JP3296643B2 - Component supply method and device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention recognizes the position and orientation of a part conveyed on a conveyor by visual recognition means,
The present invention relates to a component supply method and an apparatus for handling components by a robot.

[0002]

2. Description of the Related Art Conventional parts supply methods include a method of recognizing the type, position, and orientation of a part on a parts feeder and taking out the part by a robot (Japanese Patent Application Laid-Open No. Sho 64-5742), or a method of supplying parts. There has been a method (Japanese Patent Application Laid-Open No. 2-201111) in which a component is transferred onto a conveyer, recognized on the conveyer, and stopped when the component is moved to a supply position, and then stopped for handling.

[0003]

However, in the conventional parts supply method, since the parts are temporarily stopped for visual recognition or parts handling, it takes time to stop the parts feeder and the conveyor, and the speed is increased. was difficult. As a method of speeding up, there is a method of recognizing a position and a posture on a conveyor and performing handling without stopping the conveyor. However, in this method, handling is performed without stopping the conveyor, which causes problems such as inaccuracies, parts that cannot be handled, and parts that cannot be visually recognized. There was a problem that would be troublesome work.

[0004] An object of the present invention is to increase the speed by recognizing the position and posture on a conveyor and performing the handling without stopping the conveyor in supplying parts, and the handling is performed with high accuracy and the handling cannot be performed. Parts can be recirculated automatically, the guide part of the conveyor can be opened and closed, this part can be opened at the time of product change, and parts can be automatically discharged by rotating the conveyor at high speed, eliminating defective products on the transport path. By discharging, the ratio of non-defective products in all parts is increased, and a stable take-out amount can be secured. An object of the present invention is to provide a component supply method and a device therefor.

[0005]

In order to achieve the above object, a component supply method and apparatus according to the present invention include the following steps: (1) Recognizing the position and orientation of a component conveyed on a conveyor by visual recognition means. , The recognition data is sent to the robot control unit, and the conveyor has a movement amount measuring means for measuring the movement amount of the conveyor.The data of this movement amount is also sent to the robot control unit, and the robot control unit In the component supply method that performs coordinate transformation, creates the position data of the conveyed parts in robot coordinates, and handles the parts by the robot, the detection means detects that the parts have reached the range of visual recognition. Start the visual recognition processing, start the measurement of the movement amount by the movement amount measurement means at the timing when the visual recognition means takes in the image, and If the field of view is not within the range of motion of the robot, place a mark plate on the conveyor and read the coordinate value of the mark on the mark plate by visual recognition means
Stored in the robot controller, and then move the conveyor to move the mark plate within the operating range of the robot, co at this
Robot that reads the movement amount of the conveyor with the movement amount measurement means
The control unit memorizes and moves the robot to the mark plate.
Te reads the robot coordinate values of the marks on the mark plate B
Stored in bot controller further moves the mark plate to another location within the operating range of the robot, the conveyor at this time
The movement of the robot is read by the movement measuring means and the robot controller
Stored, and moves the robot to the mark plate, the robot system to read-the robot coordinate values of the marks on the mark plate
The coordinates of the mark stored by the control unit and stored by the robot control unit
Value, each movement amount of the conveyor and each robot coordinate of the mark
By be Rukoto based on the value and performs calibration.

(2) In the above component supply method, after the robot control unit receives the visual recognition data, the robot control unit calculates an optimum standby position for grasping the component based on the data, and moves the robot to this position in advance. The robot is moved and the parts are handled while synchronizing the robot with the conveyor at an appropriate timing.

(3) In the component supply method, a component that cannot be visually recognized and a component that is difficult to be removed by a robot are transferred to a second conveyor that moves in the opposite direction.
Furthermore, the components can be transferred to the conveyor according to the first aspect of the present invention to recirculate the components.

(4) Then, from the first conveyor to the second
The mechanism that moves parts to the conveyor, the guide part of the conveyor is opened and closed, the guide is closed when picking up parts by the robot, the guide part is opened when changing the type, and the parts are ejected from there Things.

(5) In addition, the component moving speed of the conveyor can be switched, and the components can be moved and discharged at a high speed when discharging the components.

(6) In the component supply method of (3) or (4), when the components are ejected, the number of components moving in the visual field is measured using the visual recognition means, and it is recognized that all the components have been ejected. Then, the conveyor is stopped.

(7) A belt conveyor capable of reciprocating movement, storage / separation means having means for storing parts at both ends of the belt conveyor, and means for transferring parts to the belt conveyor while separating parts, and It is equipped with a recognition device that recognizes the position and orientation of parts and a robot that handles parts according to the recognized data.Parts that were not visually recognized and parts that could not be removed by the robot were left as they were. After flowing on the conveyor, it is stored in the other storage / separation means, the parts are transferred to the conveyor, and when the remaining amount of parts on the storage / separation means side is less than a predetermined value, the storage function and the separation function are switched. A component circulation function that repeats component circulation by switching the traveling direction from the other storage / separation means to the one storage / separation means side. It is.

