JP6789867B2 - Non-defective product collection system and controllers and programs for controlling the system - Google Patents

Description

The present invention comprises a plurality of types using a robot having an end effector capable of gripping and handling a supplied part and having an articulated arm capable of gripping and handling the part at an arbitrary position and / or posture. It provides a non-defective product collection system that enables high efficiency and high accuracy of inspection in inspection of parts and collection of non-defective products, and a controller and a program for controlling the system.

In order to improve production efficiency in the product assembly process of the cell production method for high-mix low-volume production, it is important to automate the collection and supply of parts. For this reason, in recent years, as a system for automating parts collection, a parts collection system in which a robot moves directly to a parts storage location to collect parts has been proposed, which enables manual parts collection work and dedicated parts collection. There is no need to build a work line, and labor costs and time costs have been reduced.

In the parts collection system as described above, the robot moves to a plurality of parts storage locations, sequentially collects and rotates a plurality of types of parts, and supplies a series of parts as a set to the next process. However, when the parts are inspected after collecting a series of parts, if the collected parts are defective, the robot must move to the parts storage location again and collect the replacement parts, which is efficient. Significantly reduced. For this reason, it is desirable to inspect at the parts collection stage and collect only non-defective products. However, in the parts collection system as described above, the robot moves to multiple locations to perform the inspection, so it is suitable for indoor lighting arrangements. Due to the variation, there are many unstable factors in the inspection environment such as the difference in illuminance for each inspection position, the distribution of brightness on the inspection surface, the strength of shadows, and the difference in brightness comparison with the background. Since it is necessary to assume multiple inspection items such as the presence or absence of defects and surface scratches, and in addition, it is necessary to perform these inspections at a higher speed in order to improve production efficiency, an appropriate inspection environment is required. It is difficult to provide inspection procedures.

In the prior art, there are mobile robots equipped with an articulated arm and a camera mounted on the tip of the arm, and those in which a camera is placed separately from the robot to improve inspection accuracy and efficiency, but there are multiple types. It has not yet been confirmed within the scope of the inventor's investigation that the robot that inspects and collects the parts of the above provides an inspection environment that solves the above problems.

That is, for example, Patent Document 1 is known as a conventional technique for inspecting by a robot, and in Patent Document 1, an upper body type work robot having a body, a head, an arm, and a camera on a trolley equipped with a moving mechanism. Is installed, the alignment reference such as the cross mark installed at the destination is imaged, and the amount of deviation between the work robot and the work object placed at the destination is calculated from the acquired image information. The work accuracy at the destination is improved.

Japanese Patent No. 5924786 Guidance method and guidance device for traveling robot

However, in the prior art described in Patent Document 1, since the inspection conditions such as the lighting arrangement depend on the inspection environment of the moving destination, there is an inconvenience that it is not possible to judge a non-defective product with high efficiency and high accuracy.

Therefore, in view of the above problems, the present invention has an end effector capable of gripping and handling the supplied part, and an articulated arm capable of gripping and handling the part in any position and / or posture. An object of the present invention is to provide a non-defective product collection system that enables high-precision and high-efficiency inspection in inspection of a plurality of types of parts and collection of non-defective products using a robot. Another object of the present invention is to provide a controller and a program for controlling an articulated arm and the like of the non-defective product collection system.

The non-defective product collection system of the present invention that advantageously solves the above problems
A robot having an end effector capable of gripping and handling each of a plurality of types of supplied parts and having an articulated arm capable of gripping and handling those parts at any position and / or posture.
A primary inspection sensor provided on the robot capable of primary inspection of parts before and / or parts being handled by the articulated arm.
The robot is provided with a secondary inspection sensor capable of performing a secondary inspection with higher accuracy than the primary inspection sensor of a part handled by the articulated arm.
It is characterized in that only parts that cannot be judged as non-defective products by the primary inspection by the primary inspection sensor are subjected to high-precision secondary inspection by the secondary inspection sensor and only non-defective products are collected.

In addition, the controller and program of the present invention
It is characterized in that it controls the operation of the robot, the primary inspection sensor, and the secondary inspection sensor.

