JP6440183B2 - Work processing equipment - Google Patents

Description

  According to the present invention, when a machining head of an industrial robot is moved along a groove or an opening (hereinafter simply referred to as a groove) provided in a workpiece to process the groove, The present invention relates to a workpiece processing apparatus that corrects a moving path of a processing head corresponding to a depth and executes processing.

  For example, when applying the coating agent in the groove by moving the coating head along the groove provided on the workpiece by an application robot for applying various coating agents such as a filler and an adhesive, the groove of the groove provided on the workpiece It is necessary to confirm the offset (positional deviation with respect to the reference groove) and correct the movement path of the coating head based on the confirmation result.

That is, the coating robot is set to apply the coating agent while moving the discharge nozzle so as to be positioned at the center of the groove width, but the groove width of the workpiece to which the coating agent is actually applied is wide. In the case of narrow or narrow case, the discharge nozzle is moved in a state of being biased to one side of the groove, so that the coating agent could not be uniformly applied to the inside of the groove.

  As an example of determining the quality of the groove provided in the workpiece as described above, for example, Patent Document 1 describes a laser light source that constitutes an image recognition unit for the workpiece after all processing of the wack is completed in the turret punch press. The matter which outputs a laser beam, images the workpiece | work with which the laser beam was irradiated with the camera which comprises an image recognition means, and measures the processing precision of a wack from imaging data is disclosed.

  However, in Patent Document 1, it is impossible to accurately confirm the width and depth of the groove formed in the workpiece only by measuring with the image of the workpiece surface irradiated with the laser beam.

For this reason, even if Patent Document 1 is applied to the workpiece processing apparatus targeted by the present application, the moving path of the processing head cannot be corrected in accordance with the confirmed offset of the groove, and it is biased to one of the grooves. There is a problem in that the processing accuracy is poor due to the processing being performed.

For example, after applying the coating agent in the groove by the above-described application robot, it is necessary to confirm whether or not a predetermined amount of the coating agent has been applied in the groove. In the above-mentioned Patent Document 1, the coating amount is confirmed by the height of the coating agent applied in the groove, but there is a problem that the coating height of the coating agent cannot be measured accurately. .

Japanese Patent Laid-Open No. 5-196423

  The problem to be solved is that the offset of the groove in the measured workpiece is confirmed, and the moving path of the machining head cannot be corrected by the confirmed offset, and high-quality machining is performed on the inside of the groove. It is in the point that can not be. After the groove processing in the workpiece, the processing state cannot be confirmed with high accuracy.

According to the first aspect of the present invention, the workpiece processing robot is driven and controlled on the basis of the three-dimensional movement data to move the processing head along the workpiece groove supported by the workpiece support device to perform a desired processing process. projection in the work processing apparatus, for a plurality of inspection positions corresponding to the workpiece surface including a predetermined groove, a projection means for projecting a slit light extending in a direction perpendicular to the longitudinal direction of the grooves, respectively, in each inspection point Imaging means for imaging the workpiece surface in the groove portion including the slit light and outputting the imaging data, and three-dimensional reference groove data storage for storing the three-dimensional reference groove image data on the workpiece surface corresponding to the groove portion in the normal state region, wherein the captured groove portion by the imaging means, the three-dimensional groove imaging data converted into three-dimensional data based on the imaging data of the workpiece surface where the slit light is projected Memory means having a 3D groove image data storage area and an offset data storage area to be stored, 3D reference groove image data read from the 3D reference groove data storage area, and 3D groove image data storage area comparing the three-dimensional groove imaging data, a determination means for storing the offset data storage area to determine the offset of the groove width to at least the reference groove width, tertiary on the basis of the offset data read from the offset data storage area And a control means for correcting the original movement data, and driving the robot to control the processing robot based on the corrected three-dimensional movement data to perform the processing while moving the processing head along the groove. Features.

According to a fifth aspect of the present invention, there is provided a workpiece machining process in which a workpiece machining robot is driven and controlled based on the three-dimensional movement data to move the machining head along the workpiece groove supported by the workpiece support device to perform a desired machining process. in the apparatus, for a plurality of inspection positions corresponding to the workpiece surface including a predetermined groove, a projection means for projecting a slit light extending in a direction perpendicular to the longitudinal direction of the groove, respectively, is projected to each inspection point slit Imaging means for imaging the work surface of the groove portion including light and outputting image data, two-dimensional movement means for minutely moving the processing head in a two-dimensional direction, and tertiary of the work surface corresponding to the groove portion in the normal state 3D reference groove data storage area for storing original reference groove image data, 3D reference groove data storage area for storing 3D reference groove image data, Storage means having a three-dimensional groove imaging data storage area and an offset data storage area for storing three-dimensional groove imaging data converted into three-dimensional data based on the imaging data of the image, and reading from the three-dimensional reference groove data storage area Compare the 3D reference groove image data and the 3D groove image data read from the 3D groove image data storage area to determine at least the offset of the groove width relative to the reference groove width and store it in the offset data storage area Determining means, and control means for correcting the offset of the processing head by driving the two-dimensional moving means based on the offset data read from the offset data storage area, and based on the three-dimensional moving data The most important feature is that the processing robot is driven and controlled to move the processing head along the groove. .

