JP6160174B2 - Article mounting device - Google Patents

Description

The present invention relates to an article attachment device and an article attachment method. For example, the present invention relates to a device and a method for attaching a seal to a housing such as a PC.

  In recent years, a logo mark sticker for improving brand quality and design has been attached to the surface of a housing such as a PC (Personal Computer). A groove formed with a logo mark is provided on the surface of the housing, and the logo mark seal is attached to the groove.

 In order to suppress the variation in the quality of the application of the logo mark sticker by humans, there is a need for an operation using an automatic machine using a robot. However, PC housings are of many varieties and colors, and the surface is painted in various colors and gloss. Recognition of the image position of the groove on the housing surface is strongly affected by painting, and images must be acquired using various lighting methods. Furthermore, the PC casing is a molded product or a sheet metal processed product, and is affected by distortion and the like, and the logo mark position with respect to the casing outer shape varies.

 Therefore, there is a need for a method for automatically and accurately applying the logo mark seal without impairing the design.

 As an assembly technique by an automatic machine using a robot, when assembling two parts with a robot, the position of both is photographed with one camera, the image position is measured, and the method of assembling with high accuracy is the image position correction technique. It is known (see, for example, Patent Document 1).

JP 2008-168406 A

 In order to apply the seal with high accuracy, it is necessary to recognize the image position in the vicinity of the casing surface, which is the attachment destination of the seal as much as possible. In image capturing under such conditions, depending on the combination of colors of the PC casing, when the casing color and the seal color are the same color, it is difficult to recognize the image position without obtaining contrast. When the case color and the seal are the same color, in order to obtain a high-contrast image, it is necessary to apply light to the case so that it does not hit the seal. It is difficult to shine only the housing.

  Therefore, in the present invention, an image with high contrast is generated even in a state where the seal is close to the casing, and positioning with high accuracy is realized.

While gripping the first article to the bottom, the gripping member having an opening therethrough from the bottom surface to the top surface, and an arm for moving the gripping member is disposed toward the outer circumference of the gripping member, the first article Based on an illuminating lamp that irradiates light on the surface of the opposing second article, an imaging unit that images the first article that is gripped from the upper part of the opening of the gripping member to the bottom surface, and an image of the captured first article , the first as you are installing the article to be gripped on the bottom surface at a predetermined position on the upper surface of the second article, only set a control unit for controlling the arm, lighting lamps, provided on the bottom surface side of the gripping member The gripping member is provided with a mirror surface that reflects light on the bottom surface, and a part of the light emitted from the illuminating lamp is reflected by the mirror surface. And the surface of the second article is irradiated .

  Even in the state of being close to the casing and the seal, an image with high contrast can be obtained and positioning with high accuracy can be performed.

It is a figure which shows the whole structure of the seal | sticker sticking apparatus concerning this invention. It is the figure which looked down at seal hand 2, lower stage lighting 5, and logo mark sticker 7 from camera 1. It is AA sectional drawing of FIG. It is BB sectional drawing of FIG. It is a figure explaining the calculation method about the height of the notch. It is an example of the flowchart explaining operation | movement of the sticker sticking apparatus concerning this invention. It is a figure which shows the groove | channel position measuring method of the housing | casing 11 surface of PC. It is a figure which shows the position measuring method of the logo mark seal | sticker 7 hold | gripped on the housing | casing 11 surface of PC.

 FIG. 1 is a diagram showing an overall configuration of an article mounting apparatus according to the present invention. In addition, below, it demonstrates using the example which affixes a seal | sticker on the PC (Personal Computer) housing | casing surface using the article | item attachment apparatus concerning this invention. The article mounting apparatus includes a camera 1, a seal hand 2, a robot 3, an upper stage illumination 4, a lower stage illumination 5, and a notch 6.

 The camera 1 captures an image of a seal or a logo mark seal such as a PC from above. Then, the position in the horizontal direction is measured from the photographed image.

 The seal hand 2 is provided with a through hole that allows a part of the seal surface to be gripped in vacuum and exposed so that the feature points of a seal mark or a logo mark seal object such as a PC can be seen from the camera 1. And it has a through-hole which the illumination light of the lower stage illumination 5 mentioned later does not hit directly on the hold | grip upper surface of the seal | sticker.

 The robot 3 controls the position and posture of the seal hand 2. For example, by attaching a plurality of actuators to a fixing member serving as a base and operating a link mechanism connected to the output portion of the actuator, the position and posture of the seal hand 2 can be controlled with 6 degrees of freedom (the arm can be moved). The number of directions) is a parallel link type work device. The robot 3 is not limited to this.