In the non-defective product collection system of the present invention, and the controller and program for controlling the system, the robot uses the articulated arm when inspecting a plurality of types of supplied parts and collecting non-defective products. The end effector is moved to the supply position of each part, and then, under the operation of the articulated arm, the end effector grips and handles the part to be inspected to be supplied, and the position of the part and / Or the posture is arbitrary.

Then, the sensor for primary inspection using, for example, image processing provided in the robot performs the primary inspection (screening inspection) of the parts before and / or being handled by the articulated arm, and the robot. The secondary inspection sensor using, for example, a displacement sensor provided in the above performs a secondary inspection (detailed inspection) of the parts handled by the articulated arm with higher accuracy than the primary inspection sensor. At that time, only the parts that cannot be judged as non-defective products by the primary inspection by the primary inspection sensor are subjected to high-precision secondary inspection by the secondary inspection sensor, and only the non-defective products are collected.

Therefore, according to the non-defective product collection system of the present invention, and the controller and program for controlling the system, the primary inspection (screening inspection) and the secondary inspection (detailed inspection) are used in combination, and the detailed inspection by the secondary inspection sensor is used. By limiting the implementation target to only the parts that cannot be judged as non-defective products in the primary inspection, it is possible to improve the inspection efficiency by omitting the inspection process while improving the inspection accuracy.

In the non-defective product collection system of the present invention, when collecting and inspecting a part to be inspected, the robot handles the part with only one articulated arm at an arbitrary position and / or posture. It is preferable that the product can be used.

Further, in the non-defective product collection system of the present invention, when the robot collects and inspects the parts to be inspected, the robot holds the parts between a plurality of the articulated arms and holds them in an arbitrary posture. It is preferable that it can be fixed.

Further, in the non-defective product collection system of the present invention, the end effector of the mobile robot has a claw shape capable of gripping and handling a plurality of types of parts having different shapes when collecting and inspecting the parts to be inspected. And those having a claw movement mechanism are preferable.

Further, in the non-defective product collection system of the present invention, the robot is preferably a mobile robot provided with a pedestal portion for moving the articulated arm to a position where a part to be inspected is supplied.

Here, the pedestal portion has, for example, a telescopic mechanism capable of moving in the vertical direction and / or a traveling mechanism capable of moving in the horizontal direction, and the articulated arm is moved to a position where parts to be inspected are supplied. May be moved.

Further, in the good product collection system of the present invention, the robot has a body portion having the articulated arm and a head arranged on the body portion, and the head and / or the articulated arm. It is preferable that the imaging device is provided in the camera, and when the component to be inspected is collected, the component is imaged by the imaging device to recognize the position of the component.

Further, in the non-defective product collection system of the present invention, when the primary inspection sensor has an imaging device on the head and / or the articulated arm and / or the pedestal portion and collects the parts to be inspected. In addition, it is preferable that the component before and / or being handled by the articulated arm is imaged by the imaging device and the primary inspection of the component is performed.

Further, in the non-defective product collection system of the present invention, it is preferable that the robot has an illumination capable of adjusting the luminous intensity required for the imaging device to perform imaging.

Further, in the non-defective product collection system of the present invention, the secondary inspection sensor has a displacement sensor provided on the robot, for example, the articulated arm and / or the pedestal portion, and collects the parts to be inspected. At that time, it is preferable that the inspection point of the part handled by the articulated arm is measured by the displacement sensor and the secondary inspection of the part is performed.

Further, in the non-defective product collection system of the present invention, the secondary inspection sensor is fixed on the robot, for example, the pedestal portion, and the articulated arm is a component to be inspected by the secondary inspection sensor. It is preferable that the device operates so that the inspection point can be inspected.

Further, in the non-defective product collection system of the present invention, the secondary inspection sensor is movably mounted on the robot, for example, the pedestal portion, and the articulated arm is the inspection by the secondary inspection sensor. It is preferable that the part is fixed in the space so that the inspection point of the target part can be measured, and the secondary inspection sensor moves to the part for inspection.

Further, in the non-defective product collection system of the present invention, the inspection points of the parts to be inspected by the secondary inspection sensor are limited to a range that cannot be determined to pass the inspection by the primary inspection sensor. preferable.