[0012]

According to the above method (1), a part conveyed on the conveyor is detected by the detecting means when the part reaches the range of visual recognition, and the visual recognition processing is started.
The position and orientation are recognized by the visual recognition means, the recognition data is sent to the robot controller, and the measurement of the movement amount by the movement amount measurement means is started in accordance with the timing at which the visual recognition means takes in the image, and the movement amount measurement means of the conveyor The robot controller sends the data of the movement amount to the robot controller, and the robot controller performs coordinate conversion based on these data, creates position data of the conveyed parts in the coordinates of the robot, and handles the parts by the robot.

At this time, when the field of view of the camera is not within the operating range of the robot, a mark plate is provided on the conveyor, the coordinate value of the mark on the mark plate is read by the visual recognition means, and then the conveyor is moved. Move the plate into the robot's operating range, read the robot coordinate value of the mark on the mark plate, and move the mark plate to another location in the robot's operating range to move the robot coordinate value of the mark on the mark plate. Calibration is performed by reading.

In carrying out the method (1), after receiving the visual recognition data in the robot controller, the robot controller calculates the optimum standby position for grasping the parts based on the data, and sets the robot in advance. The robot is moved to this position, and the parts are handled at the appropriate timing while synchronizing the robot with the conveyor.

[0015] Further, when the method (1) is carried out, the parts which cannot be visually recognized and the parts which are difficult to be taken out by the robot are transferred to the second conveyor which moves in the opposite direction. By transferring the parts to the conveyor described in item 1 and recirculating the parts and visually recognizing them again, there is no need to make a hand so that the parts can be grasped in any posture, and there is no need to return the parts by the operator.

The mechanism for moving parts from the first conveyor to the second conveyor has a guide portion of the conveyor which can be opened and closed, the guide is closed when a robot takes out parts, and the guide portion is used when the type is changed. And eject the parts from there.

As described above, when the components are ejected from the guide portion, the component moving speed of the conveyor can be switched, and when the components are ejected, the components are moved and ejected at a high speed.

When the above method (3) or (4) is carried out, the number of components moving in the field of view is measured by using a visual recognition means at the time of component ejection, and it is recognized that all components have been ejected. Stop the conveyor.

The component feeder provided with storage / separation means having means for storing parts at both ends of the belt conveyor capable of reciprocating movement and means for transferring parts to the belt conveyor while separating the parts, The parts from the storage / separation means are transferred to the conveyor, conveyed by the conveyor, the position and orientation of the parts on the conveyor are recognized by the recognition device, and the robot handles the parts according to the recognized data. Parts in postures that are difficult to remove by the robot and parts that could not be visually recognized are stored in the other storage / separation means from the end of the conveyor, and are stored when the remaining amount of parts in one storage / separation means is less than a predetermined value. Switching between the function and the separation function, and switching the traveling direction of the conveyor, repeats the circulation of parts.

As described above, since the position and orientation of the components are recognized on the moving conveyor and the robot handles the components, it is not necessary to stop the components one by one, so that the speed can be increased and the components which cannot be taken out can be easily handled. The precision of the take-out can be improved.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The basic configuration of the present invention is as follows. (1) In the component supply method that recognizes the position and attitude of the components on the conveyor by visual recognition and handles the conveyor without stopping the conveyor, the amount of movement of the conveyor from the visually recognized position to the position where the robot takes out the components Needs to be measured accurately. FIG. 13 is an overall view showing a component supply method. As shown in FIG. 13, the arrival of a component (not shown) in the visual recognition range 20 is detected by an optical sensor or the like serving as the component arrival detection sensor 7, the image is captured by the camera 3, and an image signal is recognized by the visual recognition device. 4 to start a visual recognition process, and at the same time, an operation for measuring the movement amount of the conveyor 1, for example, the conveyor 1
The output pulse of the sensor such as the encoder 9 attached to the controller is sent to the conveyor movement amount measuring device 2 and counting is started. Alternatively, the data being counted is loaded into memory, etc.
For example, a synchronizing signal is generated at every 30 Hz (vertical synchronizing signal), and an image is fetched in accordance with this signal. There is a time lag between detection of a component and fetching of an image. If the measurement of the movement amount of the conveyor 1 is started in accordance with the component arrival detection sensor 7, the movement distance from the time when the image is captured cannot be accurately measured. Therefore, as shown in FIG. 14 (a), the AND of the sensor signal of the component arrival detection sensor 7 and the vertical synchronization signal of the visual recognition device 4 is obtained, and the conveyor movement amount measuring device 2 uses this signal to move the conveyor 1 The operation for measurement is started, and the measurement accuracy of the moving distance from the position where the image is accurately taken to the position where the robot 6 takes out the image is increased, so that highly accurate handling can be performed. Reference numeral 5 denotes a robot controller which receives recognition data of the position and orientation of the component and the movement amount data and controls the robot 6.