Claim 9 is a workpiece machining process in which a workpiece machining robot is driven and controlled on the basis of the three-dimensional movement data, and the machining head is moved along the groove of the workpiece supported by the workpiece support device to perform a desired machining process. in the apparatus, for a plurality of inspection positions corresponding to the workpiece surface including a predetermined groove, a projection means for projecting a slit light extending in a direction perpendicular to the longitudinal direction of the groove, respectively, is projected to each inspection point slit Imaging means for imaging the workpiece surface in the groove portion containing light and outputting imaging data, three-dimensional movement means for moving the processing head in a three-dimensional direction, and tertiary of the workpiece surface corresponding to the groove portion in the normal state Three-dimensional reference groove data storage area for storing original reference groove image data, three-dimensional groove photographing converted into three-dimensional data based on imaging data of the workpiece imaged by the imaging means A storage means having a three-dimensional groove imaging data storage area and an offset data storage area for storing data, a three-dimensional reference groove image data read from the three-dimensional reference groove data storage area, and a three-dimensional groove imaging data storage area; Based on the discriminating means for comparing the read three-dimensional groove imaging data and determining at least the offset of the groove width with respect to the reference groove width and storing it in the offset data storage area, and the offset data read from the offset data storage area Control means for correcting the offset of the processing head by driving and controlling the three-dimensional moving means, and controlling the driving of the processing robot based on the three-dimensional movement data to move the processing head along the groove. However, processing is the most important feature.

  According to the present invention, the movement path of the machining head is corrected by the measured groove offset in the workpiece, and high-quality machining can be performed on the inside of the groove. After the processing of the groove in the workpiece, the processing state can be confirmed with high accuracy.

It is perspective explanatory drawing which shows the outline of a workpiece processing apparatus. It is a side view of a workpiece processing apparatus. It is a perspective view which shows the outline of the coating head provided with the two-dimensional moving means. It is a front view from the arrow A direction of FIG. It is a side view from the arrow B direction of FIG. It is a part of electrical block diagram of a control means. It is a part of electrical block diagram of a control means. It is explanatory drawing which shows the state which set the workpiece | work to the workpiece | work support apparatus. It is a flowchart which shows the application | coating process to the groove | channel by an application | coating robot. It is a flowchart which shows a calibration process. It is explanatory drawing which shows the image of the predetermined location when a workpiece | work is supported by the normal state. It is explanatory drawing which shows the image of the predetermined location when a workpiece | work is supported in the state which shifted. It is explanatory drawing which shows the position correction state with respect to a two-dimensional direction. It is a flowchart which shows a groove | channel inspection process. It is explanatory drawing which shows a wide groove | channel image with respect to a regular state. It is explanatory drawing which shows a narrow groove | channel image with respect to a regular state. It is a flowchart which shows an application | coating inspection process. It is explanatory drawing which shows the groove application state image of a normal state. It is explanatory drawing which shows the image of a state with little application quantity with respect to a normal state. It is explanatory drawing which shows the correction effect | action of movement data. It is a perspective view which shows the outline of the coating head provided with the three-dimensional movement means.

Compare the 3D reference groove image data of the workpiece surface including the groove location with the 3D groove imaging data, determine at least the offset of the groove width with respect to the reference groove width, and based on the three-dimensional movement data corrected based on the offset data The processing robot is driven and controlled, and the processing head moves along the groove to perform processing.

Hereinafter, the present invention will be described in accordance with an embodiment in which the present invention is applied to a workpiece processing apparatus in which a coating agent such as silicon rubber or fluororubber is applied to a groove provided on the surface of a gasket.
As shown in FIGS. 1 to 5, the coating processing apparatus 1 as a workpiece processing apparatus includes a workpiece support apparatus 3, a coating robot 5 as a workpiece processing robot, and a position calibration apparatus 7.

  The workpiece support device 3 has a plurality of workpiece support members 11 on the main body frame 9, and supports the workpiece W supporting the longitudinal width (left-right direction shown) and the longitudinal orthogonal width (front-back direction shown) corresponding to the above. It is erected at predetermined intervals in the left-right direction and the front-rear direction. A holding member 13 that supports and holds the back surface of the work W to be filled is provided at the tip (upper part) of each work support member 11.

  The holding member 13 is an elastic member that abuts on the back surface of the workpiece W and supports the displacement by restricting the displacement by a high friction coefficient, and air for gripping a rib (not shown) provided on the back surface of the workpiece W. Any of a clamp member constituted by a cylinder, an electromagnetic solenoid, and a gripping claw (none of which are shown), or an adsorption member (none of which is shown) connected to a negative pressure generator and sucking and holding the back surface of the workpiece W It may be.

  Examples of the workpiece W supported by the workpiece support device 3 and subjected to coating processing include metal molded products such as gaskets, various molded panels for vehicles, resin molded products such as vehicle bumpers, and the like. A plurality of types (width and depth) of continuous grooves Wa are formed.

  In addition, as the work support device 3, a work support member is attached to a vertical movable body supported by a vertical frame that extends in a vertical direction on a horizontal movable body that is supported so as to be movable in the longitudinal direction and the longitudinal orthogonal direction of the workpiece W. 13, the work support member 13 is moved in the left-right direction, the front-rear direction, and the up-down direction in accordance with driving of an electric motor such as a numerically controllable servo motor connected to the horizontal movable body and the vertical movable body. A configuration in which the support position by the work support member 13 can be changed corresponding to the shape, size, and the like may be employed.

  The coating robot 5 is a conventionally known articulated robot, and has a base end portion on a rotary plate 14 that is connected to an electric motor (not shown) such as a numerically controllable servo motor built in a base 15. An electric motor 17 such as a numerically controllable servo motor provided on the turntable 14 is connected to the rotary disk 14 so as to be pivotable and swingable, and is built in the tip of the first arm 19. A numerical value provided on the arm mounting member while a base end portion is rotatably supported by an arm mounting member (not shown) connected to an electric motor (not shown) such as a servo motor capable of numerical control. A second arm 25 to which an electric motor 23 such as a controllable servo motor is connected, a hand connected to an electric motor (not shown) such as a numerically controllable servo motor built in the tip of the second arm 25 Mounting Member 27, and a coating head 31 as a processing head mounted on the hand mounting member 27.

  The coating robot 5 includes three or more arms corresponding to the number of rotation axes and peristaltic axes, and an electric motor for rotating and peristating each arm around the axis and in a direction perpendicular to the axis. It is good also as a structure provided with.