Further, in the non-defective product collection system of the present invention, it is preferable that the inspection points by the secondary inspection sensor are decomposed into a plurality of inspection ranges that can be inspected by one movement of each arm.

Further, in the non-defective product collection system of the present invention, the robot has a dust remover, and the dust remover removes dust adhering to the parts to be inspected before carrying out the primary inspection and / or the secondary inspection. It is preferable to exclude it.

Further, in the non-defective product collection system of the present invention, the robot is arranged with a tray for storing passed products that can store parts judged to be passed in the primary inspection or the secondary inspection, and the parts judged to be passed. Is stored in the accepted product storage tray, and the accepted product storage tray has a shape capable of storing the parts judged to be the accepted products in a specific arrangement, and the robot has the primary inspection or the second. It is preferable that the tray for storing the passed product containing the parts judged to be passed in the next inspection is supplied to the next process.

Further, in the non-defective product collection system of the present invention, the robot has a tray for storing rejected products that can store the parts judged to be rejected in the secondary inspection, and the parts judged to be rejected are stored. It is preferable that the product is stored in the rejected product storage tray.

It is a flowchart which sequentially shows the first stage of the good product collection procedure in one Embodiment of the good product collection system of this invention. It is a flowchart which sequentially shows the latter part of the good product collection procedure in one Embodiment of the good product collection system of this invention. (A) and (b) are a plan view and a perspective view showing the appearance of the mobile robot provided in the non-defective product collection system of the above embodiment. (A) and (b) are front views and side views showing the appearance of the mobile robot included in the non-defective product collection system of the above embodiment. It is a perspective view which shows approximately the whole of the good product collection system of the said embodiment. It is a top view which shows the whole of the good product collection system of the said embodiment. (A) and (b) are explanatory views showing different operating states of the mobile robot at the time of parts collection in the non-defective product collecting system of the said embodiment. (A) and (b) are explanatory views which show the operating state of the mobile robot in the primary inspection and the secondary inspection in the good product collection system of the said embodiment. It is explanatory drawing which shows the case where the range of the secondary inspection of the part to be inspected in the good product collection system of the said embodiment is divided.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings by way of examples. Here, FIGS. 1A and 1B are flowcharts sequentially showing the first stage and the second stage of the non-defective product collection procedure in one embodiment of the non-defective product collection system of the present invention.

2 (a) and 2 (b) are plan views and perspective views showing the appearance of the mobile robot included in the non-defective product collection system of the above embodiment, and FIGS. 3 (a) and 3 (b) are the above. It is a front view and the side view which shows the appearance of the mobile robot as a robot provided in the good product collection system of embodiment.

The mobile robot 4 has a head 1, a body 2, and an arm 3 as an articulated arm, and the arm 3 has two arms 3 on the left and right sides of the body 2 as twin arms. Is desirable. By using the dual-arm robot 4, it is possible not only to handle the parts to be inspected with one arm but also to change the parts to be inspected between the left and right arms.

Here, the head 1 has a head stereo camera 5 capable of image recognition as an imaging device. Further, the head 1 has a neck portion 1a between the head portion 1 and the body portion 2. It is desirable that the neck portion 1a has a movable axis having about two degrees of freedom (a pitch axis that swings the head 1 back and forth and a yaw axis that swings left and right).

A neck LED luminaire 6 that illuminates the image pickup target of the stereo camera 5 on the head is fixed to the neck 1a. The imaging direction of the head stereo camera 5 and the irradiation direction of the illumination light by the neck LED lighting fixture 6 are changed together by the operation of the neck 1a, and the illumination light by the neck LED lighting fixture 6 is used for the head stereo camera 5. Always maintain the same mutual positional relationship so that it becomes lighting. By combining the head stereo camera 5 with the neck LED lighting fixture 6, it is possible to always obtain an appropriate luminous intensity for imaging.