 The upper stage illumination 4 is disposed above the seal hand 2 and irradiates light on a logo mark seal such as a seal or PC. A low angle ring illumination or the like is used as the light source.

 The lower stage illumination 5 is a low-angle ring illumination that is located on the outer periphery of the seal hand 2 and has an irradiation center downward from the horizontal direction. The light from the lower illumination 5 is blocked by the seal hand 2 and does not directly hit the top surface of the seal. The light source is not limited to this.

 Moreover, the camera 1 and the upper stage illumination 4 form a camera illumination unit, and illuminate the shooting location of the camera 1.

 The control device 100 is a computer that controls the article attachment device. Here, the control device 100 includes a control device 110 and a storage unit 120.

  The control unit 110 executes a program for controlling the article mounting apparatus in addition to executing various software. An example of the control unit 110 is realized by a CPU (Central Processing Unit).

  The storage unit 120 stores programs executed by the CPU and various types of information. Examples of the storage unit 120 include a magnetic disk device, an optical disk device, a magneto-optical disk device, a tape device, and a hard disk drive.

 FIG. 2 is an overhead view of the seal hand 2, the lower illumination 5, and the logo mark seal 7 from the camera 1. 3 is a cross-sectional view taken along the line AA in FIG. 2, and FIG. 4 is a cross-sectional view taken along the line BB in FIG.

 In FIG. 2, the seal hand 2 has a vacuum suction hole 8 and a notch 6.

 The vacuum suction hole 8 is connected to an air suction / supply pipe. When the air is sucked from the air suction / supply pipe, the seal hand 2 holds a part of the seal surface of the logo mark seal 7 in vacuum. On the other hand, the seal hand 2 releases the logo mark seal 7 by supplying air from the air suction / supply pipe.

 The notch 6 is a hole or groove provided in a part of the seal hand 2 in order to guide light (in the direction of the arrow in FIG. 2) irradiated by the lower illumination 5 to the groove opening of the housing 11.

 In FIG. 4, the seal hand 2 has a mirror surface 10 on the lower side of the hand of the seal hand 2 (a surface facing the surface of the casing 11 of the PC). The mirror surface 10 is a mirror or plating, and can guide light 12 (in the arrow direction in FIG. 4) irradiated by the lower illumination 5 to light incident on the gap between the seal hand 2 and the surface of the casing 11 of the PC. .

 Based on FIG. 3, FIG. 4, it demonstrates that the light irradiated by the lower stage illumination 5 irradiates only the case 11 surface of PC.

 When the color of the PC casing 11 and the logo mark seal 7 are the same color, in order to recognize the image position by the camera 1, it is necessary to obtain an image with high contrast. In order to obtain a high-contrast image, it is necessary to apply light to the housing so that the logo mark seal is not exposed to light.

 In FIG. 3, the lower stage illumination 5 has an irradiation center from the horizontal direction downward as described above. And the light irradiated in the direction of the notch 6 in the light 12 (indicated by the arrow in FIG. 3) irradiated by the lower stage illumination 5 enters the inside of the seal hand 2 through the notch 6. The light incident on the inside of the seal hand 2 illuminates the housing of the PC. On the other hand, light irradiated in a direction other than the direction of the notch 6, such as the front direction of the logo mark seal 7, is blocked by the wall surface of the seal hand 2.

 In FIG. 4, among the light 12 (in the direction of the arrow in FIG. 4) irradiated by the lower stage illumination 5, the light incident on the gap between the seal hand 2 and the surface of the PC casing 11 is reflected by the surface of the PC casing 11. The A part of the reflected light, such as specular reflection, is incident on the mirror surface 10 of the seal hand 2 and is reflected again by the mirror surface 10 to illuminate the surface of the casing 11 of the PC.

 The seal hand 2 is approached to the vicinity of the surface of the casing 11 of the PC, and the distance between the seal hand 2 and the surface of the casing 11 of the PC is 1 mm or less.

 A method of calculating the height h1 of the notch 6 will be described based on FIG.

 When the height of the notch 6 is too high, the light 12 irradiated by the lower illumination 5 illuminates the logo mark seal 7 and sufficient contrast cannot be obtained, which is difficult at the time of image position recognition. On the other hand, when the height of the notch 6 is too low, the light 12 irradiated by the lower illumination 5 cannot illuminate the entire casing 11 of the PC, and contrast cannot be obtained. Therefore, the image position recognition by the camera 1 is difficult.

