JPH03281130A - Inserting device for part - Google Patents

Abstract

PURPOSE:To install a part properly without receiving the effects of the positioning accuracy and dimensional accuracy of a work, by forming plural marks having the specific positional relation to a part insertion hole on the work, measuring the position with their images picking up and recognizing the position of the part insertion hole. CONSTITUTION:Mark holes 52a, 52b for recognizing position are punched at the specific intervals on a trim board 50 and the data of the positions of each clip insertion hole 51 and mark holes 52a, 52b for the robot 20 of the case of the trim board 50 in an ideal shape being set at an ideal position are stored in a memory. The trim board 50 is fixed to a work placing base 11 with a clamp 12 being clamped, the positional data of the mark holes 52a, 52b are read from the memory and a cameras 23 are positioned in order there, the mark holes are picked up and output to a picture image processing part 65. The processing result thereof is fed to a controller and the positions of each clip insertion holes 51 of the trim board 50 are calculated by finding the coordinates of the center positions of the mark holes 52a, 52b.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an apparatus for inserting a component into a component insertion hole formed in a work using a robot.

[Conventional technology]

In this type of component insertion device, a workpiece having a component insertion hole is positioned by a jig, and then a robot inserts the component into the component insertion hole of the workpiece.

[Problem to be solved by the invention]

The conventional component insertion device described above has the following problems.

a. Since the workpiece cannot be accurately positioned using the jig, the position of the component insertion hole relative to the robot may be misaligned, resulting in incorrect insertion of the component.

b. The relative positional relationship between each component insertion hole is accurate, but
Since the external dimensional accuracy of the workpiece is not good, even if the workpiece positioning is performed with high precision, errors in the insertion of components may occur as a result.

In view of this situation, an object of the present invention is to provide a component insertion device that can properly insert components without being affected by the positioning accuracy or dimensional accuracy of the workpiece.

[Means to solve the problem]

The present invention provides an apparatus for inserting a component into a component insertion hole formed in a workpiece using a robot, in which a part is formed in advance in the workpiece in "7" so as to have a predetermined positional relationship with the component insertion hole. In order to detect multiple marks and the above marks,
a visual sensor attached to the robot; a means for measuring the position of each mark on the robot with respect to the robot based on the output of the visual sensor; A means for recognizing the position of the component insertion hole is provided.

[Effect]

The mark is imaged by the visual sensor. The position of the mark relative to the robot is measured based on the output of the visual sensor, and the position of the component insertion hole relative to the robot is recognized from the position of this mark.

[Example] Hereinafter, an example of the present invention will be described with reference to the drawings.

The embodiment shown in FIG. It is equipped with a robot l-20 and a parts feeder 30.

The jig]0 has a workpiece mounting table]1 and a clamper 12, and is arranged in front of the robot I.20.

A finger 22 is attached to the tip of the arm 21 of the robot 20.
A gripping tool 22 having a diameter of 1.a is attached, and a television camera 23 is attached so as to have a downward view.

The parts feeder 30 is provided to supply clips 40, which are insertable parts, to the robot 20, and has the functions of aligning the clips 40 placed in the hopper section 31, and
The Niscape 32 discharges the aligned clips 4o two by two.

The workpiece placed on the workpiece mounting table 1 is a door trim board 5o that is used for the interior of an automobile door, and the periphery thereof is provided with clip insertion holes 51, which are component insertion holes, at predetermined intervals. is drilled.

In this embodiment, two mark holes 5 are provided on the rim board 50 to function as marks for position recognition.
2a and 52b are bored at predetermined intervals.

Note that each clip insertion hole 51 and mark holes 52a, 5
Since 2b is formed by batch punching, each trim bow + of the same specification is: 50 each of the above formulas 5], 52a,
There is no variation in the relative positional relationship of 52b.

FIG. 2 shows the configuration of the control system, and FIG. 3 shows the procedure of processing executed by this control system.

The operation of this embodiment will be explained below with reference to the same drawings.

The memory 6] shown in FIG. 2 contains data when the trim board 50 with no dimensional errors is properly positioned on the workpiece mounting table 1], that is, when the trim board 50 with an ideal shape is set at the ideal position. Data on the positions of each clip insertion hole 51 and the mark holes 52a and 52b with respect to the robot two 20 is stored.

Note that the trim board 50 has specifications (
Overall shape of trim board, position and number of holes 51, hole 5
2a and 52b) are different.

Therefore, the memory 6] contains trim boards 50 of each specification.
All data of the above-mentioned positions are stored.

Now, when the operator operates the model selection switch 62 shown in FIG. 2 to specify a model number, the controller 63 inputs the model number (step 100 in FIG. 3).

After inputting this model number, the trim board 50 corresponding to the model number is set on the workpiece mounting table 1 by the operator. Note that the setting operation of the trim board 50 at this time may be rough. That is, two positioning frames 11a provided on the surface of the workpiece mounting table 11, 1.1. It is only necessary to bring the adjacent edges of the trim board 50 into rough contact with b.

