JP3972773B2 - ROBOT, POSITION DETECTING METHOD BY ROBOT, WORKING DEVICE HAVING ROBOT, AND POSITION DETECTING METHOD BY WORKING DEVICE HAVING ROBOT - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a technical field regarding a robot, a position detection method using a robot, a working device including the robot, and a position detecting method using the working device including the robot. More specifically, the present invention relates to a technical field for improving accuracy in position detection without using an expensive position detection camera.
[0002]
[Prior art]
There is a working device for performing predetermined work on a work such as a printed circuit board, for example, assembling various electronic components. Such a working device includes a robot having a movable arm part and a hand part supported at the tip part. For example, the work part grips an electronic component by the hand part and moves the arm part to the work table. An electronic component is mounted at a predetermined position (working position) of the set work, or a work such as gripping and moving the work by the hand unit is performed.
[0003]
In such a working device, the robot is operated by a command signal from a controller sent based on a preset program, and various kinds of work for a predetermined work position are performed.
[0004]
However, in a state where the work is set on the work table or in a state where the work is gripped by the hand unit, due to a dimensional error in manufacturing of the work, the work table, the hand unit, etc. There may be a variation in position with respect to a predetermined set position. When this variation exceeds the allowable range for work, it is impossible to perform an accurate work on a predetermined work position set in advance, and problems such as a decrease in yield occur.
[0005]
Therefore, in the work device, when the above-described variation exceeds the allowable range for work, the work position of the work by the position detection camera is determined prior to various work for a predetermined work position set in advance. Position detection is performed.
[0006]
The position detection by the position detection camera is performed by moving the position detection camera attached to the robot's hand unit to the vicinity of the detection target (working position) when the workpiece is set on the workbench. Into the field of view of the position detection camera. Also, when the work is gripped by the robot hand, the arm is moved to move the detection target to the vicinity of the position detection camera fixed at a predetermined position, and this detection target is moved to the position detection. It is done in the field of view of the camera. At this time, the position of the position detection camera and the coordinates of the work area are stored in the controller in an accurate positional relationship calculated in advance by calibration.
[0007]
The detection result by the position detection camera is input as position information to the controller, and based on the input position information, the position information at the work position previously input to the controller is corrected, and data in actual work is calculated. Various operations are performed by command signals from the controller sent out based on the calculated data.
[0008]
[Problems to be solved by the invention]
By the way, with the recent miniaturization of electronic components and the high integration of electronic circuits, etc., the miniaturization of the electrical joint pitch for electronic components has become prominent. The size of the detection target is also very small. Therefore, it is necessary to improve the position detection accuracy by the position detection camera in response to such miniaturization, etc., but the position detection by the position detection camera having the same detection resolution as the conventional one, for miniaturization, etc. The corresponding position detection accuracy cannot be improved.
[0009]
Therefore, in order to improve the position detection accuracy, it is considered to improve the detection resolution by using a position detection camera having a large number of pixels, but in general, a position detection camera having a large number of pixels It is extremely expensive, and if a position detection camera having a large number of pixels is used, the time required for arithmetic processing becomes long, which is not practical.
[0010]
Also, in order to improve the position detection accuracy of the position detection camera, the field of view of the position detection camera is often set to a range that includes a minimum amount of variation such as a workpiece. In the case of exceeding the expectation, the detection target is detected from the visual field range of the position detection camera even though the position detection camera is moved to the vicinity of the detection target in accordance with the controller command in the position detection process. There is a problem that a detection error occurs that causes a drop in productivity.
[0011]
Therefore, the robot, the position detection method using the robot, the work device equipped with the robot, and the position detection method using the work device equipped with the robot overcome the above-described problems, and can position without using an expensive position detection camera. It is an object to improve accuracy in detection.
[0012]
[Means for Solving the Problems]
According to the first aspect of the present invention, the first and second position detections for detecting the position of the detection target in the unique visual field range including the work position of the work that is the work target of the hand part. A camera is attached, the viewing angle of the second position detection camera is determined based on the sum of the detection resolution of the first position detection camera and the diameter of the detection target, and the position is sequentially detected by a plurality of position detection cameras. robot, characterized in detecting the row Ukoto is provided.