As shown in FIG. 14 (b), when the flash illumination 8 is used for illumination or when a shutter is used (not shown), a signal for operating the flash illumination 8 is generated by the visual recognition device 4. Since this signal can be output in synchronization with the vertical synchronization signal, this signal can be used for starting the operation of the conveyor movement amount measuring device 2.

(2) In the component supply method in which the robot is moved to an optimal position, and is handled while waiting and handling in the component supply method of the above (1), the robot controller 5 receives the visual recognition data, and then receives the visual recognition data. Check the distance traveled,
When the parts on the conveyor 1 enter the operating range of the robot 6, the positions of the parts are calculated based on the visual recognition data and the moving distance of the conveyor 1, and the robot 6 is moved in synchronization with the conveyor 1 to handle the parts. by the way,
The approach direction in which the robot 6 does not easily grasp the part has an optimal direction depending on the part and the type of the hand of the robot 6. Normally, the direction perpendicular to the component (handling from directly above the component) is the optimal direction, but in the case of a component having a complicated shape, the diagonally upper position may be the optimal position. If the component is handled from a direction other than this direction, the component may be lost or the component may be gripped in a misaligned state. Therefore, even when handling parts while synchronizing with the conveyor 1, it is necessary to handle the robot 6 from an optimal approach direction. Therefore, when the robot 6 receives the visual recognition data, the amount of movement of the conveyor 1 necessary for the part to enter the operation range of the robot 6 is obtained, and the position of the part at this time is obtained by coordinate transformation, and further optimized. Calculate the standby position of the robot 6 that can approach from various directions,
The robot 6 is moved to the standby position in advance, and when the amount of movement of the conveyor 1 reaches the previously obtained value, the synchronous operation is started to accurately handle the parts.

(3) In the component supply method of the above (1), and in the component supply method in which the field of view of the camera is not within the operation range of the robot, there is a problem of installation space. It is necessary to install the camera outside the operation range of the robot due to problems such as regulation of the camera. Even in such a case, there is a need for an efficient and highly accurate calibration that can accurately calibrate and can simultaneously calibrate a conveyor and a robot. As a method of the present invention, a mark plate is provided on the conveyor 1 (the mark on the mark plate can be read by a visual recognition device, and any method can be used as long as the robot coordinate value at that position can be checked).
After moving the conveyor 1 and moving the mark plate to the range 20 of the camera 3 of the visual recognition means, the coordinate value of the mark on the mark plate is read by the camera 3 of the visual recognition means, and the robot controller 5 To record. Next, the conveyor 1 is moved, and the mark plate is moved within the operation range of the robot 6. The movement amount of the conveyor 1 at this time is stored.
Next, the robot coordinate value of the mark is read and recorded. The reading of the robot coordinate value of the mark includes, for example, a method in which a pin is provided at the tip of the robot 6 and the position where the pin and the mark are in contact is read as a coordinate value. Further, the mark plate is moved to another place within the operation range of the robot 6, and the movement amount at this time is recorded. Next, the robot coordinate value of the mark on the mark plate is read and recorded. With these recorded data,
Perform calibration. Data recording can be performed automatically or can be input from the operation panel.
In order to improve the accuracy, it is obtained by the least square method using a large number of coordinate values read from a large number of marks, but it is also possible to obtain the minimum necessary data by simultaneous equations.

(4) Second part for moving parts which could not be visually recognized and parts which are difficult to remove by a robot in the opposite direction.
To the first conveyor, and then to the first conveyor,
By visually recognizing again, there is no need to manufacture a hand so that a part in any posture can be grasped, and there is no need to return the part by an operator, and efficient part supply can be performed.

