JPH0192082A - Part discriminator for part feeder - Google Patents

Abstract

PURPOSE: To perform an inspectional discrimination being high in stable reliability irrespective of a line speed by installing a judging means for judging a sense and something wrong or the like in individual parts on the basis of each part image inputted by an image inputting means. CONSTITUTION: Parts so far fed are situated in front of a camera 2 with a hand mechanism part 3, and then each picture image of these parts inputted by this camera 2 is made into a contour extractive processing by a contour extracting part 4b. Picture information subjected to this contour extractive processing is inputted into a form judging part 4d, and in this form judging part 4d, reference picture information 4e prestored in a picture memory 4c is compared with the picture information subjected to this contour extractive processing, and thereby the judgment of a sense and something wrong in individual parts takes place. On the basis of this judged result, for example, in the case where the abnormality such as a defect in the part is found out, the hand mechanism part 3 is controlled by a central processing unit 10, those of defective parts are wiped out to a specified reject discharge part, and if being normal and directed aright, they are conveyed to the specified position of a next process.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a parts discrimination device for a parts feeder, and in particular,
The present invention relates to a parts discriminating device for a parts feeder that captures images of parts with a camera and uses computer processing to determine their orientation and abnormalities.

[Conventional technology]

In general, parts feeders are used in FA (factory automation) equipment and the like, for example, as a means for feeding parts and the like onto the automation line.

The parts filled in the parts storage section of the parts feeder are aligned and supplied one by one onto an automation line or at a predetermined position via a supply path of the parts feeder. If necessary, the supplied parts are manually inspected (visually checked, etc.) for their orientation or presence of abnormalities, and then proceed to the next process.

[Problem that the invention seeks to solve]

However, conventionally, inspection of component orientation or abnormalities requires manual intervention, which may lead to omissions in inspections when the automation line speed is high, or a lack of concentration when the line speed is slow. There is a risk of inspection errors. There was also the disadvantage that reliability deteriorated over time.

[Means for solving problems]

The present invention has been made in view of the above, and in order to enable stable and reliable inspection and discrimination without being affected by line speed, images of parts are captured using a camera and processed by computer processing. The object of the present invention is to provide a parts discrimination device for a parts feeder that discriminates the orientation and abnormality of the parts feeder.

That is, the parts feeder discrimination device of the present invention includes the following means.

(11 Component gripping means Grips the component supplied from the parts feeder and moves it to a predetermined position for image input. Based on the determination result of the component determination means described later, for example, if there is an abnormality in the component, Good parts are transported to a defective product discharge section and to a predetermined position for the next process.For example, a hand mechanism with a grip can be used as the part gripping means.

(2) Image input means (camera) Inputs an image of a component into an image buffer of a component discriminating means, which will be described later.

(3) Component determining means Determines the orientation of the component, abnormality, etc. based on the image input by the image input means.

The component discrimination means includes, for example, an image buffer into which an image of the component is input, a contour extraction section that extracts the contour of the image, an image memory that stores image information of the component for judgment comparison in advance, and a contour extraction section that extracts the contour. The shape determination unit may be configured to compare the image information obtained in the image memory with the determination image information stored in the image memory and determine the shape of the component.

(4) Control means controls the component gripping means based on the determination result of the component discriminating means. For example, if the part is good, it is transported to a predetermined position leading to the next process, and if it is determined that the part is oriented incorrectly or is abnormal, it is swept out to a defective or non-defective part discharge section.

[Effect]

With the above configuration, the parts fed from the parts feeder are moved to a predetermined position for image input by the component gripping means, and then the image is inputted by the image input means.

The input image is subjected to contour extraction processing by the contour extraction section, and is compared with image information in a preset image memory in the shape determination section to determine the orientation of the part and abnormalities.

Based on the determination result of the shape determining section of the component discriminating means, the control means determines, for example, when an abnormality such as a defect is found in the component,
The parts conveying means is controlled to sweep out abnormal parts to a predetermined defective product discharge section, and if the parts are normal and in the correct direction, they are transported to a predetermined position for the next process.

The parts feeder discrimination device of the present invention will be described in detail below.

〔Example〕

FIGS. 1(a) and 1(b) show a first embodiment of the present invention, which includes a parts storage section 1a for storing parts, a supply path 1b for transporting parts, and a port provided at the outlet of the supply path 1b. t7
A, a port B consisting of a parts feeder 1 with A, an X-Y stage provided on an X and Y movement path 13.14 driven by a drive unit 11.12, and a port B for inputting images of parts. A camera 2, a hand mechanism section 3 that grips the parts transported on the boat A, moves them to a predetermined image input range of the camera 2, and then transports them onto the port B, an image discriminator 4 that inputs the information and determines the direction of the component and abnormalities, and a controller (CPU) that controls the hand mechanism 3 based on the determination of the image discriminator 4.
) Consists of 10.