The coating head 31 provided on the hand mounting member 27 includes a discharge nozzle 31a for quantitatively discharging a coating agent such as an adhesive or a filler supplied from a coating agent tank (not shown) and pressurized.

The coating head 31 may have a structure in which a two-dimensional moving unit or a three-dimensional moving unit (FIG. 4 shows the two-dimensional moving unit 33) is attached to the hand mounting member 27.

As the two-dimensional moving means 33, for example, a first traveling body 37 supported so as to move in the longitudinal direction with respect to a first frame 35 extending in the left-right direction shown in the figure orthogonal to the axis of the second arm 25. A first moving member 39 that reciprocates the first traveling body 37 in the longitudinal direction, and a second frame 41 that extends with respect to the first traveling body 37 in a direction perpendicular to the left-right direction. The second traveling body 43, which is supported so as to move in the longitudinal direction and to which the coating head 31 is attached, and the second moving member 45 that reciprocates the second traveling body 43 in a direction orthogonal to the left-right direction. The

As the first and second moving members 39 and 45, servo motors or the like that have axes in directions that coincide with the longitudinal directions of the first and second frames 35 and 41 and that can be numerically controlled at one end. Rotation of a feed screw (both not shown) meshed with nuts provided on the first and second traveling bodies 37 and 43 that are connected to and rotatably supported by the electric motor It is good also as a feed screw moving mechanism which moves the 1st and 2nd traveling body 37 * 43 corresponding to it in each direction.

The first and second moving members 39 and 45 are, for example, servomotors that are rotatably supported at the longitudinal ends of the first and second frames 35 and 41 and numerically controllable on one side. A traveling member (belt, neither of which is shown) that is connected to the first and second traveling bodies 37 and 43 corresponding to the rotating body that is connected to the electric motor and is rotatably supported. Any of a belt moving mechanism or the like that moves the corresponding first and second traveling bodies 37 and 43 in the respective directions as the electric motors are driven may be used.

The second traveling body 43 is provided with an attachment plate 47, and a groove inspection processing device 49 is provided on the attachment plate 47. The groove inspection processing device 49 converges on the surface of the workpiece W provided with the groove Wa and outputs a plurality of laser slit lights extending in a direction perpendicular to the longitudinal direction of the groove Wa. 51 and an inspection video camera 53 that images the surface of the workpiece W including a plurality of laser slit lights irradiated on the surface of the workpiece W. The laser light projecting member 51 outputs laser slit light at predetermined time intervals (every predetermined interval) as the coating head 31 moves and scans the groove Wa in the workpiece W. Further, the inspection video camera 53 captures an image of the surface of the workpiece W including the groove Wa in synchronization with the output timing of the laser slit light.

A mounting frame 55 on which the position calibration device 7 is provided is disposed above the workpiece support device 3. A calibration camera 57 as a calibration imaging unit and a projector 59 as a calibration projection unit are disposed on the mounting frame 55. At a predetermined interval from the surface of the workpiece W, for example, it is attached at a required interval in the left-right direction. The projector 59 projects various reference patterns such as a slit pattern, a lattice pattern, and a dot matrix pattern around the predetermined portion of the work W. The calibration camera 57 captures the reference pattern projected around the predetermined portion of the work W and the portion, and outputs image data.

As shown in FIGS. 6 and 7, a program storage area 65 and a work data storage area 67 are provided in the CPU 63 of the control means 61 that controls the coating processing apparatus 1. In the program storage area 65, robot control program data for controlling the movement of the coating robot 5, driving control of the coating robot 5, and confirming the depth and width of the groove Wa provided on the surface of the workpiece W are applied. Path correction program data for correcting the movement path of the head 31, application amount confirmation program data for confirming the application amount of the coating agent applied in the groove Wa, and the workpiece W supported by the workpiece support device 3 Various program data such as position calibration program data for calibrating the application origin position and the application origin position of the application robot 5 are stored.

The work data storage area 67 includes a movement data storage area 69, a reference groove image data storage area 71, a reference application image data storage area 73, a reference work data storage area 75, a groove imaging data storage area 77, and three-dimensional groove imaging data. A storage area 79, a calibration imaging data storage area 81, a calibration three-dimensional imaging data storage area 83, an offset data storage area 85, a calibration data storage area 87, a pattern data storage area 89, and the like are provided.

The movement data storage area 69 stores three-dimensional movement data for moving the coating head 31 of the coating robot 5 according to a preset movement path. The three-dimensional movement data can be set by driving the coating robot 5 and moving the coating head 31 to each coating position and inputting the teaching data, or by directly inputting numerical values of the three-dimensional position data of each coating position. Either may be sufficient.

In the reference groove data storage area 71, three-dimensional reference data relating to a groove Wa having a normal width and depth provided in the workpiece W is stored. When a plurality of types of grooves Wa having different groove widths and depths are provided on the workpiece W, the reference groove data storage area 71 stores three-dimensional reference groove data corresponding to each groove Wa.

The reference application image data storage area 73 stores three-dimensional reference data related to the height when the coating agent is applied to the groove Wa of the workpiece W at a normal application amount. When the above-described plural types of grooves Wa are provided on the workpiece W, the application reference data storage area 73 stores three-dimensional reference data regarding the height corresponding to each groove Wa.

In the reference work data storage area 75, the three-dimensional reference work data of the work W supported by the work support device 3 in a normal state in which the work W to be applied and the application origin position of the application robot 5 coincide with each other. Is memorized.

The groove imaging data storage area 77 stores imaging data related to the groove Wa imaged by the inspection video camera 53, the irradiated laser slit light, and the height of the filler applied to the groove Wa. The three-dimensional groove imaging data storage area 79 stores groove inspection three-dimensional imaging data obtained by converting the imaging data stored in the groove imaging data storage area 77 into three-dimensional data.