It is desirable that the body portion 2 has a movable axis having about one degree of freedom (a yaw axis that swings the body portion 2 left and right with respect to a pedestal portion 8 described later that supports the body portion 2 and mounts the controller 40). The controller 40 has a normal computer, and controls the operations of the primary inspection sensor and the secondary inspection sensor, which will be described later, in addition to the operations of the mobile robot 4 itself, as described later, according to a program given in advance. As a robot that supports the body portion with such a pedestal portion, for example, a dual-arm robot "trade name NEXTAGE (registered trademark)" manufactured and sold by Kawada Robotics Co., Ltd., which is one of the joint applicants of the present application, is known. There is.

Each of the right arm and the left arm constituting the arm portion 3 has an end effector 7 capable of gripping and handling various types of parts to be inspected at its tip, and the end effector 7 can grip these various types of parts. As described above, it is desirable to have about three claws and a claw moving mechanism capable of opening and closing those claws. It is desirable that the right arm and the left arm each have a link mechanism of serial connection having a movable axis of about 6 degrees of freedom capable of realizing an arbitrary position and posture of the end effector 7 as a multi-degree-of-freedom arm. ..

Further, at least one of the right arm and the left arm constituting the arm portion 3 may have a hand camera 30 capable of photographing a component to be inspected at its tip portion 3a.

The mobile robot 4 further has a pedestal portion 8, and in addition to the controller 40 described above, the pedestal portion 8 can move the head portion 1, the body portion 2, and the arm portion 3 in the vertical direction with respect to their front directions. For example, it has a motor-driven telescopic mechanism 9 and / or a motor-driven traveling mechanism 10 capable of moving the head portion 1, the body portion 2, and the arm portion 3 in the left-right direction with respect to their front direction.

The pedestal portion 8 has an inspection device for a primary inspection (screening inspection) and an inspection device for a secondary inspection (detailed inspection) on the upper surface thereof. In this embodiment, a pair of a monocular camera 11 capable of image recognition as a primary inspection device and a contact type displacement sensor 12 as a secondary inspection device are provided on the left and right sides of the body portion 2.

The secondary inspection device may be a device capable of inspecting with higher accuracy than the primary inspection device, or an element capable of inspecting elements for which precise pass / fail judgment is difficult with the primary inspection device, and is a contact type displacement. Instead of or in addition to the sensor 12, for example, a non-contact laser displacement sensor or the like may be used. Further, as the primary inspection device, a head stereo camera 5 or a hand camera 30 may be used in place of or in addition to the monocular camera 11 provided on the pedestal.

By providing the monocular camera 11 on the pedestal portion 8 which is independent of the movement of the arm portion 3, it is possible to facilitate the handling of the parts to be inspected by the single arm of the arm portion 3 and improve the inspection speed. .. Further, by using the contact type displacement sensor 12 together, it is possible to construct a collection system capable of performing the secondary inspection by the contact type displacement sensor 12 only for the parts that could not be determined as a passing product in the primary inspection by the monocular camera 11. it can.

It is desirable that the pedestal portion 8 has a tray fixing portion 14 for fixing the accepted product storage tray 13 on the pedestal portion 8 which can store the passed products in a specific arrangement. Further, it is desirable that the pedestal portion 8 has a tray 15 for storing rejected products that can temporarily store rejected products.

4 and 5 are perspective views and plan views showing substantially the entire non-defective product collection system of the above embodiment. As shown in the figure, the non-defective product collection system of this embodiment further includes a storage shelf 16 in which a plurality of types of parts 17 to be inspected are stored, and the storage shelf 16 is the position of the parts 17 to be inspected by the mobile robot 4. It is desirable to have a structure in which the parts 17 are arranged so that the recognition can be performed appropriately, and the parts 17 can be stored so as to be sequentially supplied.

In the example shown in FIGS. 6A and 6B, the storage shelf 16 has a component supply path inclined toward the mobile robot 4, and the component 17 slides downward on the inclined path toward the mobile robot 4. Then, at the next component supply position 16a at the lower end of the ramp, the mobile robot 4 is held so that it can be gripped by the end effector of the arm 3.

The non-defective product collection system of this embodiment further includes the conveyor 20 for supplying trays for storing accepted products and the conveyor 20 for supplying the accepted products within a range that the arm 3 of the mobile robot 4 can reach while the mobile robot 4 is moving or staying in place. A conveyor 21 for transferring a tray for storing accepted products is provided. The non-defective product collection system of the embodiment may include a tray supply operation switch 20a and a tray transfer operation switch 21a provided so as to be operated by the arm portion 3 or the end effector 7 of the mobile robot 4.