(5) A variety of parts are aligned and transported by a parts feeder that simplifies the mechanical function of arranging the parts, and the parts output from the parts feeder are transported by a first conveyor, and are placed on the first conveyor. The position and orientation of the parts were recognized by the recognition device operated by the part arrival detection sensor, the parts were handled by the robot according to the recognized data, and the parts with postures difficult to remove by the robot could not be visually recognized. The mechanism for moving parts from the first conveyor to the second
In the configuration in which the parts are moved from the first conveyor to the second conveyor, the guide part of the conveyor is opened and closed, and the parts are taken out by the robot. In the component supply method in which the guide is closed when performing the work, the guide portion is opened when the type is switched, and the component is discharged therefrom, as shown in FIG. The control device 21 outputs a cylinder ON signal and opens a guide portion (not shown). When the guide portion is completely opened, a speed control signal 22 is output from the control device 21, the frequency is converted by the inverter 23, the motor 24 is driven to rotate the conveyor at high speed, and the components are discharged. In the conventional method, at the time of changing the type, the parts remaining on the conveyor without being taken out by the robot were manually discharged. However, by using the present component supply method, the components can be automatically and rapidly discharged, so that the working time can be reduced and the number of workers can be reduced.

(6) At the time of discharging the parts in the above (5), the speed control signal 22 is output from the controller 21 to the conveyor via a speed converter (not shown), and the conveyor is rotated at a high speed to discharge the parts. . The conveyor speed at this time can be arbitrarily set by the control device 21.

(7) At the time of component ejection in the component supply method in the above (5) or (6), the number of components moving in the field of view at regular time intervals is measured using visual recognition means, When the non-existence state occurs a set number of times, it is determined that all parts have been discharged, the conveyor and the parts feeder are stopped, and the next type is registered.

FIG. 1 shows a first embodiment of the present invention having the above configuration. As the parts feeder, the vibration feeders 31 and 32 having different moving directions are used in a connected form, and the vibration feeder 31 and the vibration feeder 32 are provided with a step. 31. The parts 50 supplied from the vibration hopper 33 are transferred to the parts feeder 31,
It is carried at 32 and transferred onto a first conveyor 34. On the first conveyor 34, the image of the component 50 is taken from the camera 35 into a visual recognition device (not shown) to perform a visual recognition process. The robot 36 is moved based on the recognition result, and the component 50 is handled. Parts 50 that are difficult to be taken out by the robot 36 are transferred onto the second conveyor 38 by the reversing mechanism 37 mounted on the first conveyor 34, and further circulated back to the vibration feeder 32. FIG. 2 shows a control flowchart of a vision system including the robot 36 and the camera 35 and a conveyor movement amount measuring device (not shown) of the first conveyor 34.

In FIG. 2, the robot 36 measures the speed of the first conveyor 34 (execution block 100), moves to the standby position (execution block 101), and sends a processing start enable signal to the visual recognition device (execution block 102). . Next, processing data is received from the visual recognition device (execution block 103), the data is converted into data for the robot (execution block 104), and the robot 36 moves to correct the standby position (execution block 105), and the amount of movement of the conveyor The value of the counter of the measuring device is checked, and the process waits until the component 50 comes to the removal position (execution block 106). Next, the component 50 is moved to the component position in synchronization with the first conveyor 34 (execution block 107), and the component 50 is sucked in synchronization with the first conveyor 34 (execution block 108), and the component 50 is lifted (execution block 109). , Processing data is robot 3
6, after the target part is picked up by the robot 36, it is determined whether or not the picked-up part 50 is defective based on the defective part information of the processing data (execution block 109-).
A). If it is a defective component, the component 50 is carried to the defective tray (execution block 109-B), branched to a terminal, and returns to the execution block 101. If it is not a defective component, the θ axis is rotated to correct the posture (execution block 110). , Pallet 40
Is inserted (execution block 111), and it is checked whether a type change command is input (execution block 1).
12). If YES, the process branches to the terminal shown in FIG. If no, it is checked whether the pallet is full (execution block 113). If NO, execution block 1
Return to 01 and repeat the operation. In the case of YES, the pallets are exchanged and the operation returns to the execution block 101 to repeat the operation.
(Execution block 114).

In the visual recognition device, a process start enable signal is received from the robot 36 in a process start signal waiting state (execution block 115). When a sensor signal is received from a component arrival detection sensor (not shown), the process is started (execution). Block 1
16), a signal is sent to the flash lighting device 42 and the conveyor moving distance measuring device, the flash lighting device 42 is activated, the counter of the conveyor moving distance measuring device is cleared (execution block 117), and the image of the component 50 is taken. Capture (execution block 118) and image processing (execution block 119). Next, it is checked whether an error has occurred in the image processing (execution block 120). If there is an error, the process is repeated from the execution block 115. If there is no error, it is checked whether or not the posture of the component that can be taken out (execution block 121). If no, the process repeats from execution block 116. In the case of YES, the presence / absence of a failure determination execution instruction is checked (execution block 121-A). If not, execution proceeds to execution block 122, and if present, image processing for failure determination is executed (execution block 121-B). If it is a defective part, the defective part data is added to the processing data (execution block 121C).
6 (execution block 122) and execution block 115
Return to

Upon receiving the signal from the visual recognition device, the conveyor moving distance measuring device clears the counter of the encoder (not shown) of the first conveyor 34 and counts the encoder pulse signal (execution block 123).

