JPH0623684A - Work transfer robot with visual processing function - Google Patents

Work transfer robot with visual processing function

Info

Publication number
JPH0623684A
JPH0623684A JP20323992A JP20323992A JPH0623684A JP H0623684 A JPH0623684 A JP H0623684A JP 20323992 A JP20323992 A JP 20323992A JP 20323992 A JP20323992 A JP 20323992A JP H0623684 A JPH0623684 A JP H0623684A
Authority
JP
Japan
Prior art keywords
work
conveyor
transfer
robot
jig
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP20323992A
Other languages
Japanese (ja)
Inventor
Hideki Kanda
秀樹 神田
Original Assignee
Takaoka Electric Mfg Co Ltd
株式会社高岳製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Takaoka Electric Mfg Co Ltd, 株式会社高岳製作所 filed Critical Takaoka Electric Mfg Co Ltd
Priority to JP20323992A priority Critical patent/JPH0623684A/en
Publication of JPH0623684A publication Critical patent/JPH0623684A/en
Pending legal-status Critical Current

Links

Abstract

PURPOSE:To simplify positioning of a work and a jig and to perform transfer of a work not having a series of transfer programs, in a work transfer process. CONSTITUTION:A work transfer robot with a visual processing function comprises a work transfer device part 10, a line conveyor part 20, a work feed conveyor part 30, and a control panel 40. The work transfer device part 10 comprises a gantry robot 11 and an industrial video camera 13. The line conveyor part 20 comprises a feed conveyor 21, a separation conveyor 22, and an output conveyor 23. The work feed conveyor part 30 comprises work feed conveyors 31, 32, and 33 for a square, a triangular, and a round work, respectively. The control panel 40 comprises an image processing device 41 to process an image inputted from the industrial video camera 13, a monitor 42 to project the image, and a robot controller 43 to control the gantry robot 11.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer robot which requires accurate positioning and shape recognition.

[0002]

2. Description of the Related Art In the work transfer process, it is necessary to improve the repeatability of a transfer robot and to accurately position a work and a jig at the time of inserting the work in the work supply station. It was Then, in order to load the work and the jig into the transfer robot, there was a program having a series of orders.

[0003]

However, due to the diversification of workpieces, there are many needs for transfer to those which conventional positioning techniques cannot deal with, such as positioning of soft workpieces. In addition, there are many demands for a device that transfers randomly, from high-mix low-volume production. Therefore, the present invention can accurately detect the position of a work or a jig even with relatively simple positioning, and can determine the shape, so that the jig can be used for a jig that has flowed randomly. The work can be selected and picked up.

[0004]

According to the present invention, a visual processing section and a workpiece transfer device section are provided as a workpiece transfer robot with a visual processing function. The visual processing unit captures the position and shape information of the work / jig from the industrial video camera, and the image capturing unit and the function to distinguish the shape of the work from the image information and select the pick-up work. The amount of positional deviation of each tool is calculated by obtaining the center of gravity, and the XY table is provided with an image processing unit having a function of teaching an accurate position. The work transfer device section is provided with an XYZ gantry robot, a vacuum pad section for sucking up the work, and a robot controller section for giving a movement command to the robot from information from the visual processing section.

[0005]

With the visual processing unit of the present invention and the work transfer device unit configured as described above, the image of the work easily positioned is taken in from the image capturing unit, and the center of gravity is measured by the image processing unit. Then, the actual work position is given to the robot controller by comparison with the predetermined center of gravity data. In addition, the image processing section determines the shape of the jig, and also supplies the information to the robot controller to select and pick up the workpiece for the jig.

[0006]

Embodiments of the present invention will be described in detail below with reference to FIG.

FIG. 1 shows an embodiment of the present invention.
This work transfer robot with a visual processing function is roughly classified into a work transfer device section 10 and a line conveyor section 20.
And a work supply conveyor 30 and a control panel 40.

The work transfer device section 10 includes a gantry robot 11 that supports an XY table 12, and an industrial video camera 13 that captures image information of the work.
And a vacuum pad 14 for vacuum transfer of the work.