The calibration imaging data storage area 81 stores imaging data of a predetermined location including various reference patterns such as a projected slit pattern, lattice pattern, and dot matrix pattern on the workpiece W imaged by the calibration camera 57. . The calibration 3D imaging data storage area 83 stores calibration 3D imaging data converted into 3D data based on the imaging data stored in the calibration imaging data storage area 81.

The offset data storage area 85 is discriminated based on the three-dimensional reference groove data stored in the reference groove data storage area 71 and the three-dimensional groove imaging data of the groove Wa in the workpiece W imaged by the inspection video camera 53. Offset data for the reference groove width is stored.

In the calibration data storage area 87, the workpiece calculated by comparing the calibration three-dimensional imaging data stored in the calibration three-dimensional imaging data storage area 83 with the three-dimensional reference work data stored in the workpiece reference data storage area 75. The positional deviation amount with respect to the three-dimensional direction between the filling target origin position of W and the filling processing origin position by the coating robot 5 is stored as calibration data.

In the pattern data storage area 89, various reference pattern data such as slit patterns, lattice patterns, dot matrix patterns and the like projected onto the work W by the projector 59 are stored.

The predetermined location on the workpiece W imaged by the calibration camera 57 is used as a reference for determining the positional deviation in the two-dimensional direction, for example, an opening, a step, a protrusion, etc. The portion including the reference portion Wb in FIG. When the workpiece W does not have the above-described reference portion Wa, a reference portion is provided in the workpiece support device 3 corresponding to both sides of the predetermined position of the workpiece W in the longitudinal direction or the longitudinal orthogonal direction. What is necessary is just to image the predetermined location of the workpiece | work W including 3 reference | standard parts.

The CPU 63 is provided with comparison means 91. The comparison means 91 compares the three-dimensional imaging data stored in the calibration three-dimensional imaging data storage area 83 with the three-dimensional reference work data stored in the work reference data storage area 75, and the amount of displacement in the three-dimensional direction. And the calculation result is stored in the calibration data storage area 85 as calibration data.

The CPU 63 is provided with determination means 93. The discriminating means 93 offsets the reference groove width based on the three-dimensional data of the groove Wa stored in the three-dimensional groove imaging data storage area 79 and the three-dimensional reference data of the groove Wa stored in the reference groove data storage area 71. The value (including the direction) is stored in the reference groove data storage area 71 and the three-dimensional data relating to the height of the coating applied in the groove Wa stored in the three-dimensional groove imaging data storage area 79. Whether or not the coating amount of the coating agent is a predetermined amount is determined based on the three-dimensional reference data relating to the height of the coating agent.

Robot control means 95 is connected to the CPU 63. The robot control means 95 drives and controls the electric motor (not shown) and the electric motors 17 and 23 (not shown) based on the three-dimensional movement data stored in the movement data storage area 69, respectively. The filler is applied in the groove Wa by rotating and swinging the coating head 31 along the groove Wa of the workpiece W.

Two-dimensional movement control means 97 is connected to the CPU 63. When the application origin position of the workpiece W and the application origin position by the application robot 5 do not match, the two-dimensional movement control means 97 is based on the calibration data stored in the calibration data storage area 85 and the first and second movement members. 39 and 45 are driven and controlled so that the coating head 31 coincides with the coating origin position.

In addition, with respect to the positional deviation in the direction perpendicular to the surface (Z-axis direction) with respect to the application position of the workpiece W, an electric motor (not shown) and electric motors 17 and 23 (illustrated) are respectively used based on the Z-axis data of the calibration data. The position is corrected by driving control.

The CPU 63 is provided with first projection control means 99. The first projection control means 99 drives the laser beam projection member 51 prior to the coating processing of the coating agent on the groove Wa of the workpiece W supported by the workpiece support device 3 to the peripheral edge of the groove Wa in the workpiece W. A plurality of laser slit lights are projected.

The CPU 63 is provided with second projection control means 101. The second projection control means 101 is a single or a plurality of pattern data read from the pattern data storage area 89 prior to the coating process of the coating agent on the groove Wa of the workpiece W supported by the workpiece support device 3. Based on the above, the projector 59 is driven to project a reference pattern onto the surface of a predetermined portion of the workpiece W.

In the case where a plurality of reference patterns are projected onto the workpiece W, the projection control unit 97 controls the projector 59 based on the pattern data read from the pattern data storage area 89 according to a preset order. The reference pattern is projected by driving every imaging time of the calibration camera 53 described later.

The CPU 63 is provided with first imaging control means 103. The first image pickup control means 103 drives the inspection video camera 53 to take an image at a timing when a plurality of laser slit lights are projected onto the surface of the workpiece W provided with the groove Wa, and a plurality of laser slit lights. The periphery of the groove Wa of the workpiece W including the image is imaged, and the imaging data is stored in the imaging data storage area 77 for inspection.

The CPU 63 is provided with second imaging control means 105. The second imaging control means 105 drives and images the calibration camera 57 at the timing when the reference pattern is projected onto the workpiece W supported by the workpiece support device 3, and around the predetermined location in the workpiece W including the reference pattern. The surface is imaged, and the imaging data is stored in the calibration imaging data storage area 81.

In the case where a plurality of reference patterns are projected from the projector 55 onto the workpiece W, the second imaging control unit 105 drives the calibration camera 57 to capture an image every time the projected reference pattern is switched. Imaging data around a predetermined location in the workpiece W including each reference pattern is stored in the calibration imaging data storage area 81.

A plurality of detectors 107 such as limit switches for detecting that the workpiece W is supported by the workpiece support device 3 are connected to the CPU 63 via the interface 109. Then, the CPU 63 determines that the workpiece W is supported by the workpiece support device 3 when all the detectors 107 transition to the workpiece detection state, and executes a calibration processing operation and a groove inspection operation.