FIG. 3 shows an example in which the parts feeder shown in FIG. 1 moves components in the same direction in the second embodiment.
The parts feeder 43 sends a part (not shown) onto the first conveyor 44, the part on the first conveyor 44 receives an image by the visual recognition device 45, and the robot 46 handles the part based on visual recognition data or the like. Parts that are not handled by the robot 46 and are left on the first conveyor 44 are moved onto the second conveyor 47 by the moving mechanism 48.

FIG. 4 is a circuit diagram of the conveyor movement amount measuring device and the image processing device. The image processing device (visual recognition processing device) 49 is a component detection signal 7 of the component arrival detection sensor 58.
0, the flash illumination activation signal 71 output by the image processing device 49 is taken into the movement amount measurement device 51, and this signal is branched by the branch circuit 52, and one of the signals is used as the flash illumination activation signal 71.
3, the other is the counter 54 of the movement amount measuring device 51.
Is used as the clear signal 72 of Image processing device 49
The flash illumination start signal 71 output from the camera is output in synchronization with image capture.
The clear circuit 56 is activated by a clear signal 72, the counter 54 is cleared, and the pulse signal input from the encoder 55 attached to the first conveyor 34 is set to 0.
Thus, the moving distance of the conveyor 1 from the position where the image is taken to the position where the image is taken out by the robot 6 can be accurately measured. The moving distance is output to the robot controller 39 as a data signal 73.

As shown in FIG. 8, the robot 36 is
Is waiting at the optimal position Pa for gripping the component 50, the component 50 moving from the component position P on the first conveyor 34 is synchronously synchronized with the first conveyor 34 and is to be gripped by the robot hand 59. You can grab it.

FIG. 5 shows a flowchart of the operation of moving the robot 36 to the standby position after receiving data from the image processing device 49. In FIG. 5, the robot 36 receives data (Xc, Yc) from the visual recognition processing device 49 (execution block 131). Data (Xc, Yc) is the coordinates (coordinate values in the camera coordinate system) of the mark plate 60 shown in FIG. 6 on the X-axis and the Y-axis. Next, the movement amount of the first conveyor 34 at the time when the robot 36 starts picking up the component is set to L (execution block 132), and the position P of the component 50 in the robot coordinates of the component 50 is calculated from Xc, Yc, L (execution). Block 133). Next, the standby position Pa (position 20 mm above P) of the robot 36 is obtained (execution block 134), and the robot 36 waits until the moving amount of the first conveyor 34 becomes L (execution block 135). The part 50 is taken out in synchronization with the
36).

FIG. 6 shows a mark plate 60 used for calibrating the camera and the robot and the conveyor and the robot. Two straight lines X− orthogonal to the plate 60
The axis, the Y-axis, is drawn, and the scale is drawn on the straight line. Calibration is performed using this scale as a mark.

FIG. 7 is an explanatory diagram of the calibration method. The mark plate 60 with the scale is placed in the field of view of the camera, and the position of each scale is read by visual recognition. Reference numeral 62 denotes a visual recognition device monitor on which a mark plate 60 is projected.
This data is defined as (Xcn, Ycn). n is data N
and represents from 1 to the number of scales on the mark plate 60.
Next, the first conveyor 34 is moved, the mark plate 60 is moved within the operation range of the robot 36, and the robot 36 having the pin 61 on its hand is moved, and the tip of the pin 61 contacts each mark on the mark plate 60. The coordinate value of the robot 36 at the time is read. This data is defined as (Xrn, Yrn, Zrn). Further, the movement amount of the first conveyor 34 at this time is read. This data is referred to as Conv-org. (Xc
From n, Ycn) (Xrn, Yrn, Zrn), each parameter of the coordinate conversion formula when the moving amount of the first conveyor 34 is Conv-org is obtained. Equations (Equation 1) to (Equation 3) are coordinate transformation equations, and K, L, M, N, O, P,
α, β, and γ are parameters. Parameters are determined by multiple regression analysis.

[0039]

(Equation 1)

(Equation 2)

(Equation 3)

Next, the mark plate 60 is moved to another position within the operation range of the robot 36, and the coordinates of a certain mark are read. This data is defined as (x2, y2, z2). The coordinate values of the same mark in the previously obtained data (Xrn, Yrn, Zrn) are (x1, y1, z1), the movement amount of the first conveyor 34 is ΔConv, and the coordinate conversion between the first conveyor 34 and the robot 36 is , And equations (Equation 4) to (Equation 6),

(Equation 4)

(Equation 5)

(Equation 6) The parameters Q, R, and S of the coordinate conversion are as follows: Q = (x2-x1) / ΔConv R = (y2-y1) / ΔConv S = (z2-z1) / ΔConv Expressions (Equation 1) to (Equation 6) are summarized as Expression (Equation 7). This is the coordinate conversion formula.