The line conveyor 20 includes a supply conveyor 21 for supplying empty jigs 26 (for square, triangular, round, and three types) into the apparatus, and an air jig for separating one empty jig 26. Ingredient 1
An individual separation stopper 24, a separation conveyor 22 that serves as a work transfer station, an empty jig stopper 25, and a carry-out conveyor 23 that carries out the transferred actual jig 27 are provided.

In the work supply conveyor section 30, a square work 34, a triangular work 35, a round work 36, a square work supply conveyor 31, a triangular work supply conveyor 32, a round work supply conveyor 33, and a work for supplying the respective works. One work separation stopper 37, 38, 39 is provided in front of the take-out station.

The control panel 40 includes an industrial video camera 13
An image processing device 41 that processes the captured image and outputs substantially coordinate data and shape data of the work, a monitor 42 that outputs numerical data and shape data after the image processing, and a gantry robot 11 are controlled. A robot controller 43 is provided.

Next, the operation of the entire work transfer device with a visual processing function will be described. First, the empty jig 26 is carried into the apparatus by the supply conveyor 21. When there is a jig which is being transferred on the separation conveyor, it is temporarily stopped by raising the separation stopper 24. When receiving a signal that the jig is no longer on the separation conveyor, the one-piece separation stopper moves down and the empty jig 26 is sent to the separation conveyor 22.

The empty jig 26 carried to the separation conveyor 22 is simply positioned by the empty jig stopper 25. Positioning at this time means empty jig stopper 25
The empty jig 26 is pressed to the flat surface of the sheet by the feeding of the separation conveyor 22, and the empty jig 26 is pressed almost perpendicular to the conveying direction. When the empty jig 26 cannot be pressed perpendicularly to the transport direction for some reason, this is detected by a sensor or the like, and an error is displayed.

Next, the industrial video camera 13 belonging to the transfer device section 10 uses the gantry robot 11 to capture an image of the empty jig 26 which is simply positioned on the separating conveyor. Move right above 26. This movement means the empty jig 26 on the separation conveyor 22.
When the simple jig is positioned by the empty jig stopper 25, the position of the center of gravity of the concave portion of the empty jig 26 is set to the robot controller 43 in advance by entering the coordinate value of an arbitrary point that is supposed to come to this side. It is up to the point you set.

The image captured by the industrial video camera 13 is discriminated by the image processing device 41 and the substantial barycentric coordinates are calculated, and the robot controller 4 is operated.
Send data to 3.

When the robot controller 43 receives the data of the empty jig for the square work from the shape discrimination data, the square work 34 on the square work supply conveyor 31 is obtained.
When the data of the empty jig for the triangular work is received, the triangular work 35 on the supply conveyor 32 for the triangular work is received, and when the data of the empty jig for the circular work is received, the circular work on the supply conveyor for the circular work is received. 36, the gantry robot 11 is instructed to get it.

Similar to the image processing of the space-time jig 26, one work piece separation stoppers 37, 38, 39 on the work supply conveyors 31, 32, 33 separate one work piece from each work piece and are simply positioned. By taking in an image, measuring the center of gravity, and calculating substantially the center-of-gravity coordinate data, the vacuum pad 14 is lowered to the center of the work, and the work is kept in a good posture.

[0018]

According to the present invention, the positioning of the work and the jig can be simply performed in the work packing process, and the soft work can be easily handled. further,
Random work transfer is possible without having a series of programs.

[Brief description of drawings]

FIG. 1 shows an example of a work transfer robot with a visual processing function of the present invention.

[Explanation of symbols]

 10 Work Transfer Device Section 11 Gantry Robot 12 XY Table 13 Industrial Video Camera 14 Vacuum Pad 20 Line Conveyor Section 21 Supply Conveyor 22 Separation Conveyor 23 Outgoing Conveyor 24 1 Separation Stopper 25 Empty Jig Stopper 26 Empty Jig 27 Actual jig 30 Work supply conveyor 31, 32, 33 Work supply conveyor for work 34, 35, 36 Work 37, 38, 39 Single work separation stopper 40 Control panel 41 Image processing device 42 Monitor 43 Robot controller

Claims (1)