Next, in the non-defective product collection and inspection system of the above embodiment, the left and right arm portions 3 independently grip the parts 17, and the monocular camera 11, the head stereo camera 5, or the hand camera 30 fixed on the pedestal portion 8 are used. The operation of performing the primary inspection (screening inspection) by image recognition and the secondary inspection (detailed inspection) using the contact type displacement sensor 12 will be specifically described with reference to the flowcharts of FIGS. 1A and 1B. Here, the inspection system of the above embodiment first prepares for the inspection by the following 1. ~ 4. Perform the process of.

1. 1. The mobile robot 4 controlled by the controller 40 mounted on the pedestal portion 8 receives the passing product storage tray 13 from the passing product storage tray supply conveyor 20 by the arm portion 3 and the end effector 7, and the pedestal portion 8 The tray is moved to the upper tray fixing portion 14, and the accepted product storage tray 13 is fixed on the pedestal portion 8 by the tray fixing mechanism 14a for moving the clamp by, for example, a motor or an air cylinder. The operation of the tray supply operation conveyor 20 for storing the accepted products is performed by the mobile robot 4 operating the tray supply operation switch 20a by the arm portion 3 and the end effector 7. The operation of the tray supply conveyor 20 for storing accepted products may be performed based on the detection result of a sensor (not shown) that detects that the mobile robot 4 is in the tray supply position, or the operator may operate the tray supply operation. This may be done by operating the switch 20a.

2. 2. The mobile robot 4 controlled by the controller 40 is moved to a position where the component 17 to be inspected stored in the storage shelf 16 can be gripped by the telescopic mechanism 9 and / or the traveling mechanism 10 of the pedestal portion 8. As shown in FIG. 5, a plurality of storage shelves 16 may be arranged in the left-right direction according to the moving range of the traveling mechanism 10 of the pedestal portion 8, and as shown in FIGS. 6A and 6B. As shown, a plurality of pedestals may be arranged in the vertical direction according to the moving range of the telescopic mechanism 9 of the pedestal portion 8.

3. 3. The mobile robot 4 controlled by the controller 40 uses the head stereo camera 5 and / or the hand camera 30 to image the next component supply position 16a, and the controller 40 uses the image recognition of the captured image to perform the next inspection. Recognize the position information of the target component 17. If the illuminance required for recognition is insufficient, the neck LED luminaire 6 irradiates the illumination light to obtain a recognizable illuminance.
4. The mobile robot 4 controlled by the controller 40 grips the next inspection target part 17 by the arm portion 3 and the end effector 7 and takes it out from the storage shelf 16.

The inspection system of the above embodiment is then subjected to the following 5. ~ 7. Perform the process of.

5. As illustrated in FIG. 7A, the mobile robot 4 controlled by the controller 40 can recognize an image of the primary inspection range 18 by the monocular camera 11 on the pedestal portion 8 or the head stereo camera 5 of the head 1. As possible, the position and orientation of the component 17 to be inspected are changed by the operation of the arm 3 and the end effector 7 to perform imaging (image acquisition), and the controller 40 primary by recognizing the image of the captured image. Perform a test (screening test). Items of the primary inspection by image recognition include, for example, shape confirmation by edge extraction and matching with a pass image, and / or confirmation of the presence or absence of scratches on the surface of the part to be inspected.
6. The mobile robot 4 controlled by the controller 40 changes the position and posture of the parts 17 by the arm 3 and continues the inspection until the inspection of all the inspection points of the parts 17 to be inspected is completed.

When imaging an inspection location where image recognition becomes difficult due to being gripped by the end effector 7, the left and right arms 3 are used to change the inspection target part 17 or to change the inspection portion 17 so that the image recognition becomes possible. The component 17 may be separated once and then gripped again. When the mobile robot 4 is provided with the hand camera 30, the head stereo camera 5 or the hand camera 30 images the component 17 before grasping the component 17 to be inspected, and the primary image recognition is performed in the same manner as described above. An inspection may be performed.