(Equation 7)

FIG. 9 is an enlarged view of the component supply device, and FIG. 10 shows an open / close portion of a guide of the component supply device. During the part removal operation shown in FIG. 10A, the cylinder 64 is lowered to close the guide opening / closing portion 63. Then, components (not shown) flow along the guide opening / closing portion 63 and circulate on the second conveyor 38. When the type is changed as shown in FIG. 10B, the guide opening / closing portion 63 is opened, and the first conveyor 3 is opened.
4 Discharge the parts that have flowed over. The system is stopped by image recognition. The number of components flowing is counted, and when the number of components becomes zero, the system is stopped when the set number of times has elapsed, and the next product type is set.

FIG. 12 shows an operation flowchart at the time of product type switching. When a type change command is issued (execution block 141), the input type change signal is received by the control device 65 shown in FIG. 9 (execution block 142), and a cylinder 64 ON signal is output from the control device 65. The guide shown in FIG. The opening / closing part 63 is opened (execution block 143). It waits until the guide opening / closing portion 63 is completely opened (execution block 144), and outputs a speed control signal from the control device 65 in the fully opened state (execution block 145). The first conveyor 34 is rotated at high speed (see FIG. 11) (execution block 146), and the components are discharged (execution block 147). At the time of component ejection, an image capture signal is output at regular time intervals using the visual recognition means (execution block 148), an image is captured (execution block 149), and the number of components moving in the field of view is measured (execution block). 150), the state where no component exists in the field of view is counted (execution block 151), and when the state where the component does not exist in the field of view occurs a set number of times (20 times in the figure) (execution block 152), all the components are discharged. The control unit 65 outputs a cylinder 64 OFF signal and closes the guide opening / closing part 63 (execution block 15
3) After the guide opening / closing portion 63 is completely closed (execution block 154), the first conveyor 34 and the parts feeder are stopped (execution block 155), and the next type is registered (execution block 156). Next, the execution block 101 of the robot shown in FIG. 2 connected to the terminal is executed.
When the state in which there is no component in the visual field in the execution block 152 is less than the set number of times, the operation is repeated from the execution block 148.

FIG. 15 is a perspective view of a component supply device provided with a storage / separation device. The storage / separation device 91 stores the part 50 that has flowed out from the end of the conveyor 90 and separates the part 50 at the time of transportation and returns it to the start end of the conveyor 90. The part 50 transferred to the conveyor 90 is the conveyor 9
The robot 46 is handled by the robot 46 based on the result of the visual recognition by the visual recognition unit 45 while flowing on the zero. The parts 50 not visually recognized and the parts 50 not taken out by the robot 46 flow on the conveyor 90 as they are, are returned to the storage / separation device 91, and repeat the circulation.

FIG. 16 is a perspective view of a component supply device provided with storage / separation devices at both ends of a conveyor. Parts 50 can be stored at both ends of the belt conveyor 89 capable of reciprocating movement.
Storage / separation devices 92 and 93 for transferring the component 50 to the storage device are provided. The storage / separation devices 92 and 93 are capable of switching between the storage function and the separation function.
0 indicates a separation function state, and 93 indicates a storage state of the component 50. The parts 50 transferred to the conveyor 89 by the separating means of the storage / separation device 92 are transferred to the conveyor 8.
The visual recognition unit 45 visually recognizes the robot 50 while flowing on the robot 9, and the robot 46 handles the component 50 based on the visual recognition result. The parts 50 that are not visually recognized and the parts 50 that cannot be taken out by the robot 46 flow on the conveyor 89 as they are, and are stored in the storage / separation device 9.
Stored at 3. Component 50 in storage / separation device 92
When the remaining amount becomes equal to or less than a predetermined value, the circulation of the component 50 is repeated by switching the storage function and the separation function and switching the traveling direction of the conveyor 89. Note that 7
Reference numerals 4a and 74b denote up and down mechanisms for reciprocating up and down for transferring a part of the storage / separation means to the conveyor.