According to the second aspect of the present invention, the first and second position detections for detecting the position of the detection target in the unique visual field range including the work position of the work that is the work target of the hand part. A plurality of position detection cameras, the viewing angle of the second position detection camera is determined based on the sum of the detection resolution of the first position detection camera and the diameter of the detection target. The position detection method by the robot characterized by sequentially detecting the position is provided.
According to the third aspect of the present invention, the first position detection and the second position detection are performed to detect the position of the detection target in each of the unique visual field ranges including the work position of the work that is the work target of the hand section. And a viewing angle of the second position detection camera is determined based on the sum of the detection resolution of the first position detection camera and the diameter of the detection target, and the position is sequentially determined by a plurality of position detection cameras. A working device having a robot characterized by performing detection is provided.
And according to the 4th viewpoint of this invention, the 1st and 2nd which perform the position detection of a detection target in the specific visual field range including the work position of the workpiece | work used as the work object of this hand part in a hand part. A position detection camera is attached, the viewing angle of the second position detection camera is determined based on the sum of the detection resolution of the first position detection camera and the diameter of the detection target, and a plurality of position detection cameras There is provided a position detection method by a working device having a robot characterized by sequentially performing position detection.
[0016]
Therefore, in the robot of the present invention, the position detection method using the robot, the work device equipped with the robot, and the position detection method using the work device equipped with the robot, high detection resolution can be obtained in the position detection using the position detection camera in the final stage. It is done.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of a robot, a position detection method using a robot, a working apparatus equipped with a robot, and a position detection method using a working apparatus equipped with a robot will be described below with reference to the accompanying drawings.
[0018]
First, a first embodiment will be described (see FIGS. 1 to 4).
[0019]
The working device 1 includes a robot 2 and a work table 3, and the robot 2 and the work table 3 are provided on a base surface 4 (see FIG. 1).
[0020]
The robot 2 has a support part 5, a first arm part 6, a second arm part 7, and a hand part 8 (see FIG. 1).
[0021]
The support portion 5 includes a base 9 fixed on the base surface 4 and a support column 10 extending long upward from the base 9, and a support shaft portion 10 a is provided on the upper surface of the support column 10. .
[0022]
The first arm portion 6 is rotatably supported on the upper surface of the support column 10 via a support shaft portion 10a and protrudes from the main body portion 10 to the side.
[0023]
The 2nd arm part 7 is rotatably supported by the front-end | tip part of the 1st arm part 6 via the shaft part 7a provided in the one end part.
[0024]
The hand portion 8 is supported on the other end portion of the second arm portion 7 so as to be rotatable and movable in the vertical direction. The hand portion 8 includes a main body portion 8a, a supported shaft 8b that protrudes upward from the upper surface of the main body portion 8a, and holding protrusions 8c and 8c that protrude downward from the lower surface of the main body portion 8a. Is supported by the other end portion of the second arm portion 7 so as to be rotatable and movable in the vertical direction.
[0025]
For example, a first position detection camera 11 and a second position detection camera 12 are attached to the side surface of the hand unit 8 at positions opposite to each other by 180 °, for example. The hand unit 8, the first position detection camera 11, and the second position detection camera 12 store an accurate positional relationship calculated in advance by calibration in a controller (not shown).
[0026]
As described above, the first arm portion 6 and the second arm portion 7 can be rotated, so that the hand portion 8 is moved to a desired position in the XY plane (horizontal plane). By making 8 movable in the vertical direction, it is moved to a desired position in the Z-axis direction orthogonal to the XY plane.
[0027]
On the work table 3, for example, a work 13 such as a printed circuit board is set in a state of being held by a holding mechanism (not shown) (see FIG. 1).
[0028]
Various kinds of work are performed in the work device 1, for example, an electronic component (not shown) is gripped by the hand unit 8 of the robot 2, and the first arm unit 6 and the second arm unit 7 rotate and the hand unit 8. The gripped electronic component is mounted at a predetermined position of the workpiece 13 by the rotation operation and the movement operation. Such an operation is performed by operating the robot 2 by a command signal from a controller that is sent based on a preset program.
[0029]
In the work device 1, the position of the work position of the work 13 is detected by the first position detection cameras 11 and 12 prior to the above-described various works.