 Here, in order to optimally guide the light 12 irradiated by the lower stage illumination 5 to the surface of the casing 11 of the PC, an expression for deriving the height of the notch 6 that can be guided to the illumination center is shown in (1). The height of the notch when guiding light to the center of illumination is h1, where h1 is the inclination of the optical axis of the illumination, α is the inner radius of the illumination, r is the suction surface of the seal hand 2 and the housing 11 of the PC. Let the surface gap be h2.

... (1)

FIG. 6 is an example of a flowchart for explaining the operation of the article mounting apparatus according to the present invention.

 In step S1, the control unit 110 acquires PC model information.

 In step S <b> 2, the control unit 110 sucks air from the vacuum suction hole 8 of the seal hand 2 and grips the logo mark seal 7.

 In step S3, the control unit 110 moves the camera illumination unit including the camera 1 and the upper stage illumination 4 to the measurement position.

 In step S <b> 4, the camera 1 captures the supplied PC casing based on an instruction from the control unit 110 and recognizes the position of the groove on the surface of the PC casing 11 from the captured image. A method for measuring the groove position on the surface of the housing 11 of the PC will be described in detail later.

 In step S <b> 5, the control unit 110 moves the logo mark seal 7 held by the seal hand 2 by the robot 3 to the lower position of the camera 1.

 In step S <b> 6, the control unit 110 recognizes the position of the logo mark seal 7 held by the seal hand 2 by the camera 1. A method for measuring the position of the gripped logo mark seal 7 on the surface of the casing 11 of the PC will be described in detail later.

 In step S <b> 7, the control unit 110 increases the illumination intensity of the lower stage illumination 5.

 In step S8, the control unit 110 causes the camera 1 to photograph the logo mark sticker 7 of the logo mark sticker.

 In step S <b> 9, the control unit 110 removes noise from the image captured by the camera 1.

 In step S <b> 10, the control unit 110 extracts an edge from the image of the logo mark sticker 7 photographed by the camera 1.

 In step S <b> 11, the control unit 110 recognizes the position of the logo mark seal 7 from the image taken by the camera 1.

 In step S12, the control unit 110 compares the position of the groove on the surface of the casing 11 of the PC with the position of the logo mark seal 7, and determines whether or not it is smaller than the specified amount. If the deviation is smaller than the specified amount, the process proceeds to step S14. On the other hand, when it is not small, it transfers to step S13.

 In step S <b> 13, the control unit 110 moves the position of the logo mark seal 7 by the robot 3. After the process of step S13 is completed, the process proceeds to step S6.

In step S14, the control unit 110 lowers the seal hand 2 by the robot 3 and affixes the logo mark seal 7 to the groove on the surface of the housing 11 of the PC.
[Measuring method of groove position on the surface of PC casing 11]
Based on FIG. 7, an example of a method for measuring the groove position on the surface of the casing 11 of the PC executed in step S4 of FIG. 6 will be described. The groove position measuring method is realized by the control unit 110 controlling the article mounting apparatus.

 The lower illumination intensity is weakened and a groove on the surface of the PC casing 11 is imaged (see FIG. 7, (1)). The rough position of the small circle center A is detected by the pattern matching using the small circle pattern matching plate C1. The detected center A of the small circle is inferior in accuracy due to image distortion due to the inclination or misalignment of the casing 11 of the PC (see FIG. 7, (2)). The arc-shaped arc detection ranges D1 and D2 are set on the basis of the small circle center A obtained in (2) and the large circle center B separated by a certain distance, the edges within the range are detected, and arc approximation is performed ((FIG. 7 (Refer to (3)) The arc approximation performed here will be described in detail.The arc detection ranges D1 and D2 indicate that the contour line corresponding to the ridge line E of the groove is a wide line having a certain luminance on the image. A point where the luminance changes greatly from high to low in the circumferential direction from the center of the sector is regarded as an edge, and the X and Y coordinates of the point are extracted, and this is performed in the range of the sector. The approximate arc F is obtained by fitting the X and Y coordinate values to the arc by the least square method, and the center and radius thereof are obtained (see FIG. 7, (4)). The coordinates of the two points of the small circle center A and the large circle center B The small circle center A and the origin of the graphic, the position groove position (X, Y) to. The origin basis, the angle between the great circle center B is the slope of this figure.

[Method for measuring the position of the gripped logo mark seal 7 on the surface of the PC casing 11]
Based on FIG. 8, an example of a method for measuring the position of the gripped logo mark seal 7 on the surface of the casing 11 of the PC executed in step S6 of FIG. 6 will be described. The position measuring method is realized by the control unit 110 controlling the article mounting apparatus.