FIG. 17 is a perspective view of a component supply apparatus provided with rotary drum feeders as storage / separation means at both ends of a conveyor. Reciprocating belt conveyor 8
At both ends of 9, parts 50 can be stored, and further, rotary drum feeders 75, 76 for transferring the parts 50 to the conveyor 89 while separating the parts 50 are provided. The rotary drum feeders 75 and 76 can switch between a storage function and a separation function. In the drawing, reference numeral 75 indicates a separation function state of the component 50, and reference numeral 76 indicates a storage state of the component 50. The component 50 transferred to the conveyor 89 by the separating means of the rotary drum feeder 5 is visually recognized by the visual recognition unit 45 while flowing on the conveyor 89, and the robot 46 handles the component 50 based on the visual recognition result. The parts 50 that have not been visually recognized and the parts 50 that cannot be removed by the robot 46 flow directly on the conveyor 89 and are stored in the other rotating drum feeder 76. When the component remaining amount detection sensor 78 detects that the remaining amount of the component 50 in the rotary drum feeder 75 has become equal to or less than a predetermined value, the storage function and the separation function are switched, and the traveling direction of the conveyor 89 is switched. From one to one is repeated. The rotating drum feeder 76 is rotated by a motor 81, a belt 80 and a pulley 79.

FIG. 18 is an explanatory view for explaining a component supply method in which storage / separation devices are provided at both ends of the conveyor, and defective products on the conveyor are sorted out. Storage / separation device 9
The camera 50 and the visual recognition device 4 recognize the position and the posture of the part 50 conveyed on the conveyor 1 between
In a device that sends recognition data to the robot controller 5 and takes out the part 50 by the robot 6,
The conditions for discriminating good / defective products of the component 50 are input to the visual recognition means as data, and the result of the image processing in the visual recognition device 4 is compared with the data of the discrimination conditions.
The defective product is automatically discharged by determining the defective product and removing the defective product by a robot 6 and storing it on a pallet, and discharging the defective product into a dedicated defective storage case 85 provided separately.

[0047]

As can be seen from the above description, the component supply method of the present invention according to the first aspect moves, so that the robot recognizes the position / posture of the component on a conveyor and handles it by a robot. It is possible to increase the speed without stopping, to improve the accuracy of taking out, and to accurately calibrate even if the camera is installed outside the robot's operating range, and to calibrate the conveyor and the robot at the same time, Efficient and highly accurate calibration can be performed, and extraction accuracy can be increased.

According to claims 2 and 3, in addition to the above,
By moving the robot to the optimal standby position in advance, handling parts while synchronizing the robot with the conveyor at the appropriate timing, recirculating parts that could not be visually recognized, etc. Therefore, there is no need to manufacture a hand so that a part in any posture can be grasped, and it is not necessary for the operator to return the part, and efficient parts supply can be performed.

Further, according to the method of the fourth aspect, parts can be recirculated, and parts discharge and product change can be automated, so that time and labor can be reduced.

Further, according to the method of the fifth aspect, it is possible to recirculate the parts and to automate the discharge of the parts and the replacement of the type, thereby shortening the time for discharging the parts and the replacement of the type and reducing the number of labor. .

Further, according to the method of the sixth aspect, the parts supply device can be automatically stopped and automated, so that the number of labor can be reduced.

Further, parts are circulated by switching between the traveling direction of the conveyor and storage / separation by the parts circulating device having storage / separation devices at both ends of the conveyor as described in claim 7, thereby improving work efficiency. Can be

[Brief description of the drawings]

FIG. 1 is a perspective view of a component supply device.

FIG. 2 is a flowchart of control of a component supply device.

FIG. 3 is a perspective view of a component supply device.

FIG. 4 is a configuration diagram of a conveyor movement amount measuring device.

FIG. 5 is a flowchart illustrating a robot standby position moving method.

FIG. 6 is a perspective view of a mark plate.

FIG. 7 is an explanatory diagram of a calibration method.

FIG. 8 is an explanatory diagram at the time of component removal.

FIG. 9 is an enlarged view of the component supply device.

10A and 10B are perspective views of a component discharge guide opening / closing unit, and FIG. 10A is a diagram illustrating a state during a component removal operation by a robot.
(B) is a figure which shows the state at the time of type change.

FIG. 11 is an explanatory diagram of a speed conversion unit at the time of product type switching.

FIG. 12 is an operation flowchart at the time of product type switching.

FIG. 13 is an overall configuration diagram of a component supply method.

14A and 14B are explanatory diagrams of the operation of the conveyor movement amount measuring device, wherein FIG. 14A is a diagram in which a signal of a component arrival detection sensor and a synchronization signal of a visual recognition device are ANDed, and FIG. FIG.

FIG. 15 is a perspective view of a component supply device provided with a storage / separation device.

FIG. 16 is a perspective view of a component supply device provided with storage / separation devices at both ends of a conveyor.

FIG. 17 is a perspective view of a component supply device in which rotary drums are provided at both ends of a conveyor.