[0030]
Below, the method of position detection in the working device 1 will be described (see FIGS. 2 to 4). Note that the position detection method described below will be described by taking as an example a case where the position detection method is performed prior to dropping the object held by the hand portion 8 into a minute hole formed in the work 13.
[0031]
The first position detection camera 11 and the second position detection camera 12 detect the workpiece 13, that is, the position where the hole 13 a is detected and the work position of the hand portion 8 with respect to the workpiece 13 are programmed in advance in the controller. Yes.
[0032]
For example, the workpiece 13 has a square shape of 30 mm in length and width, a dimensional error is 15 mm ± 0.2 mm, and the diameter of the hole 13a of the work 13 is 1 μm (see FIG. 2).
[0033]
Assume that the number of pixels of the first position detection camera 11 and the second position detection camera 12 are both 500 pixels × 500 pixels. The number of pixels of 500 pixels × 500 pixels is the number of pixels of a position detection camera that is generally used in a work apparatus.
[0034]
First, on the basis of a command signal from the controller, the robot 2 operates so that the first position detection camera 11 enters the hole 13a to be detected in the field of view. At this time, in order to always place the hole 13a in the field of view of the first position detection camera 11, in consideration of the dimensional error, the dimensional error 0.2 mm × 2 + the diameter of the hole 13a 0.001 mm = 0.401 mm square. A field of view is required. Accordingly, the field of view of the first position detection camera 11 is set to 0.401 mm square (see FIG. 3).
[0035]
The detection resolution of the first position detection camera 11 at this time is 0.401 mm ÷ 500 pixels = 0.8 μm (± 0.4 μm). However, in general, a detection resolution of 0.8 μm is not sufficient for a work object of 1 μm.
[0036]
As described above, when the first position detection camera 11 detects the hole 13a to be detected, the detection result is input to the controller as position information.
[0037]
Next, a command signal is sent from the controller based on the position information obtained by the first position detection camera 11, and based on this command signal, the second position detection camera 12 passes through the hole 13a to be detected. The robot 2 operates so as to enter the field of view. At this time, in order to always put the hole 13a in the field of view of the second position detection camera 12, the field of view of the detection resolution 0.8 μm of the first position detection camera 11 + the diameter of the hole 13a 1 μm = 1.8 μm square. Is needed. Therefore, the field of view of the second position detection camera 12 is set to 1.8 μm square (see FIG. 4).
[0038]
The detection resolution of the second position detection camera 12 at this time is 1.8 μm ÷ 500 pixels = 0.636 μm (± 0.0018 μm), and a sufficient resolution can be obtained for the diameter of the hole 13a of 1 μm.
[0039]
As described above, when the detection target is detected by the second position detection camera 12, the detection result is input to the controller as position information, and is input to the controller in advance based on the input position information. The position information at the selected work position is corrected, and data in the actual work is calculated. When data in actual work is calculated, a command signal is sent from the controller to the robot 2 based on the calculated data, and the object gripped by the hand unit 8 is dropped into the hole 13a with accurate accuracy.
[0040]
In order to obtain the same detection resolution of 0.0036 μm with respect to the diameter of 1 μm of the hole 13 a with one position detection camera, it is an expensive super-pixel having a number of pixels of 100,000 × 100,000 pixels or more. Requires a high definition CCD camera.
[0041]
As described above, in the work apparatus 1, the position detection target is detected by the first position detection camera 11 and the second position detection camera 12, and the field of view is sequentially detected. The range is narrowed step by step.
[0042]
Therefore, it is possible to improve accuracy in position detection without using an expensive position detection camera.
[0043]
In addition, it is possible to provide a margin for the resolution of the position detection camera, and it is possible to reduce detection errors of the position detection camera caused by unexpected workpiece variations.
[0044]
Next, a second embodiment will be described (see FIG. 5).
[0045]
In addition, the work device 1A according to the second embodiment described below has a workpiece gripped by the hand unit and two position detection cameras fixed to the base surface as compared with the work device 1 described above. Therefore, only the parts that are different from the working device 1 will be described in detail, and the other parts are denoted by the same reference numerals as the same parts in the working device 1. Description is omitted.
[0046]
The work apparatus 1A includes a robot 2A, a first position detection camera 14, and a second position detection camera 15. The robot 2A, the first position detection camera 14, and the second position detection camera 15 Is provided on the base surface 4.
