addition, a component separating and conveying device other than the bowl feeder can be accommodated in the casing 1, and various other design changes can be made without changing the gist of the present invention.

[0028]

As described above, according to the first aspect of the present invention, the effect of ambient light can be eliminated by closing the door means of the casing made of a non-translucent material, and the effect of the image detecting means can be obtained. The quality of the reflected image can be improved, the variation of the reflected image can be eliminated, and the parts can be taken out by the industrial robot without any inconvenience, and the noise leakage accompanying the separation and transportation of the parts is greatly reduced. The unique effect that it is possible to significantly reduce the intrusion of dust and the like when used in a bad environment, and to achieve the rearrangement of the component supply device without adjusting the relative position between the components. To play.

According to the second aspect of the present invention, in addition to the effect of the first aspect, a unique effect that the configuration can be simplified is provided. According to the third aspect of the present invention, in addition to the effect of the first aspect, the opening / closing operation of the door means for optimizing the detection of the silhouette image, the detection of the reflection image, and the component removal can be achieved by the control means. This has a specific effect that a reliable supply of parts can be achieved.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an embodiment of a component supply device according to the present invention.

FIG. 2 is a schematic vertical sectional view of a component supply device.

FIG. 3 is a schematic perspective view showing a door member driving mechanism.

FIG. 4 is a schematic longitudinal sectional view showing another embodiment of the component supply device of the present invention.

FIG. 5 is a perspective view showing a modification of the component supply device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Casing 1b Door member 2 Bowl feeder 2b Parts transport truck 2c Translucent board
3a, 3b Light source 4 Image detection unit 5 Control unit 6 Industrial robot

────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ Identification code FI B65G 47/14 B65G 47/14 E (56) References JP-A-59-46179 (JP, A) JP-A-4-372337 ( JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) B65G 47/00-47/32 B07C 5/10

Claims (3)

(57) [Claims] 1. A component separation and transfer device (2) for moving a component in a predetermined direction on a component transfer path (2b) and including a translucent area (2c) at a predetermined position of the component transfer path (2b). And light sources (3a) and (3b) located above and below the translucent region (2c), and one of the light sources (3
a) a silhouette image based on the light from a), the other light source (3
b) an image detecting means (4) for detecting a reflection image based on light from the light source, and a non-translucent material surrounding at least the parts separating and conveying device (2), the other light source (3b) and the image detecting means (4) And a casing (1) comprising a light-transmitting region (2) of the casing (1).
A component supply device having a door means (1b) that can be opened and closed at a predetermined position corresponding to (c). 2. The component supply device according to claim 1, wherein the light source (3a) located above the translucent area also serves as the door means (1b). 3. An industrial robot (6) for taking out a part located in the translucent area (2c) to the outside of the casing (1), and at least one of the light sources (3a) (3). 3b) is turned on to open and close the door means (1b) in synchronization with the processing of detecting the corresponding image by the image detection means (4) and the part removal processing by the industrial robot (6) based on the detected image. The component supply device according to claim 1 or 2, further comprising a control means (5).