FIG. 18 provides storage / separation devices at both ends of the conveyor,
FIG. 4 is an explanatory diagram illustrating a component supply method for selecting and removing defective products on a conveyor.

[Explanation of symbols]

 1,89,90 Conveyor 2,51 Conveyor movement amount measuring device 3,35 Camera 4,49 Visual recognition device 5 Robot controller 6,36 Robot 7,58 Parts arrival detection sensor 9,55 Encoder 31,32 Vibration feeder 34,44 First conveyor 38, 47 Second conveyor 39 Robot controller 48 Moving mechanism 50 Parts 60 Mark plate 63 Guide opening / closing portions 74a, 74b, 83 Up / down mechanism 75, 76 Rotary drum feeder 77 Blade plate 78 Component remaining amount detection sensor 79 Pulley 80 Belt 81 Motor 91, 92, 93 Storage / separation device 85 Defective product storage case

────────────────────────────────────────────────── (5) Continuation of the front page (51) Int.Cl. ⁷ Identification code FI G05B 19/19 G05B 19/19 H (56) References JP-A-62-214403 (JP, A) JP-A-5-51001 ( JP, A) JP-A-2-94824 (JP, U) (58) Fields surveyed (Int. Cl. ⁷ , DB name) B25J 13/08 B25J 13/00 B65G 43/08 B23P 19/00 302 B23Q 7 / 16 G05B 19/19

Claims (7)

(57) [Claims] 1. A moving part measuring means for recognizing a position and a posture of a part conveyed on a conveyor by a visual recognizing means, sending recognition data to a robot controller, and measuring a moving amount of the conveyor on the conveyor. The data of this movement amount is also sent to the robot controller, the robot controller changes the coordinates based on these data, creates the position data of the conveyed parts in robot coordinates, and handles the parts by the robot. In the component supply method, the detection unit detects that the component has reached the range of visual recognition, starts the visual recognition process, and moves the moving amount by the moving amount measuring unit in accordance with the timing at which the visual recognition unit captures an image. When the measurement of the camera is started and the field of view of the camera is not within the operation range of the robot, a mark plate is provided on the conveyor and the visual recognition means is used. The coordinate value of the mark on the mark plate is read and stored in the robot controller , and then the conveyor is moved to move the mark plate within the operation range of the robot.
At this time, the moving amount of the conveyor is read by the moving amount measuring means.
The robot control unit memorizes the robot and marks the robot
Is moved, and storing the robot coordinate values of the marks on the mark plate in read robot controller further moves the mark plate to another location within the operating range of the robot, when the
Read the amount of movement of the conveyor with the
And the robot is moved to the mark plate.
So, read-the robot coordinate value of the mark on the mark plate
Stored in the robot controller and stored in the robot controller
Coordinates, conveyor movement distances, and mark locations.
Component supply method characterized by performing calibration by to Rukoto based bots coordinate values. 2. The robot controller receives the visual recognition data, calculates an optimum standby position for grasping a part based on the data, and moves the robot to this position in advance. 2. The component supply method according to claim 1, wherein the component is handled while synchronizing the robot with the conveyor at a timing. 3. A method of moving a part which cannot be visually recognized or a part which is difficult to be removed by a robot in a reverse direction.
3. The component supply method according to claim 1, wherein the component can be recirculated by transferring the component to the conveyor according to the first aspect. 4. A mechanism for moving parts from the first conveyor to the second conveyor, wherein a guide portion of the conveyor is opened and closed, and when the robot takes out parts, the guide is closed, and when the type is changed, the guide is closed. 4. The component supply method according to claim 3, wherein a guide portion is opened and the component is discharged therefrom. 5. The component supply method according to claim 4, wherein the component moving speed of the conveyor is switchable, and the component is moved and discharged at a high speed when discharging the component. 6. The system according to claim 3, wherein when the parts are ejected, the number of parts moving in the field of view is measured by using visual recognition means, and it is recognized that all the parts have been ejected, and the conveyor is stopped. The component supply method according to claim 4. 7. A reciprocating belt conveyor,
Storage / separation means having means for storing parts at both ends of the belt conveyor and means for transferring parts to the belt conveyor while separating the parts, and the position of the parts on the conveyor,
A recognition device that recognizes the posture and a robot that handles parts according to the recognized data are provided.Parts that are not visually recognized and parts that cannot be removed by the robot flow directly on the conveyor and store the other parts. The parts are stored in the separation / separation means, and the parts are transferred to the conveyor, and when the remaining amount of parts on the storage / separation means side is less than a predetermined value, the storage function and the separation function are switched, and the traveling direction of the conveyor is changed to the other storage / separation. A component supply device having a component circulation function that repeats component circulation by switching from the means to one storage / separation means side.