[0047]
The robot 2 </ b> A has a support portion 5, a first arm portion 6, a second arm portion 7, and a hand portion 8, similarly to the robot 2. However, the position detection camera is not attached to the hand unit 8.
[0048]
In the work apparatus 1A, the work 13 is performed by the first position detection camera 14 and the second position detection camera 15 prior to various kinds of work in a state where the work 13 is held by the hand unit 8. Position detection of the position is performed.
[0049]
The position detection in the work apparatus 1A is performed except that the hole 13a enters the field of view of the first position detection camera 14 and the second position detection camera 15 when the robot 2A is operated and the workpiece 13 is moved. Since this is the same as the position detection operation in the work apparatus 1, description thereof is omitted.
[0050]
As described above, even in the work apparatus 1A, the position detection target is detected by the first position detection camera 14 and the second position detection camera 15, respectively, and the field of view is sequentially detected. The range is narrowed step by step.
[0051]
Therefore, it is possible to improve accuracy in position detection without using an expensive position detection camera.
[0052]
In addition, it is possible to provide a margin for the resolution of the position detection camera, and it is possible to reduce detection errors of the position detection camera caused by unexpected workpiece variations.
[0053]
In the above description, the first position detection camera 11 and the second position detection camera 12, or the first position detection camera 14 and the second position detection camera 15 are used for position detection. Although an example of performing position detection using a camera has been shown, the number of position detection cameras is not limited to two, and position detection is performed while sequentially narrowing the visual field range using three or more position detection cameras. You may make it perform.
[0054]
In addition, a plurality of position detection cameras for detecting the workpiece 13 set on the work table 3 are provided, and a plurality of position detection cameras for detecting the workpiece 13 held by the hand unit 8 are provided. Alternatively, the positions of the workpieces 13 and 13 may be detected separately, and the position data may be calculated by relatively correcting the position information when combining them.
[0055]
The specific shapes and structures of the respective parts shown in the respective embodiments described above are merely examples of the implementation of the present invention, and the technical scope of the present invention is thereby limited. It should not be interpreted in a limited way.
[0056]
【The invention's effect】
As is apparent from the above description, the robot of the present invention has a support portion, an arm portion that is movably supported by the support portion, and a hand portion that is supported by the tip portion of the arm portion. A robot that performs a predetermined work on the hand unit, and a plurality of position detection cameras that perform position detection in a unique visual field range including a work position of a work that is a work target of the hand unit. The position detection camera sequentially performs position detection, and the visual field range is narrowed in stages in the position detection performed sequentially.
[0057]
Therefore, it is possible to improve accuracy in position detection without using an expensive position detection camera.
[0058]
In addition, it is possible to provide a margin for the resolution of the position detection camera, and it is possible to reduce detection errors of the position detection camera caused by unexpected workpiece variations.
[0059]
A position detection method using a robot according to the present invention includes a support portion, an arm portion movably supported by the support portion, and a hand portion supported by a tip portion of the arm portion, and performs a predetermined operation on the workpiece. A position detection method by a robot, wherein a plurality of position detection cameras that perform position detection in a unique visual field range including a work position of a work that is a work target of the hand part are attached to the hand part, When the number of position detection cameras is n and an arbitrary position detection camera among the n position detection cameras is the mth position detection camera, the first position detection camera to the nth position detection camera. In the position detection process in which position detection is sequentially performed by the th position detection camera, the position of the m th position detection camera is within a unique field of view range of the m th position detection camera. Performs detection, then, is characterized in that to perform the position detection with a narrow field of view than the m-th position detection camera by the m + 1 th position detection camera.
[0060]
Therefore, it is possible to improve accuracy in position detection without using an expensive position detection camera.
[0061]
In addition, it is possible to provide a margin for the resolution of the position detection camera, and it is possible to reduce detection errors of the position detection camera caused by unexpected workpiece variations.
[0062]
The working device including the robot according to the present invention includes a support portion, an arm portion movably supported by the support portion, and a hand portion supported by a tip portion of the arm portion, and a work is held by the hand portion. A work device having a robot for performing a predetermined work, and provided with a plurality of position detection cameras for detecting a position within a unique visual field range including a work position of a work held by a hand unit, and detecting a plurality of positions. In addition, the position detection is sequentially performed by a camera and the field of view range is narrowed in stages in the position detection performed sequentially.