The coating processing operation, the calibration processing operation, the groove inspection processing operation, and the coating inspection processing operation performed by the coating processing apparatus 1 configured as described above will be described.
First, the outline of the coating processing operation by the coating processing apparatus 1 will be described. When the workpiece W is set on the workpiece support apparatus 3 in step 121 (see FIG. 8), as shown in FIG. It is determined whether or not the workpiece detection state has been entered. If step 121 is NO, the process returns to the start.

On the other hand, if step 121 is YES, a calibration process is executed in step 123 to match the application origin position of the application robot 5 with the application origin position of the groove Wa in the workpiece W.

Next, in step 125, it is determined whether or not the application origin position of the application robot 5 is coincident with the application origin position of the groove Wa in the workpiece W. If the step 125 is NO, the process returns to step 123. On the other hand, if the above step 125 is YES, the groove inspection process is executed in step 127 and the three-dimensional position data stored in the movement data storage area 69 is corrected by the offset data stored in the offset data storage area 85. Then rewrite it.

Next, based on the three-dimensional position data relating to the corrected application start position stored in the movement data storage area 69 in step 129, the electric motor (not shown) and the electric motors 17 and 23 (illustrated) are respectively driven and controlled. Then, the second arms 19 and 25 are swung and rotated to move the coating head 31 so that the axis of the discharge nozzle 31a coincides with the normal of the coating start position at the coating start position of the groove Wa.

Next, in step 131, it is determined whether or not the coating head 31 has moved to the application start position of the groove Wa in the workpiece W. If the step 131 is NO, the process returns to step 125. On the other hand, when step 131 is YES, coating is performed while rotating and swinging the first and second arms 19 and 25 based on the corrected movement data stored in the movement data storage area 69 in step 133, respectively. While moving the head 31 along the groove Wa, the coating agent is discharged from the discharge nozzle 31a to process the groove Wa. When the amount of the coating agent applied in the groove Wa is a predetermined amount, the height of the coating agent with respect to the surface of the workpiece W is constant.

Next, in step 135, it is determined whether or not the coating head 31 has moved to the coating end position of the groove Wa and the coating operation has been completed. If the step 135 is NO, the process returns to step 133 to return to the groove Wa. Continue application of coating agent. On the other hand, if the above step 135 is YES, it is determined in step 137 whether or not the coating operation of the coating agent for all the grooves Wa provided on the workpiece W has been completed.

If step 137 is NO, the process returns to step 129 and the coating operation of the coating agent on the next groove Wa is continued. On the other hand, if the above step 137 is YES, the first and second arms 19 and 25 are respectively rotated and swinged in step 139 to return the coating head 31 to the standby position of the coating robot 5, and then in step 141. A coating inspection process is executed.

Next, it is determined whether or not the amount of the coating agent applied to the groove Wa in step 143 is a predetermined amount. If the step 143 is NO, an error such as a notification process or a work W discharge process is performed in step 145. Exit after processing. Conversely, if step 143 is YES, the process ends.

Next, the position calibration process in step 123 will be described. As shown in FIG. 10, the projector 59 is driven on the basis of the pattern data stored in the pattern data storage area 89 in step 151 and supported by the work support device 3. After projecting the reference pattern onto a predetermined location of the workpiece W, the calibration camera 57 is driven in step 153 to image the surface of the predetermined location of the workpiece W including the projected reference pattern and store the captured image data for calibration. Store in area 81.

In step 155, the imaging data stored in the calibration imaging data storage area 81 is converted into 3D imaging data and stored in the calibration 3D imaging data storage area 83, and then in step 157, the comparison means 91 performs the calibration 3D. The three-dimensional imaging data stored in the imaging data storage area 83 and the three-dimensional workpiece reference data corresponding to the imaging location stored in the workpiece reference data storage area 75 are compared.

When comparing the two data by the comparison means 91, the positional deviation in the two-dimensional direction is compared with the three-dimensional imaging data for calibration of the opening Wb and the three-dimensional work reference data, and the projection in the three-dimensional imaging data for calibration is performed. The positional deviation in the height direction is compared by the slit interval of the reference pattern and the slit interval of the pattern data stored in the pattern data storage area 89.

Next, in step 159, it is determined whether or not there is a difference between the calibration three-dimensional imaging data, the three-dimensional workpiece reference data, and the pattern data. If the step 159 is NO, the workpiece support is performed as shown in FIG. It is determined that the workpiece W is in a normal state with respect to the apparatus 3, that is, the coating origin position of the workpiece W and the coating origin position of the coating head 31 coincide with each other.

On the contrary, when the above step 159 is YES, it is determined that the application origin position of the workpiece W supported by the workpiece support device 3 and the application origin position of the application head 31 are misaligned as shown in FIG. In step 161, the difference with respect to the three-dimensional direction is calculated, and the calculated positional deviation amount in the three-dimensional direction (XYZ) is stored in the calibration data storage area 87 as calibration data.

Next, drive control of the first and second moving members 39 and 45 is performed based on the two-dimensional calibration data of the XY axes in the calibration data read from the calibration data storage area 87 in step 163. The application head 31 moves so as to coincide with the application origin position of the workpiece W. (See Figure 13)

Also, among the calibration data read from the calibration data storage area 87 in step 165, Z-axis direction data among the three-dimensional position data relating to the application position stored in the movement data storage area 69 by the Z-axis calibration data is obtained. Rewrite and finish the calibration operation.

Next, the groove inspection processing operation in step 127 will be described. As shown in FIG. 14, the electric motor (not shown) and the electric motors 17 and 23 shown in FIG. And the coating head 31 is moved so that the axis is at a required angle with respect to the normal with respect to a plurality of preset first inspection locations of the groove Wa in the workpiece W. In step 173, the laser beam projection member 51 is driven to project a plurality of laser slit beams so as to extend in the direction perpendicular to the longitudinal direction of the groove Wa on the groove Wa.