[Claims]
1. A visual processing unit and a work transfer device unit, wherein the visual processing unit includes an image capturing unit for capturing an image from an industrial video camera, and a shape determination based on image information captured from the image capturing unit. It has an image processing unit for measuring the position of the center of gravity of the work, and the work transfer unit receives the position information of the XYZ gantry robot, the vacuum pad for sucking up the work, and the image processing unit. A work transfer robot with a visual processing function that has a robot controller that controls the movement of the robot.
JP20323992A 1992-07-08 1992-07-08 Work transfer robot with visual processing function Pending JPH0623684A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP20323992A JPH0623684A (en) 1992-07-08 1992-07-08 Work transfer robot with visual processing function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP20323992A JPH0623684A (en) 1992-07-08 1992-07-08 Work transfer robot with visual processing function

Publications (1)

Publication Number Publication Date
JPH0623684A true JPH0623684A (en) 1994-02-01

Family

ID=16470749

Family Applications (1)

Application Number Title Priority Date Filing Date
JP20323992A Pending JPH0623684A (en) 1992-07-08 1992-07-08 Work transfer robot with visual processing function

Country Status (1)

Country Link
JP (1) JPH0623684A (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008120487A (en) * 2006-11-09 2008-05-29 Yanmar Co Ltd Article sorting device
US20130108401A1 (en) * 2011-11-02 2013-05-02 Varian Semiconductor Equipment Associates, Inc. Workpiece handling system and methods of workpiece handling
WO2015152331A1 (en) * 2014-04-02 2015-10-08 株式会社Ihi Pre-preg sheet lamination device
WO2017167227A1 (en) * 2016-03-30 2017-10-05 汕头市悦熙机械设备有限公司 Vacuum adsorption device, diamond adsorption detection device, and adsorption control method
CN107521972A (en) * 2017-08-02 2017-12-29 四川建筑职业技术学院 A kind of device classified according to special pattern coding automatic absorbing lifting
US10061323B2 (en) 2016-12-22 2018-08-28 Advanced Construction Robotics, Inc. Autonomous apparatus and system for repetitive tasks in construction project
CN109081051A (en) * 2017-06-14 2018-12-25 万润科技股份有限公司 Transfer mechanism and the transport method and device for using the transfer mechanism
US10597264B1 (en) 2018-12-20 2020-03-24 Advanced Construction Robotics, Inc. Semi-autonomous system for carrying and placing elongate objects

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008120487A (en) * 2006-11-09 2008-05-29 Yanmar Co Ltd Article sorting device
US20130108401A1 (en) * 2011-11-02 2013-05-02 Varian Semiconductor Equipment Associates, Inc. Workpiece handling system and methods of workpiece handling
US9694989B2 (en) * 2011-11-02 2017-07-04 Varian Semiconductor Equipment Associates, Inc. Workpiece handling system and methods of workpiece handling
WO2015152331A1 (en) * 2014-04-02 2015-10-08 株式会社Ihi Pre-preg sheet lamination device
JPWO2015152331A1 (en) * 2014-04-02 2017-04-13 株式会社Ihi Prepreg sheet laminating equipment
WO2017167227A1 (en) * 2016-03-30 2017-10-05 汕头市悦熙机械设备有限公司 Vacuum adsorption device, diamond adsorption detection device, and adsorption control method
US10061323B2 (en) 2016-12-22 2018-08-28 Advanced Construction Robotics, Inc. Autonomous apparatus and system for repetitive tasks in construction project
EP3525993A4 (en) * 2016-12-22 2020-07-01 Advanced Construction Robotics Inc Autonomous apparatus and system for repetitive tasks in construction project
CN109081051A (en) * 2017-06-14 2018-12-25 万润科技股份有限公司 Transfer mechanism and the transport method and device for using the transfer mechanism
CN107521972A (en) * 2017-08-02 2017-12-29 四川建筑职业技术学院 A kind of device classified according to special pattern coding automatic absorbing lifting
US10597264B1 (en) 2018-12-20 2020-03-24 Advanced Construction Robotics, Inc. Semi-autonomous system for carrying and placing elongate objects

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