FIG. 2 shows the configuration of the hand mechanism section 3, which includes a grip 3a for gripping a component, a rotating section 3b for directing the component gripped by the grip 3a toward the camera 2, and a vertical movement of the grip 3a. It consists of a piston 3c that performs this, and an arm 3d that slides to transport parts from port A to port B.

FIG. 3 shows an image discrimination section 4 and a control section (CPU) 10, and an image buffer 4 into which images are input via the camera 2.
a, a contour extraction processing unit 4b that extracts the contour of the image in the image buffer 4a, and a reference image 4 from which the contour of the part has been extracted in advance.
The image memory 4c that stores the image ``e'' is compared with the input image whose contour has been extracted by the contour extraction processing section 4b and the reference image 4e stored in the image memo 'J4c, to determine the shape of the input image, for example, the direction of the part. and a shape determining section 4d that determines an abnormality. The CPU10 controls the hand mechanism section 3 based on the determination result of the shape determining section 4d, and 4L4g indicates an input section and an output section for storing the reference image 4e in the image memory 4c.

In the above configuration, the parts storage section 1 of the parts feeder l
The parts stored in a are aligned through the supply path 1b, and -
They are supplied to port 1-A one by one. When the component is placed at a predetermined position on port A, the piston 3c of the hand mechanism section 3
is lowered, and the component is gripped by the grip 3a.

Subsequently, the component is oriented in a predetermined direction for image input by the rotation of the rotating portion 3b and the upward movement of the piston 3c. In other words, it is arranged in front of the camera 2. At the same time, arm 3d slides in the direction of port B, and the components and camera 2 begin to move. At this time, as shown in FIG. 1(b), the parts and the camera 2 move while maintaining their relative positions. On the other hand, an image of the part is inputted by the camera 2 and stored in the image buffer 4a. At this time, the input image contains the grip 3a and the background in addition to the image of the part, and the contour extraction processing section 4b performs contour extraction processing to transfer only the contour image of the component to the next shape determination section. 4
Enter in d. The shape determination unit 4d uses the input outline image of the part and the reference image 4e stored in advance in the image memory 4c.
to determine component orientation and abnormalities. As the reference image 4e, for example, a contour image of each large surface (front, back, plane, bottom, right side 2, and left side) of the parts used in the line may be stored for each part. can. The abnormality of the part is determined based on whether the input contour image of the part matches the reference image 4e,
Further, the direction of the component is determined based on the matched reference image 4e. Based on the determination result of the shape determining section 4d, C
PU10 controls the hand mechanism section 3, and for example, in the case of improper direction of the component or abnormality determination, the component is not placed in port B, and the defective product discharge section (not shown) provided between port 1-A and port B is placed. ), and if the parts are in good condition, move to boat B.
and return to the original port A position.

The above operations are repeated for each component fed from the parts feeder 1 to detect the direction of the component and any abnormalities. In this embodiment, both the parts with the wrong orientation and the abnormal parts are treated as defective and are swept out to the reject part, but the parts with the wrong orientation and the abnormal parts may be swept out separately. In addition, for parts with inappropriate orientation, by controlling the grip 3a of the hand mechanism section 3, port B
The direction may be corrected at the top. In this example, since the direction of parts and abnormalities can be determined without human intervention, it is possible to avoid a decrease in reliability due to line speed or due to fatigue accumulation, and to always make stable determinations. Can be done.

FIGS. 4(a) and 4(b) show a second embodiment of the present invention, in which two moving paths 17 driven by drive units 15 and 16 are used as component gripping means instead of the hand mechanism unit 3. .1
This is an example in which a sliding hand mechanism section 3A having a number 8 is used. Others are indicated by common quotation numbers, so their explanation will be omitted.

In this way, the component gripping means is not particularly limited, and can move the components supplied from the parts feeder 1 to a predetermined position for image input, and
Based on the discrimination results of the image discrimination unit 4, if there is an abnormality in the part, it is transported to the defective product discharging unit, and if the part is good, it is transported to a predetermined position for the next process (boat B in the example), or by any possible method. Applicable if applicable.

Figure 5 (al, (bl) shows a third embodiment of the present invention, in which when parts are fed from the parts feeder 1, the orientation and abnormality of the parts are determined and transferred onto multiple boats. The hand mechanism section 5 has four arms 5a which are arranged in a cross-shaped positional relationship (at an angle of 90 degrees) and are attached to be rotatable through 360 degrees.
and ports A arranged at equal distances from the center of the hand mechanism section 5 and in a cross shape.

Consists of B, C, and D. The arm 5a of the hand mechanism section 5 is equipped with a camera 2. Grip 3a2 rotating part 3b.

and piston 3C are respectively attached. Others are common and will not be explained or illustrated.