7. The mobile robot 4 controlled by the controller 40 is a component 17a determined to be a passable product in the primary inspection by the monocular camera 11 on the pedestal portion 8, the head stereo camera 5 on the head portion 1, or the hand camera 30 on the arm portion 3. Is stored in the accepted product storage tray 13 on the pedestal portion 8 by the operation of the arm portion 3.

The inspection system of the above embodiment is then subjected to the following 8. ~ 14. Perform the process of.

8. If the part 17 to be inspected cannot be determined to be a passing product in the above primary inspection, the contact type displacement sensor 12 attached to the pedestal portion 8 is attached to the part 17 as illustrated in FIG. 7B. Perform a secondary inspection using.
9. Examples that cannot be judged as pass in the primary inspection are 1) when the edge shape existing in the pass image cannot be recognized in the image of the part to be inspected in the edge extraction, and 2) pass in the image of the part to be inspected in the edge extraction. When an edge having a shape different from that of the image is extracted, it is conceivable that 3) an edge shape that does not exist in the pass image is recognized in the image of the component in the edge extraction.

Here, in the case of 1), it is conceivable that the edge could not be extracted due to a problem such as illuminance, or the shape of the part to be inspected is actually defective. In the case of 2), whether the edge extraction of the part to be inspected was not performed normally due to the relationship with the background image, whether foreign matter is attached to the edge part of the part to be inspected, or whether the part to be inspected is actually inspected. It is possible that it has a defective shape. In the case of 3), it is conceivable that dust or the like adhering to the surface of the part to be inspected is extracted as an edge, or the surface of the part to be inspected is actually scratched.

10. The inspection point 19 of the secondary inspection by the contact type displacement sensor 12 is limited to the inspection range that could not be judged as passing in the primary inspection.
11. Before moving to the secondary inspection, a step of removing deposits by a dust removing device such as an air duster may be added to the inspection point 19. As a result, the pass / fail judgment criteria in the secondary inspection can be limited to the presence or absence of a shape defect at the inspection location 19, so that the inspection accuracy can be further improved.

12. In the secondary inspection by the contact type displacement sensor 12, the mobile robot 4 controlled by the controller 40 operates the arm portion 3 so that the displacement detection probe of the contact type displacement sensor 12 is attached to the inspection point 19. If the controller 40 does not detect a feature amount that fails in the shape inspection of the component 17 to be inspected, such as a discontinuous change exceeding the pass / fail determination threshold, from the measured value of the contact type displacement sensor 12. , It can be judged that there is no defect, defective shape, surface scratch, etc. of the component 17 to be inspected.
13. In the secondary inspection by the contact type displacement sensor 12, the contact type displacement sensor 12 is moved while the arm portion 3 and the component 17 to be inspected are spatially fixed by providing a moving mechanism on the contact type displacement sensor 12 side. The inspection point 19 may be measured.

14. The inspection location 19 of the detailed inspection in the secondary inspection may be further limited. For example, as shown in FIG. 8, in one image of the part 17 to be inspected acquired in the primary inspection, the inspection portion 19 is divided into a plurality of parts, and the range in which the pass / fail judgment is performed in one image processing is further limited. , Make a pass / fail judgment for each range. As a result, the inspection points 19 for the detailed inspection by the contact type displacement sensor 12 are decomposed into a plurality of inspection ranges 19a to 19i that can be inspected by one motion (linear motion or rotary motion) of each arm 3, and two of the respective ranges. By performing the secondary inspection in one operation, the time required for the secondary inspection can be shortened.

15. The mobile robot 4 controlled by the controller 40 stores the parts 17a to be inspected, which are determined to be passed products as a result of the secondary inspection, into the passed product storage tray 13 on the pedestal portion 8 by the operation of the arm portion 3.
16. As a result of the secondary inspection, the parts 17b to be inspected, which are determined to be rejected products, are stored in the rejected product storage tray 15 by the operation of the arm 3. In this case, next, the mobile robot 4 takes out the parts 17 of the same type from the storage shelf 16, and again the above 5. ~ 7. Primary inspection, or further above 8. Perform the steps of the secondary inspection of ~ 14.
17. Until the collection of the necessary parts 17 is completed. ~ 16. The above steps are repeated, and all the accepted products 17a are stored in the accepted product storage tray 13 on the pedestal portion 8.