As shown in FIG.
At step 01, it is determined whether the start switch 64 shown in FIG. 2 has been turned on.

After completing the setting operation of the trim board 50 in ``1'', the operator turns on the start switch 64 in ``7'' to perform step]0.
If the determination result in step 1 is YES, the clamper 12 is operated to clamp by the controller 63 (step 1).
．． 02), thereby the trim board 50 is fixed to the workpiece mounting table]1.

7. After the clamper 12 is operated, a process of measuring the positions of the mark holes 52a and 52b is executed (step 103).

That is, the mark hole 52a of the trim board 50 related to the model number input in step 101.

52b is read out from the memory 6], and based on the position data, the positions on the holes 52a and 5 are read out.
Cameras 23 are sequentially positioned on 2b.

The camera 23 located above the holes 52a and 52b images the marked holes and outputs the video signal to the image processing section 65. The image processing section 6 executes data processing using binarization and gray scale, and the processing results are supplied to the controller 63. Therefore, the controller 63
calculates the coordinates of the center positions of mark holes 52a and 52b based on the image processing data.

The details of the process executed in step 103 are as described above.

In the next step 104, the trim board 50 on the work table 11 is moved in step 104 based on the center positions of the mark holes 52a and 52b obtained in step 1.03.
It is checked whether the trim board corresponds to the model number input.

That is, the positions of the mark holes 52a and 52b on the trim board related to the model number input in step 10o, and the mark holes 52a and 52 obtained in step 103.
The position of b is compared and the above check is performed based on the degree of coincidence between the two.

If it is determined that the trim board 50 set on the work table 11 is of the appropriate 1E type corresponding to the input model number, then in the next step 105 each clip insertion hole 5 in the trim board 5o is ] is calculated.

That is, since the relative positional relationship between each clip insertion hole 51 and mark holes 52a and 52b is known, step 1
The position of each clip insertion hole 5] is calculated based on the center position of the mark holes 52a and 52b obtained in step 03.

The position of each clip insertion hole 51 obtained as described in item 1 above has been corrected for deviations due to setting deviations and shape errors of the trim board 50.

Then, the robot 20 starts inserting the clip 40 based on the position of the clip insertion hole 5 (step 106).

That is, the robot 20 grips the clip 40 dispensed by the Niscape 32 of the parts feeder 30 with the fingers 22a of the gripper 22, and holds it in each clip insertion hole 51.
and then insert them.

The insertion operation of the robot 20 is repeated until it is determined in step 107 that the insertion is complete. When it is determined that the insertion is complete, the robot 2o is returned to the standby position shown in FIG. 1 and stopped, and the clamping of the trim board 5o by the clamper 22 is released (step 108).
).

Note that the clamper 22 is returned to the standby position shown by the two-dot chain line in FIG. 1 after the clamp is released.

Further, if it is determined in step 104 that the trim board 50 is not compatible with the input model, an alarm signal is given to the alarm 66 shown in FIG. 1 (step 1. 09), the procedure moves to step 108.

As is clear from the above description, according to this embodiment,
Even if there is a misalignment or shape error in the trim board 50, the camera 23 can mark the holes 52a and 52.
The position of each clip insertion hole 5] is accurately recognized based on the detection position of b.
The clip 40 can be reliably inserted into.

In the above embodiment, two holes 52 are provided in the trim board 5o.
Although the mark holes a and 2b are formed, three or more mark holes may be provided. Further, it is of course possible to apply a mark by printing or painting instead of the mark hole.

Furthermore, although the embodiment applied to the trim board 50 for a vehicle door has been described above, the present invention can be effectively applied to any workpiece having a component insertion hole.

〔Effect of the invention〕

According to the present invention, the position of each component insertion hole is recognized based on the detected position of the mark by the visual sensor, so the component is securely inserted into the component insertion hole without being affected by the positioning accuracy or dimensional accuracy of the workpiece. It can be inserted into.

[Brief explanation of drawings]

Fig. 1 is a perspective view conceptually showing an embodiment of a component insertion device according to the present invention, Fig. 2 is a block diagram illustrating the configuration of a control system, and Fig. 3 is a control system shown in Fig. 2. 3 is a flowchart showing an example of a processing procedure executed in the system. ]0... Jig, 1]... Workpiece mounting table, 12... Clamper, 20... Robot, 22... Gripping tool, 23...
・Te] Rubi camera, 30... Parts feeder, 40... Clip, 50... L/rim board for door, 51... Clip insertion hole, 52a, 52b... Mark hole, 63...
- Controller, 65... image processing section. Ko2

Claims (1)

[Claims] An apparatus for inserting a component into a component insertion hole formed in a work using a robot, the device having a predetermined positional relationship with the component insertion hole,
a plurality of marks formed in advance on the workpiece; a visual sensor attached to the robot to detect the marks; and means for measuring the position of each mark with respect to the robot based on the output of the visual sensor. , means for recognizing the position of the component insertion hole with respect to the robot based on the measured positions of each of the marks.