Next, after the inspection video camera 53 is driven in step 175 and the groove Wa location surface including the projected laser slit light is imaged and stored in the groove imaging data storage area 77, the groove imaging data storage area in step 177. The imaging data of the groove Wa stored in 77 is converted into three-dimensional groove imaging data and stored in the three-dimensional groove imaging data storage area 79.

Next, in step 179, the discrimination means 93 compares the three-dimensional groove imaging data stored in the three-dimensional groove imaging data storage area 79 with the three-dimensional reference groove data of the imaging location stored in the reference groove data storage area 71. The offset value and the offset direction with respect to the reference groove width are stored in the offset data storage area 85 as offset data.

  For example, FIG. 15 shows an image in which the reference groove width is 5 mm and the groove width is wide (for example, 7 mm), and FIG. 16 shows an image in which the groove width is narrow (for example, 3 mm). For example, when the confirmed actual groove width is 7 mm and is widened to the right side with respect to the moving direction of the coating head 31, the groove center is 1 mm rightward and offset with respect to the normal groove Wa. . In this case, when the coating agent is applied to the groove Wa while moving the coating head 31 according to the movement path corresponding to the reference groove width, the coating agent is applied in a biased state in the groove Wa, or the coating agent protrudes from the groove Wa. Or will be applied.

  Next, it is determined in step 181 whether or not the groove inspection processing for all inspection points in the preset groove Wa has been completed. If the step 181 is NO, an electric motor (not shown) and an illustration (not shown) are determined in step 183. The electric motors 17 and 23 are driven and controlled to rotate and swing the first and second arms 19 and 25 to move the coating head 31 to the next inspection position in the preset groove Wa, and then step Returning to 173, the inspection process for the next inspection portion in the groove Wa is executed.

  On the other hand, when the above step 181 is YES, the movement data of the coating head 31 when applying the coating agent to the groove Wa among the movement data stored in the movement data storage area 69 in step 185 is the offset data. After correcting and rewriting based on the offset data stored in the storage area 85, the process ends.

  As a result, the movement data of the coating head 31 is corrected based on the offset value determined based on the groove width inspected at a plurality of groove inspection positions set in advance in the longitudinal direction of the groove Wa, thereby applying the coating to the groove Wa. It is possible to avoid applying the agent in a biased state. (See Figure 20)

Next, the coating inspection process in step 141 will be described. As shown in FIG. 17, the electric motor (not shown) and the electric motors 17 and 23 shown in FIG. By rotating and swinging, the coating head 31 is moved so that the axis is at a required angle with respect to the normal line with respect to a plurality of first inspection points set in advance in the groove Wa where the coating agent is applied. After that, in step 193, the laser light projecting member 51 is driven to project a plurality of laser slit lights so as to extend in a direction perpendicular to the longitudinal direction of the groove Wa on the inspection location.

Next, after the inspection video camera 53 is driven in step 195 and the surface of the inspection portion including the projected laser slit light is imaged and stored in the groove imaging data storage area 77, the groove imaging data storage area is stored in step 197. The imaging data of the inspection location stored in 77 is converted into 3D coating imaging data and stored in the 3D groove imaging data storage area 79.

Next, in step 199, the discriminating means 93 compares the three-dimensional application imaging data stored in the three-dimensional groove imaging data storage area 79 with the three-dimensional application reference data of the imaging location stored in the reference application image data storage area 73. To determine the height of the coating material at the inspection location. FIG. 18 shows a case where the coating agent is applied in a regular amount, and FIG. 19 shows a case where the coating amount of the coating agent is small.

Next, it is determined whether or not the height of the coating applied to the groove Wa in step 201 is equal to or higher than the height in the three-dimensional coating reference data. If the step 201 is NO, the above step is performed. The process proceeds to 145 and error processing is performed. On the other hand, if the above step 201 is YES, it is determined whether or not the inspection process for all inspection points in the groove Wa set in advance in step 203 is completed. If the step 203 is YES, finish.

On the other hand, if step 203 is NO, the electric motor (not shown) and the electric motors 17 and 23 (not shown) are driven and controlled in step 205 to rotate and swing the first and second arms 19 and 25, respectively. After the head 31 is moved to the next inspection location in the preset groove Wa, the process returns to step 193 to execute the inspection processing for the next inspection location in the groove Wa.

  In the present embodiment, the groove width is inspected by an image including laser slit light projected at a plurality of positions of the groove Wa provided in the workpiece W, and when the groove width inspected with respect to the normal groove width is wide, If it is narrow, the coating agent can be applied uniformly around the center of the groove Wa by correcting the movement path of the coating head 31 corresponding to the difference.

In addition, after applying the coating agent to the groove Wa, the height of the coating agent is inspected with an image including laser slit light projected onto the groove Wa to which the coating agent has been applied, so that the quality of the coating process is efficiently determined. Can be determined.

  In the above description, the two-dimensional moving device 33 is driven and controlled based on the data in the X-Y axis direction in the calculated calibration data, and the application origin position of the application head 31 is set to the application origin of the groove Wa in the workpiece W. Although it was set as the structure calibrated so that it may correspond with a position, it is also possible as a structure which calibrates movement data based on the XY-axis direction calibration data, and drives and controls the coating robot 5 based on the calibrated movement data. Good.

  In the above description, the two-dimensional moving means 33 is provided on the tip of the second arm 25 and the coating head 31 is attached, and the two-dimensional moving device 33 is driven and controlled based on the data in the XY axis direction among the calibration data. The application origin position of the application head 31 is calibrated so as to coincide with the application origin position of the groove Wa in the workpiece W. However, instead of the two-dimensional movement means 33, the three-dimensional movement means 211 shown in FIG. Also good.