18. Next, the mobile robot 4 controlled by the controller 40 uses only the traveling mechanism 10 and the telescopic mechanism 9 of the pedestal portion 8 or the traveling mechanism 10 to transfer the accepted product storage tray 13 to the next process. The storage tray moves in front of the transfer conveyor 21.
19. The mobile robot 4 controlled by the controller 40 releases the fixing of the passing product storage tray 13 to the pedestal portion 8, and places the passing product storage tray 13 on the passing product storage tray transfer conveyor 21. Transfer to the process. The operation of the tray transfer operation conveyor 21 for storing the accepted products is performed by the mobile robot 4 operating the tray transfer operation switch 21a by the arm portion 3 and the end effector 7. The operation of the pass product storage tray transfer conveyor 21 may be performed based on the detection result of a sensor (not shown) that detects that the pass product storage tray 13 is arranged at the tray transfer position, or the operator. May be performed by operating the tray transfer operation switch 21a.

As described above, according to the non-defective product collection system of the above embodiment, and the controller 40 and the program for controlling the system, the monocular camera 11 on the pedestal portion 8, the head stereo camera 5 of the head portion 1, or the arm portion 3 By using both the primary inspection (screening inspection) by image recognition of the captured image with the hand camera 30 and the secondary inspection (detailed inspection) by the contact type displacement sensor 12, the inspection environment such as lighting arrangement can be dealt with. Since it is possible to carry out robust inspections, only good products (passed products) can be collected in different inspection environments.

Further, according to the non-defective product collection system of the above embodiment, and the controller 40 and the program for controlling the system, a product that has passed the primary inspection by image recognition for the target of the detailed inspection by the contact type displacement sensor 12 for the secondary inspection. By limiting to only the parts and parts that cannot be determined to be, it is possible to improve the inspection efficiency by omitting the inspection process while improving the inspection accuracy.

Although described above based on the illustrated example, the non-defective product collection system of the present invention is not limited to the above-mentioned example, and can be appropriately changed within the scope of the claims. For example, the mobile robot 4 May have only one or three or more articulated arms. Further, the controller 40 may be provided separately from the mobile robot 4 instead of on the pedestal portion 8 of the mobile robot 4, and the image recognition device for the primary inspection may be provided separately from the controller 40 of the mobile robot 4. It may be provided on the pedestal portion 8 or outside the pedestal portion 8. Further, the robot in the present invention may be a non-moving robot.

Thus, according to the good product collection system of the present invention, and the controller and program for controlling the system, the target of the detailed inspection by the secondary inspection sensor is limited to the parts that cannot be judged as good products by the primary inspection. It is possible to improve the inspection efficiency by omitting the inspection process while improving the inspection accuracy.

1 Head 1a Neck 2 Body 3 Arms 3a Tip 4 Mobile robot 5 Head stereo camera 6 Neck LED lighting fixture 7 End effector 8 Pedestal 9 Telescopic mechanism 10 Travel mechanism 11 Monocular camera 12 Contact type displacement sensor 13 Passed product Storage tray 14 Tray fixing part 14a Tray fixing mechanism 15 Failed product storage tray 16 Storage shelf 16a Next parts supply position 17 Parts 17a Parts judged to be acceptable 17b Parts judged to be rejected 18 Primary inspection range 19 Inspection location 19a to 19i Inspection range that can be inspected with one operation 20 Tray transfer operation switch for passing product storage 20a Tray supply operation switch 21 Tray transfer operation conveyor for passing product storage 21a Tray transfer operation switch 30 Hand camera 40 Controller

Claims (18)