[0063]
Therefore, it is possible to improve accuracy in position detection without using an expensive position detection camera.
[0064]
In addition, it is possible to provide a margin for the resolution of the position detection camera, and it is possible to reduce detection errors of the position detection camera caused by unexpected workpiece variations.
[0065]
A position detection method using a working device including a robot according to the present invention includes a support unit, an arm unit supported movably on the support unit, and a hand unit supported on a tip of the arm unit. Position detection method using a working device including a robot that holds a workpiece and performs a predetermined work, and performs position detection in each of a unique visual field range including the work position of the work held by the hand unit. When a camera is provided and the number of position detection cameras is n, and any one of the n position detection cameras is the mth position detection camera, the first In the position detection process in which position detection is sequentially performed from the position detection camera to the nth position detection camera, the mth position detection camera uses the mth position detection camera. Perform position detection with a unique field of view with, in turn, it is characterized in that to perform the position detection with a narrow field of view than the m-th position detection camera by the m + 1 th position detection camera.
[0066]
Therefore, it is possible to improve accuracy in position detection without using an expensive position detection camera.
[0067]
In addition, it is possible to provide a margin for the resolution of the position detection camera, and it is possible to reduce detection errors of the position detection camera caused by unexpected workpiece variations.
[Brief description of the drawings]
FIG. 1 shows a first embodiment of the present invention together with FIGS. 2 to 4 and is a schematic side view of a working device.
FIG. 2 is a plan view showing a workpiece.
FIG. 3 is a conceptual diagram showing a visual field range when detected by a first position detection camera.
FIG. 4 is a conceptual diagram showing a visual field range when detected by a second position detection camera.
FIG. 5 is a schematic side view of a working device according to a second embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Work apparatus, 2 ... Robot, 5 ... Support part, 6 ... 1st arm part, 7 ... 2nd arm part, 8 ... Hand part, 11 ... 1st position detection camera, 12 ... 2nd Position detecting camera, 13 ... work, 1A ... working device, 2A ... robot, 14 ... first position detecting camera, 15 ... second position detecting camera

Claims (4)

A robot having a support part, an arm part supported by the support part so as to be movable, and a hand part supported by a tip part of the arm part, and performing a predetermined operation on the workpiece;
The first and second position detection cameras for detecting the position of the detection target in the unique visual field range including the work position of the work that is the work target of the hand unit are attached to the hand unit,
Based on the sum of the detection resolution of the first position detection camera and the diameter of the detection target, the viewing angle of the second position detection camera is determined,
Robot, characterized in that intends row sequential positions detected by the plurality of position detection camera. A position detection method by a robot having a support part, an arm part supported by the support part so as to be movable, and a hand part supported by a tip part of the arm part, and performing a predetermined operation on the workpiece,
First and second position detection cameras for detecting the position of the detection target in a unique visual field range including the work position of the work that is the work target of the hand part are attached to the hand part,
Based on the sum of the detection resolution of the first position detection camera and the diameter of the detection target, the viewing angle of the second position detection camera is determined,
A position detection method by a robot, wherein position detection is sequentially performed by a plurality of position detection cameras . A working device having a support portion, an arm portion movably supported by the support portion, and a hand portion supported by a tip portion of the arm portion, and a robot that performs a predetermined work on a workpiece. ,
The hand unit is provided with first and second position detection cameras for detecting the position of the detection target in a unique visual field range including the work position of the work that is the work target of the hand unit,
Based on the sum of the detection resolution of the first position detection camera and the diameter of the detection target, the viewing angle of the second position detection camera is determined,
Working apparatus having a robot, characterized in that intends row sequential positions detected by the plurality of position detection camera. Position detection by a working device having a supporting portion, an arm portion movably supported by the supporting portion, and a hand portion supported at the tip of the arm portion, and a robot that performs a predetermined operation on the workpiece A method,
The first and second position detection cameras for detecting the position of the detection target in the unique visual field range including the work position of the work that is the work target of the hand unit are attached to the hand unit,
Based on the sum of the detection resolution of the first position detection camera and the diameter of the detection target, the viewing angle of the second position detection camera is determined,
A position detection method using a working device including a robot, wherein position detection is sequentially performed by a plurality of position detection cameras .

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