In the above configuration, the parts storage section 1 of the parts feeder l
The plurality of parts stored in the boat A are arranged in a row via the supply path 1b, and are supplied to the boat A one by one. When the part is placed at a predetermined position on the boat A, the piston 3C attached to the arm 5a on the boat A descends, and the part is gripped by the grip 3a. Subsequently, the component is oriented in a predetermined direction for image input by rotating the rotating portion 3b and raising the piston 3C. In other words, it is arranged in front of the camera 2. At the same time, the hand mechanism section 5 starts rotating in a predetermined direction. At this time, as shown in FIG. 5 (bl), the component and the camera 2 rotate while maintaining their relative positions.Meanwhile, an image of the component is inputted by the camera 2 and stored in the image buffer 4a.

At this time, the input image contains the grip 3a and the background in addition to the image of the part, and the contour extraction processing section 4b performs contour extraction processing to transfer only the contour image of the component to the next shape determination section. 4d. Shape determination section 4d
compares the input outline image of the part with a reference image 4e stored in advance in the image memory 4c to determine the direction of the part and abnormalities. Manually created contour image of parts and reference image 4
The abnormality of the part is determined based on whether or not e matches, and also matches. The orientation and type of the part are determined based on the reference image 4e. The CPU 10 transports the parts based on the determination result of the shape determining unit 4d and the parts transport destination port set in advance via the input unit 4f (for example, parts die - port B2 parts concave - port C2 parts △ - port D). do. Here, for example, if the component is determined to be a component opening, when the arm 5a reaches the boat C, cpolo controls the piston 3c9 rotating part 3b and the grip 3a to place the component opening on the port C, Other ports B and D are allowed to pass through. In addition, the above shape determination is performed at port A.
to port B, that is, while the hand mechanism section 5 rotates 90 degrees. When the arm 5a holding a part with the grip 3a rotates 90 degrees from port 1-A to port 1-B, the next arm 5a moves to port A and similarly picks up the parts fed from parts feeder 1. grip 3a
grip by. Thereafter, each time the arm 5a rotates 90 degrees, the component is gripped on the port A, and at the same time, the image discriminator 4
Based on the determination, the parts are transported onto boats B, C, and D. In this embodiment, by providing the arm 5a of the hand mechanism section 5 and a plurality of ports, there are two types of orientation of the parts.
It is possible to judge the type and abnormality, and to perform classification.

〔Effect of the invention〕

As explained above, according to the parts feeder discrimination device of the present invention, an image of a part is captured by a camera, and its orientation and abnormality are determined by computer processing, so that stable reliability is achieved regardless of the line speed. We were able to perform inspection discrimination with high resiliency.

[Brief explanation of the drawing]

FIG. 1+8), (b) is an explanatory diagram of the first embodiment of the present invention. FIG. 2 is an explanatory diagram of the hand mechanism section. FIG. 3 is an explanatory diagram of the image discrimination section. FIGS. 4(a) and 4(b) are explanatory diagrams of a second embodiment of the present invention. FIGS. 5(a) and 5(b) are explanatory diagrams of a third embodiment of the present invention. Explanation of symbols 1 --- Parts feeder 1a --- Parts storage section 1 b --- Supply path 2 --- Camera 3.3A --- Hand mechanism Section 3a --- Grip 3b --- Rotating section 3c --- Piston 3d, 5a --- Arm 4 --- Image discriminating section 4a --- --- - Image buffer 4b--Contour extraction processing section 4d--Shape determination section 4e--Reference image 10--CPU 11.12--Drive section 13. 14-----X, Y movement path 15.16--
-Drive part 17.18----X, Y moving path Patent applicant Japan EM Co., Ltd. Agent Patent attorney Taira 1) Tadao Figure 2 1...---Parts feeder 1a...-- Parts storage section 1b-- 2... Camera 3A-- Hand mechanism section 3a-- --- Grip 3b --- Rotating part 3c --- Pistons 15, 16 --- Drive section 17.18 ----1 ---X , Y moving path A, B・-
...-Port Figure 4 (a) (b) B A

Claims (7)

[Claims] (1) a component gripping means for gripping the parts supplied from the parts feeder; an image input means for inputting an image of the component gripped by the component gripping means; For a parts feeder, comprising: a component discriminator that determines the orientation of the component, an abnormality, etc. based on an image; and a control device that controls the component gripping device based on a determination result of the component discriminator. Parts identification device. (2) A first posture in which the component gripping means catches the component in order to grasp the component, and releases the component in order to finish grasping the component; The parts discriminating device for a parts feeder according to claim 1, configured to take a second attitude facing the image input means. (3) The component discriminating device for a parts feeder according to claim 2, wherein the component gripping means transports the component from a position where the component is caught to a position where the component is released. (4) The component discriminating device for a parts feeder according to claim 2, wherein the component gripping means rotates through 90 degrees to assume the first and second postures. (5) The component discriminating device for a parts feeder according to claim 3, wherein the component gripping means moves horizontally to convey the component. (6) The parts discriminating device for a parts feeder according to claim 5, wherein the image input means inputs an image of the part during horizontal movement of the parts gripping means. (7) Claim 2, wherein the control means controls the component gripping means to release good parts and defective parts at different positions based on the determination result of the parts discrimination means. Parts discrimination device for parts feeder.