A robot having an end effector capable of gripping and handling each of a plurality of types of supplied parts and having an articulated arm capable of gripping and handling those parts at any position and / or posture.
A primary inspection sensor provided on the robot capable of primary inspection of parts before and / or parts being handled by the articulated arm.
The robot is provided with a secondary inspection sensor capable of performing a secondary inspection with higher accuracy than the primary inspection sensor of a part handled by the articulated arm.
A non-defective product collection system characterized in that only parts that cannot be judged as non-defective products by the primary inspection sensor are subjected to high-precision secondary inspection by the secondary inspection sensor and only non-defective products are collected. The robot is characterized in that when collecting and inspecting a part to be inspected, the part can be handled in an arbitrary position and / or posture with only one articulated arm. The non-defective product collection system according to claim 1. The robot is characterized in that when collecting and inspecting a part to be inspected, the part can be held between a plurality of the articulated arms and re-grasped in an arbitrary posture. The non-defective product collection system according to claim 1 or 2. The end effector of the robot is characterized by having a claw shape and a claw moving mechanism capable of gripping and handling a plurality of types of parts having different shapes when collecting and inspecting the parts to be inspected. The non-defective product collection system according to any one of claims 1 to 3. The robot according to any one of claims 1 to 4, wherein the robot is a mobile robot including a pedestal portion that moves the articulated arm to a position where a part to be inspected is supplied. Good product collection system. The robot has a body portion having the articulated arm and a head arranged on the body portion, and has an imaging device on the head and / or the articulated arm, and is subject to the inspection. The non-defective product collection system according to any one of claims 1 to 5, wherein when the parts are collected, the parts are imaged by the imaging device to recognize the position of the parts. .. The primary inspection sensor has an imaging device on the head and / or the articulated arm and / or the pedestal portion, and before handling with the articulated arm when collecting the parts to be inspected. The non-defective product collection system according to any one of claims 1 to 6, wherein the component being handled is imaged by the imaging device and the primary inspection of the component is performed. The non-defective product collection system according to claim 6 or 7, wherein the robot has an illumination capable of adjusting the luminous intensity required for the imaging device to perform imaging. The secondary inspection sensor has a displacement sensor provided on the robot, and when collecting the parts to be inspected, the displacement sensor measures the inspection points of the parts handled by the articulated arm. The non-defective product collection system according to any one of claims 1 to 8, wherein the secondary inspection of the parts is performed. The secondary inspection sensor is fixed on the pedestal portion, and the articulated arm operates so that the inspection portion of the component to be inspected can be inspected by the secondary inspection sensor. The non-defective product collection system according to claim 5, which is characterized. The secondary inspection sensor is movably mounted on the pedestal portion, and the articulated arm spaces the part so that the inspection point of the part to be inspected can be measured by the secondary inspection sensor. The non-defective product collection system according to claim 5, wherein the sensor for secondary inspection is fixed inside and moves to inspect the part thereof. Claims 1 to 11 are characterized in that the inspection points of the parts to be inspected by the secondary inspection sensor are limited to a range that cannot be determined to pass in the inspection by the primary inspection sensor. The non-defective product collection system described in any one of the above. The invention according to any one of claims 1 to 12, wherein the inspection portion by the secondary inspection sensor is decomposed into a plurality of inspection ranges that can be inspected by one movement of each arm. Good product collection system. The robot has a dust remover, and the dust remover removes dust adhering to the parts to be inspected before performing the primary inspection and / or the secondary inspection. The non-defective product collection system according to any one of claims 1 to 13. The robot is supplied with a tray for storing passed products that can store parts that are judged to be passed products in the primary inspection or the secondary inspection.
The tray for storing passed products has a shape that allows parts judged to be passed products to be stored in a specific arrangement.
The robot is characterized in that it transfers the tray for storing the passed product containing the parts determined to be the passed product in the primary inspection or the secondary inspection to the next process. Good product collection system described in any one of the above. The robot has a tray for storing rejected products that can store parts determined to be rejected in the secondary inspection, and stores the parts determined to be rejected in the tray for storing rejected products. The non-defective product collection system according to any one of claims 1 to 15, wherein the non-defective product collection system is characterized by the above. The non-defective product collection system according to any one of claims 1 to 16, characterized in that the operation of the robot, the primary inspection sensor, and the secondary inspection sensor is controlled. controller. The program for controlling a controller according to claim 17, wherein the operation of the robot, the sensor for primary inspection, and the sensor for secondary inspection is controlled.