 The logo mark seal 7 gripped by the seal hand 2 is moved immediately above the groove on the surface of the PC casing 11 to increase the lower illumination intensity, and the logo mark seal on the groove on the surface of the PC casing 11 is increased. 7 is imaged. The light 12 emitted from the lower illumination 5 illuminates the surface of the casing 11 of the PC, but is blocked by the cylindrical seal hand 2 and does not reach the upper surface of the logo mark seal 7. A part of the light 12 emitted from the lower illumination 5 reaches the inside through the notch 6, and also illuminates the central part of the logo mark seal 7 on the surface of the PC casing 11 (see FIG. 8, (1)). The image taken by the camera 1 is subjected to contrast adjustment, noise removal, and the like, and the groove of the housing is erased (see FIG. 8, (2)). By pattern matching, the rough position of the small circle center A is detected using the small circle pattern matching plate C2. The detected center A of the small circle is inferior in accuracy due to image distortion due to the inclination or displacement of the casing 11 of the PC (see FIG. 8, (3)). The sectoral arc detection ranges D3 and D4 are set with the small circle center A obtained in (3) as a reference and the great circle center B separated by a certain distance, the edges within the range are detected, and arc approximation is performed. The arc approximation performed here will be described in detail (see FIGS. 8 and 4). The contour line corresponding to the ridge line of the groove is imaged as a wide line having a certain luminance on the image. A point where the luminance changes greatly from high to low in the circumferential direction from the center of the sector is regarded as an edge, and the X and Y coordinates of the point are extracted. This is done in a fan-shaped range. By fitting the X and Y coordinate values to an arc by the least square method, an approximate arc F is obtained, and its center and radius are obtained (see FIG. 8, (5)).

 From the above, the article mounting apparatus according to the present invention is based on the position of the groove of the PC casing and the logo mark even when the PC casing color and the logo mark seal color are the same color. By calculating the position correction amount from the difference in the position of the seal and moving the robot so that the groove of the PC housing matches the logo mark seal, it is possible to apply the seal with high accuracy. As a result, it is possible to automatically and accurately paste the logo mark without impairing the design.

In the above description, the case where the logo mark sticker and the PC case, which are the most difficult to adjust the contrast, have the same color, has been described. By adjusting the, an image with higher contrast can be obtained.

DESCRIPTION OF SYMBOLS 1 Camera 2 Seal hand 3 Robot 4 Upper stage illumination 5 Lower stage illumination 6 Notch 7 Logo mark seal 8 Vacuum suction hole 10 Mirror surface 11 PC housing 12 Light 100 Controller 110 Controller 120 Storage unit

Claims (2)

In the article attachment device for attaching the first article to a predetermined position of the second article,
While gripping the front Symbol first article to the bottom, the gripping member having an opening therethrough from said bottom surface to the top surface,
An arm for moving the gripping member;
Wherein installed in the outer circumferential direction of the gripping member, and the illumination lamp in which the first article is irradiated with light to the surface of the second article facing,
An imaging unit for imaging the first article gripped by the bottom surface from the upper opening of the gripping member;
Wherein based on the image of the first article taken, before Symbol second article of the upper surface of the As Fit the said first article to be gripped before Symbol bottom surface at a predetermined position, controlling the arm A control unit ,
The illuminating lamp is disposed at a position for irradiating the second article from a notch provided on the bottom surface side of the gripping member,
The gripping member includes a mirror surface that reflects light on the bottom surface, whereby a part of the light irradiated from the illumination lamp is reflected by the mirror surface and irradiated onto the surface of the second article. > An article attachment device characterized by that. In the article attachment device for attaching the first article to a predetermined position of the second article,
A gripping member capable of gripping the first article on the bottom surface and having an opening penetrating from the bottom surface to the top surface;
An arm for moving the gripping member;
An illuminating lamp that is installed in the outer circumferential direction of the gripping member and that irradiates light onto the surface of the second article that the first article faces;
An imaging unit for imaging the first article gripped by the bottom surface from the upper opening of the gripping member;
A control unit that performs movement control of the arm based on an image captured by the imaging unit;
Provided,
The illuminating lamp is disposed at a position for irradiating the second article from a notch provided on the bottom surface side of the gripping member,
The gripping member includes a mirror surface that reflects light on the bottom surface, so that a part of the light irradiated from the illumination lamp is reflected by the mirror surface, and is irradiated on the surface of the second article,
The controller is
While acquiring the first image obtained by imaging the second article around the position where the first article is attached to the imaging unit,
In the state where the arm is moved to a position where the first article gripped by the gripping member is attached to the second article, a periphery of a position where the first article is attached to the second article is included. A second image is obtained by causing the imaging unit to capture the first article,
Based on the first image and the second image, a position for attaching the first article to the second article is corrected by the arm.
An article mounting apparatus characterized by the above .