  The three-dimensional moving means 211 is provided with a third frame 213 extending in the Z-axis direction with respect to the second traveling body 43, and is supported and moved so as to move in the Z-axis direction with respect to the third frame 213. The third traveling body 215 provided with the head 31 is moved in the Z-axis direction by the third moving member 217.

  In the above description, the groove width is inspected by the groove inspection processing device 49 and the movement path (movement data) of the coating head 31 is corrected based on the offset value with respect to the reference groove width. The groove depth is inspected along with the width, and the coating agent is always applied at a constant height by controlling the discharge amount of the coating agent from the coating head 31 to increase or decrease based on the difference with respect to the reference groove depth. May be.

  In the above description, the processing process in which the coating agent is applied to the groove Wa provided in the workpiece W has been described as an example, but when the present invention processes the grooves and holes provided in the workpiece by the workpiece processing robot, Any technical matter that discriminates an offset relative to a normal groove or hole and corrects the movement path of the machining head of the workpiece machining robot based on the discriminated offset value is included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Application | coating processing apparatus 3 as a workpiece processing apparatus 3 Work support apparatus 5 Coating robot 7 as a workpiece processing robot 7 Position calibration apparatus 9 Main body frame 11 Work support member 13 Holding member 15 Base 17 Electric motor 19 1st arm 23 Electric Motor 25 Second arm 27 Hand attachment member 31 Coating head 31a as processing head Discharge nozzle 33 Two-dimensional moving means 35 First frame 37 First traveling body 39 First moving member 41 Second frame 43 Second traveling body 45 First 2 moving member 47 mounting plate 49 groove inspection processing device 51 laser light projection member 53 inspection video camera 55 mounting frame 57 calibration camera 59 as imaging means projector 61 as projection means control means 63 CPU
65 Program storage area 67 Work data storage area 69 Movement data storage area 71 Reference groove image data storage area 73 Reference application image data storage area 75 Reference work data storage area 77 Groove imaging data storage area 79 Three-dimensional groove imaging data storage area 81 Calibration Imaging data storage area 83 Calibration three-dimensional imaging data storage area 85 Offset data storage area 87 Calibration data storage area 89 Pattern data storage area 91 Comparison means 93 Discriminating means 95 Robot control means 97 Two-dimensional movement control means 99 First projection control Means 101 Second projection control means 103 First imaging control means 105 Second imaging control means 107 Detector 109 Interface 211 Three-dimensional moving means 213 Third frame 215 Third traveling body 217 Third moving member W Work Wa Groove Wb Reference part Opening 121 as 205 step

Claims (12)

In a workpiece processing apparatus that performs a desired processing by moving a processing head along a groove of a workpiece supported by a workpiece support device by driving and controlling a workpiece processing robot based on three-dimensional movement data.
Projection means for projecting slit light extending in a direction orthogonal to the longitudinal direction of the groove, respectively , for a plurality of inspection locations corresponding to the workpiece surface including a preset groove ,
Imaging means for imaging the work surface of the groove portion including the slit light projected to each inspection location and outputting imaging data;
Three-dimensional reference groove data storage area for storing three-dimensional reference groove image data on the workpiece surface corresponding to the groove portion in the normal state, the groove surface imaged by the imaging means, and imaging data of the workpiece surface on which slit light is projected Storage means having a three-dimensional groove imaging data storage area and an offset data storage area for storing three-dimensional groove imaging data converted into three-dimensional data based on
Comparing the three-dimensional groove imaging data read out from the three-dimensional reference groove image data and the three-dimensional groove imaging data storage area read from the three-dimensional reference groove data storage area, the offset of the groove width to at least the reference groove width Determining means for determining and storing in the offset data storage area;
Control means for correcting the three-dimensional movement data based on the offset data read from the offset data storage area;
With
A workpiece processing apparatus that performs processing while moving a processing head along a groove by driving and controlling a processing robot based on the corrected three-dimensional movement data. In claim 1,
The storage means has a reference processed image data storage area for storing three-dimensional reference processed image data of a workpiece surface including a groove portion processed in a normal state ,
The discriminating means compares the three-dimensional reference processed image data read from the reference processed image data storage area with the processed three-dimensional groove imaging data read from the three-dimensional groove image data storage area and performs groove processing. Discriminate between good and bad
The control means is a workpiece processing apparatus that performs error processing when a groove processing defect is determined by the determination means. In any one of Claims 1 and 2,
The discriminating means discriminates the groove depth by comparing the 3D reference groove image data read from the 3D reference groove data storage area with the 3D groove image data read from the 3D groove imaging data storage area. ,
The control means is a workpiece processing apparatus that controls the processing state of the processing head based on the groove depth determined by the determination means. In claim 1,
Projection means for calibration that projects a reference pattern to a predetermined location on the work surface supported by the work support device;
Imaging means for imaging a predetermined portion of the workpiece surface including the projected reference pattern and outputting imaging data;
And providing
The storage means includes a three-dimensional reference work data storage area for storing three-dimensional data at a predetermined location on the work surface supported by the work support device in a normal state, based on the image data of the work surface imaged by the imaging means. Providing a three-dimensional imaging data storage area for storing the three-dimensional imaging data converted into three-dimensional data,
The control means compares the three-dimensional imaging data read from the three-dimensional imaging data storage area with the three-dimensional work data read from the three-dimensional reference work data storage area, and shifts the position in the XYZ directions. Is a workpiece processing apparatus that calibrates the three-dimensional movement data and drives and controls the processing robot based on the calibrated three-dimensional movement data. In a workpiece processing apparatus that performs a desired processing by moving a processing head along a groove of a workpiece supported by a workpiece support device by driving and controlling a workpiece processing robot based on three-dimensional movement data.
Projection means for projecting slit light extending in a direction orthogonal to the longitudinal direction of the groove, respectively , for a plurality of inspection locations corresponding to the workpiece surface including a preset groove ,
Imaging means for imaging the work surface of the groove portion including the slit light projected to each inspection location and outputting imaging data;
A two-dimensional moving means for minutely moving the processing head in a two-dimensional direction;
The three-dimensional reference groove data storage area for storing the three-dimensional reference groove image data on the workpiece surface corresponding to the groove portion in the normal state, the three-dimensional reference groove data storage area for storing the three-dimensional reference groove image data, and imaged by the imaging means. Storage means having a three-dimensional groove imaging data storage area and an offset data storage area for storing three-dimensional groove imaging data converted into three-dimensional data based on the imaging data of the workpiece,
The offset of the groove width to at least the reference groove width by comparing the three-dimensional groove imaging data read out from the three-dimensional reference groove image data and the three-dimensional groove imaging data storage area read from the three-dimensional reference groove data storage area Determining means for determining and storing in the offset data storage area;
Control means for correcting the offset of the processing head by driving and controlling the two-dimensional moving means based on the offset data read from the offset data storage area;
With
A workpiece processing apparatus that drives and controls a processing robot based on three-dimensional movement data to perform processing while moving the processing head along a groove. In claim 5,
The storage means has a reference processed image data storage area for storing three-dimensional reference processed image data of a workpiece surface including a groove portion processed in a normal state ,
The discriminating means compares the three-dimensional reference processed image data read from the reference processed image data storage area with the processed three-dimensional groove imaging data read from the three-dimensional groove image data storage area and performs groove processing. Discriminate between good and bad
The control means is a workpiece processing apparatus that performs error processing when a groove processing defect is determined by the determination means. In any of claims 5 and 6,
The discriminating means discriminates the groove depth by comparing the 3D reference groove image data read from the 3D reference groove data storage area with the 3D groove image data read from the 3D groove imaging data storage area. ,
The control means is a workpiece processing apparatus that controls the processing state of the processing head based on the groove depth determined by the determination means. In claim 5,
Projection means for calibration that projects a reference pattern to a predetermined location on the work surface supported by the work support device;
An imaging means for calibration that images a predetermined portion of the workpiece surface including the projected reference pattern and outputs imaging data;
And providing
The storage means includes a three-dimensional reference work data storage area for storing three-dimensional data at a predetermined location on the surface of the work when the work is supported by the work support device in a normal state, and imaging data of the work imaged by the imaging means. A three-dimensional imaging data storage area for storing the three-dimensional imaging data converted into the three-dimensional data based on the three-dimensional imaging data read from the three-dimensional imaging data storage area and the three-dimensional reference work data; Comparing the three-dimensional work data read from the storage area, calculating the positional deviation in the X, Y, and Z axis directions to calibrate the three-dimensional movement data, and processing robot based on the calibrated three-dimensional movement data Work processing device that controls the drive. In a workpiece processing apparatus that performs a desired processing by moving a processing head along a groove of a workpiece supported by a workpiece support device by driving and controlling a workpiece processing robot based on three-dimensional movement data.
Projection means for projecting slit light extending in a direction orthogonal to the longitudinal direction of the groove, respectively , for a plurality of inspection locations corresponding to the workpiece surface including a preset groove ,
Imaging means for imaging the work surface of the groove portion including the slit light projected to each inspection location and outputting imaging data;
Three-dimensional movement means for minutely moving the processing head in the three-dimensional direction;
Three-dimensional reference groove data storage area for storing three-dimensional reference groove image data on the workpiece surface corresponding to the groove portion in the normal state, three-dimensional data converted into three-dimensional data based on the imaging data of the workpiece imaged by the imaging means Storage means having a three-dimensional groove imaging data storage area and an offset data storage area for storing groove imaging data;
The offset of the groove width to at least the reference groove width by comparing the three-dimensional groove imaging data read out from the three-dimensional reference groove image data and the three-dimensional groove imaging data storage area read from the three-dimensional reference groove data storage area Determining means for determining and storing in the offset data storage area;
Control means for correcting the offset of the processing head by driving and controlling the three-dimensional moving means based on the offset data read from the offset data storage area;
With
A workpiece processing apparatus that drives and controls a processing robot based on three-dimensional movement data to perform processing while moving the processing head along a groove. In claim 9,
The storage means has a reference processed image data storage area for storing three-dimensional reference processed image data of a workpiece surface including a groove portion processed in a normal state ,
The discriminating means compares the three-dimensional reference processed image data read from the reference processed image data storage area with the processed three-dimensional groove imaging data read from the three-dimensional groove image data storage area and performs groove processing. Discriminate between good and bad
The control means is a workpiece processing apparatus that performs error processing when a groove processing defect is determined by the determination means. In any of claims 9 and 10,
The discriminating means discriminates the groove depth by comparing the 3D reference groove image data read from the 3D reference groove data storage area with the 3D groove image data read from the 3D groove imaging data storage area. ,
The control means is a workpiece processing apparatus that controls the processing state of the processing head based on the groove depth determined by the determination means. In claim 9,
Projection means for calibration for projecting a reference pattern to a predetermined location of the work supported by the work support device;
An imaging means for calibration that images a predetermined portion of the workpiece surface including the projected reference pattern and outputs imaging data;
And providing
The storage means includes a three-dimensional reference work data storage area for storing the three-dimensional data of the workpiece surface when the workpiece is supported in a normal state by the workpiece support device, based on the imaging data of the workpiece surface imaged by the imaging means. A three-dimensional imaging data storage area for storing the three-dimensional imaging data converted into the three-dimensional data is provided,
The control means compares the three-dimensional imaging data read from the three-dimensional imaging data storage area with the three-dimensional work data read from the three-dimensional reference work data storage area, and shifts the position in the XYZ directions. Is a workpiece processing apparatus that calibrates the three-dimensional movement data and drives and controls the processing robot based on the calibrated three-dimensional movement data.

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